CN114040438B

CN114040438B - Networking method of cooperative network, terminal equipment and computer readable storage medium

Info

Publication number: CN114040438B
Application number: CN202111268811.6A
Authority: CN
Inventors: 李基豪; 夏修理; 杨术; 张�杰; 蒋俊锋; 林博; 吴振洲; 甘志鹏; 王倜
Original assignee: Shenzhen Research Institute Tsinghua University; China Resources Digital Technology Co Ltd
Current assignee: Shenzhen Research Institute Tsinghua University; China Resources Digital Technology Co Ltd
Filing date: 2021-10-29
Publication date: 2024-07-09
Anticipated expiration: 2041-10-29

Abstract

The application is applicable to the technical field of communication, and provides a networking method, terminal equipment and a computer readable storage medium of a cooperative network, comprising the following steps: when a first cooperative task is received, task information of the first cooperative task is acquired, wherein the task information comprises a client position and communication delay constraint; determining a target aircraft meeting a preset condition from candidate aircrafts according to the client position, wherein the preset condition is that the topology structure of a cooperative network corresponding to the target aircraft meets the communication delay constraint; and determining a cooperative network corresponding to the target aircraft as a target network, wherein a server in the target network is the target aircraft, and a router in the target network is an aircraft except the target aircraft in the candidate aircraft. By the method, the problem that information of a plurality of clients in collaborative interaction is not synchronous can be solved.

Description

Networking method of cooperative network, terminal equipment and computer readable storage medium

Technical Field

The present application relates to the field of communications technologies, and in particular, to a networking method, a terminal device, and a computer readable storage medium for a coordinated network.

Background

In recent years, with the development of marginal computing power, applications of multi-user collaborative interaction are endless, such as interactive answering, multi-user online class, live broadcast of electronic commerce, multi-user real-time game, online collaborative performance and the like. At present, multi-user cooperative interaction is realized through a cooperative network. The cooperative network includes a server and a router, and the client may communicate with the server through the router in the cooperative network.

In practical application, the situation that communication delay from different clients to a server is different often occurs, so that information of a plurality of clients is not synchronous, and the plurality of clients cannot simultaneously present application states, so that user experience is affected. In the prior art, the above problems are solved by limiting the number of clients or increasing the number of servers. However, the manner of limiting the number of clients increases the matching time of the users in the collaborative interaction, and the manner of increasing the number of servers increases the hardware cost.

Disclosure of Invention

The embodiment of the application provides a networking method of a collaborative network, terminal equipment and a computer readable storage medium, which can solve the problem that information of a plurality of clients in collaborative interaction is not synchronous.

In a first aspect, an embodiment of the present application provides a networking method of a cooperative network, including:

when a first cooperative task is received, task information of the first cooperative task is acquired, wherein the task information comprises a client position and communication delay constraint;

Determining a target aircraft meeting a preset condition from candidate aircrafts according to the client position, wherein the preset condition is that the topology structure of a cooperative network corresponding to the target aircraft meets the communication delay constraint;

And determining a cooperative network corresponding to the target aircraft as a target network, wherein a server in the target network is the target aircraft, and a router in the target network is an aircraft except the target aircraft in the candidate aircraft.

In the embodiment of the application, the server in the cooperative network is selected according to the communication delay constraint, which is equivalent to networking of the cooperative network with the aim of reducing the delay difference, and the cooperative network constructed by the method can ensure the information synchronization of a plurality of clients in cooperative interaction. In addition, in the embodiment of the application, the cooperative network is built by adopting the aircrafts, and because the flexibility of the positions of the aircrafts is higher, more flexible access and data transfer service can be provided for users, and the cooperative network with smaller delay difference can be built more easily.

In a possible implementation manner of the first aspect, the determining, according to the client location, the target aircraft that meets the preset condition from the candidate aircraft includes:

Counting topological path sets between each client position and a first aircraft, wherein each topological path set comprises all topological paths between one client position and the first aircraft, and the first aircraft is any aircraft in the candidate aircrafts;

searching topology paths meeting the communication delay constraint in the topology path set;

If the topological path meeting the communication delay constraint is searched out from the topological path set, determining the first aircraft as the target aircraft;

and if the topological paths meeting the communication delay constraint are not searched in the topological path set, marking the first aircraft, and continuously counting the topological path set between each client position and a second aircraft, wherein the second aircraft is any one of the candidate aircraft which is not marked.

In a possible implementation manner of the first aspect, the communication delay constraint includes a maximum delay constraint and a delay difference constraint;

The searching for the topology paths in the set of topology paths that satisfy the communication delay constraint includes:

according to the size of communication delay, the topology paths in each topology path set are arranged in an ascending order respectively, and a first set corresponding to each topology path set is obtained;

deleting topology paths which do not meet the maximum delay constraint in each first set to obtain a second set corresponding to each first set;

searching the second set for topology paths that satisfy the delay difference constraint;

if the topology paths meeting the delay difference constraint are searched in the second set, judging that the topology paths meeting the communication delay constraint are searched in the topology path set;

and if the topological paths meeting the delay difference constraint are not searched in the second set, judging that the topological paths meeting the communication delay constraint are not searched in the topological path set.

In a possible implementation manner of the first aspect, the searching the second set for a topology path that satisfies the delay difference constraint includes:

Obtaining a topological path from each second set to obtain a first path combination;

Calculating delay differences corresponding to the first path combinations;

if the delay difference corresponding to the first path combination meets the delay difference constraint, determining a topology path in the first path combination as a topology path meeting the delay difference constraint;

And if the delay difference corresponding to the first path combination does not meet the delay difference constraint, acquiring one topological path in each second set again to obtain a second path combination, wherein the topological paths contained in the second path combination are not identical to the topological paths contained in the first path combination.

if the candidate aircraft does not have the target aircraft meeting the preset condition, adjusting the distribution position of the candidate aircraft;

And determining the target aircraft meeting the preset condition from the candidate aircrafts again according to the adjusted distribution positions of the candidate aircrafts and the client positions.

In a possible implementation manner of the first aspect, the step of adjusting the distribution position of the candidate aircraft includes:

Obtaining a target combination corresponding to a third aircraft, wherein the third aircraft is any one aircraft among the candidate aircrafts, and the target combination is a path combination with the smallest delay difference among all path combinations corresponding to the third aircraft;

Calculating a movable range of the third aircraft;

determining a target position point for the target combination to conform to the communication delay constraint in the movable range;

and controlling the third aircraft to move to the target position point.

In a possible implementation manner of the first aspect, the calculating the movable range of the third aircraft includes:

Acquiring all forwarding paths corresponding to the third aircraft, wherein the forwarding paths are topology paths taking the third aircraft as an intermediate node in a second cooperative task participated by the third aircraft;

Respectively calculating a communication delay range corresponding to each forwarding path;

and determining an intersection of communication delay ranges corresponding to each forwarding path as a movable range of the third aircraft.

In a second aspect, an embodiment of the present application provides a terminal device, including:

The task acquisition unit is used for acquiring task information of a first cooperative task when the first cooperative task is received, wherein the task information comprises a client position and a communication delay constraint;

the server determining unit is used for determining a target aircraft meeting a preset condition from the candidate aircrafts according to the client position, wherein the preset condition is that the topology structure of a cooperative network corresponding to the target aircraft meets the communication delay constraint;

The network determining unit is used for determining a cooperative network corresponding to the target aircraft as a target network, wherein a server in the target network is the target aircraft, and a router in the target network is an aircraft except the target aircraft in the candidate aircraft.

In a third aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor executes the computer program to implement a networking method of a coordinated network according to any one of the first aspect.

In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, where a computer program is stored, where the computer program when executed by a processor implements a method for networking a coordinated network according to any of the first aspects above.

In a fifth aspect, an embodiment of the present application provides a computer program product, which when run on a terminal device, causes the terminal device to perform the networking method of the cooperative network according to any of the first aspects.

It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a collaboration system provided by an embodiment of the present application;

Fig. 2 is a schematic flow chart of a multi-user cooperative application provided in an embodiment of the present application;

fig. 3 is a flow chart of a networking method of a cooperative network according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a topology path provided by an embodiment of the present application;

FIG. 5 is a schematic illustration of the movable range of an aircraft provided by an embodiment of the present application;

fig. 6 is a block diagram of a terminal device according to an embodiment of the present application;

Fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

As used in the present specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context.

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise.

In the embodiment of the application, the aircraft is utilized to build the cooperative network. The aircraft may be an unmanned plane, a hot air balloon, or a low-orbit satellite, etc. The aircraft can serve as a router to provide access and data transfer services for clients, and can also be provided with a server with certain computing capacity and provide computing services. Users may access servers through aircrafts in a collaboration network for multi-user collaborative interactions. Because the aircraft has higher flexibility in position, more flexible access and data transfer service can be provided for users, and the collaborative network with smaller delay difference can be constructed more easily.

Referring to fig. 1, a schematic diagram of a collaboration system according to an embodiment of the present application is provided. As shown in fig. 1, the cooperative system includes a control center and a plurality of aircrafts, one of which serves as a server, and the other of which serves as a router. The control center is communicatively coupled to the plurality of aircraft. The control center may send instructions to each aircraft to control the flight trajectory of the aircraft or to control the aircraft to fly to a certain location. In the embodiment of the application, the networking method of the cooperative network provided by the embodiment of the application is executed by the control center to realize networking of the cooperative network based on a plurality of aircrafts.

Among other things, aircraft communication technologies may utilize point-to-point optical communications to enable high bandwidth, low latency data transfer. The client and the client can be interconnected in a microwave mode, so that the coverage range and the access capability are improved, and the solar cell panel is carried to maintain power supply. For example, in a multiplayer game application, state synchronization or frame synchronization is performed by a server on board an aircraft. For another example, for applications requiring audio and video synchronization, such as multi-person online conferences, webRTC (protocol or technology supporting real-time audio and video communication on web pages) is deployed on a server onboard an aircraft to achieve data synchronization for multiple terminals.

In an application scenario, referring to fig. 2, a flow chart of multi-user cooperative application provided by an embodiment of the present application is shown. As shown in fig. 2, step ①, a collaboration request is initiated by the multi-user to the control center, where the collaboration request includes the current location information (client location) of the user and a communication delay constraint. In step ②, the control center estimates, based on the client locations, the desired aircraft, the aircraft distribution in the collaboration network, and the data transmission paths between the aircraft and the various clients. And step ③, the controller assigns the aircraft meeting the requirements as a server in the cooperative network according to the deduction result, assigns other aircrafts as routers in the cooperative network, and controls the aircrafts to fly to the appointed position according to the deduction result. In step ④, the controller notifies each client to communicate according to the calculated data transmission path. At step ⑤, the multi-user collaborative application begins executing.

In step ③ in the above application scenario, the deduction method of the control center may refer to fig. 3, which is a schematic flow chart of a networking method of the cooperative network provided in the embodiment of the present application, and the method may include, by way of example and not limitation, the following steps:

S301, when a first cooperative task is received, task information of the first cooperative task is acquired.

As described in the application scenario of fig. 2, when a multi-user initiates a collaboration request to a control center, the control center receives a first collaboration task.

Wherein the task information includes client location and communication delay constraints.

S302, determining a target aircraft meeting preset conditions from the candidate aircrafts according to the client positions.

Wherein the candidate aircraft is an aircraft that establishes a communication connection at the control center, is available to perform a collaborative mission, and is selected to perform a first collaborative mission. The preset condition is that the topology structure of the cooperative network corresponding to the target aircraft meets the communication delay constraint.

It should be noted that, for a cooperative task, only one server is generally allocated. When a certain aircraft has been assigned as a server to one cooperative task, that aircraft may still be assigned as a server to another cooperative task if the computing power of the server on board the aircraft allows it.

The specific implementation steps of step S302 can be seen from the description of the embodiments of steps S401 to S404 described below.

S303, determining the cooperative network corresponding to the target aircraft as a target network.

The server in the target network is a target aircraft, and the router in the target network is an aircraft except the target aircraft in the candidate aircraft. For example, the candidate aircraft are numbered 1-5, and if the control center derives aircraft numbered 1 as the server, then aircraft numbered 2, 3, 4, 5 all act as routers.

In the embodiment of the application, the server in the cooperative network is selected according to the communication delay constraint, which is equivalent to networking of the cooperative network with the aim of reducing the delay difference, and the cooperative network constructed by the method can ensure the information synchronization of a plurality of clients in cooperative interaction.

In one embodiment, the step of determining the target flight in S302 may include: traversing each candidate aircraft; and if a plurality of aircrafts meeting the preset condition exist, determining the aircraft with the smallest communication delay difference among aircrafts meeting the preset condition as the target aircraft.

In another embodiment, the step of determining the target flight in S302 may further include: judging whether each candidate aircraft meets preset conditions or not in sequence; when an aircraft satisfying the preset condition appears, the aircraft is determined as a target aircraft, and the judgment is stopped.

Illustratively, candidate aircraft are numbered 1-5.

In a first step, taking aircraft 1 as a server (providing computing, etc. services to the user), aircraft 2-5 act as routers (responsible for forwarding traffic).

Second, it is determined whether or not the communication delay constraint is satisfied in the scenario of "aircraft 1 as a server and aircraft 2-5 as a router".

Third, if satisfied, the process is ended, and the aircraft 1 is used as a server, and the aircraft 2, 3, 4, 5 are used as routers. If not, aircraft 2 is taken as the server and aircraft 1, 3, 4, 5 are taken as routers. And so on.

Optionally, for any one of the candidate aircraft (the first aircraft), the step of determining whether the first flight satisfies the communication delay constraint may include:

s401, counting a topological path set between each client position and the first aircraft.

Each topological path set comprises all topological paths between a client position and a first aircraft, wherein the first aircraft is any aircraft in the candidate aircrafts.

Referring to fig. 4, a schematic diagram of a topology path according to an embodiment of the present application is provided. As shown in FIG. 4, a client A, B, C initiates a collaboration request, candidate aircraft numbers 1-4, the connection between the two nodes representing communication. When aircraft 3 is the first aircraft, the set of topological paths between client A and the first aircraft includes Arr ₁ = { A-1-3 (18 ms), A-2-3 (21 ms), A-1-2-3 (17 ms), A-2-1-3 (32 ms) }, including 4 topological paths in the set. Where a-1-3 (18 ms) represents the topological path of client a through aircraft 1 in communication with aircraft 3, the communication delay of which is 18ms. The set of topological paths between client B and the first aircraft includes Arr ₂ = { B-1-3 (22 ms), B-1-2-3 (21 ms), B-4-3 (15 ms) }. The set of topological paths between client C and the first aircraft includes Arr ₃ = { C-4-3 (13 ms), C-3 (15 ms) }.

S402, searching topology paths meeting communication delay constraint in the topology path set.

The communication delay constraint includes a maximum delay constraint and a delay difference constraint. Wherein the delay difference represents the difference between the two communication delays. For example: the delay difference between the topology path a-1-3 (18 ms) and the topology path a-2-3 (21 ms) in Arr ₁ is 21-18=3 ms.

Optionally, the implementation manner of S402 is:

1. and respectively arranging the topological paths in each topological path set in ascending order according to the communication delay, so as to obtain a first set corresponding to each topological path set.

Illustratively, arr ₁ ordered first set Arr ₁₁＝{A-1-2-3(17),A-1-3(18ms),A-2-3(21ms),A-2-1-3(32ms)},Arr₂ ordered first set Arr ₂₁＝{B-4-3(15ms),B-1-2-3(21ms),B-1-3(22ms)},Arr₃ ordered first set Arr ₃₁ = { C-4-3 (13 ms), C-3 (15 ms) }.

2. And deleting the topological paths which do not meet the maximum delay constraint in each first set to obtain a second set corresponding to each first set.

Illustratively, the maximum delay constraint is assumed to be that the maximum delay does not exceed 21ms. The second set corresponding to the first set Arr ₁₁ is Arr ₁₂ = { A-1-2-3 (17 ms), A-1-3 (18 ms) }, the second set corresponding to the first set Arr ₂₁ is Arr ₂₂ = { B-4-3 (15 ms), B-1-2-3 (21 ms) }, and the second set corresponding to the first set Arr ₃₁ is Arr ₃₂ = { C-4-3 (13 ms), C-3 (15 ms) }.

3. The second set is searched for topology paths that satisfy the delay variance constraint.

Optionally, searching for a topology path in the second set that satisfies the delay difference constraint includes:

1) And obtaining a topological path from each second set to obtain a first path combination.

2) And calculating the delay difference corresponding to the first path combination.

3) And if the delay difference corresponding to the first path combination meets the delay difference constraint, determining the topology path in the first path combination as the topology path meeting the delay difference constraint.

4) And if the delay difference corresponding to the first path combination does not meet the delay difference constraint, acquiring one topological path in each second set again to obtain a second path combination, wherein the topological paths contained in the second path combination are not identical to the topological paths contained in the first path combination.

One topological path can be randomly obtained from each second set, and a first path combination is obtained. In this way, when the second path combination is acquired, there may be a case where the first path combination and the second path combination are the same, and in this case, the path combination needs to be re-acquired, which is inefficient. In order to improve efficiency, pointers may be provided by which path combinations are acquired. The specific method is shown in the following example.

① Each array is assigned a pointer Ptr _i that initially points to the first topology path of the corresponding set.

For example, pointer Ptr ₁ =1 points to Arr ₁₂ [1] =17 ms; pointer Ptr ₂ =1 points to Arr ₂₂ [1] =15 ms; pointer Ptr ₃ =1 points to Arr ₃₂ [1] =13 ms.

② The maximum difference diff=max _i Arr_i[Ptr_i]-min_iArr_i[Ptr_i of the topology path delays pointed to by all pointers is found.

For example: calculating the maximum difference of communication delays of topology paths pointed by all pointers Diff＝max_iArr_i[Ptr_i]-min_iArr_i[Ptr_i]＝max{17ms,15ms,13ms}-min{17ms,15ms,13ms}＝17ms-13ms＝4ms.

③ If the Diff meets the applied delay difference constraint, the current path combination is indicated to meet the delay difference constraint, paths pointed by all current pointers are output, and the process is finished. If Diff does not meet the applied delay variance constraint, then ⑤ is performed.

The delay variance constraint is assumed to be that the delay variance does not exceed 3ms. At this point 4ms > 3ms, the current path combination does not meet the delay variance constraint. Execution ④ adjusts the pointer.

④ Arr _k[Ptr_k]＝min_i Arr_i[Ptr_i was found.

In other words, the exemplary ,min_i Arr_i[Ptr_i]＝min{Arr₁[Ptr₁],Arr₂[Ptr₂],Arr₃[Ptr₃]}＝min{17ms,15ms,13ms}＝13ms＝Arr3Ptr3. finds a pointer that points to the topology path with the least delay. The delay of the path that Ptr ₁ is currently pointing to is 17ms, the delay of the path that Ptr ₂ is currently pointing to is 15ms, and the delay of the path that Ptr ₃ is currently pointing to is 13ms, so k=3, ptr ₃ is found.

⑤ If Ptr _k＜|Arr_k, ptr _k increases by 1, returning to ②; otherwise, the path combination does not meet the delay difference constraint, and the process is ended.

Continuing with the example above, ptr ₃ is currently pointing to the first topological way in the corresponding set, |arr ₃ |=2. Ptr ₃ +1 becomes 2, and jumps to step ②. Where |arr _i | represents the number of topology paths in the set Arr _i.

Continuing to step ②, obtaining the maximum difference of the path delays pointed by all the pointers Diff＝max_i Arr_i[Ptr_i]-min_i Arr_i[Ptr_i]＝max{17ms,15ms,15ms}-min{17ms,15ms,15ms}＝17ms-15ms＝2ms.

Since diff=2 ms is less than or equal to the delay difference constraint of 3ms, the current path combination satisfies the delay difference constraint, and the paths pointed by the current pointers are respectively: ptr ₁ = 1 points to Arr ₁ [1] i.e. A-1-2-3 (17 ms); ptr ₂ =1 to Arr ₂ [1], namely B-4-3 (15 ms); ptr ₃ = 2 points to Arr ₃ [2], i.e. C-3 (15 ms), ending.

4. If the topology paths meeting the delay difference constraint are searched in the second set, judging that the topology paths meeting the communication delay constraint are searched in the topology path set.

5. If the topology paths meeting the delay difference constraint are not searched in the second set, judging that the topology paths meeting the communication delay constraint are not searched in the topology path set.

S403, if the topological path meeting the communication delay constraint is searched out from the topological path set, the first aircraft is determined as the target aircraft.

And S404, if the topological path set does not search for the topological path meeting the communication delay constraint, marking the first aircraft, and continuously counting the topological path set between each client position and the second aircraft. The second aircraft is any one of the candidate aircraft which is not marked.

In practical applications, there may be situations in which the target aircraft cannot be determined from the current candidate aircraft. This may be due to the distributed locations of the candidate aircraft. To address this issue, in one embodiment, S302 further includes:

If the candidate aircraft does not have the target aircraft meeting the preset condition, adjusting the distribution position of the candidate aircraft; and determining the target aircraft meeting the preset condition from the candidate aircrafts again according to the adjusted distribution positions of the candidate aircrafts and the client positions.

Optionally, the method for adjusting the distribution position of the candidate aircraft comprises the following steps:

obtaining a target combination corresponding to a third aircraft, wherein the third aircraft is any one aircraft in the candidate aircrafts, and the target combination is a path combination with the smallest delay difference in all path combinations corresponding to the third aircraft; calculating a movable range of the third aircraft; determining a target position point which enables the target combination to meet the communication delay constraint in a movable range; and controlling the third aircraft to move to the target position point.

For example, in the process of executing S401 to S404, a path combination with the smallest delay difference in the scene of each traversal may be recorded. For example, for the scenario where aircraft i acts as a server, set N _i＝{Path₁,Path₂,...,Path_M is the path combination with the smallest delay difference (still not meeting the delay difference constraint of the application) among the M user-to-server path sets.

Optionally, after step ② in the example of S402, if Diff is less than or equal to Min _diff, min _diff is updated to Diff, and the path combination corresponding to the Diff is recorded. In this way, a path combination with the smallest delay difference can be recorded. As for the initial value of Min _diff, max _i Arr_i[|Arr_i | can be set. For example ：max_i Arr_i[|Arr_i|]＝max{Arr₁[|Arr₁|],Arr₂[|Arr₂|],Arr₃[|Arr₃|},}＝max{21ms,21ms,15ms}＝21ms.

Correspondingly, the step of adjusting the distribution position of the candidate aircraft comprises the following steps:

step one, any one of the candidate aircrafts i (namely, a third aircraft) is taken as a server.

And secondly, solving the movable range of the aircraft i on the premise of not influencing the data transfer function for other existing services for the aircraft i.

Thirdly, selecting k position points according to a certain precision from the movable range of the aircraft i, when the aircraft i reaches the position point k, changing the original Path ₁,Path₂,...,Path_M, and recording the changed Path combination as

Step four, taking(Let K be K when Diff is acquired). If Diff meets the delay variance constraint,Meets the maximum delay constraint, and the original service taking the aircraft i as a server is not affected, the aircraft i is assigned as the server, and is controlled to be adjusted to a position point K,Ending the final data transmission path for each client;

and step five, judging whether the aircraft is not traversed, and returning to the step two if the aircraft is not traversed.

And step six, not finding out proper aircraft distribution, feeding back to the terminal and ending.

In one embodiment, the movable range of the aircraft i is determined in such a way that:

Acquiring all forwarding paths corresponding to the aircraft i, wherein the forwarding paths are topology paths taking the aircraft i as intermediate nodes in a second cooperative task participated in by the aircraft i; respectively calculating a communication delay range corresponding to each forwarding path; the intersection of the communication delay ranges corresponding to each forwarding path is determined as the movable range of the aircraft i.

Illustratively, the movable range determining step includes:

I. Find all the forwarding paths taking aircraft i as intermediate nodes. Assuming that there are S, in each path S, the former hop node of the aircraft i is denoted as a _s, and the latter hop node is denoted as B _s, the S pair of tuples < a _s,B_s > can be obtained.

II. Taking the pair of non-traversed tuples < A _s,B_s >, the Delay of A _s passing through aircrafts i to B _s in the original path is Delay _s, and since path s is already the path required by a running application, the allowable variation range of Delay _s can be obtained, and the allowable variation range is recorded as from min Delay _s to max Delay _s, namely, the Delay of A _s to aircrafts i to B _s is still kept between min Delay _s and maxDaelay _s after the aircrafts i move.

III, according to the knowledge of analytical geometry, the locus of the points of constant value and the distance to two points in space is an ellipsoid, so that for the binary group < A _s,B_s >, the movable range of the aircraft i is an ellipsoid ring, denoted Ell _s, the outer ring is an ellipsoid meeting A _s, the Delay of the aircraft i and B _s is max Delay _s, and the inner ring is an ellipsoid meeting A _s, the Delay of the aircraft i and B _s is min Delay _s.

And IV, judging whether the binary groups are not traversed, and if yes, returning to the step II.

V, final aircraft i movable range is intersection of all ellipsoids

Referring to fig. 5, a schematic diagram of a movable range of an aircraft according to an embodiment of the present application is provided. When determining the movable range of the aircraft i, as shown in fig. 5, the aircraft i is taken as a server, and the path of the user U accessing the server is user u→aircraft x→aircraft i. Since the delay of this path is high, the delay of access to the server by the user U is large, and the position of the aircraft i is adjusted to change the delay of access to the server by the user U. Aircraft i also serves as an intermediate node to forward data for other services (a second collaborative task) in which aircraft i is involved in a topology path from a _s to aircraft i to B _s. To ensure that the original service is not affected, the aircraft i can only select a new position within the movable range (ellipsoidal ring) shown in fig. 5. After adjustment, the delay of the user U, the aircraft x and the aircraft i is reduced, and the delay difference constraint is met. It should be noted that the aircraft i remains within the movable range throughout the course of moving to the designated position.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

Fig. 6 is a block diagram of a terminal device according to an embodiment of the present application, and only a portion related to the embodiment of the present application is shown for convenience of explanation.

Referring to fig. 6, the terminal device includes:

The task obtaining unit 61 is configured to obtain task information of a first cooperative task when the first cooperative task is received, where the task information includes a client location and a communication delay constraint.

And the server determining unit 62 is configured to determine, according to the client position, a target aircraft that meets a preset condition from the candidate aircraft, where the preset condition is that a topology structure of a cooperative network corresponding to the target aircraft meets the communication delay constraint.

A network determining unit 63, configured to determine a cooperative network corresponding to the target aircraft as a target network, where a server in the target network is the target aircraft, and a router in the target network is an aircraft other than the target aircraft in the candidate aircraft.

Optionally, the server determining unit 62 is further configured to:

Optionally, the communication delay constraint includes a maximum delay constraint and a delay difference constraint.

Accordingly, the server determination unit 62 is further configured to:

Optionally, the server determining unit 62 is further configured to:

Calculating delay differences corresponding to the first path combinations;

Optionally, the server determining unit 62 is further configured to:

Calculating a movable range of the third aircraft;

and controlling the third aircraft to move to the target position point.

Optionally, the server determining unit 62 is further configured to:

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.

In addition, the terminal device shown in fig. 6 may be a software unit, a hardware unit, or a unit combining soft and hard, which are built in an existing terminal device, or may be integrated into the terminal device as an independent pendant, or may exist as an independent terminal device.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

Fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 7, the terminal device 7 of this embodiment includes: at least one processor 70 (only one shown in fig. 7), a memory 71 and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, the processor 70 executing the computer program 72 to perform the steps in any of the respective networking method embodiments of the collaborative network described above.

The terminal equipment can be computing equipment such as a desktop computer, a notebook computer, a palm computer, a cloud server and the like. The terminal device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that fig. 7 is merely an example of the terminal device 7 and is not limiting of the terminal device 7, and may include more or fewer components than shown, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.

The Processor 70 may be a central processing unit (Central Processing Unit, CPU), and the Processor 70 may be any other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 71 may in some embodiments be an internal storage unit of the terminal device 7, such as a hard disk or a memory of the terminal device 7. The memory 71 may in other embodiments also be an external storage device of the terminal device 7, such as a plug-in hard disk provided on the terminal device 7, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like. Further, the memory 71 may also include both an internal storage unit and an external storage device of the terminal device 7. The memory 71 is used for storing an operating system, application programs, boot Loader (Boot Loader), data, other programs, etc., such as program codes of the computer program. The memory 71 may also be used for temporarily storing data that has been output or is to be output.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps for implementing the various method embodiments described above.

Embodiments of the present application provide a computer program product enabling a terminal device to carry out the steps of the method embodiments described above when the computer program product is run on the terminal device.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to an apparatus/terminal device, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A networking method of a cooperative network, the method comprising:

Determining a cooperative network corresponding to the target aircraft as a target network, wherein a server in the target network is the target aircraft, and a router in the target network is an aircraft except the target aircraft in the candidate aircraft;

The determining, according to the client position, a target aircraft satisfying a preset condition from the candidate aircraft includes:

2. The networking method of a coordinated network of claim 1, wherein the communication delay constraint comprises a maximum delay constraint and a delay difference constraint;

3. The networking method of a coordinated network of claim 2, wherein the searching for topology paths in the second set that satisfy the delay variance constraint comprises:

Calculating delay differences corresponding to the first path combinations;

4. The networking method of the cooperative network according to claim 3, wherein the determining, according to the client location, the target aircraft satisfying the preset condition from the candidate aircraft includes:

5. The networking method of a collaborative network according to claim 4, wherein said step of adjusting the distribution location of said candidate aircraft comprises:

Calculating a movable range of the third aircraft;

and controlling the third aircraft to move to the target position point.

6. The networking method of a coordinated network of claim 5, wherein the calculating the movable range of the third aircraft comprises:

7. A terminal device, comprising:

A network determining unit, configured to determine a cooperative network corresponding to the target aircraft as a target network, where a server in the target network is the target aircraft, and a router in the target network is an aircraft other than the target aircraft in the candidate aircraft;

The server determining unit is further configured to:

8. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 6 when executing the computer program.

9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 6.