CN114095074A - Air-to-ground ad hoc network communication system based on unmanned aerial vehicle base station - Google Patents
Air-to-ground ad hoc network communication system based on unmanned aerial vehicle base station Download PDFInfo
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- CN114095074A CN114095074A CN202111489986.XA CN202111489986A CN114095074A CN 114095074 A CN114095074 A CN 114095074A CN 202111489986 A CN202111489986 A CN 202111489986A CN 114095074 A CN114095074 A CN 114095074A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
Abstract
The invention provides an air-ground ad hoc network communication system based on an unmanned aerial vehicle base station, and belongs to the field of air-ground ad hoc network communication. The communication system comprises a cloud server, an unmanned aerial vehicle base station, a ground base station and a ground power distribution and utilization node; the unmanned aerial vehicle base station comprises at least one unmanned aerial vehicle, and a base station module is carried on the unmanned aerial vehicle body; the ground power distribution and utilization node is composed of a plurality of wireless nodes; a plurality of unmanned aerial vehicles construct a space-based wireless Mesh network in an ad hoc network mode through respective carried base station modules, adjacent wireless nodes are partitioned according to a certain radius range, and a foundation wireless Mesh network is constructed between the wireless nodes in the area in an ad hoc network mode. The invention uses an unmanned aerial vehicle as a carrier to build an air-ground integrated power distribution and utilization Internet of things 5G network system platform, and solves the problems that the traditional ground communication network has poor disaster tolerance and emergency capability, a single networking structure, limited coverage range and site resources and can not meet the differentiated service requirements of the power distribution and utilization Internet of things.
Description
Technical Field
The invention belongs to the field of air-ground ad hoc network communication, and particularly relates to an air-ground ad hoc network communication system based on an unmanned aerial vehicle base station and suitable for northwest mountainous regions.
Background
In recent years, an air-ground integrated communication system based on Stratospheric Communication (SC) has been proposed as a new communication mode. The popularization of mobile intelligent terminals enables people to live without wireless communication, and the dependence is not only reflected in the increase of the demand on high-speed and high-quality mobile data services, but also reflected in the fact that people need reliable communication service guarantee at any time and any place. The ground base station is not only affected by the terrain factors and natural disasters, but also has high density and generates serious interference. Satellite communication, which is one of the solutions, has a larger coverage and communication capacity, is more stable in operation, and can realize data transmission across continents, but can be applied only to small-scale communication services due to a larger transmission delay and expensive construction costs. The stratospheric communication is between ground communication and satellite communication, the altitude is 17 km-22 km, and an airplane, a balloon or a helium-filled airship can be used as a carrying platform of the signal transmitting device. The method is also a field to be developed in the communication network of today, and has great significance for the development of future wireless communication.
Most mobile communication depends on the ground base station, and if the ground base station is lacked or damaged, the power communication is seriously affected, and even the communication is interrupted. Although satellite communication is not limited by ground factors, it has a long delay and high construction cost, and can only provide limited communication services. The SC can be independent of the network infrastructure on the ground, and the deployment cost is relatively low, so that the SC has remarkable advantages in ocean voyage, deserts with rare people, remote areas and emergency rescue. In addition to ground communication, many communication scenarios also take into account the above-ground and below-atmosphere communication demands, and especially with the rapid development of aviation technology and unmanned aerial vehicle technology in recent years, the communication in this field has attracted attention from the industry and academia. Satellite communication can realize global wireless communication, but is difficult to be widely applied due to the characteristics of limited bandwidth, large transmission delay, expensive construction cost and the like. Therefore, by means of stratospheric communication technology, information transmission is carried out by means of High-altitude platforms (HAPs), and the air user can be guaranteed to be in a connectable state at any time.
Aiming at the problems that the power distribution scene environment of a power system is complex, the equipment types are various, the distribution range is wide, and mass sensors and monitoring equipment need to be deployed; the traditional ground communication network has poor disaster tolerance and emergency capacity, a single networking structure and limited coverage range and site resources, cannot meet the differentiated service requirements of the power distribution and utilization internet of things and the like, and an air network formed by unmanned aerial vehicles is combined with a ground 5G communication network to construct an air-ground integrated network with wide area coverage, flexible deployment and strong disaster tolerance capacity, so that ubiquitous interconnection of mass terminals on the power distribution and utilization side of a power system is realized.
Disclosure of Invention
The invention aims to solve the technical problem of providing an air-ground ad hoc network communication system based on an unmanned aerial vehicle base station, which is suitable for northwest mountainous regions, aiming at the defects or shortcomings in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention is an air-ground ad hoc network communication system based on an unmanned aerial vehicle base station, which comprises a cloud server, the unmanned aerial vehicle base station, a ground base station and a ground power distribution and utilization node;
the cloud server is arranged in an urban area, sends instructions or receives information fed back by the ground power distribution node through an upper computer, and is used for remote management and monitoring;
the unmanned aerial vehicle base station comprises at least one unmanned aerial vehicle, the unmanned aerial vehicle is a long-endurance multi-rotor-wing unmanned aerial vehicle, a base station module is carried on the unmanned aerial vehicle body and arranged on the water surface, and the base station module is connected with the cloud server and used for forwarding signals between the cloud server and the ground base station and between the cloud server and the ground power distribution node;
the ground base station is arranged in a mountain area and is connected with the cloud server, the unmanned aerial vehicle base station and the ground power distribution node and used for forwarding signals between the cloud server and the unmanned aerial vehicle base station and between the ground power distribution node.
The ground power distribution and utilization node is connected with the unmanned aerial vehicle base station and the ground base station respectively and used for executing instructions or feeding back information after acquiring environment and/or power utilization parameter information of ground power distribution and utilization equipment;
a plurality of unmanned aerial vehicles construct a space-based wireless Mesh network in an ad hoc network mode through base station modules which are carried by the unmanned aerial vehicles, wireless nodes adjacent to ground distribution and utilization nodes are partitioned according to a certain radius range, and the ground-based wireless Mesh network is constructed between the wireless nodes in the partitions in the ad hoc network mode.
Further, in some preferred embodiments of the present invention, the base station module includes a first microprocessor and an onboard multi-beam antenna, the first microprocessor is respectively connected with a flight control module, a first GPS positioning module, a first power supply module, a wireless transceiving control module, a first wireless communication module and a second wireless communication module, and the wireless transceiving control module is connected with the onboard multi-beam antenna; the flight control module is used for controlling the unmanned aerial vehicle to fly and hover, the first GPS positioning module is used for positioning the aerial position of the unmanned aerial vehicle, the first power supply module supplies power for the first microprocessor, and the first wireless communication module is used for being in wireless communication connection with the cloud server to perform data interaction; the second wireless communication module is used for constructing a space-based wireless Mesh network among the multiple unmanned aerial vehicles and performing data interaction, the ground base station is provided with a ground multi-beam antenna corresponding to the airborne multi-beam antenna, and the first microprocessor is in wireless communication connection with the ground base station through the airborne multi-beam antenna to perform data interaction.
Preferably, the first wireless communication module is a 5G wireless communication module; the second wireless communication module is a 5G wireless communication module or a LoRa wireless communication module or a Bluetooth wireless communication module.
Further, in some preferred embodiments of the present invention, the wireless node includes a sensor module for implementing environment monitoring and electric quantity parameter acquisition by the power distribution equipment and its accessories, the sensor module is connected to a second microprocessor, the second microprocessor is further connected to a third wireless communication module, a fourth wireless communication module and a second power module, the third wireless communication module is used for performing wireless communication connection with the base station of the unmanned aerial vehicle and the ground base station to perform data interaction, the fourth wireless communication module is used for constructing a ground-based wireless Mesh network between the wireless nodes and performing data interaction between the wireless nodes, and the second power module supplies power to the second microprocessor.
Preferably, the third wireless communication module is a 5G wireless communication module; the fourth wireless communication module is a 5G wireless communication module or a LoRa wireless communication module or a Bluetooth wireless communication module.
Preferably, the sensor module comprises a current sensor, a light sensor, an electrostatic sensor, a material level sensor, an infrared detector, a temperature and humidity sensor and a smoke sensor.
Preferably, the second microprocessor is further connected with a second positioning module, and the second positioning module is used for positioning the corresponding power distribution and utilization equipment and auxiliary equipment thereof.
Compared with the prior art, the invention has the beneficial technical effects that as the technical scheme is adopted: aiming at the northwest mountainous irregular scene, an air-ground integrated power distribution and utilization Internet of things 5G network system platform is built by taking an unmanned aerial vehicle as a carrier, so that the problems that the traditional ground communication network is poor in disaster tolerance and emergency capability, single in networking structure, limited in coverage range and site resources and incapable of meeting the differentiated service requirements of the power distribution and utilization Internet of things are solved; an air network formed by unmanned aerial vehicles is combined with a ground 5G communication network, an air-ground integrated network with wide area coverage, flexible deployment and strong disaster tolerance capability is constructed, and ubiquitous interconnection of mass terminals on the power distribution and utilization side of a power system is realized; through the cooperative networking of the unmanned aerial vehicle base station and the ground base station, the mobile communication service guaranteed at any time and any place is provided for users, the load of the ground base station is reduced, and seamless network coverage is provided for a three-dimensional space.
Drawings
Fig. 1 is a schematic diagram of a stratospheric communication network of the present invention.
Fig. 2 is a schematic diagram of an air-ground stereo communication network of the present invention.
Fig. 3 is a schematic structural block diagram of an air-ground ad hoc network communication system based on an unmanned aerial vehicle base station according to an embodiment of the present invention.
Fig. 4 is a block diagram of a structure of a space-based wireless Mesh network constructed by an ad hoc network of an unmanned aerial vehicle base station in an embodiment of the present invention.
Fig. 5 is a block diagram of a structure of a ground-based wireless Mesh network constructed in an ad hoc network manner by a ground distribution node in an embodiment of the present invention.
Fig. 6 is a schematic block diagram of a base station module carried by an unmanned aerial vehicle in an embodiment of the present invention.
Fig. 7 is a block diagram of a wireless node according to an embodiment of the invention.
Reference numerals: 1-cloud server, 2-unmanned aerial vehicle base station, 3-ground power distribution node, 4-ground base station, 5-unmanned aerial vehicle, 51-flight control module, 52-first GPS positioning module, 53-first power supply module, 54-first microprocessor, 55-wireless transceiving control module, 56-airborne multi-beam antenna, 57-first wireless communication module, 58-second wireless communication module, 6-wireless node, 61-second power supply module, 62-sensor module, 63-second positioning module, 64-second microprocessor, 65-third wireless communication module, 66-fourth wireless communication module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to preferred embodiments.
Referring to fig. 1, HAPs have a high elevation angle for receiving signals in urban areas and a low elevation angle for receiving signals in suburban or rural areas, and SC can provide large-capacity and wide-range communication services with low cost. For high-altitude or offshore wireless communication coverage, HAPs fill the coverage blank of a ground base station, and have the advantages that satellite communication does not have, and a comparison table of ground wireless communication, SC and satellite communication:
performance comparison of terrestrial, stratospheric, and satellite communications
Examples
Referring to fig. 2-7, the present embodiment provides an air-to-ground ad hoc network communication system based on an unmanned aerial vehicle base station, including a cloud server 1, an unmanned aerial vehicle base station 2, a ground base station 4 and a ground power distribution node 3;
the cloud server 1 is arranged in an urban area, sends instructions through an upper computer or receives information fed back by the ground power distribution node 3, and is used for remote management and monitoring;
the unmanned aerial vehicle base station 2 comprises at least one unmanned aerial vehicle 5, the unmanned aerial vehicle 5 is a long-endurance multi-rotor-wing unmanned aerial vehicle, a base station module is mounted on the body of the unmanned aerial vehicle 5 and arranged on the water surface, and the base station module is connected with the cloud server 1 and used for forwarding signals between the cloud server 1 and the ground base station 4 and between the cloud server and the ground power distribution node 3;
ground basic station 4 sets up in the mountain region, ground basic station 4 with high in the clouds server 1, unmanned aerial vehicle basic station 2 and ground adapted power consumption node 3 are connected for transmit the signal between high in the clouds server 1 and unmanned aerial vehicle basic station 2 and the ground adapted power consumption node 3.
The ground power distribution and utilization node 3 is composed of a plurality of wireless nodes 6 which are all located in a mountain region, and the ground power distribution and utilization node 3 is respectively connected with the unmanned aerial vehicle base station 2 and the ground base station 4 and used for executing instructions or feeding back information after acquiring environment and/or power utilization parameter information of ground power distribution and utilization equipment;
a plurality of unmanned aerial vehicles 5 adopt the ad hoc network mode to construct the space-based wireless Mesh network through the base station module that carries on separately, and the wireless node 6 that ground distribution power node 3 is adjacent divides into regions according to certain radius range, adopts the ad hoc network mode to construct the ground-based wireless Mesh network between the wireless node 6 in the region.
In this embodiment, the space-based wireless Mesh network and the ground-based wireless Mesh network form a dual-layer sub-network, which can independently provide communication services and jointly network, and the ground device can be interconnected with HAPs in a PMP manner. An airborne multi-beam antenna 56 is deployed at an altitude of 17km, serving a plurality of cells whose coverage area and radius of coverage of a single cell are 30 km and 8 km, respectively. The coverage radius at sea can reach 200-300 kilometers, and the signal propagation delay can reach hundreds of microseconds; the coverage radius of the ground cellular network is generally in the range of 1-2 kilometers, and the propagation delay is in the microsecond level.
When no ground base station 4 exists in the mountain region or the ground base station 4 fails, the unmanned aerial vehicle base station 2 directly forwards the instruction signal from the cloud server 1 to the ground power distribution node 3 or directly forwards feedback information of the ground power distribution node 3 to the cloud server 1.
In this embodiment, the base station module includes a first microprocessor 54 and an onboard multi-beam antenna 56, the first microprocessor 54 is respectively connected with a flight control module 51, a first GPS positioning module 52, a first power module 53, a wireless transceiving control module 55, a first wireless communication module 57, and a second wireless communication module 58, and the wireless transceiving control module 55 is connected with the onboard multi-beam antenna 56; the flight control module 51 is used for controlling the unmanned aerial vehicle 5 to fly and hover, the first GPS positioning module 52 is used for positioning the aerial position of the unmanned aerial vehicle 5, the first power supply module 53 supplies power to the first microprocessor 54, and the first wireless communication module 57 is used for performing data interaction with the cloud server 1 through wireless communication connection; the second wireless communication module 58 is used for constructing a space-based wireless Mesh network among the multiple unmanned aerial vehicles 5 and performing data interaction, the ground base station 4 is provided with a ground multi-beam antenna corresponding to the airborne multi-beam antenna 56, and the first microprocessor 54 is in wireless communication connection with the ground base station 4 through the airborne multi-beam antenna 56 to perform data interaction.
In this embodiment, the first wireless communication module 57 is a 5G wireless communication module; the second wireless communication module 58 is a 5G wireless communication module or a LoRa wireless communication module or a bluetooth wireless communication module.
In this embodiment, wireless node 6 includes that distribution electric equipment and its auxiliary equipment implement environmental monitoring and electric quantity parameter acquisition's sensor module 62, sensor module 62 is connected with second microprocessor 64, second microprocessor 64 still is connected with third wireless communication module 65 respectively, fourth wireless communication module 66, second power module 61, third wireless communication module 65 is used for carrying out wireless communication with unmanned aerial vehicle basic station 2, ground basic station 4 carries out the data interaction, fourth wireless communication module 66 is used for constructing the wireless Mesh network of ground between wireless node 6 and carries out mutual data interaction, second power module 61 is the power supply of second microprocessor 64.
In this embodiment, the third wireless communication module 65 is a 5G wireless communication module; the fourth wireless communication module 66 is a 5G wireless communication module or a LoRa wireless communication module or a bluetooth wireless communication module.
In this embodiment, when the 5G wireless communication module is adopted, the SIM8200 EA-M2 may be selected, the SX127x chip may be selected for the LoRa wireless communication module, the CC2652P chip may be selected for the bluetooth wireless communication module, and the STM32 chip may be selected for the first microprocessor 54 and the second bit processor.
In this embodiment, the airborne multi-beam antenna 56 is a 5-beam antenna
In this embodiment, the sensor module 62 includes a current sensor, a light sensor, an electrostatic sensor, a level sensor, an infrared detector, a temperature and humidity sensor, and a smoke sensor.
In this embodiment, the second microprocessor 64 is further connected to a second positioning module 63, and the second positioning module 63 is used for positioning the corresponding power distribution and utilization equipment and the accessories thereof.
In this embodiment, the wireless node 6 includes an intelligent household electric device, a substation distribution device, and a power generation and transmission device of a power plant.
As an improvement, the method takes the dead time, the maximum takeoff weight and the flying height of the unmanned aerial vehicle 5 as main factors, selects the long-endurance multi-rotor type unmanned aerial vehicle capable of carrying the VR panoramic camera, and realizes aerial video monitoring in a communication area.
Through cooperation and joint processing between the unmanned aerial vehicles 5 in the unmanned aerial vehicle base station 2, interference can be effectively utilized and higher transmission efficiency can be obtained if coordinated multipoint transmission is adopted.
The foregoing is a preferred embodiment of the present invention for the purpose of illustrating the invention, and it is therefore contemplated that modifications, equivalents and improvements will readily occur to those skilled in the art, which modifications are within the spirit and scope of the invention.
Claims (7)
1. The utility model provides an air ground is from network deployment communication system based on unmanned aerial vehicle basic station which characterized in that: the system comprises a cloud server, an unmanned aerial vehicle base station, a ground base station and a ground power distribution and utilization node;
the cloud server is arranged in an urban area, sends instructions or receives information fed back by the ground power distribution node through an upper computer, and is used for remote management and monitoring;
the unmanned aerial vehicle base station comprises at least one unmanned aerial vehicle, the unmanned aerial vehicle is a long-endurance multi-rotor-wing unmanned aerial vehicle, a base station module is carried on the unmanned aerial vehicle body and arranged on the water surface, and the base station module is connected with the cloud server and used for forwarding signals between the cloud server and the ground base station and between the cloud server and the ground power distribution node;
the ground base station is arranged in a mountain area, is connected with the cloud server, the unmanned aerial vehicle base station and the ground power distribution node, and is used for forwarding signals among the cloud server, the unmanned aerial vehicle base station and the ground power distribution node;
the ground power distribution and utilization node is connected with the unmanned aerial vehicle base station and the ground base station respectively and used for executing instructions or feeding back information after acquiring environment and/or power utilization parameter information of ground power distribution and utilization equipment;
a plurality of unmanned aerial vehicles construct a space-based wireless Mesh network in an ad hoc network mode through base station modules which are carried by the unmanned aerial vehicles, wireless nodes adjacent to ground distribution and utilization nodes are partitioned according to a certain radius range, and the ground-based wireless Mesh network is constructed between the wireless nodes in the partitions in the ad hoc network mode.
2. The unmanned aerial vehicle base station-based air-to-ground ad hoc network communication system of claim 1, wherein: the base station module comprises a first microprocessor and an airborne multi-beam antenna, the first microprocessor is respectively connected with a flight control module, a first GPS positioning module, a first power supply module, a wireless transceiving control module, a first wireless communication module and a second wireless communication module, and the wireless transceiving control module is connected with the airborne multi-beam antenna; the flight control module is used for controlling the unmanned aerial vehicle to fly and hover, the first GPS positioning module is used for positioning the aerial position of the unmanned aerial vehicle, the first power supply module supplies power for the first microprocessor, and the first wireless communication module is used for being in wireless communication connection with the cloud server to perform data interaction; the second wireless communication module is used for constructing a space-based wireless Mesh network among the multiple unmanned aerial vehicles and performing data interaction, the ground base station is provided with a ground multi-beam antenna corresponding to the airborne multi-beam antenna, and the first microprocessor is in wireless communication connection with the ground base station through the airborne multi-beam antenna to perform data interaction.
3. The air-ground ad hoc network communication system based on the drone base station of claim 2, wherein: the first wireless communication module is a 5G wireless communication module; the second wireless communication module is a 5G wireless communication module or a LoRa wireless communication module or a Bluetooth wireless communication module.
4. The unmanned aerial vehicle base station-based air-to-ground ad hoc network communication system of claim 3, wherein: the wireless node comprises a power distribution and utilization device and an auxiliary device thereof, the sensor module is used for implementing environment monitoring and electric quantity parameter acquisition, the sensor module is connected with a second microprocessor, the second microprocessor is also respectively connected with a third wireless communication module, a fourth wireless communication module and a second power module, the third wireless communication module is used for being connected with an unmanned aerial vehicle base station and a ground base station in a wireless communication manner for data interaction, the fourth wireless communication module is used for constructing a ground-based wireless Mesh network between wireless nodes and carrying out mutual data interaction, and the second power module supplies power for the second microprocessor.
5. The unmanned aerial vehicle base station-based air-to-ground ad hoc network communication system of claim 4, wherein: the third wireless communication module is a 5G wireless communication module; the fourth wireless communication module is a 5G wireless communication module or a LoRa wireless communication module or a Bluetooth wireless communication module.
6. The unmanned aerial vehicle base station-based air-to-ground ad hoc network communication system of claim 5, wherein: the sensor module comprises a current sensor, a light sensor, an electrostatic sensor, a material level sensor, an infrared detector, a temperature and humidity sensor and a smoke sensor.
7. The unmanned aerial vehicle base station-based air-to-ground ad hoc network communication system of claim 6, wherein: the second microprocessor is also connected with a second positioning module, and the second positioning module is used for positioning corresponding power distribution and utilization equipment and accessory equipment thereof.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115297571A (en) * | 2022-06-16 | 2022-11-04 | 广州大学 | Rapid communication deployment system based on intelligent multi-rotor carrying unmanned aerial vehicle platform |
| CN117202234A (en) * | 2023-09-01 | 2023-12-08 | 上海博昂电气有限公司 | Wireless ad hoc network system, communication method, electronic equipment and medium |
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2021
- 2021-12-08 CN CN202111489986.XA patent/CN114095074A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115297571A (en) * | 2022-06-16 | 2022-11-04 | 广州大学 | Rapid communication deployment system based on intelligent multi-rotor carrying unmanned aerial vehicle platform |
| CN115297571B (en) * | 2022-06-16 | 2023-10-10 | 广州大学 | Quick communication deployment system based on intelligent multi-rotor carrying unmanned aerial vehicle platform |
| CN117202234A (en) * | 2023-09-01 | 2023-12-08 | 上海博昂电气有限公司 | Wireless ad hoc network system, communication method, electronic equipment and medium |
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