CN106600749A - Data recording method and unmanned aerial vehicle - Google Patents
Data recording method and unmanned aerial vehicle Download PDFInfo
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- CN106600749A CN106600749A CN201610986405.6A CN201610986405A CN106600749A CN 106600749 A CN106600749 A CN 106600749A CN 201610986405 A CN201610986405 A CN 201610986405A CN 106600749 A CN106600749 A CN 106600749A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention relates to the field of unmanned aerial vehicles and discloses a data recording method and an unmanned aerial vehicle. The data recording method includes the steps that an unmanned aerial vehicle control command from a user and data of various sensors are collected, wherein the sensors are installed on the unmanned aerial vehicle; the unmanned aerial vehicle control command and the data of the sensors are stored. The embodiment of the invention further discloses the unmanned aerial vehicle. Compared with the prior art, the collected unmanned aerial vehicle control command from the user and the collected data of the sensors are saved, so relevant personnel can learn about flight conditions of the unmanned aerial vehicle according to the saved data, problems are found earlier more easily, and hidden hazards are eliminated easily. Once the problems are found, the relevant personnel can analyze accident causes according to the saved data, accuracy of accident cause analysis is improved easily, responsibility ascription is ascertained easily, and disputes between enterprises and users are reduced.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of data record method and unmanned plane.
Background technology
It is well known that typically can all install the recording equipment of a standard, referred to as black box on present aircraft.By black
Case, can parse flying quality of the aircraft in whole flight course.According to the flying quality of black box subrecord, can be advance
Aircraft hidden danger is excluded, once there is accident, it is also possible to cause of accident is analyzed by the flying quality of black box subrecord.But because of black box
Sub-volume and weight are larger, and can take the resource of aircraft automated driving system, therefore, present black box is typically all arranged on
On large-scale aircraft, middle-size and small-size unmanned plane is not particularly suited for.And therefore unmanned plane also cannot preserve flying quality, this is resulted in
The user of unmanned plane is difficult the flight condition for grasping unmanned plane, cannot also know the state of unmanned plane itself.
It was found by the inventors of the present invention that when unmanned plane goes wrong, related personnel can only be according to user's spoken feedback
Phenomenon come guess may the reason for, and due to grasp situation it is limited, user feedback when be likely to occur omit and it is inaccurate
Situation, therefore, be difficult to find out the place of problem exactly in this way.Cannot judge exactly be unmanned plane from
The reason for body, or user operation it is improper the reason for, this can not only cause the dispute of user and enterprise, it is also possible to stay very big
Potential safety hazard.
The content of the invention
The purpose of embodiment of the present invention is to provide a kind of data record method and unmanned plane, can be in unmanned plane during flying mistake
Cheng Zhong, related data is preserved.When unmanned plane goes wrong so that related personnel can pass through the data of the preservation, point
The reason for division life problem, improve the accuracy rate of analysis on accident cause.
To solve above-mentioned technical problem, embodiments of the present invention provide a kind of data record method and unmanned plane, bag
Include：Unmanned aerial vehicle (UAV) control order and the data of various kinds of sensors of the collection from user；Wherein, various kinds of sensors is to be installed on nobody
Sensor on machine；Storage unmanned aerial vehicle (UAV) control order and the data of various kinds of sensors.
Embodiments of the present invention additionally provide a kind of unmanned plane, including：Aircraft control unit and memory element；Aircraft control
Unit processed is used for unmanned aerial vehicle (UAV) control order and the data of various kinds of sensors of the collection from user, and is sent to memory element；Its
In, various kinds of sensors is the sensor being installed on unmanned plane；Memory element is used to store unmanned aerial vehicle (UAV) control order and all kinds of biographies
The data of sensor.
Embodiment of the present invention in terms of existing technologies, by collect from user unmanned aerial vehicle (UAV) control order and
The data of various kinds of sensors are entered and preserved so that related personnel according to the data of the storage, can understand the flight condition of unmanned plane,
Be conducive to pinpointing the problems ahead of time, exclude hidden danger.Once pinpointing the problems, related personnel can also be according to the data analysiss accident for preserving
Reason, not only improves the accuracy rate for improving analysis on accident cause, it helps investigate thoroughly attribution of liability, and reduction enterprise entangles with user's
Confusingly.
In addition, collection in the unmanned aerial vehicle (UAV) control order of user and the data of various kinds of sensors, by unmanned plane in fly
Machine control unit is gathering unmanned aerial vehicle (UAV) control order and the data of various kinds of sensors from user；Storage unmanned aerial vehicle (UAV) control order
And in the data of various kinds of sensors, by the camera unit of unmanned plane by unmanned aerial vehicle (UAV) control order and the data is activation of various kinds of sensors
Stored to memory element；In collection after the unmanned aerial vehicle (UAV) control order of user and the data of various kinds of sensors, depositing
Before the data of storage unmanned aerial vehicle (UAV) control order and the various kinds of sensors, also include：Aircraft control unit orders unmanned aerial vehicle (UAV) control
Camera unit of the data is activation of order and various kinds of sensors to unmanned plane.A kind of passage of data transfer is provided.
In addition, aircraft control unit by the data is activation of unmanned aerial vehicle (UAV) control order and various kinds of sensors to camera unit, tool
Body includes：The data of unmanned aerial vehicle (UAV) control order and various kinds of sensors are put in order in a predetermined sequence；After end is put in order, by nobody
The data of machine control command and various kinds of sensors are packaged into the first packet；It is the first packet according to default communications protocol
Check information is set, and generates the second packet；Second packet is sent to into camera unit；Camera unit is by unmanned aerial vehicle (UAV) control
The data is activation of order and various kinds of sensors is stored to memory element, is specifically included：According to check information, judge what is received
Whether packet is the second packet；When the packet for judging to receive is as the second packet, the second packet is parsed,
Obtain the first packet；First packet is sent to memory element.Be conducive to improving safety of the data in transmitting procedure.
In addition, after the data of unmanned aerial vehicle (UAV) control order and various kinds of sensors to be packaged into the first packet, in basis
Default communications protocol, is that the first packet is arranged before check information, is also included：It is the first number according to default encryption rule
According to packet encryption.It is encrypted, not only improves the safety for improving data, is also beneficial to prevent user's altered data, data falsification,
Ensure the verity and effectiveness of data.
In addition, after the data of storage unmanned aerial vehicle (UAV) control order and various kinds of sensors, also including：Periodically by the nothing of storage
The data is activation of Human-machine Control order and various kinds of sensors is to without teledata monitoring platform.Be conducive to avoiding unmanned plane from meeting with
When burst, major accident, the data preserved in unmanned plane are destroyed.
Description of the drawings
Fig. 1 is the flow chart of the data record method according to first embodiment of the invention；
Fig. 2 is to unmanned aerial vehicle (UAV) control order and various kinds of sensors according to the aircraft control unit of first embodiment of the invention
Data process chart；
Fig. 3 is the process chart of the packet according to the camera unit of first embodiment of the invention to receiving；
Fig. 4 is the flow chart of the data record method according to second embodiment of the invention；
Fig. 5 is the structured flowchart of the unmanned plane according to third embodiment of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with each reality of the accompanying drawing to the present invention
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each embodiment of the invention,
In order that reader more fully understands the application and proposes many ins and outs.But, even if without these ins and outs and base
Many variations and modification in following embodiment, it is also possible to realize the application technical scheme required for protection.
The first embodiment of the present invention is related to a kind of data record method.Idiographic flow is as shown in Figure 1.
Step 101：Unmanned aerial vehicle (UAV) control order and the data of various kinds of sensors of the collection from user.
Specifically, in present embodiment, the unmanned plane from user can be received by the flight orders Transmit-Receive Unit of unmanned plane
Control command；Gathered by the aircraft control unit of unmanned plane on unmanned plane install various kinds of sensors (as acceleration transducer,
Gyroscope, magnetometer, barometer and GPS etc.) data.
Step 102：By the data is activation of unmanned aerial vehicle (UAV) control order and various kinds of sensors to unmanned plane camera unit.
Flight orders Transmit-Receive Unit can will receive unmanned aerial vehicle (UAV) control order and be sent to aircraft control unit, aircraft control in real time
Unit processed again sends the data timing (such as every 0.5s) of the unmanned aerial vehicle (UAV) control order for receiving and the various kinds of sensors of collection
To camera unit.
It is noted that the safety to be further ensured that data transfer, aircraft control unit is to camera unit
When sending the data of unmanned aerial vehicle (UAV) control order and various kinds of sensors, following process can be done to it, idiographic flow is as shown in Figure 2.
Step 1021：The data of unmanned aerial vehicle (UAV) control order and various kinds of sensors are put in order in a predetermined sequence.
Various data are being taken in the future for ease of related personnel, can in a certain order put in order each data.The order
Can set when unmanned plane dispatches from the factory, it is also possible to reset when using in the later stage.
Step 1022：The data of unmanned aerial vehicle (UAV) control order and various kinds of sensors are packaged into into the first packet.
Step 1023：It is that the first packet arranges check information according to default communications protocol, and generates the second data
Bag.
To be further ensured that the safety of data, packet header, data length and data check position can be added for the first packet
Deng check information, new packet, i.e. the second packet are constituted.
Step 1024：Second packet is sent to into camera unit.
By the data is activation of unmanned aerial vehicle (UAV) control order and various kinds of sensors to camera unit after, you can into step 103.
Step 103：Camera unit sends the unmanned aerial vehicle (UAV) control order for receiving and the data of various kinds of sensors to storage
Unit is stored.
Specifically, in this step, whether camera unit can first judge the packet of the reception when packet is received
For the second packet.When the packet for judging the reception is as the second packet, second packet can be parsed, with
To the first packet, and first packet is sent to memory element.Idiographic flow is as shown in Figure 3.
Step 1031：According to check information, judge whether the packet for receiving is the second packet.
As it was noted above, carrying check information on the second packet, the check information is according to default communications protocol
Setting, therefore, camera unit can pass through to judge whether the check information of the packet for receiving meets the default communications protocol,
To judge whether the packet of the reception is the second packet.Judge the verification such as packet header, data length and data check position letter
Whether breath meets the default communications protocol.
If meeting, into step 1032；If not meeting, this flow process is exited.
Step 1032：Second packet is parsed, the first packet is obtained.
In this step, camera unit according to the default communications protocol can remove packet header, check bit etc., obtain the
One packet.
Step 1033：First packet is sent to memory element and is stored.
It should be noted that the memory element in present embodiment is to work together with camera unit, be responsible for record camera
The related data of unit, therefore, aircraft control unit is needed unmanned aerial vehicle (UAV) control order and all kinds of sensings by camera unit
The data is activation of device is stored to the memory element.But in actual applications, when the memory element being related to is independently of camera
During part outside unit, aircraft control unit can also directly by unmanned aerial vehicle (UAV) control order and the data is activation of various kinds of sensors
Stored to the memory element.
Present embodiment, unmanned aerial vehicle (UAV) control order and all kinds of biographies are stored using the existing hardware of unmanned plane (memory element)
The data of sensor, without the need for additionally increasing new hardware, not only improve cost-effective, are also beneficial to reduce to the resource of unmanned plane
Take；Also cause related personnel that the flight condition of unmanned plane according to the data of the storage, can be understood simultaneously, be conducive to finding ahead of time
Problem, exclusion hidden danger.Once pinpointing the problems, related personnel can also not only improve according to the data analysiss cause of accident for preserving
Improve the accuracy rate of analysis on accident cause, it helps investigate thoroughly attribution of liability, reduce the dispute of enterprise and user.
Second embodiment of the present invention is related to a kind of data record method.Second embodiment is in first embodiment
On the basis of the further improvement done, mainly the improvement is that：In second embodiment, aircraft control unit is by unmanned plane
The data of control command and various kinds of sensors are packaged into after the first packet, can also be encrypted place to first packet
Reason.
Specifically, in present embodiment, aircraft control unit is by the number of unmanned aerial vehicle (UAV) control order and various kinds of sensors
According to being packaged into after the first packet, also first packet can be encrypted according to default encryption rule, with further
Improve the safety of data.The default encryption rule can be AESs such as MD5, DES, AES, or by character
Serially add the methods such as side-play amount to be encrypted data.First packet to be encrypted also be beneficial to and prevents user's altered data, puppet
Data etc. are made, contributes to protecting the effectiveness and verity of data.
It is the first number after the encryption after being encrypted to the first packet, you can according to default communications protocol
Check information is set according to bag, the second new packet is constituted, and second packet is sent to into camera unit.In practical application
In, it is also possible to after the first Data Packet Encryption, directly send it to camera unit.
Additionally, present embodiment can also arrange unmanned plane periodically by the unmanned aerial vehicle (UAV) control order of storage and various kinds of sensors
Data is activation to teledata monitoring platform, to avoid unmanned plane when burst, major accident is met with, the number preserved in unmanned plane
According to destroyed.Specifically, the first packet that the memory element of unmanned plane periodically stored can be set and is sent to teledata
Monitoring platform.The teledata monitoring platform is managed and maintenance by unmanned plane manufacturing enterprise.Teledata monitoring platform exists
After receiving the first packet, the first packet can reversely be decrypted according to the default encryption rule.After successful decryption, you can
Related data to storing is analyzed, to understand the state of flight of unmanned plane and the operational order of user.In actual applications,
May also set up the first packet that memory element is about to store when unmanned plane breaks down, certainly, to be uploaded to teledata monitoring flat
Platform, so that the reason for unmanned plane manufacturing enterprise parsing accident.
The tool flow process of present embodiment is as shown in Figure 4：
Step 401：Unmanned aerial vehicle (UAV) control order and the data of various kinds of sensors of the collection from user.
Step 402：The data of unmanned aerial vehicle (UAV) control order and various kinds of sensors are put in order in a predetermined sequence.
Step 403：The data of unmanned aerial vehicle (UAV) control order and various kinds of sensors are packaged into into the first packet.
Step 404：It is the first Data Packet Encryption according to default encryption rule.
Step 405：It is that the first packet after encryption arranges check information according to default communications protocol, generates second
Packet.
Step 406：Second packet is sent to into camera unit.
Step 407：Camera unit is parsed to the second packet, obtains the first packet.
Step 408：First packet is sent to memory element and is stored by camera unit.
Present embodiment, on the one hand, be encrypted to the first packet, can be further ensured that the effectiveness of data and true
Property；On the other hand, periodically by storage the first packet be sent to teledata monitoring platform, also further ensure data
Safety.
Above the step of various methods divide, be intended merely to description it is clear, can merge into when realizing a step or
Some steps are split, multiple steps are decomposed into, as long as comprising identical logical relation, all in the protection domain of this patent
It is interior；To either adding inessential modification in algorithm in flow process or introducing inessential design, but its algorithm is not changed
With the core design of flow process all in the protection domain of the patent.
Third embodiment of the present invention is related to a kind of unmanned plane.As shown in figure 5, the unmanned plane includes：Flight orders are received
Bill unit 51, aircraft control unit 52, camera unit 53 and memory element 54.
Wherein, between flight orders Transmit-Receive Unit 51 and aircraft control unit 52, aircraft control unit 52 and camera unit
Can be connected by serial bus interface between 53.The serial bus interface can be UART serial ports, I2C EBIs or SPI are total
Line interface.
Then can be connected by parallel interface between camera unit 53 and memory element 54.
Specifically, in present embodiment, flight orders Transmit-Receive Unit 51 can be used to receive the unmanned aerial vehicle (UAV) control from user
Order, and the unmanned aerial vehicle (UAV) control order for receiving is sent to into aircraft control unit 52.
Aircraft control unit 52 receives the unmanned aerial vehicle (UAV) control order that flight orders Transmit-Receive Unit 51 sends, and by itself and collection
Various kinds of sensors data, be sent to camera unit 53 in the lump, then by camera unit 53 by unmanned aerial vehicle (UAV) control order and all kinds of
The data is activation of sensor is stored to memory element 54.Wherein, various kinds of sensors of the present embodiment is installation
Sensor on unmanned plane.
It should be noted that the memory element in present embodiment is to work together with camera unit, be responsible for record camera
The related data of unit, therefore, aircraft control unit is needed unmanned aerial vehicle (UAV) control order and all kinds of sensings by camera unit
The data is activation of device is stored to the memory element.But in actual applications, when the memory element being related to is independently of camera
During part outside unit, aircraft control unit then directly can give the data is activation of unmanned aerial vehicle (UAV) control order and various kinds of sensors
The memory element is stored.
In addition, it is noted that being to directly receive to use by oneself using flight orders Transmit-Receive Unit in present embodiment
The unmanned aerial vehicle (UAV) control order at family, the data for directly gathering using aircraft control unit various kinds of sensors, in actual applications,
Only above-mentioned both information can also be directly gathered by aircraft control unit, present embodiment is without limitation.
Present embodiment, unmanned aerial vehicle (UAV) control order and various kinds of sensors are stored using the existing memory element of unmanned plane
Data, advantageously reduce the occupancy of the resource to unmanned plane, reduces cost；Simultaneously also so that related personnel can be according to the storage
Data, understand the flight condition of unmanned plane, are conducive to pinpointing the problems ahead of time, exclude hidden danger.Once pinpoint the problems, related personnel
The accuracy rate for improving analysis on accident cause can be not only improved, it helps investigate thoroughly according to the data analysiss cause of accident for preserving
Attribution of liability, reduces the dispute of enterprise and user.
It is seen that, present embodiment is the device embodiment corresponding with first embodiment, and present embodiment can be with
First embodiment is worked in coordination enforcement.The relevant technical details mentioned in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, repeats no more here.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention,
And in actual applications, can in the form and details to it, various changes can be made, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of data record method, it is characterised in that include：
Unmanned aerial vehicle (UAV) control order and the data of various kinds of sensors of the collection from user；Wherein, the various kinds of sensors is installation
Sensor on unmanned plane；
Store the data of the unmanned aerial vehicle (UAV) control order and the various kinds of sensors.
2. data record method according to claim 1, it is characterised in that
It is described to gather in the unmanned aerial vehicle (UAV) control order of user and the data of various kinds of sensors, by the aircraft in the unmanned plane
Control unit is gathering unmanned aerial vehicle (UAV) control order and the data of various kinds of sensors from user；
In the data of the storage unmanned aerial vehicle (UAV) control order and various kinds of sensors, by the camera unit of the unmanned plane by the nothing
The data is activation of Human-machine Control order and various kinds of sensors to the memory element of the unmanned plane is stored；
In the collection after the unmanned aerial vehicle (UAV) control order of user and the data of various kinds of sensors, described nobody is stored
Before the data of machine control command and the various kinds of sensors, also include：
The aircraft control unit by the data is activation of the unmanned aerial vehicle (UAV) control order and the various kinds of sensors to it is described nobody
The camera unit of machine.
3. data record method according to claim 2, it is characterised in that the aircraft control unit is by the unmanned plane
The data is activation of control command and the various kinds of sensors is specifically included to camera unit：
The data of the unmanned aerial vehicle (UAV) control order and the various kinds of sensors are put in order in a predetermined sequence；
After end is put in order, the data of the unmanned aerial vehicle (UAV) control order and the various kinds of sensors are packaged into into the first packet；
It is that first packet arranges check information according to default communications protocol, and generates the second packet；
Second packet is sent to into the camera unit；
The camera unit is by the storage of the data is activation of the unmanned aerial vehicle (UAV) control order and various kinds of sensors to the unmanned plane
Unit is stored, and is specifically included：
According to check information, judge whether the packet for receiving is second packet；
When the packet for judging the reception is as second packet, second packet is parsed, obtain the
One packet；
First packet is sent to the memory element and is stored.
4. data record method according to claim 3, it is characterised in that described by unmanned aerial vehicle (UAV) control order and all kinds of
The data of sensor are packaged into after the first packet, are that first packet sets described according to default communications protocol
Before putting check information, also include：
It is first Data Packet Encryption according to default encryption rule.
5. data record method according to claim 1, it is characterised in that in the storage unmanned aerial vehicle (UAV) control order and institute
After stating the data of various kinds of sensors, also include：
Periodically by the data is activation of the unmanned aerial vehicle (UAV) control order of the storage and the various kinds of sensors to without teledata monitoring
Platform.
6. a kind of unmanned plane, it is characterised in that include：Aircraft control unit and memory element；
The aircraft control unit is used for unmanned aerial vehicle (UAV) control order and the data of various kinds of sensors of the collection from user, and sends
To the memory element；Wherein, the various kinds of sensors is the sensor being installed on unmanned plane；
The memory element is used to store the data of the unmanned aerial vehicle (UAV) control order and the various kinds of sensors.
7. unmanned plane according to claim 6, it is characterised in that the unmanned plane also includes camera unit；
The aircraft control unit passes through the camera unit, by the unmanned aerial vehicle (UAV) control order and the number of the various kinds of sensors
According to being sent to the memory element.
8. unmanned plane according to claim 7, it is characterised in that the unmanned plane also includes flight orders Transmit-Receive Unit；
The flight orders Transmit-Receive Unit is used to receive the unmanned aerial vehicle (UAV) control order from user, and the unmanned aerial vehicle (UAV) control is ordered
Order is sent to the aircraft control unit.
9. unmanned plane according to claim 7, it is characterised in that the aircraft control unit by serial bus interface with
The camera unit connection.
10. unmanned plane according to claim 9, it is characterised in that the serial bus interface is UART serial ports, I2C buses
Interface or spi bus interface.
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| CN112655031A (en) * | 2020-03-23 | 2021-04-13 | 深圳市大疆创新科技有限公司 | Flight data processing method and device, recorder, unmanned aerial vehicle and storage medium |
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| CN109976374B (en) * | 2019-04-26 | 2021-11-30 | 拓攻（南京）机器人有限公司 | Method, device and equipment for detecting abnormal falling of unmanned aerial vehicle and storage medium |
| CN112655031A (en) * | 2020-03-23 | 2021-04-13 | 深圳市大疆创新科技有限公司 | Flight data processing method and device, recorder, unmanned aerial vehicle and storage medium |
| WO2021189201A1 (en) * | 2020-03-23 | 2021-09-30 | 深圳市大疆创新科技有限公司 | Flight data processing method and device, recorder, unmanned aerial vehicle, and storage medium |
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