CN103744390A - Cooperative control method for inspection of power line of unmanned aerial vehicle - Google Patents
Cooperative control method for inspection of power line of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to a cooperative control method for inspection of a power line of an unmanned aerial vehicle. The method comprises the following steps of enabling a ground measurement and control computer to send a control command to the unmanned aerial vehicle; enabling a main control program to receive the control command, and decoding; if the control command is a sensor operation command, enabling the main control program to transfer the sensor operation command to a sensor control program; enabling the sensor control program to decode the sensor operation command, and executing the sensor operation command; after executing, enabling the sensor control program to return operation state information back to the main control program; enabling the main control program to send the operation state information to the ground measurement and control computer. The method has the advantages that the integration and communication between the control program of each airborne sensor and the main control program as well as between the main control program and a ground control program are realized during the inspection of the power line of the unmanned aerial vehicle; the execution and state monitoring of a multi-sensor task can be coordinated; the method is used for data acquisition of safety inspection of the power line of an electric power department, and the inspection efficiency of power transmission lines is greatly improved.
Description
Technical field
The present invention relates to unmanned plane power circuit polling technical field, relate in particular to a kind of cooperative control method of unmanned plane power circuit polling.
Background technology
Electrical network existing ultra-high-tension power transmission line O&M pattern and routine inspection mode, mainly by maintainer rely on ground traffic tools or pad it, utilize hand-held instrument or naked eyes patrol facility process defect, can not adapt to development and the safe operation needs of modernization electrical network, super, extra-high voltage grid is badly in need of safety, advanced person, science, efficient electric inspection process mode.
In recent years, grid company is taked gradually take unmanned plane as carrying platform, loads sensor terminal and transmission line equipment and corridor environment are carried out to high-altitude overlooks and patrol and examine, and can partly replace artificial line walking, significantly reduces personnel labor intensity.Unmanned plane carries including stable platform, positioning and orientation system, laser scanner, thermal infrared imager, ultraviolet imager, video record instrument, Visible Light Camera etc. conventionally at present some or all of equipment and sensor are carried out the work of patrolling and examining.But owing to lacking overall system design, synchronous and mode of operation between various device and sensor is complicated, between the various sensors that make to load on unmanned plane, in most cases lack contact, the transmission of data and processing are also separate, cannot give play to multi-source data comparison advantage and accuracy that multisensor is is synchronously patrolled and examined.
Therefore, for guaranteeing unmanned plane, patrol and examine production plan safety, in order, carry out efficiently, complete the target of setting regions and circuit is implemented to dissimilar remote sensing aerial mission, complete data acquisition, need to, for the demand of late time data processing, improve total tune, the reliability and safety of UAS operation.
Summary of the invention
Based on this, the invention provides a kind of cooperative control method of unmanned plane power circuit polling.
A cooperative control method for unmanned plane power circuit polling, comprises the following steps:
Ground observing and controlling computing machine is by wireless communication link road direction unmanned plane sending controling instruction;
Primary control program on unmanned plane in airborne control computer receives described steering order and decodes;
If the described steering order receiving is sensor operational order, described primary control program is forwarded to corresponding sensor control program in airborne control computer by described sensor operational order;
Described sensor control program to forwarding and the described sensor operational order coming is decoded, and calls corresponding sensor handling function and carries out described sensor operational order;
After described sensor operational order is complete, described sensor control program returns to corresponding operational status information to described primary control program;
Described primary control program by wireless communication link earthward Measurement &control computer send described operational status information.
Compared with general technology, the cooperative control method of unmanned plane power circuit polling of the present invention, while having realized unmanned plane power circuit polling between the control program and primary control program of each airborne sensor, and the integrated and communication between primary control program and ground control program.The present invention can carry out synchro control and coordinate execution and the condition monitoring of multisensor task stable platform, positioning and orientation system, three-dimensional laser scanner, infrared thermoviewer, ultraviolet imager, video record instrument, Visible Light Camera, ultrasonic sensor etc.For the data acquisition of power department transmission line of electricity safety patrol inspection, realize flight and synchronously obtain the data such as laser point cloud, infrared video, ultraviolet video, optics photograph, visible light video, position and attitude, greatly improve power transmission line and patrol and examine efficiency.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the cooperative control method of unmanned plane power circuit polling of the present invention;
Fig. 2 is flight stability platform along the line, load control and object space graph of a relation;
Fig. 3 is that turning short burnt camera in outside is taken shaft tower view;
Fig. 4 is that turning long burnt camera in outside is taken tower rear side attitude schematic diagram;
Fig. 5 is that turning long burnt camera in outside is taken tower middle part attitude schematic diagram;
Fig. 6 is that turning long burnt camera in outside is taken tower front side attitude schematic diagram;
Fig. 7 is transmission line of electricity corner while being greater than 90 °, inner side turning flight stable platform, load control and object space graph of a relation;
Fig. 8 is transmission line of electricity corner while being less than 90 °, inner side turning flight stable platform, load control and object space graph of a relation.
Embodiment
For further setting forth the technological means that the present invention takes and the effect obtaining, below in conjunction with accompanying drawing and preferred embodiment, to technical scheme of the present invention, know and complete description.
Referring to Fig. 1, is the schematic flow sheet of the cooperative control method of unmanned plane power circuit polling of the present invention.
The cooperative control method of unmanned plane power circuit polling of the present invention, comprises the following steps:
S101 ground observing and controlling computing machine is by wireless communication link road direction unmanned plane sending controling instruction;
Primary control program on S102 unmanned plane in airborne control computer receives described steering order and decodes;
If the described steering order that S103 receives is sensor operational order, described primary control program is forwarded to corresponding sensor control program in airborne control computer by described sensor operational order;
Described in S104, sensor control program to forwarding and the described sensor operational order coming is decoded, and calls corresponding sensor handling function and carries out described sensor operational order;
Described in S105 sensor operational order complete after, described sensor control program returns to corresponding operational status information to described primary control program;
Described in S106 primary control program by wireless communication link earthward Measurement &control computer send described operational status information.
Ground observing and controlling computing machine by operation of serial-port to wireless communication link sending controling instruction;
As one of them embodiment, after primary control program on unmanned plane in airborne control computer receives described steering order and decodes, airborne control computer primary control program is received the steering order that wireless communication link sends over and is decoded by serial ports, decision instruction type, if system operational order, call operation systemic-function realizes file transfer, load and execution task, task switching pattern, closes or restart the functions such as system, carries out described steering order; If sensor operational order, by primary control program, packet header is screened, determine sensor type and execution pattern that instruction is corresponding, according to executing the task manually or automatic mode calls corresponding control flow, described primary control program by this steering order by network interface with UDP(User Datagram Protocol, User Datagram Protocol) packet form is forwarded to corresponding sensor control program in airborne control computer.
Above-mentioned way is conducive to unmanned plane to carry out Collaborative Control when the power circuit polling, no matter is that unmanned plane can both carry out alignment processing, has guaranteed the stable operation of unmanned aerial vehicle platform from ground to unmanned plane transmitting system operational order or sensor operational order.
As one of them embodiment, after determining the sensor type and execution pattern that described steering order is corresponding, if the execution pattern of described steering order is manual mode, described primary control program is directly forwarded to described steering order corresponding sensor control program.
Under manual mode, primary control program directly will be ordered and be forwarded corresponding sensor control program; Each sensor control program is decoded to the instruction forwarding, and forms order and parameter, calls corresponding sensor handling function and controls.The main task sensor order of manual mode support comprises: 1) three-dimensional laser scanner: connect, start scanning, stop scanning, disconnect, parameter configuration; 2) Visible Light Camera (comprising long burnt camera, short burnt camera): connect, take pictures, disconnect; 3) thermal infrared imager: connect, start video recording, stop record a video, disconnect, gain add, gain subtract, focal length adjusts near, focal length tune far; 4) ultraviolet imager: connect, start video recording, stop record a video, disconnect, gain add, gain subtract, visual field amplification, visual field dwindle; 5) positioning and orientation system (POS): connect, start feedback coordinates and attitude, stop feedback coordinates and attitude, disconnect.6) stable platform: connection, relative attitude adjustment, definitely attitude adjustment, locking, reset, disconnect.
As one of them embodiment, after determining the sensor type and execution pattern that described steering order is corresponding, if the execution pattern of described steering order is automatic mode, described primary control program judges whether to meet according to current geographic position and load attitude the condition of carrying out described steering order;
If met, described primary control program is forwarded to corresponding sensor control program by described steering order;
If do not met, wait for until current geographic position and load attitude meet the condition of carrying out described steering order.
Under automatic mode, primary control program is first by POS(Position and Orientation System, positioning and directing system) airborne sensor that obtains of system carries stable platform (lower abbreviation stable platform) current geographic position and load attitude judges whether to meet the exectorial condition of sensor.If met, will order and forward corresponding sensor control program; Each sensor control program is decoded to the instruction forwarding, and forms order and parameter, calls corresponding sensor handling function and controls.If the current geographic coordinate of stable platform does not also arrive near the task coordinate position (site error threshold range General Requirements is in ± 10 meters) of plan, wait for the POS system coordinate renew that stable platform carries and judge.If the current geographic coordinate of stable platform enters within the scope of near the error threshold in plan target point coordinate position, further judge sensor command operation object, if sensor command operation object is stable platform, three-dimensional laser scanner, thermal infrared imager or ultraviolet imager, directly carry out this order; If sensor command operation object is Visible Light Camera, judge whether the current attitude of stable platform is taking pictures within the scope of the attitude error of setting (deflection error threshold range General Requirements is in ± 1 °), as in the error range of given attitude, carry out photographing instruction, otherwise, primary control program generates and sends stable platform attitude adjustment order automatically according to the position relationship of the task point of stable platform and plan, until stable platform is adjusted within the scope of given attitude error, then calls camera control program and carry out photographing instruction.If stable platform can not be adjusted within the scope of given attitude error within the scope of given geographic position, this sensors command is carried out unsuccessfully, and primary control program enters the execution flow process of next instruction.The main task sensor order of automatic mode support comprises: 1) three-dimensional laser scanner: connect, start scanning, stop scanning, disconnect, parameter configuration; 2) Visible Light Camera (comprise long burnt camera, short burnt camera): connect, take pictures, impact point follows the tracks of and take pictures, disconnect; 3) thermal infrared imager: connect, start video recording, stop video recording, disconnect; 4) ultraviolet imager: connect, start video recording, stop video recording, disconnect; 5) stable platform: connect, definitely attitude adjustment, locking, reset, disconnect.
As one of them embodiment, described sensor control program is back to described primary control program with the form of UDP bag by described operational status information.
After sensor operation is complete, return to operation executing state, the status information of returning is still beamed back primary control program with UDP bag by coding form; Do like this state that is conducive to primary control program and grasps in time each sensor, execute after operation at every turn, primary control program can obtain Real-time Feedback, is conducive to primary control program to the numerous sensors centralized management on unmanned plane.
As one of them embodiment, described primary control program is before by wireless communication link, Measurement &control computer sends described operational status information earthward, described primary control program encapsulates described operational status information, and adds origin identification symbol, message numbering, check code and end identifier.
Primary control program encapsulates status message, and adds origin identification symbol, message numbering, check code, end identifier, then by serial ports, to wireless communication link, sends; The operational status information that primary control program returns sensor control program carries out respective handling, so just can be returned to ground observing and controlling end, thereby realizes integrated management and control.And communication efficiency and security have been improved.
Ground observing and controlling computing machine receives by serial ports the steering order operation return state information that wireless communication link is passed back, determines next step order of executing the task.
As a preferred embodiment, adopt the cooperative control method of unmanned plane power circuit polling of the present invention, to flight along the line, shaft tower outside turn round, shaft tower inner side turns round in three kinds of situations for the control procedure of stable platform and airborne sensor, and, task suspension initial in task, task finish the control to stable platform in three kinds of situations, describe.Action in various situations and workflow are as follows respectively:
Task is initial:
At task initial period, unmanned plane takes off from takeoff point, flies to task starting point, prepares to execute the task.Wherein, the control step of described task initial period comprises:
Start the subsystems in unmanned plane, start primary control program and each sensor control program of airborne control computer; Initialization stable platform; To stable platform, send instruction and start locking mode; Unmanned plane during flying, to task starting point, sends link order to each sensor, makes it enter connection ready state.
At task initial period, each system power-up starts, and airborne control computer primary control program starts and start each sensor control program, and each sensor control program connects each sensor interface and sign on is monitored; Then stable platform initialization; Primary control program sends instruction to stable platform and starts locking mode, guarantees in flight course that load attitude and stable platform attitude are consistent; Depopulated helicopter takes off, and flies to task starting point, and each task sensor is carried out link order and entered connection ready state.
Flight along the line:
Wherein, the control step of described mission phase along the line comprises:
When unmanned plane during flying is to default exposure station, to stable platform, send instruction and adjust attitude; After adjusting attitude, control short burnt camera and expose.In whole mission phase along the line, keep three-dimensional laser scanner in scanning mode, keep thermal infrared imager, ultraviolet imager in video state.
At mission phase along the line, depopulated helicopter is after front sequence task completes, start flight along the line, airborne control computer primary control program judges whether to meet the exectorial condition of sensor according to mission mode and current stable platform geographic position and load attitude, and adjusts stable platform and respective sensor state is patrolled and examined shooting to power line section.Stable platform position angle is towards vertical with line of electric force trend, and pitching frame is followed transmission line of electricity, and takes at some default exposure stations place, until this section aerial mission along the line completes.In flight course, the mutual relationship of unmanned plane, transmission line of electricity and shooting direction as shown in Figure 2.
At mission phase along the line, in flight course, depopulated helicopter does not hover; As follows at exposure station place stable platform and the Visible Light Camera course of work: to stable platform, to send instruction and adjust attitude (only adjust pitching frame in order to tracking guide wire radian, orientation frame keeps existing direction); Short burnt camera exposure.Three-dimensional laser scanner starts and keeps scanning mode, thermal infrared imager, ultraviolet imager to start and keep video state.
Be included in the turn control step in stage of turning stage and line of electric force inner side outside the line of electric force in unmanned plane power circuit polling;
Wherein, the control step in described line of electric force outside turning stage comprises:
When unmanned plane during flying is to default hovering place, by short burnt camera and long burnt camera, successively shaft tower is taken;
After shaft tower is taken, start the locking mode of unmanned plane stable platform;
After locking mode starts, control unmanned plane and turn in default hovering place;
After unmanned plane completes turning, start the attitude adjustment modes of unmanned plane stable platform, and control unmanned plane and fly away from default hovering place;
Wherein, the turn control step in stage of described line of electric force inner side comprises that again turning is greater than 90 degree and turning and is less than 90 control steps while spending:
Turning is greater than 90 control steps while spending and comprises:
When unmanned plane during flying is to default hovering place, by short burnt camera, at the exposure station of rear side part of path, take;
After the exposure station of rear side part of path is taken, by short burnt camera and long burnt camera, successively shaft tower is taken;
After shaft tower is taken, by short burnt camera, at the exposure station of front side part of path, take;
After the exposure station of front side part of path is taken, start the locking mode of unmanned plane stable platform;
After locking mode starts, control unmanned plane and turn in default hovering place;
After unmanned plane completes turning, start the attitude adjustment modes of unmanned plane stable platform, and control unmanned plane and fly away from default hovering place;
Turning is less than 90 control steps while spending and comprises:
When unmanned plane during flying is to default hovering place, by short burnt camera, at the exposure station of rear side part of path, take;
After the exposure station of rear side part of path is taken, by short burnt camera and long burnt camera, successively shaft tower is taken;
After shaft tower is taken, start the locking mode of unmanned plane stable platform;
After locking mode starts, control unmanned plane and turn in default hovering place;
After unmanned plane completes turning, start the attitude adjustment modes of unmanned plane stable platform;
Attitude to unmanned plane stable platform is adjusted, and by short burnt camera, at the exposure station of front side part of path, takes;
After the exposure station of front side part of path is taken, control unmanned plane and fly away from default hovering place.
Outside whole line of electric force, inside turning stage and line of electric force in the turning stage, keep three-dimensional laser scanner in scanning mode, keep thermal infrared imager, ultraviolet imager in video state.
Described step of shaft tower being taken by short burnt camera, comprises the following steps:
To stable platform, send instruction and adjust attitude, make stable platform point to shaft tower position; Control short burnt camera and expose, shaft tower is taken.
Described step of shaft tower being taken by long burnt camera, comprises the following steps:
After dividing by long burnt camera, in, first three side takes shaft tower; Wherein, each side adjustment angle of pitch carries out the angle shot of three of upper, middle and lower.
Turn in outside:
In outside, turn the stage, depopulated helicopter, after front sequence task completes, arrives transmission line of electricity turning in outside.In this section of task, unmanned plane enters task from 1,2 hoverings, shaft tower is taken and completed turning, from 3, ends task.As shown in Figure 3, wherein heavy line is this task section desired track to mutual relationship between unmanned aerial vehicle flight path, transmission line of electricity, shaft tower.
In outside, turn the stage, depopulated helicopter is taken after direction is crossed shaft tower position (point of 1 in Fig. 3) and is continued flight to default hovering place (point of 2 in Fig. 3), unmanned plane hovering.
After depopulated helicopter hovering, with short burnt camera shooting shaft tower, process is as follows: to stable platform, send instruction and adjust attitude, make platform point to shaft tower position (this instruction can be advanced to when unmanned plane shooting direction is crossed shaft tower position and send, and adjusts the time to shorten attitude); Short burnt camera exposure.
After short burnt camera is taken, with long burnt camera divide afterwards, in, first three side takes shaft tower, each side all needs to adjust the angle of pitch and carries out the angle shot of three of upper, middle and lower.Concrete steps following (schematic diagram as shown in Figures 4 to 6): send instruction to stable platform and adjust to part on aligning shaft tower rear side; Long burnt camera exposure; To stable platform, send instruction and adjust to part in aligning shaft tower rear side; Long burnt camera exposure; To stable platform, send instruction and adjust to part under aligning shaft tower rear side; Long burnt camera exposure; To stable platform, send instruction and adjust to the lower part in aligning shaft tower middle part; Long burnt camera exposure; To stable platform, send instruction and adjust to part in aligning shaft tower middle part; Long burnt camera exposure; To stable platform, send instruction and adjust to the upper part in aligning shaft tower middle part; Long burnt camera exposure; To stable platform, send instruction and adjust to part on aligning shaft tower front side; Long burnt camera exposure; To stable platform, send instruction and adjust to part in aligning shaft tower front side; Long burnt camera exposure; To stable platform, send instruction and adjust to part under aligning shaft tower front side; Long burnt camera exposure.
After long burnt camera has been taken, to stable platform, send instruction and start locking mode; Depopulated helicopter is turned; Depopulated helicopter hovering; To stable platform, sending attitude adjusts order reset locking and starts attitude adjustment modes; Unmanned helicopter flight arrives the position (3 points in Fig. 3) of front side line data-logging flight path shooting shaft tower.
In whole flow process, three-dimensional laser scanner keeps scanning mode, and thermal infrared imager, ultraviolet imager keep video state.
Turn in inner side:
In inner side, turn the stage, depopulated helicopter, after front sequence task completes, arrives transmission line of electricity turning in inner side.In this section of task, need hovering to take, shaft tower is taken, front side circuit is taken rear side circuit, aircraft is being taken rear steering to front side circuit, or shaft tower is being taken to rear steering.Mutual relationship between unmanned aerial vehicle flight path, transmission line of electricity, shaft tower as shown in Figure 7 and Figure 8.
In inner side, turn the stage, stable platform can only rotate within the scope of-90 ° to+90 °, and therefore when turning is less than 90 while spending, stable platform can not directly forward front side line direction to and complete short burnt camera shooting.Therefore depopulated helicopter needs again to hover after turning.In two kinds of situations, the concrete steps of depopulated helicopter, stable platform and sensor are as follows:
Turning is greater than 90 while spending:
Hovering after depopulated helicopter arrival task point; To stable platform, send instruction and adjust attitude to first exposure station of rear side part of path (point of 1 in Fig. 7); Short burnt camera exposure; Depending on hover point and shaft tower point horizontal range situation, repeat aforementioned activities, realize the complete covering of rear side track data; To stable platform, send instruction and adjust attitude to aiming at shaft tower; Short burnt camera exposure; Long burnt camera is taken shaft tower, and concrete steps are taken shaft tower step with the burnt camera of aforesaid length; To stable platform, send instruction and adjust attitude to first exposure station of front side part of path (point of 2 in Fig. 7); Short burnt camera exposure; Depending on hover point and shaft tower point horizontal range situation, repeat aforementioned activities, realize the complete covering of front side track data; To stable platform, send instruction and adjust attitude to last exposure station of front side part of path (point of 3 in Fig. 7); Short burnt camera exposure; To stable platform, send instruction locking mode; Depopulated helicopter is turned; Depopulated helicopter hovering; To stable platform, sending attitude adjusts order reset locking and starts attitude adjustment modes.
In whole flow process, three-dimensional laser scanner keeps scanning mode, and thermal infrared imager, ultraviolet imager keep video state.
Turning is less than 90 while spending:
Hovering after depopulated helicopter arrival task point; To stable platform, send instruction and adjust attitude to first exposure station of rear side part of path (point of 1 in Fig. 8); Short burnt camera exposure; Depending on hover point and shaft tower point horizontal range situation, repeat aforementioned activities, realize the complete covering of rear side track data; To stable platform, send instruction and adjust attitude to aiming at shaft tower; Short burnt camera exposure; Long burnt camera is taken shaft tower, the step that concrete steps are taken shaft tower with the burnt camera of aforesaid length; To stable platform, send instruction and start locking mode; Depopulated helicopter is turned; Depopulated helicopter hovering; To stable platform, sending attitude adjusts order reset locking and starts attitude adjustment modes; To stable platform, send instruction and adjust attitude to first exposure station of front side part of path (point of 2 in Fig. 8); Short burnt camera exposure; Depending on hover point and shaft tower point horizontal range situation, repeat aforementioned activities, realize the complete covering of front side track data; To stable platform, send instruction and adjust attitude to last exposure station of front side part of path (point of 3 in Fig. 8); Short burnt camera exposure.
In whole flow process, three-dimensional laser scanner keeps scanning mode, and thermal infrared imager, ultraviolet imager keep video state.
Task suspension:
Wherein, the control step in described task suspension stage comprises:
To stable platform, send instruction and start locking mode; When unmanned plane during flying is to corresponding task point, to the stable platform transmission instruction pattern that unlocks.
In the whole task suspension stage, keep three-dimensional laser scanner in scanning mode, keep thermal infrared imager, ultraviolet imager in video state.
At task pause stage, unmanned plane flies away from from last task point of upper continuous duty navigation section, enters UAV Attitude and position adjustment, then enters next first task point of continuous duty navigation section.
At task pause stage, to stable platform, send instruction and start locking mode; Unmanned helicopter flight is to next first task point of continuous duty navigation section; To stable platform, send the instruction pattern that unlocks.
In whole flow process, three-dimensional laser scanner keeps scanning mode, and thermal infrared imager, ultraviolet imager keep video state.
Task finishes:
Wherein, the control step of described task ending phase comprises:
To stable platform, send instruction and start locking mode; To three-dimensional laser scanner, send and stop scan command, to thermal infrared imager, ultraviolet imager, send and stop video recording order.
In task ending phase, unmanned plane flies away from from last task point, and flight is landed to level point.
In task ending phase, to stable platform, send instruction and start locking mode; To three-dimensional laser scanner, send and stop scan command, to thermal infrared imager, ultraviolet imager, send and stop video recording order; Unmanned helicopter flight is to level point; Unmanned plane landing.
Compared with general technology, the cooperative control method of unmanned plane power circuit polling of the present invention, while having realized unmanned plane power circuit polling between the control program and primary control program of each airborne sensor, and the integrated and communication between primary control program and ground control program.The present invention can carry out synchro control and coordinate execution and the condition monitoring of multisensor task stable platform, positioning and orientation system, three-dimensional laser scanner, infrared thermoviewer, ultraviolet imager, video record instrument, Visible Light Camera, ultrasonic sensor etc.For the data acquisition of power department transmission line of electricity safety patrol inspection, realize flight and synchronously obtain the data such as laser point cloud, infrared video, ultraviolet video, optics photograph, visible light video, position and attitude, greatly improve power transmission line and patrol and examine efficiency.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (9)
1. a cooperative control method for unmanned plane power circuit polling, is characterized in that, comprises the following steps:
Ground observing and controlling computing machine is by wireless communication link road direction unmanned plane sending controling instruction;
Primary control program on unmanned plane in airborne control computer receives described steering order and decodes;
If the described steering order receiving is sensor operational order, described primary control program is forwarded to corresponding sensor control program in airborne control computer by described sensor operational order;
Described sensor control program to forwarding and the described sensor operational order coming is decoded, and calls corresponding sensor handling function and carries out described sensor operational order;
After described sensor operational order is complete, described sensor control program returns to corresponding operational status information to described primary control program;
Described primary control program by wireless communication link earthward Measurement &control computer send described operational status information.
2. the cooperative control method of unmanned plane power circuit polling according to claim 1, is characterized in that, the primary control program on described unmanned plane in airborne control computer receive described steering order and the step of decoding after, comprise the following steps:
Described primary control program judges the instruction type of the described steering order receiving.
3. the cooperative control method of unmanned plane power circuit polling according to claim 2, is characterized in that, described primary control program comprises the following steps after judging the step of instruction type of the described steering order receiving:
If described steering order is system operational order, described primary control program call operation systemic-function is carried out described steering order.
4. the cooperative control method of unmanned plane power circuit polling according to claim 2, is characterized in that, described primary control program comprises the following steps after judging the step of instruction type of the described steering order receiving:
If described steering order is sensor operational order, described primary control program is screened packet header, determines sensor type and execution pattern that described steering order is corresponding.
5. the cooperative control method of unmanned plane power circuit polling according to claim 2, is characterized in that, described primary control program comprises the following steps after judging the step of instruction type of the described steering order receiving:
If described steering order is sensor operational order, described primary control program is forwarded to airborne control computer in corresponding sensor control program by network interface with the form of UDP bag by described steering order.
6. the cooperative control method of unmanned plane power circuit polling according to claim 4, is characterized in that, after determining the step of sensor type that described steering order is corresponding and execution pattern, comprises the following steps:
If the execution pattern of described steering order is manual mode, described primary control program is directly forwarded to described steering order corresponding sensor control program.
7. the cooperative control method of unmanned plane power circuit polling according to claim 4, is characterized in that, after determining the step of sensor type that described steering order is corresponding and execution pattern, comprises the following steps:
If the execution pattern of described steering order is automatic mode, described primary control program judges whether to meet according to current geographic position and load attitude the condition of carrying out described steering order;
If met, described primary control program is forwarded to corresponding sensor control program by described steering order;
If do not met, wait for until current geographic position and load attitude meet the condition of carrying out described steering order.
8. the cooperative control method of unmanned plane power circuit polling according to claim 1, is characterized in that, described sensor control program returns to the step of corresponding operational status information to described primary control program, comprises the following steps:
Described sensor control program is back to described primary control program with the form of UDP bag by described operational status information.
9. the cooperative control method of unmanned plane power circuit polling according to claim 1, is characterized in that, described primary control program before by wireless communication link, Measurement &control computer sends the step of described operational status information earthward, comprises the following steps:
Described primary control program encapsulates described operational status information, and adds origin identification symbol, message numbering, check code and end identifier.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103995537A (en) * | 2014-05-09 | 2014-08-20 | 上海大学 | Indoor and outdoor mixed autonomous cruising system and method of aircraft |
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| CN103995537A (en) * | 2014-05-09 | 2014-08-20 | 上海大学 | Indoor and outdoor mixed autonomous cruising system and method of aircraft |
| CN103995537B (en) * | 2014-05-09 | 2017-04-05 | 上海大学 | Aircraft indoor and outdoor mixes autonomous cruise System and method for |
| WO2017012499A1 (en) * | 2015-07-17 | 2017-01-26 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control method, apparatus and system |
| WO2017020856A1 (en) * | 2015-08-05 | 2017-02-09 | 普宙飞行器科技（深圳）有限公司 | Photographing device and method using drone to automatically track and photograph moving object |
| WO2017088097A1 (en) * | 2015-11-23 | 2017-06-01 | 深圳市大疆创新科技有限公司 | Data transmission method and related device |
| CN107003667A (en) * | 2015-11-23 | 2017-08-01 | 深圳市大疆创新科技有限公司 | Data transmission method and relevant apparatus |
| US11092959B2 (en) | 2015-11-23 | 2021-08-17 | SZ DJI Technology Co., Ltd. | Method and apparatus for data transmission |
| CN113296539A (en) * | 2015-12-15 | 2021-08-24 | 深圳市大疆创新科技有限公司 | Method and system for servicing objects |
| CN108214498A (en) * | 2016-12-21 | 2018-06-29 | 李汉忠 | A kind of supermarket's rubbish automatic cleaning method |
| CN108195358A (en) * | 2017-11-10 | 2018-06-22 | 广东电网有限责任公司教育培训评价中心 | The transmission line of electricity collecting method of simulation training system is maked an inspection tour based on unmanned plane |
| CN109491402A (en) * | 2018-11-01 | 2019-03-19 | 中国科学技术大学 | Multiple no-manned plane based on clustered control cooperates with targeted surveillance control method |
| CN109491402B (en) * | 2018-11-01 | 2020-10-16 | 中国科学技术大学 | Multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control |
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