CN104243132A - Data synchronizing method and related equipment - Google Patents
Data synchronizing method and related equipment Download PDFInfo
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- CN104243132A CN104243132A CN201410528681.9A CN201410528681A CN104243132A CN 104243132 A CN104243132 A CN 104243132A CN 201410528681 A CN201410528681 A CN 201410528681A CN 104243132 A CN104243132 A CN 104243132A
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Abstract
The invention provides a data synchronizing method and related equipment. The data synchronizing method includes that a wireless communication link is established between a controlling end and a controlled flying end; the controlling end establishes a data link of the controlled flying end and executes an operation for initial synchronizing of flying data of the controlled flying end; the controlling end synchronizes data configured to be first type in the flying data in real time and synchronize data configured to be second type in the flying data according to preset synchronizing rules. The data of the second type are synchronized according to the preset synchronizing rules, and occupation of link bandwidth due to synchronizing of the data of the second type and the data of the first type at the same time is avoided, so that delay of displaying of the flying data at the controlling end is reduced.
Description
Technical field
The present invention relates to field of data transmission, particularly a kind of method of data synchronization and relevant device.
Background technology
Drone is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft utilizing radio robot to handle with the presetting apparatus provided for oneself.Unmanned plane extensive use, because it is driven without the need to personnel, so can perform more dangerous task, unmanned air vehicle technique is applied in investigation search field widely.
Unmanned plane can realize the collection of high resolution image, is making up while satellite remote sensing often obtains less than image shortcoming because of cloud cover, solves long, the emergent problem such as not in time of conventional satellite remote sensing revisiting period.
The information collected can be real-time transmitted to ground station by usual unmanned plane, but because transmission range and operational factor are to the interference of the factors such as transmission band occupation, these data can be delayed in the display of ground station, user can not understand the current operating conditions of unmanned plane in real time, there is potential safety hazard to the manipulation of unmanned plane.
Summary of the invention
In view of this, a kind of method of data synchronization and relevant device is embodiments provided.
The invention provides a kind of method of data synchronization, described method comprises:
Control end sets up the data link of controlled flight end;
Described control end performs and the controlled flying quality initial synchronization operation of holding of flying;
The data being configured to the first kind in described flying quality are carried out real-time synchronization by described control end;
Described control end carries out synchronously the data being configured to Second Type in described flying quality according to preset synchronization rules.
As the preferred scheme of one, the data of the described first kind include but not limited at least one in image information that camera takes, gps signal intensity, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current flight speed, current flight height;
The data of described Second Type include but not limited at least one of flying in limit for height value, flight limit value far away, voltage alarm;
Described preset synchronization rules includes but not limited to carry out Data Update when carrying out Data Update with cycle fixed time or be in idle condition.
As the preferred scheme of one, described method also comprises:
Described control end generates corresponding control command according to the operation of controlled flight end;
Described control end sends described control command to described controlled flight end continuously with the preset time interval, receives described control command send feedback information to make described controlled flight termination;
Described control end stops sending according to the feedback information of described controlled flight end.
As the preferred scheme of one, described method also comprises:
When the control event to described controlled flight end being detected, generate the control signal that described control event is corresponding;
With control signal described in segment transmissions in the described controlled data link of holding of flying.
As the preferred scheme of one, describedly to comprise with control signal described in segment transmissions in the described controlled data link of holding of flying: in first paragraph link, send described control signal with preset frequency keeps to relay, until receive described relay to respond the confirmation signal that described control signal returns; Transmission this control signal is held with preset frequency keeps to described controlled flight by described relay, until described relay receives the confirmation signal that the described control signal of response returns in second segment link.
As the preferred scheme of one, described flying quality also comprises the data of the 3rd type, and described method also comprises:
The data of described control end to described 3rd type are carried out one subsynchronous, and wherein, the data of described 3rd type include but not limited to the controlled model of flight end, the model of The Cloud Terrace.
As the preferred scheme of one, described method also comprises:
Described flying quality is uploaded to cloud server by described control end, downloads described flying quality when being configured controlled flight end to make control end from described cloud server.
As the preferred scheme of one, described method also comprises:
The current image information obtaining the collection of described controlled flight end is preserved by described control end;
The image information in a upper moment shows by described control end.
As the preferred scheme of one, described method also comprises:
Described control end obtains the course data of described controlled flight end, described course data comprise in gps coordinate, controlled flight end attitude data, altitude information, The Cloud Terrace attitude data one or more;
Described course data is sent to described cloud server and preserves by described control end.
As the preferred scheme of one, described method also comprises:
Described control end, according to the gps coordinate in the course data of the described controlled flight end got, preset two-dimensional map is drawn and shows the described controlled flight path held that flies; Or
Described control end, according to the gps coordinate in the course data of the described controlled flight end got and altitude information, preset three-dimensional map is drawn and shows the described controlled three-dimensional flight path held that flies.
As the preferred scheme of one, described method also comprises:
Described control end obtains user configured flying quality and timing;
Described control end, when described timing equals preset time threshold, if do not get the flying quality of new configuration, then sends to described controlled flight to hold what get recently by user configured flying quality.
Present invention also offers a kind of data synchronization unit, described device comprises:
Data link setup unit, for setting up the data link of controlled flight end;
Initial synchronization unit, for performing and the controlled flying quality initial synchronization operation of holding of flying;
First lock unit, for carrying out real-time synchronization by the data being configured to the first kind in described flying quality;
Second lock unit, for carrying out synchronously the data being configured to Second Type in described flying quality according to preset synchronization rules.
As the preferred scheme of one, the data of the described first kind include but not limited at least one in image information that camera takes, gps signal intensity, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current flight speed, current flight height;
The data of described Second Type include but not limited at least one of flying in limit for height value, flight limit value far away, voltage alarm;
Described preset synchronization rules includes but not limited to carry out Data Update when carrying out Data Update with cycle fixed time or be in idle condition.
As the preferred scheme of one, described device also comprises:
Order generation unit, for generating corresponding control command according to the operation of controlled flight end;
Command sending unit, for sending described control command to described controlled flight end continuously with the preset time interval, receiving described control command to make described controlled flight termination and sending feedback information;
Order feedback unit, for stopping sending according to the feedback information of described controlled flight end.
As the preferred scheme of one, described device also comprises:
Signal generation unit, for when the control event to described controlled flight end being detected, generates the control signal that described control event is corresponding;
Signal transmission unit, for control signal described in segment transmissions in the described controlled data link of holding of flying.
As the preferred scheme of one, described signal transmission unit also for sending described control signal with preset frequency keeps to relay in first paragraph link, until receive described relay to respond the confirmation signal that described control signal returns; Transmission this control signal is held with preset frequency keeps to described controlled flight by described relay, until described relay receives the confirmation signal that the described control signal of response returns in second segment link.
As the preferred scheme of one, described flying quality also comprises the data of the 3rd type, and described device also comprises:
3rd lock unit, carries out one subsynchronous for the data of described control end to described 3rd type, wherein, the data of described 3rd type include but not limited to the controlled model of flight end, the model of The Cloud Terrace.
As the preferred scheme of one, described device also comprises:
Data backup unit, for described flying quality is uploaded to cloud server, downloads described flying quality from described cloud server when being configured controlled flight end to make control end.
As the preferred scheme of one, described device also comprises:
Image information storage unit, for preserving the current image information obtaining the collection of described controlled flight end;
Image information display unit, for showing the image information in a upper moment.
As the preferred scheme of one, described device also comprises:
Described course data acquiring unit, for obtaining the course data of described controlled flight end, described course data comprise in gps coordinate, controlled flight end attitude data, altitude information, The Cloud Terrace attitude data one or more;
Course data backup units, preserves for described course data being sent to described cloud server.
As the preferred scheme of one,
Described device also comprises:
Two-dimentional airline generation unit, for according to the gps coordinate in the course data of the described controlled flight end got, preset two-dimensional map is drawn and shows the described controlled flight path held that flies; Or
Three-dimensional airline generation unit, for according to the gps coordinate in the course data of the described controlled flight end got and altitude information, preset three-dimensional map is drawn and shows the described controlled three-dimensional flight path held that flies.
As the preferred scheme of one, described device also comprises:
Timing unit, for obtaining user configured flying quality and timing;
Dispensing unit, when described timing equals preset time threshold, if do not get the flying quality of new configuration, then sends to described controlled flight to hold what get recently by user configured flying quality.
Present invention also offers a kind of data synchronous system, described system comprises control end, controlled flight end, and described control end comprises:
Data link setup unit, for setting up the data link of controlled flight end;
Initial synchronization unit, for performing and the controlled flying quality initial synchronization operation of holding of flying;
First lock unit, for carrying out real-time synchronization by the data being configured to the first kind in described flying quality;
Second lock unit, for carrying out synchronously the data being configured to Second Type in described flying quality according to preset synchronization rules.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages:
The invention provides a kind of method of data synchronization and relevant device, set up control end and the controlled wireless communication link held that flies, control end sets up the data link of controlled flight end, described control end performs and the controlled flying quality initial synchronization operation of holding of flying, the data being configured to the first kind in described flying quality are carried out real-time synchronization by described control end, described control end carries out synchronously according to preset synchronization rules to the data being configured to Second Type in described flying quality, the data of Second Type are carried out synchronously according to preset synchronization rules, avoid and the data of the first kind synchronous taking link bandwidth simultaneously, reduce the delay that flying quality shows at control end.
Term " first ", " second ", " the 3rd " " 4th " etc. (if existence) in specification of the present invention and claims and above-mentioned accompanying drawing are for distinguishing similar object, and need not be used for describing specific order or precedence.The embodiments described herein should be appreciated that the data used like this can be exchanged in the appropriate case, so that can be implemented with the order except the content except here diagram or description.In addition, term " comprises " and " having " and their any distortion, intention is to cover not exclusive comprising, such as, contain those steps or unit that the process of series of steps or unit, method, system, product or equipment is not necessarily limited to clearly list, but can comprise clearly do not list or for intrinsic other step of these processes, method, product or equipment or unit.
Please refer to Fig. 1 and Fig. 2, a kind of embodiment of method of data synchronization of the present invention, described method comprises:
101, control end sets up the data link of controlled flight end.
Control end realizes the manipulation to controlled flight end, here control end can be that the application on mobile terminal is (English: Application, be called for short: APP), controlled flight end can be unmanned plane, controlled flight end sets up the wireless communication link of control end and controlled flight end, realizes control end and the controlled communication of holding of flying.
Can be connected by wireless network between described control end with controlled flight end, Wireless Internet access module can be set on controlled flight end and be connected to network, sign in network by control end, set up control end and the controlled wireless communication link held that flies.
102, described control end performs and the controlled flying quality initial synchronization operation of holding of flying.
When controlled flight end is started working, control end carries out preliminary synchronisation to flying quality, synchronously flying quality can be configured to controlled flight end for control end, control controlled flight end by flying quality to operate, flying quality can control to obtain parameter for control end to controlled flight end, the data that also can produce in running for aircraft, synchronous operation is synchronized to the data syn-chronization of controlled flight end or the generation of controlled flight end to control end to make the configuration data of control end.
103, the data being configured to the first kind in described flying quality are carried out real-time synchronization by described control end.
The data of the first kind can hold the data of the real-time change that is in operation for controlled flight, the Data Control end of these real-time change needs to obtain to control controlled flight end in time, real-time synchronization can need to transfer in time control end for the data of the first kind, delay situation can not be there is, make control end grasp the working condition of controlled flight end in time.
104, described control end carries out synchronously the data being configured to Second Type in described flying quality according to preset synchronization rules.
The data of described Second Type can be the data that controlled flight end runtime parameter configures for control end, can be configured before controlled flight end is started working, in running, do not need the data of variation in real time at controlled flight end, the data of these Second Types can be configured operation again when needs amendment or configuration.
Optionally, described preset synchronization rules includes but not limited to carry out Data Update when carrying out Data Update with cycle fixed time or be in idle condition, idle condition can not perform configuration operation for control end or is only in the state of image display, carry out Data Update, the impact avoiding the data syn-chronization of the Second Type when operating to carry out the data of the first kind, reduces taking link bandwidth.
A kind of method of data synchronization provided by the invention, set up control end and the controlled wireless communication link held that flies, control end performs and the controlled flying quality initial synchronization operation of holding of flying, the data being configured to the first kind in described flying quality are carried out real-time synchronization by control end, control end carries out synchronously according to preset synchronization rules to the data being configured to Second Type in described flying quality, wherein, the data of the described first kind can comprise the data of real-time change when controlled flight end runs, the data of described Second Type can comprise the data of controlled flight end runtime parameter configuration, by transmitting respectively the data transmitted between control end and controlled flight end, data for the first kind of real-time change carry out real-time synchronization, data for the Second Type infrequently changed are carried out synchronously according to preset synchronization rules, reduce data the taking for wireless communication link of Second Type, reduce the delay of control end data syn-chronization, promote control end to controlled the handling of end that fly.
Optionally, the data of the described first kind include but not limited at least one in image information that camera takes, gps signal intensity, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current flight speed, current flight height, the data of described Second Type include but not limited at least one of flying in limit for height value, flight limit value far away, voltage alarm, the data of the first kind are satisfied the demand real-time synchronization, the data of Second Type meet not needs and often change, specifically can be configured according to actual needs, in this no limit.
In controlled flight end flight course, along with the change of position, the data of the first kind of self comprise gps coordinate, flying speed, flying heights etc. are all changing, these data need to be presented on the display screen of control end in real time, and in the flight limit for height value that the data of Second Type comprise, flight limit threshold voltage warning far away etc., can be configured before taking off at controlled flight end, usually also can not modify, the data of these Second Types just can transmitted through wireless communication link when needs amendment, reach the object reducing and wireless communication link is taken.
For control end, controlled flight end is sent to the situation of control command, the invention provides two kinds of embodiments:
One, control end sends control command directly to controlled flight end
In this process, can be connected by wireless network between control end with controlled flight end, be specifically as follows, controlled flight end arranges Wireless Internet access module, control end enters wireless network and controlled flight end communicates to connect, and directly control command is sent to controlled flight end and completes control operation.
Described control end generates corresponding control command according to the operation of controlled flight end, and user can at the enterprising line operate of the display screen of control end, and the operation that control end is chosen according to user generates corresponding control command.
Described control end sends described control command to described controlled flight end continuously with the preset time interval, receive described control command to make described controlled flight termination and send feedback information, the time interval of precognition can support continuous transmission for continuing with certain frequency to controlled flight, make control command can be sent to controlled flight end, controlled flight end sends to control end the feedback information acknowledged receipt of after receiving this control command, and notice control end control command has sent successfully in time.
Described control end stops sending according to the feedback information of described controlled flight end, when receiving after controlled flight holds the feedback information that acknowledges receipt of, control end then stops sending this control command, by increasing the feedback mechanism confirming to receive, make the control command of control end can be sent to controlled flight end accurately, avoid control command only to send and once occur that instruction is lost, cause control can not be performed by controlled flight end.
Two, control end sends control command by relay to controlled flight end
Here the relay mentioned can be the remote controller of controlled flight end, this remote controller can realize controlling the flight of controlled flight end, control end, by wireless network, is connected with remote controller, the control command of control end is being controlled controlled flight end by remote controller.
Described control end generates corresponding control command according to the operation of controlled flight end, and the process of generation above has description, and therefore not to repeat here.
Optionally, when the control event to described controlled flight end being detected, generate the control signal that described control event is corresponding, with control signal described in segment transmissions in the described controlled data link of holding of flying.
The operation that control event herein can be carried out control end for user, described control end generates corresponding control command according to the operation of controlled flight end, user can at the enterprising line operate of the display screen of control end, and the operation that control end is chosen according to user generates corresponding control command.
Optionally, describedly to comprise with control signal described in segment transmissions in the described controlled data link of holding of flying: in first paragraph link, send described control signal with preset frequency keeps to relay, until receive described relay to respond the confirmation signal that described control signal returns; Transmission this control signal is held with preset frequency keeps to described controlled flight by described relay, until described relay receives the confirmation signal that the described control signal of response returns in second segment link.
Specifically, described control end sends described control command to relay continuously with the preset time interval, to make described relay, described control command is forwarded to described controlled flight end, control command can forward relay by the forwarding mentioned here, relay itself does not process this control command, also can be the control command of relay reception control end, by the dissection process to control command, the corresponding control language information generated between relay and controlled flight end, relay is made to utilize this control language information to control controlled flight end, specifically do not limit.
Described control end receives described controlled flight end and sends the feedback information forwarded via described relay, carrying out controlled flight end in relay also can for sending to controlled flight end with the time interval of precognition continuously in the process of order transmission, until the feedback information that the confirmation receiving controlled flight end feedback receives, control end and relay directly send control command also can for control end receive relay feedback information after stop sending controling instruction, the transmission of two sections of control commands can be performed reliably.
Described control end stops sending according to the feedback information of described controlled flight end, introduces feedback mechanism and the control command of control end is reliably received, guarantee that control command is accepted row by controlled flight termination.
Optionally, rear successfully modified to control end feedback to what need the data of amendment to modify at controlled flight end, now the data of amended Second Type are carried out preservation renewal by control end, the mode of feedback can comprise transmission information, also other means can be adopted to realize, specifically do not limit, by carrying out making control end Data Update, the data of the Second Type of retentive control end and the data consistent of the controlled Second Type held that flies to control end feedback after successfully modified.
Optionally, described flying quality also comprises the data of the 3rd type, and described method also comprises:
The data of described control end to described 3rd type are carried out one subsynchronous, wherein, the data of described 3rd type include but not limited to the controlled model of flight end, the model of The Cloud Terrace, and the data of the 3rd type can be changeless parameter, specifically set according to actual needs, do not limit.
Incorporated by reference to Fig. 2, optionally, described method also comprises:
Described flying quality is uploaded to cloud server by described control end, downloads described flying quality when being configured controlled flight end to make control end from described cloud server.
Flying quality can carry out the configuration of operational factor to controlled flight end, and some operational factor frequency of utilization is higher, all need to reconfigure at every turn, will certainly adding users at the number of operations of control end, control end can upload to cloud server for the flying quality that frequency of utilization is higher, download from cloud server when needs flying quality, the flying quality that recycling is downloaded synchronously configures controlled flight end, not only can save the storage area of control end, also can mention control end faster in configuration flying quality speed.
Optionally, described method also comprises:
The current image information obtaining the collection of described controlled flight end is preserved by described control end, the image information in a upper moment shows by described control end, by carrying out collection to real-time image information, mobile terminal is cushioned to image information, because of the situation that wireless communication link bandwidth causes image card to pause when avoiding showing in real time, the image information that user is observed on mobile terminals is more smooth.
Specifically, the image information smoothness shown to make mobile terminal is not blocked time, promote the good experience of user, the present image information that unmanned plane transmits by mobile terminal is preserved, the image information of moment preservation in the display screen display of self, time difference between a upper moment and current time can set according to actual needs, by carrying out collection to real-time image information, mobile terminal is cushioned to image information, because of the situation that wireless communication link bandwidth causes image card to pause when avoiding showing in real time, the image information that user is observed on mobile terminals is more smooth.
Optionally, described method also comprises:
Described control end obtains the course data of described controlled flight end, described course data comprises gps coordinate, controlled flight end attitude data, altitude information, one or more in The Cloud Terrace attitude data, when course data can also comprise other parameters, specifically do not limit, described course data can for show two-dimentional course line according to gps coordinate, or according to gps coordinate with highly show three-dimensional course line, specifically, described control end is according to the gps coordinate in the course data of the described controlled flight end got, preset two-dimensional map is drawn and shows the described controlled flight path held that flies, or described control end is according to the gps coordinate in the course data of the described controlled flight end got and altitude information, preset three-dimensional map is drawn and shows the described controlled three-dimensional flight path held that flies, making to observe controlled flight end more intuitively with crossing by the display of three-dimensional map or two-dimensional map, being convenient to manipulation.
Described course data is kept at described cloud server by described control end, facilitates user to be preserved by the course data of controlled flight end.
Specifically, the course data that described control end generates controlled flight end according to the gps coordinate of controlled flight end real-time Transmission specifically comprises:
The gps coordinate of the described controlled flight end real-time Transmission received is marked on map by described control end, the point of adjacent two described gps coordinates adopts straight line to be connected to form continuous print course data by described control end, makes user can recognize the concrete ship trajectory of controlled flight end.
Optional described method also comprises:
The flying quality of described control end configuration timing;
Described control end is when described timing equals preset time threshold, if do not get the flying quality of new configuration, then described control end is to the data of the described Second Type of described controlled flight end configuration, specifically, control end sends to described controlled flight to hold what get recently by user configured flying quality.
Optionally, described preset time threshold is 0.1 second or 0.2 second, and the time threshold certainly preset also can adopt other numerical value, meets carryover effects.
Described control end obtains the data of Second Type and timing, the data of the Second Type that control end obtains can be the configuration data that user carries out at control end inputting, the data getting Second Type at control end carry out timing, if the time of record reaches default time threshold, do not get the data of new Second Type, the data of the Second Type got are sent to controlled flight end and are configured by control end, pass through delayed delivery, make to work as the data that control end receives a lot of Second Type at short notice, control end does not send the data of the Second Type of configuration to controlled flight end, avoid the generation of misoperation.
Incorporated by reference to Fig. 3, present invention also offers a kind of data synchronization unit, described device comprises:
Data link setup unit 301, sets up the data link of controlled flight end for control end;
Initial synchronization unit 302, for performing and the controlled flying quality initial synchronization operation of holding of flying;
First lock unit 303, for carrying out real-time synchronization by the data being configured to the first kind in described flying quality;
Second lock unit 304, for carrying out synchronously the data being configured to Second Type in described flying quality according to preset synchronization rules.
Optionally, the data of the described first kind include but not limited at least one in image information that camera takes, gps signal intensity, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current flight speed, current flight height;
The data of described Second Type include but not limited at least one of flying in limit for height value, flight limit value far away, voltage alarm;
Described preset synchronization rules includes but not limited to carry out Data Update when carrying out Data Update with cycle fixed time or be in idle condition.
Optionally, described device also comprises:
Order generation unit, for generating corresponding control command according to the operation of controlled flight end;
Command sending unit, for sending described control command to described controlled flight end continuously with the preset time interval, receiving described control command to make described controlled flight termination and sending feedback information;
Order feedback unit, for stopping sending according to the feedback information of described controlled flight end.
Optionally, described device also comprises:
Signal generation unit, for when the control event to described controlled flight end being detected, generates the control signal that described control event is corresponding;
Signal transmission unit, for control signal described in segment transmissions in the described controlled data link of holding of flying.
Optionally, described signal transmission unit also for sending described control signal with preset frequency keeps to relay in first paragraph link, until receive described relay to respond the confirmation signal that described control signal returns; Transmission this control signal is held with preset frequency keeps to described controlled flight by described relay, until described relay receives the confirmation signal that the described control signal of response returns in second segment link.
Optionally, described flying quality also comprises the data of the 3rd type, and described device also comprises:
3rd lock unit, carries out one subsynchronous for the data of described control end to described 3rd type, wherein, the data of described 3rd type include but not limited to the controlled model of flight end, the model of The Cloud Terrace.
Optionally, described device also comprises:
Data backup unit, for described flying quality is uploaded to cloud server, downloads described flying quality from described cloud server when being configured controlled flight end to make control end.
Optionally, described device also comprises:
Image information storage unit, for preserving the current image information obtaining the collection of described controlled flight end;
Image information display unit, for showing the image information in a upper moment.
Optionally, described device also comprises:
Described course data acquiring unit, for obtaining the course data of described controlled flight end, described course data comprise in gps coordinate, controlled flight end attitude data, altitude information, The Cloud Terrace attitude data one or more;
Course data backup units, preserves for described course data being sent to described cloud server.
Optionally, described device also comprises:
Two-dimentional airline generation unit, for according to the gps coordinate in the course data of the described controlled flight end got, preset two-dimensional map is drawn and shows the described controlled flight path held that flies.
Optionally, described device also comprises:
Three-dimensional airline generation unit, for according to the gps coordinate in the course data of the described controlled flight end got and altitude information, preset three-dimensional map is drawn and shows the described controlled three-dimensional flight path held that flies.
Optionally, described device also comprises:
Timing unit, for obtaining user configured flying quality and timing;
Dispensing unit, when described timing equals preset time threshold, if do not get the flying quality of new configuration, then sends to described controlled flight to hold what get recently by user configured flying quality.
A kind of data synchronization unit provided by the invention, data link setup unit 301 sets up control end and the controlled wireless communication link held that flies, initial synchronization unit 302 performs and the controlled flying quality initial synchronization operation of holding of flying, the data being configured to the first kind in described flying quality are carried out real-time synchronization by the first lock unit 303, second lock unit 304 carries out synchronously according to preset synchronization rules to the data being configured to Second Type in described flying quality, wherein, the data of the described first kind can comprise the data of real-time change when controlled flight end runs, the data of described Second Type can comprise the data of controlled flight end runtime parameter configuration, by transmitting respectively the data transmitted between control end and controlled flight end, data for the first kind of real-time change carry out real-time synchronization, data for the Second Type infrequently changed are carried out synchronously according to preset synchronization rules, reduce data the taking for wireless communication link of Second Type, reduce the delay of control end data syn-chronization, promote control end to controlled the handling of end that fly.
Please refer to Fig. 4, present invention also offers a kind of data synchronous system, described system comprises control end 401, controlled flight end 402, and described control end comprises:
Data link setup unit 4011, for setting up the data link of controlled flight end 402;
Initial synchronization unit 4012, for performing the flying quality initial synchronization operation with controlled flight end 402;
First lock unit 4013, for carrying out real-time synchronization by the data being configured to the first kind in described flying quality;
Second lock unit 4014, for carrying out synchronously the data being configured to Second Type in described flying quality according to preset synchronization rules.
A kind of data synchronous system provided by the invention, described system comprises control end, controlled flight end, described control end comprises data link setup unit 4011 and sets up control end and the controlled wireless communication link held that flies, initial synchronization unit 4012 performs and the controlled flying quality initial synchronization operation of holding of flying, the data being configured to the first kind in described flying quality are carried out real-time synchronization by the first lock unit 4013, second lock unit 4014 carries out synchronously according to preset synchronization rules to the data being configured to Second Type in described flying quality, wherein, the data of the described first kind can comprise the data of real-time change when controlled flight end runs, the data of described Second Type can comprise the data of controlled flight end runtime parameter configuration, by transmitting respectively the data transmitted between control end and controlled flight end, data for the first kind of real-time change carry out real-time synchronization, data for the Second Type infrequently changed are carried out synchronously according to preset synchronization rules, reduce data the taking for wireless communication link of Second Type, reduce the delay of control end data syn-chronization, promote handling to controlled flight end 402 of control end 401.
Those skilled in the art can be well understood to, and for convenience and simplicity of description, the system of foregoing description, the specific works process of device and unit, with reference to the corresponding process in preceding method embodiment, can not repeat them here.
In several embodiments that the application provides, should be understood that, disclosed system, apparatus and method, can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is that the hardware that can carry out instruction relevant by program has come, this program can be stored in a computer-readable recording medium, storage medium can comprise: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc.
One of ordinary skill in the art will appreciate that all or part of step realized in above-described embodiment method is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be read-only memory, disk or CD etc.
Above a kind of method of data synchronization provided by the present invention is described in detail, for one of ordinary skill in the art, according to the thought of the embodiment of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Accompanying drawing explanation
Fig. 1 is the flow chart of a kind of embodiment of method of data synchronization of the present invention;
Fig. 2 is the schematic diagram of the Signal transmissions of method of data synchronization of the present invention;
Fig. 3 is the structural representation of a kind of embodiment of data synchronization unit of the present invention;
Fig. 4 is the structural representation of a kind of embodiment of data synchronous system of the present invention.
Embodiment
Embodiments provide a kind of method of data synchronization, for reducing taking wireless link bandwidth, and the delay that reduction flying quality shows at control end.
The present invention program is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the embodiment of a part of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, should belong to the scope of protection of the invention.
Claims (23)
1. a method of data synchronization, is characterized in that, described method comprises:
Control end sets up the data link of controlled flight end;
Described control end performs and the controlled flying quality initial synchronization operation of holding of flying;
The data being configured to the first kind in described flying quality are carried out real-time synchronization by described control end;
Described control end carries out synchronously the data being configured to Second Type in described flying quality according to preset synchronization rules.
2. method according to claim 1, it is characterized in that, the data of the described first kind include but not limited at least one in image information that camera takes, gps signal intensity, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current flight speed, current flight height;
The data of described Second Type include but not limited at least one of flying in limit for height value, flight limit value far away, voltage alarm;
Described preset synchronization rules includes but not limited to carry out Data Update when carrying out Data Update with cycle fixed time or be in idle condition.
3. method according to claim 1, is characterized in that, described method also comprises:
Described control end generates corresponding control command according to the operation of controlled flight end;
Described control end sends described control command to described controlled flight end continuously with the preset time interval, receives described control command send feedback information to make described controlled flight termination;
Described control end stops sending according to the feedback information of described controlled flight end.
4. the method for claim 1, is characterized in that, described method also comprises:
When the control event to described controlled flight end being detected, generate the control signal that described control event is corresponding;
With control signal described in segment transmissions in the described controlled data link of holding of flying.
5. method as claimed in claim 4, is characterized in that, is describedly specifically comprising with control signal described in segment transmissions in the described controlled data link of holding of flying:
Described control signal is sent with preset frequency keeps to relay, until receive described relay to respond the confirmation signal that described control signal returns in first paragraph link; Transmission this control signal is held with preset frequency keeps to described controlled flight by described relay, until described relay receives the confirmation signal that the described control signal of response returns in second segment link.
6. the method according to any one of Claims 1-4, is characterized in that, described flying quality also comprises the data of the 3rd type, and described method also comprises:
The data of described control end to described 3rd type are carried out one subsynchronous, and wherein, the data of described 3rd type include but not limited to the controlled model of flight end, the model of The Cloud Terrace.
7. method according to claim 1, is characterized in that, described method also comprises:
Described flying quality is uploaded to cloud server by described control end, downloads described flying quality when being configured controlled flight end to make control end from described cloud server.
8. method according to claim 1, is characterized in that, described method also comprises:
The current image information obtaining the collection of described controlled flight end is preserved by described control end;
The image information in a upper moment shows by described control end.
9. method according to claim 1, is characterized in that, described method also comprises:
Described control end obtains the course data of described controlled flight end, described course data comprise in gps coordinate, controlled flight end attitude data, altitude information, The Cloud Terrace attitude data one or more;
Described course data is sent to described cloud server and preserves by described control end.
10. method according to claim 9, is characterized in that, described method also comprises:
Described control end, according to the gps coordinate in the course data of the described controlled flight end got, preset two-dimensional map is drawn and shows the described controlled flight path held that flies; Or
Described control end, according to the gps coordinate in the course data of the described controlled flight end got and altitude information, preset three-dimensional map is drawn and shows the described controlled three-dimensional flight path held that flies.
11. methods according to claim 1, is characterized in that, described method also comprises:
Described control end obtains user configured flying quality and timing;
Described control end, when described timing equals preset time threshold, if do not get the flying quality of new configuration, then sends to described controlled flight to hold what get recently by user configured flying quality.
12. 1 kinds of data synchronization units, is characterized in that, described device comprises:
Data link setup unit, for setting up the data link of controlled flight end;
Initial synchronization unit, for performing and the controlled flying quality initial synchronization operation of holding of flying;
First lock unit, for carrying out real-time synchronization by the data being configured to the first kind in described flying quality;
Second lock unit, for carrying out synchronously the data being configured to Second Type in described flying quality according to preset synchronization rules.
13. devices according to claim 12, it is characterized in that, the data of the described first kind include but not limited at least one in image information that camera takes, gps signal intensity, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current flight speed, current flight height;
The data of described Second Type include but not limited at least one of flying in limit for height value, flight limit value far away, voltage alarm;
Described preset synchronization rules includes but not limited to carry out Data Update when carrying out Data Update with cycle fixed time or be in idle condition.
14. devices according to claim 12, is characterized in that, described device also comprises:
Order generation unit, for generating corresponding control command according to the operation of controlled flight end;
Command sending unit, for sending described control command to described controlled flight end continuously with the preset time interval, receiving described control command to make described controlled flight termination and sending feedback information;
Order feedback unit, for stopping sending according to the feedback information of described controlled flight end.
15. devices as claimed in claim 12, it is characterized in that, described device also comprises:
Signal generation unit, for when the control event to described controlled flight end being detected, generates the control signal that described control event is corresponding;
Signal transmission unit, for control signal described in segment transmissions in the described controlled data link of holding of flying.
16. devices as claimed in claim 15, it is characterized in that, described signal transmission unit also for sending described control signal with preset frequency keeps to relay in first paragraph link, until receive described relay to respond the confirmation signal that described control signal returns; Transmission this control signal is held with preset frequency keeps to described controlled flight by described relay, until described relay receives the confirmation signal that the described control signal of response returns in second segment link.
17. devices according to any one of claim 12 to 15, it is characterized in that, described flying quality also comprises the data of the 3rd type, and described device also comprises:
3rd lock unit, carries out one subsynchronous for the data of described control end to described 3rd type, wherein, the data of described 3rd type include but not limited to the controlled model of flight end, the model of The Cloud Terrace.
18. devices according to claim 12, is characterized in that, described device also comprises:
Data backup unit, for described flying quality is uploaded to cloud server, downloads described flying quality from described cloud server when being configured controlled flight end to make control end.
19. devices according to claim 12, is characterized in that, described device also comprises:
Image information storage unit, for preserving the current image information obtaining the collection of described controlled flight end;
Image information display unit, for showing the image information in a upper moment.
20. devices according to claim 12, is characterized in that, described device also comprises:
Described course data acquiring unit, for obtaining the course data of described controlled flight end, described course data comprise in gps coordinate, controlled flight end attitude data, altitude information, The Cloud Terrace attitude data one or more;
Course data backup units, preserves for described course data being sent to described cloud server.
21. devices according to claim 20, is characterized in that, described device also comprises:
Two-dimentional airline generation unit, for according to the gps coordinate in the course data of the described controlled flight end got, preset two-dimensional map is drawn and shows the described controlled flight path held that flies; Or
Three-dimensional airline generation unit, for according to the gps coordinate in the course data of the described controlled flight end got and altitude information, preset three-dimensional map is drawn and shows the described controlled three-dimensional flight path held that flies.
22. devices according to claim 12, is characterized in that, described device also comprises:
Timing unit, for obtaining user configured flying quality and timing;
Dispensing unit, when described timing equals preset time threshold, if do not get the flying quality of new configuration, then sends to described controlled flight to hold what get recently by user configured flying quality.
23. 1 kinds of data synchronous systems, is characterized in that, described system comprises control end, controlled flight end, and described control end comprises:
Data link setup unit, for setting up the data link of controlled flight end;
Initial synchronization unit, for performing and the controlled flying quality initial synchronization operation of holding of flying;
First lock unit, for carrying out real-time synchronization by the data being configured to the first kind in described flying quality;
Second lock unit, for carrying out synchronously the data being configured to Second Type in described flying quality according to preset synchronization rules.
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