CN107209520A

CN107209520A - The control method and relevant apparatus of unmanned plane

Info

Publication number: CN107209520A
Application number: CN201580060159.5A
Authority: CN
Inventors: 赖镇洲; 陈超彬; 闫光
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2015-11-20
Filing date: 2015-11-20
Publication date: 2017-09-26
Anticipated expiration: 2035-11-20
Also published as: WO2017084097A1; CN107209520B; CN109885089B; CN109885089A

Abstract

The control method and relevant apparatus of a kind of unmanned plane, the interaction friendliness for improving topology verification.The unmanned plane includes multiple functional modules, and different functional modules can connect into different topological structures, and this method includes：The formation of the plurality of functional module, actual connection topological structure is verified (S501)；The unmanned plane feeds back to ground control terminal (S502) by object information is verified.In embodiment, unmanned plane understands earthward control end feedback check object information after topological structure verification is carried out, and ground control terminal is pointed out user by user interface again.So, user can have interactive channel to understand topological structure verification, so as to improve the interaction friendliness of topology verification.

Description

The control method and relevant apparatus of unmanned plane

Technical field

The present invention relates to fields of communication technology, more specifically to the control method and relevant apparatus of unmanned plane.

Background technique

In order to improve the safety of unmanned plane operation, the topological structure for opening up unmanned plane can be verified.Current topological structure verification mode list carries out the design of topological structure verification from technical standpoint, lacks the interaction between user, and which results in current topology verification interactive mode is not friendly enough.

Summary of the invention

In view of this, the control method and relevant apparatus for being designed to provide unmanned plane of the embodiment of the present invention, to improve the interaction friendliness of topology verification.

To achieve the above object, the embodiment of the present invention provides the following technical solutions:

According to a first aspect of the embodiments of the present invention, a kind of control method of unmanned plane is provided, the unmanned plane includes multiple functional modules, and the different functional modules can connect into different topological structures, which comprises

Topological structure being formed to the multiple functional module, actually connecting verifies；

The unmanned plane feeds back to ground control terminal for result information is verified.

With reference to first aspect, in the first possible implementation, the verification includes initial verification and at least one of verification in real time；

The initial verification is carried out after unmanned plane starting, before operation, and the real-time verification is the real-time perfoming in the operational process of the unmanned plane.

The first possible implementation with reference to first aspect, in the second possible implementation, the initial verification or verification in real time include that level-one verifies；The level-one verification includes: whether the topological structure that verification actually connects and default topological structure are consistent；The check results information includes level-one check results information；When the topological structure actually connected and the inconsistent default topological structure, the level-one check results information includes at least the information of characterization level-one verification failure.

Second of possible implementation with reference to first aspect, in the third possible implementation, when the topological structure actually connected is consistent with the default topological structure, the level-one check results information includes that characterization level-one verifies successful information.

Second of possible implementation with reference to first aspect, in the fourth possible implementation, each functional module in the multiple functional module have module attribute, and the module attribute includes at least module I D, User ID and module status；The module status includes at least connection status and error condition.

4th kind of possible implementation with reference to first aspect, in a fifth possible implementation, the topological structure actually connected is consistent with the default topological structure to be included at least: any functional module that the default topological structure includes, similarly include in the topological structure actually connected, the good connection of any functional module, and the error condition of any functional module is sky.

4th kind of possible implementation with reference to first aspect, in a sixth possible implementation, the topological structure actually connected and described default flutter that structure is inconsistent to be included any of the following or any combination: the functional module for including in the default topological structure does not include in the topological structure actually connected；The functional module that the default topological structure does not include is contained in the topological structure actually connected；The default topological structure includes same functional module with the topological structure actually connecting, but the error condition of the functional module is not empty.

6th kind of possible implementation with reference to first aspect, in the 7th kind of possible implementation, when the topological structure actually connected and the inconsistent default topological structure, the level-one check results information further include: the functional module of level-one verification failure and corresponding module attribute.

7th kind of possible implementation with reference to first aspect, in the 8th kind of possible implementation, the functional module of the level-one verification failure includes: the functional module for including in the default topological structure but not including in the topological structure actually connected, the functional module for not including in the default topological structure but including in the topological structure actually connected, and error condition is not empty at least one of functional module.

The first possible implementation with reference to first aspect, in the 9th kind of possible implementation, the initial verification or verification in real time include: second verification；Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；The check results information includes second verification result information；When the topological structure actually connected and the minimal redundancy system are opened up Flutter structure it is inconsistent when, the second verification result information include at least characterization second verification failure information；When the topological structure actually connected is consistent with the minimal redundancy system topology, the second verification result information includes the characterization successful information of second verification.

Second of possible implementation with reference to first aspect, in the tenth kind of possible implementation, the initial verification or verification in real time further include: after level-one verification failure, triggering executes second verification；Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；The check results information further includes second verification result information；When the topological structure actually connected and the minimal redundancy system topology are inconsistent, the second verification result information includes at least the information of characterization second verification failure；When the topological structure actually connected is consistent with the minimal redundancy system topology, the second verification result information includes the characterization successful information of second verification.

9th kind or the tenth kind of possible implementation with reference to first aspect, in a kind of the tenth possible implementation, when the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the functional module and corresponding module attribute that second verification fails.

Tenth a kind of possible implementation with reference to first aspect, in the 12nd kind of possible implementation, the functional module of the second verification failure includes: the functional module for including in the minimum of topological structure but not including in the topological structure actually connected, the functional module for not including in the minimum of topological structure but including in the topological structure actually connected, and error condition is not empty at least one of functional module.

Tenth a kind of possible implementation with reference to first aspect, in the 13rd kind of possible implementation, when the topological structure actually connected and the minimum of topological structure are inconsistent, further includes: pressure is prohibited from entering operating status；The second verification result information further includes the information that characterization is prohibited from entering operating status.

With reference to first aspect second or the 9th kind of possible implementation, in the 14th possible implementation, before carrying out the initial configuration verification, further includes: the load default topological structure；For the multiple functional module preset module attribute；The module attribute includes at least functional module ID, User ID and functional module state；The functional module state includes at least connection status and error condition；Generate the topological structure actually connected.

14th kind of possible implementation with reference to first aspect, in the 15th possible implementation, the topological structure actually connected that generates includes: the detection by data flow, determines each functional module for being physically connected to flight control units, and the module attribute of each functional module；The topological structure actually connected is determined according to the functional module state.

With reference to first aspect second or the 9th kind of possible implementation, in the 16th possible implementation, the real-time verification further include: the functional module state of each functional module of real time monitoring, according to the practical topological structure connected of the functional module state real-time update.

With reference to first aspect the 9th or second of possible implementation, in the 17th possible implementation, in the real-time verification, when level-one or second verification fail, further includes: take emergency trouble shooting measures；The information for characterizing emergency trouble shooting measures is fed back into ground control terminal.

17th kind of possible implementation with reference to first aspect, in the 18th possible implementation, the emergency trouble shooting measures include the switching of redundancy feature module；Alternatively, the emergency trouble shooting measures include forced landing or make a return voyage.

18th possible implementation with reference to first aspect, in the 19th possible implementation, in the real-time verification, if level-one or second verification fail and the unmanned plane is in a safe condition, further includes: the information for characterizing in a safe condition is fed back to ground control terminal.

According to a second aspect of the embodiments of the present invention, a kind of unmanned plane is provided, comprising:

UAV Communication device, for transmitting data between ground control terminal；And

Unmanned plane processor, for the multiple functional modules and UAV Communication device communication connection with the unmanned plane, the different functional modules can connect to form different topological structures；

Wherein, the unmanned plane processor is verified for topological structure being formed to the multiple functional module, actually connecting, and controls the UAV Communication device and the check results information is fed back to ground control terminal.

In conjunction with second aspect, in second aspect in the first possible implementation, the verification includes initial verification and at least one of verification in real time；The initial verification is carried out after unmanned plane starting, before operation, and the real-time verification is the real-time perfoming in the operational process of the unmanned plane.

The first possible implementation in conjunction with second aspect, second of second aspect possible realization side In formula, the initial verification or verification in real time include that level-one verifies；The level-one verification includes: whether the topological structure that verification actually connects and default topological structure are consistent；The check results information includes level-one check results information；When the topological structure actually connected and the inconsistent default topological structure, the level-one check results information includes at least the information of characterization level-one verification failure.

In conjunction with second of second aspect possible implementation, in second aspect in the third possible implementation, when the topological structure actually connected is consistent with the default topological structure, the level-one check results information includes that characterization level-one verifies successful information.

In conjunction with second of second aspect possible implementation, in the 4th kind of possible implementation of second aspect, each functional module in the topological structure actually connected has module attribute, and the module attribute includes at least module I D, User ID and module status；The module status includes at least connection status and error condition.

In conjunction with the 4th kind of possible implementation of second aspect, in the 5th kind of possible implementation of second aspect, when the topological structure actually connected and the inconsistent default topological structure, the level-one check results information further include: the functional module of level-one verification failure and corresponding module attribute.

In conjunction with second of second aspect possible implementation, in the 6th kind of possible implementation of second aspect, the initial verification or verification in real time further include: after level-one verification failure, triggering executes second verification；Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；The check results information further includes second verification result information；When the topological structure actually connected and the minimal redundancy system topology are inconsistent, the second verification result information includes at least the information of characterization second verification failure；When the topological structure actually connected is consistent with the minimal redundancy system topology, the second verification result information includes the characterization successful information of second verification.

The first possible implementation in conjunction with second aspect, in the 7th kind of possible implementation of second aspect, the initial verification or verification in real time include: second verification；Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；The check results information includes second verification result information；When the topological structure actually connected and the minimal redundancy system topology are inconsistent, the second verification result information includes at least the information of characterization second verification failure；When the topological structure actually connected is consistent with the minimal redundancy system topology When, the second verification result information includes the characterization successful information of second verification.

In conjunction with second aspect the 6th or the 7th kind of possible implementation, in the 8th kind of possible implementation of second aspect, when the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the functional module and corresponding module attribute that second verification fails.

In conjunction with the 8th kind of possible implementation of second aspect, in the 9th kind of possible implementation of second aspect, the unmanned plane processor is also used to: when the topological structure actually connected and the minimum of topological structure are inconsistent, pressure is prohibited from entering operating status；The second verification result information further includes the information that characterization is prohibited from entering operating status.

In conjunction with second aspect the 4th or the 7th kind of possible implementation, in the tenth kind of possible implementation of second aspect, the unmanned plane processor is also used to: before carrying out the initial configuration verification, loading the default topological structure；For the multiple functional module preset module attribute；The module attribute includes at least functional module ID, User ID and functional module state；The functional module state includes at least connection status and error condition；Generate the topological structure actually connected.

In conjunction with second aspect the 6th or the 7th kind of possible implementation, in a kind of possible implementation of second aspect the tenth, the real-time verification further include: the functional module state of each functional module of real time monitoring, according to the practical topological structure connected of the functional module state real-time update.

In conjunction with second aspect the 6th or the 7th kind of possible implementation, in the 12nd kind of possible implementation of second aspect, the unmanned plane processor is also used to: in the real-time verification, when level-one or second verification fail, taking emergency trouble shooting measures；It controls the UAV Communication device and the information for characterizing emergency trouble shooting measures is fed back into ground control terminal.

In conjunction with second aspect the 6th or the 7th kind of possible implementation, in the 13rd kind of possible implementation of second aspect, the unmanned plane processor is also used to: in the real-time verification, if level-one or second verification fail and the unmanned plane is in a safe condition, the UAV Communication device is controlled by information in a safe condition is characterized and feeds back to ground control terminal.

According to a third aspect of the embodiments of the present invention, a kind of control method of unmanned plane is provided, comprising:

Ground control terminal receives the topological structure check results information of unmanned plane feedback；The unmanned plane includes multiple functional modules, and the different functional modules can connect into different topological structures, the topology Structure check information is obtained after fleet-footed runner's machine forms multiple functional modules, the topological structure that actually connects verifies；

The ground control terminal is accordingly prompted according to the check results information.

In conjunction with the third aspect, in the third aspect in the first possible implementation, the verification includes initial verification and at least one of verification in real time；The initial verification is carried out after unmanned plane starting, before operation, and the real-time verification is carried out in the operational process of the unmanned plane.

The first possible implementation in conjunction with the third aspect, in second of the third aspect possible implementation, the initial verification or verification in real time include that level-one verifies, and the level-one verification includes: whether the topological structure that verification actually connects and default topological structure are consistent；The check results information includes level-one check results information；When the topological structure actually connected and the inconsistent default topological structure, the level-one check results information includes at least the information of characterization level-one verification failure；It is described accordingly prompt according to the check results information including: to prompt level-one to verify when the level-one check results information includes characterizing the information of the level-one verification failure and fail.

In conjunction with second of the third aspect possible implementation, in the third aspect in the third possible implementation, when the topological structure actually connected is consistent with the default topological structure, the level-one check results information includes that characterization level-one verifies successful information；Described accordingly prompt according to the check results information including: when the level-one check results information includes characterizing the level-one to verify successful information, prompt initially verifies successfully, can operate normally.

In conjunction with second of the third aspect possible implementation, in the 4th kind of possible implementation of the third aspect, when the topological structure actually connected and the inconsistent default topological structure, the level-one check results information further include: the functional module of level-one verification failure and corresponding module attribute；It is described accordingly to be prompted according to the check results information further include: the functional module of prompt level-one verification failure and corresponding module attribute.

In conjunction with the third aspect first or two kind of possible implementation, in the 5th kind of possible implementation of the third aspect, the initial verification or verification in real time further include after level-one verification failure, the second verification for the execution that is triggered；Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；The check results information further includes second verification result information；The second verification result information, which includes at least, characterizes the second verification failure or successful information；Or Person, the initial verification or verification in real time include second verification；Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；The check results information includes second verification result information；The second verification result information, which includes at least, characterizes the second verification failure or successful information.

In conjunction with the 5th kind of possible implementation of the third aspect, in the 6th kind of possible implementation of the third aspect, it is described accordingly to be prompted according to the check results information further include: when second verification result information information successful including the characterization second verification, user to be prompted to select to check failure or select to continue to run；When the second verification result information includes characterizing the information of the second verification failure, second verification failure is prompted.

In conjunction with the 5th kind of possible implementation of the third aspect, in the 7th kind of possible implementation of the third aspect, when the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the information that characterization is prohibited from entering operating status；It is described accordingly to be prompted according to the check results information further include: prompt is prohibited from entering operating status.

In conjunction with the 5th kind of possible implementation of the third aspect, in the 8th kind of possible implementation of the third aspect, when the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the functional module and corresponding module attribute that second verification fails；It is described accordingly to be prompted according to the check results information further include: the functional module of prompt second verification failure and corresponding module attribute.

In conjunction with the 5th kind of possible implementation of the third aspect, in the 9th kind of possible implementation of the third aspect, further includes: receive the information of characterization emergency trouble shooting measures；The measure taken when the emergency trouble shooting measures are the unmanned planes in carrying out real-time checking procedure, level-one or second verification fail；User is accordingly prompted according to the information of the characterization emergency trouble shooting measures.

In conjunction with the 9th kind of possible implementation of the third aspect, in the tenth kind of possible implementation of the third aspect, the emergency trouble shooting measures include the switching of redundancy feature module, the corresponding prompt includes: that prompt has carried out redundancy feature module switching, and, it is proposed that stop functional module operation debugging；Alternatively, the emergency trouble shooting measures include forced landing or make a return voyage, the corresponding prompt includes prompt remote control operation to ensure the unmanned plane safe falling.

In conjunction with the 5th kind of possible implementation of the third aspect, in a kind of possible realization of the third aspect the tenth In mode, further includes: receive and characterize information in a safe condition；Characterization information in a safe condition is the unmanned plane in carrying out real-time checking procedure, is fed back in level-one or second verification failure and the unmanned plane in a safe condition；Prompt user's selection queuing failure operates normally again or forced service, or forces to forbid taking off.

According to a fourth aspect of the embodiments of the present invention, a kind of ground control terminal is provided, for controlling unmanned plane, the unmanned plane includes multiple functional modules, and the different functional modules can connect into different topological structures, and the ground control terminal includes:

Suggestion device, for issuing prompt information；

Terrestrial communication device, for transmitting data between the unmanned plane；And

Ground surface end processor is communicated to connect with the suggestion device, the terrestrial communication device；

Wherein, the ground surface end processor controls the terrestrial communication device and receives the topological structure check results information of the unmanned plane feedback, and controls the suggestion device according to the check results information and accordingly prompted.

In conjunction with fourth aspect, in fourth aspect in the first possible implementation, the ground control terminal includes following at least one: hand-hold communication device, remote controler and unmanned plane base station.

In conjunction with fourth aspect, in second of fourth aspect possible implementation, the ground surface end processor is also used to, and controls the information that the terrestrial communication device receives characterization emergency trouble shooting measures；The suggestion device is controlled according to the information of the characterization emergency trouble shooting measures accordingly to prompt user；The measure taken when the emergency trouble shooting measures are the unmanned planes in carrying out real-time checking procedure, level-one or second verification fail.

In conjunction with fourth aspect, in the 5th kind of possible implementation of fourth aspect, the ground surface end processor is also used to, and is controlled the terrestrial communication device and is received characterization information in a safe condition；Characterization information in a safe condition is the unmanned plane in carrying out real-time checking procedure, is fed back in level-one or second verification failure and the unmanned plane in a safe condition；It controls suggestion device prompt user and selects to be lined up failure and operate normally again or forced service, or force to forbid taking off.

According to a fifth aspect of the embodiments of the present invention, a kind of control method of unmanned plane is provided, the unmanned plane includes multiple functional modules, and the different functional modules can connect into different topological structures, institute The method of stating includes:

Topological structure that unmanned plane forms the multiple functional module, actually connecting verifies；

The unmanned plane feeds back to ground control terminal for result information is verified；

In conjunction with the 5th aspect, in the 5th aspect the first possible implementation, topological structure verification includes initial verification and at least one of verification in real time；The initial verification is carried out after unmanned plane starting, before operation, and the real-time verification is carried out in the operational process of the unmanned plane.

In conjunction with the 5th aspect, in the 5th second of possible implementation of aspect, the initial verification or verification in real time include that level-one verifies, and the level-one verification includes: whether the topological structure that verification actually connects and default topological structure are consistent；The check results information includes level-one check results information；When the topological structure actually connected and the inconsistent default topological structure, the level-one check results information includes at least the information of characterization level-one verification failure；It includes: the ground control terminal prompt level-one verification failure when the level-one check results information includes characterizing the information of the level-one verification failure that the ground control terminal, which carries out corresponding prompt according to the check results information,.

In conjunction with the 5th second of possible implementation of aspect, the 5th aspect the third possible implementation in, when the topological structure actually connected is consistent with the default topological structure, the level-one check results information includes that characterization level-one verifies successful information；It includes: when the level-one check results information includes characterizing the level-one to verify successful information that the ground control terminal, which carries out corresponding prompt according to the check results information, and the ground control terminal prompt initially verifies successfully, can operate normally.

In conjunction with the 5th second of possible implementation of aspect, in the 5th the 4th kind of possible implementation of aspect, when the topological structure actually connected and the inconsistent default topological structure, the level-one check results information further include: the functional module of level-one verification failure and corresponding module attribute；The ground control terminal is accordingly prompted according to the check results information further include: the functional module of the ground control terminal prompt level-one verification failure and corresponding module attribute.

In conjunction with the 5th aspect first or two kind of possible implementation, in the 5th the 5th kind of possible implementation of aspect, the initial verification or verification in real time further include after level-one verification failure, the second verification for the execution that is triggered；The second verification includes: whether the unmanned plane to verify the minimum of topological structure that the topological structure actually connected and unmanned plane are supported consistent；The check results information further includes second level Check results information；The second verification result information, which includes at least, characterizes the second verification failure or successful information；Alternatively, the initial verification or verification in real time include second verification；Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；The check results information includes second verification result information；The second verification result information, which includes at least, characterizes the second verification failure or successful information.

In conjunction with the 5th the 5th kind of possible implementation of aspect, in the 5th the 6th kind of possible implementation of aspect, the ground control terminal is accordingly prompted according to the check results information further include: when second verification result information information successful including the characterization second verification, the ground control terminal prompt user selects to check failure or selects to continue to run；When the second verification result information includes characterizing the information of the second verification failure, the ground control terminal prompt second verification failure.

In conjunction with the 5th the 5th kind of possible implementation of aspect, in the 5th the 7th kind of possible implementation of aspect, when the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the information that characterization is prohibited from entering operating status；The ground control terminal is accordingly prompted according to the check results information further include: the ground control terminal prompt is prohibited from entering operating status.

In conjunction with the 5th the 5th kind of possible implementation of aspect, in the 5th the 8th kind of possible implementation of aspect, when the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the functional module and corresponding module attribute that second verification fails；The ground control terminal is accordingly prompted according to the check results information further include: the functional module of the ground control terminal prompt second verification failure and corresponding module attribute.

In conjunction with the 5th the 5th kind of possible implementation of aspect, in the 5th the 9th kind of possible implementation of aspect, when the real-time verification included level-one or second verification fail, further includes: the unmanned plane takes emergency trouble shooting measures；The information for characterizing emergency trouble shooting measures is fed back to ground control terminal by the unmanned plane；The ground control terminal accordingly prompts user according to the information of the characterization emergency trouble shooting measures.

In conjunction with the 5th the 9th kind of possible implementation of aspect, in the 5th the tenth kind of possible implementation of aspect, the emergency trouble shooting measures include the switching of redundancy feature module, the corresponding prompt includes: that prompt has carried out redundancy feature module switching, and, it is proposed that stop functional module operation debugging；Alternatively, the emergency trouble shooting measures include forced landing or make a return voyage, the corresponding prompt include prompt remote control operation with Ensure the unmanned plane safe falling.

In conjunction with the 5th the 5th kind of possible implementation of aspect, in a kind of possible implementation of the 5th aspect the tenth, in the real-time verification, if level-one or second verification fail and the unmanned plane is in a safe condition, further includes: the unmanned plane feeds back to ground control terminal for information in a safe condition is characterized；The ground control terminal prompt user selection queuing failure operates normally again or forced service, or forces to forbid taking off.

According to a sixth aspect of the embodiments of the present invention, a kind of control method of unmanned plane is provided, which comprises

Show multiple functional modules of unmanned plane by user interface UI, the different functional modules can connect to form different topological structures；

The setting data of user's input are received by the UI and send the setting data to the unmanned plane, and the setting data form a default topological structure for selecting the corresponding functional module.

In conjunction with the 6th aspect, in the 6th aspect the first possible implementation, described to send the setting data to the unmanned plane include: to synchronize to unmanned plane transmission and data are arranged after one functional module of every selection by the UI；Alternatively, Xiang Suoshu unmanned plane sends setting data after constructing the default topological structure on the UI.

In conjunction with the 6th aspect, in the 6th second of possible implementation of aspect, further include: mapping relations figure is shown by the UI, the mapping relations between physical port that the mapping relations figure is used to characterize the User ID of the functional module in the default topological structure and unmanned plane externally provides, in order to which user connects or disconnects the functional module according to the mapping relations figure.

In conjunction with the 6th second of possible implementation of aspect, in the 6th aspect the third possible implementation, before showing the mapping relations figure, further includes: receive the mapping relations figure, the mapping relations figure is from the unmanned plane.

In conjunction with the 6th second of possible implementation of aspect, in the 6th the 4th kind of possible implementation of aspect, further includes: finish confirmation message by the connection that the UI receives user and feed back to the unmanned plane；Check results information is received, the check results information is obtained after the topological structure actually connected is compared the unmanned plane with the default topological structure；It is prompted accordingly according to the check results information by user interface UI.

In conjunction with the 6th the 4th kind of possible implementation of aspect, in the 6th the 5th kind of possible implementation of aspect, further includes: receive the module attribute information of each functional module of the unmanned plane feedback；Refresh the module attribute information of the multiple functional module on the UI.

In conjunction with the 6th the 4th kind of possible implementation of aspect, in the 6th the 6th kind of possible implementation of aspect, when the topological structure actually connected and the inconsistent default topological structure, the check results information includes at least the information of characterization verification failure；When the topological structure actually connected is consistent with the default topological structure, the check results information includes at least characterization and verifies successful information；Described prompt accordingly including: when the check results information includes the information of characterization verification failure by user interface UI according to the check results information, prompt verifies failure；When the check results information includes that characterization verifies successful information, prompt to verify successfully.

In conjunction with the 6th the 6th kind of possible implementation of aspect, in the 6th the 7th kind of possible implementation of aspect, when the topological structure actually connected and the inconsistent default topological structure, the check results information further include: verify failure functional module and corresponding module attribute；It is described to be prompted accordingly according to the check results information by UI further include: the functional module of prompt verification failure and corresponding module attribute.

It is described to show the multiple functional module and include in the 6th the 8th kind of possible implementation of aspect: to show the maximum topology diagram that the unmanned plane is supported in conjunction with the 6th aspect；The maximum topology diagram includes not connected functional module, and, preset topological structure；The default topological structure is highlighted presentation.

According to a seventh aspect of the embodiments of the present invention, a kind of ground control terminal is provided, for controlling unmanned plane, the unmanned plane includes multiple functional modules, and the different functional modules can connect to form different topological structures, and the ground control terminal includes:

Display screen is equipped with user interface (UI), and the setting data of user's input can be received by the UI, and the setting data form a default topological structure for selecting the corresponding functional module；

Ground surface end processor is communicated to connect with the display screen, the terrestrial communication device；

Wherein, the UI that the ground surface end processor controls the display screen shows the multiple functional module, and controls the setting data that the terrestrial communication device inputs user and be sent to the unmanned plane.

In conjunction with the 7th aspect, in the 7th aspect the first possible implementation, the ground control terminal includes following at least one: hand-hold communication device, remote controler and unmanned plane base station.

In conjunction with the 7th aspect, in the 7th second of possible implementation of aspect, in terms of the setting data that the control terrestrial communication device inputs user are sent to the unmanned plane, the ground surface end processor is used for: after one functional module of every selection by the UI, controlling the synchronous setting data that the functional module selected is sent to the unmanned plane of the terrestrial communication device；Alternatively, controlling the terrestrial communication device after constructing the default topological structure on the UI to the unmanned plane and sending setting data.

In conjunction with the 7th aspect, the 7th aspect the third possible implementation in, the ground surface end processor is also used to, the UI for controlling the display screen shows mapping relations figure, the mapping relations between physical port that the mapping relations figure is used to characterize the User ID of the functional module in the default topological structure and unmanned plane externally provides, in order to which user connects or disconnects the functional module according to the mapping relations figure.

In conjunction with the 7th aspect the third possible implementation, in the 7th the 4th kind of possible implementation of aspect, the ground surface end processor is also used to, before showing the mapping relations figure, it controls the terrestrial communication device and receives the mapping relations figure, the mapping relations figure is from the unmanned plane.

In conjunction with the 7th aspect the third possible implementation, in the 7th the 5th kind of possible implementation of aspect, the ground surface end processor is also used to, and the connection for controlling the UI reception user of the display screen, which finishes confirmation message and controls the terrestrial communication device, feeds back to the unmanned plane；It controls the terrestrial communication device and receives check results information, the check results information is obtained after the topological structure actually connected is compared the unmanned plane with the default topological structure；It is prompted accordingly according to the UI that the check results information controls the display screen.

In conjunction with the 7th the 5th kind of possible implementation of aspect, in the 7th the 6th kind of possible implementation of aspect, the ground surface end processor is also used to, and controls the module attribute information that the terrestrial communication device receives each functional module of the unmanned plane feedback；The UI for controlling the display screen refreshes the module attribute information of the multiple functional module.

In conjunction with the 7th the 5th kind of possible implementation of aspect, in the 7th the 7th kind of possible implementation of aspect, when the topological structure actually connected and the inconsistent default topological structure, the check results information includes at least the information of characterization verification failure；When the topological structure actually connected is consistent with the default topological structure, the check results information includes at least characterization and verifies successful information；? The aspect prompted accordingly according to the check results information, the ground surface end processor are specifically used for: when the check results information includes the information of characterization verification failure, controlling the UI prompt verification failure of the display screen；When the check results information includes that characterization verifies successful information, the UI prompt for controlling the display screen is verified successfully.

In conjunction with the 7th the 7th kind of possible implementation of aspect, in the 7th the 8th kind of possible implementation of aspect, when the topological structure actually connected and the inconsistent default topological structure, the check results information further include: verify failure functional module and corresponding module attribute；It is described prompted accordingly according to the check results information in terms of, the ground surface end processor is also used to: control the display screen UI prompt verification failure functional module and corresponding module attribute.

According to a eighth aspect of the embodiments of the present invention, a kind of control method of unmanned plane is provided, the unmanned plane includes multiple functional modules, and the different functional modules can connect to form different topological structures, which comprises

The setting data for default topological structure to be arranged are received, the setting data are from ground control terminal；

The default topological structure of the unmanned plane is reset according to the setting data.

In conjunction with eighth aspect, in eighth aspect in the first possible implementation, after resetting default topological structure, further includes: control terminal feeds back the module attribute information of each functional module to the ground.

In conjunction with eighth aspect, in second of eighth aspect possible implementation, after resetting default topological structure according to the setting data, further include: control terminal sends mapping relations figure to the ground, the mapping relations between physical port that the mapping relations figure is used to characterize the User ID of the functional module in the default topological structure and unmanned plane externally provides, in order to which the functional module is connected to according to the mapping relations figure physical port of phase mapping by user, alternatively, disconnecting the connection between the functional module and physical port.

In conjunction with the possible implementation of eighth aspect first or second kind, in eighth aspect in the third possible implementation, further includes: receive connection and finish confirmation message, the connection finishes confirmation message from the ground control terminal；It verifies the topological structure actually connected and whether the default topological structure reset is consistent；Back-checking result information.

The third possible implementation in conjunction with eighth aspect, in the 4th kind of possible realization side of eighth aspect In formula, when the topological structure actually connected and the inconsistent default topological structure, the check results information includes at least the information of characterization verification failure；When the topological structure actually connected is consistent with the default topological structure, the check results information includes at least characterization and verifies successful information.

In conjunction with the 4th kind of possible implementation of eighth aspect, in the 5th kind of possible implementation of eighth aspect, when the topological structure actually connected and the inconsistent default topological structure, the check results information further include: verify failure functional module and corresponding functional module attribute.

In conjunction with the 5th kind of possible implementation of eighth aspect, in the 6th kind of possible implementation of eighth aspect, the functional module of the verification failure includes: the functional module for including in the default topological structure but not including in the topological structure actually connected, the functional module for not including in the default topological structure but including in the topological structure actually connected, and error condition is not empty at least one of functional module.

In conjunction with eighth aspect, in the 7th kind of possible implementation of eighth aspect, the default topological structure is stored in a manner of tree topology data structure.

According to a ninth aspect of the embodiments of the present invention, a kind of unmanned plane is provided, the unmanned plane includes:

Unmanned plane processor is communicated to connect with multiple functional modules of the unmanned plane and the UAV Communication device, and the different functional modules can connect to form different topological structures；

Wherein, the UAV Communication device receives the setting data from the ground control terminal, and the unmanned plane processor resets the default topological structure of the multiple functional module according to the setting data.

In conjunction with the 9th aspect, in the 9th aspect the first possible implementation, the unmanned plane processor is also used to, and after resetting default topological structure, controlling the UAV Communication device, control terminal feeds back the module attribute information of each functional module to the ground.

In conjunction with the 9th aspect, in the 9th second of possible implementation of aspect, the unmanned plane processor is also used to, after resetting default topological structure according to the setting data, controlling the UAV Communication device, control terminal sends mapping relations figure to the ground, the mapping relations between physical port that the mapping relations figure is used to characterize the User ID of functional module in the default topological structure and unmanned plane externally provides, in order to which the functional module is connected to according to the mapping relations figure physics of phase mapping by user Port, alternatively, disconnecting the connection between the functional module and physical port.

In conjunction with the 9th possible implementation of aspect first or second kind, the 9th aspect the third possible implementation in, the unmanned plane processor is also used to: being controlled the UAV Communication device reception connection and is finished confirmation message, the connection finishes confirmation message from the ground control terminal；It verifies the topological structure actually connected and whether the default topological structure reset is consistent；Control the UAV Communication device back-checking result information.

According to a tenth aspect of the embodiments of the present invention, a kind of control method of unmanned plane is provided, the unmanned plane includes multiple functional modules, and the different functional modules can connect to form different topological structures, which comprises

Ground control terminal shows the multiple functional module；

Ground control terminal receives the setting data of user's input by the UI and sends the setting data to the unmanned plane, and the setting data form a default topological structure for selecting the corresponding functional module；

Unmanned plane resets default topological structure according to the setting data and stores.

In conjunction with the tenth aspect, the tenth aspect the first possible implementation in, further includes:

Ground control terminal shows mapping relations figure by the UI, the mapping relations figure is used to characterize the mapping relations between the physical port that the User ID of functional module and unmanned plane externally provide in the default topological structure, in order to which hardware function is connected to according to the mapping relations figure physical port of phase mapping by user, alternatively, disconnecting the connection between hardware function and physical port.

In conjunction with the tenth aspect the first possible implementation, in the tenth second of possible implementation of aspect, further includes: ground control terminal finishes confirmation message by the connection of UI reception user, and feeds back to the unmanned plane；Whether the topological structure that the unmanned plane verification actually connects and the default topological structure reset are consistent, and back-checking result information；Ground control terminal receives check results information, and is prompted accordingly according to the check results information.

As it can be seen that in embodiments of the present invention, unmanned plane is after carrying out topological structure verification, and control terminal feedback check result information, ground control terminal pass through user interface again and prompt user to the ground for meeting.In this way, user can have interactive channel to understand topological structure verification, to improve the interaction friendliness of topology verification.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, the drawings to be used in the description of the embodiments or prior art will be briefly described below, apparently, drawings in the following description are only some embodiments of the invention, for those of ordinary skill in the art, without creative efforts, it is also possible to obtain other drawings based on these drawings.

Fig. 1,12 communication scenes between unmanned plane provided in an embodiment of the present invention and ground control terminal；

Fig. 2 is unmanned plane provided in an embodiment of the present invention or the illustrative generic structure diagram of ground control terminal；

Fig. 3 a and Fig. 3 b are topological structure schematic diagram provided in an embodiment of the present invention；

Fig. 4,7a, 7b, 7d, 8a, 8c, 8d, 8e, 9a, 9b, 13,17,18 are interaction flow exemplary diagram provided in an embodiment of the present invention；

Fig. 5,6,15,16 are control method flow example figure provided in an embodiment of the present invention；

Fig. 7 d is mapping graph in kind provided in an embodiment of the present invention；

UI schematic diagram when Fig. 8 b is second verification provided in an embodiment of the present invention success；

Figure 10,20 be unmanned plane provided in an embodiment of the present invention exemplary structure；

Figure 11,19 be ground control terminal provided in an embodiment of the present invention exemplary structure；

Figure 14 is maximum topological structure exemplary diagram provided in an embodiment of the present invention.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, shall fall within the protection scope of the present invention.

Unmanned plane mainly passes through ground control terminal and is controlled.Fig. 1 gives the communication scenes between unmanned plane and ground control terminal: data (such as sensing data) can be transmitted to ground surface end in unmanned plane downlink, and data (such as data of control aspect) also can be transmitted to unmanned plane in ground surface end uplink.

Above-mentioned ground control terminal or unmanned plane, universal architecture is as shown in Fig. 2, include at least one processor 201, such as CPU/FMU, at least one network interface 204 or other users interface 203, memory 205, at least one communication bus 202.Communication bus 202 is for realizing the company between these components Connect letter.Ground control terminal or unmanned plane optionally include user interface 203, keyboard or pointing device, for example, trace ball (trackball) etc..In embodiments of the present invention, processor 201 executes each step of control method by the application program 2051 or instruction of calling memory 205 to store.

Wherein, ground control terminal can for remote controler, support the handheld communication devices (such as mobile phone, ipad), PC machine, the unmanned plane base station that are controlled unmanned plane etc..Handheld communication devices/PC machine can also be connected with remote controler, collectively constitute ground control terminal.

Unmanned plane includes multiple functional modules, and functional module can be hardware module (hardware device) or software module.For example, hardware module may include propeller, motor, flight processor, data acquisition device (various sensors, GPS, compass etc.).Unmanned plane externally provides physical port, and hardware device, especially data acquisition device can be mounted on unmanned plane by physical port.

Software module may include the driving of hardware device, system etc..

Different above-mentioned functional modules can connect into different topological structures.Fig. 3 a and Fig. 3 b show simple topological structure example: flight processor 1 (FMU1) can form topological structure with two GPS (GPS1 and GPS2), only can also form topological structure with GPS1；Flight processor 2 (FMU2) can also can form topological structure with two GPS (GPS2 and GPS3) only with GPS3 hybrid topologies.

In addition, above-mentioned functional module can Combinational redundancy system, for example, in Fig. 3 a, the topological structure of FMU1 and GPS1, GPS2 composition are simple redundant system: can carry out redundancy switching between GPS1, GPS2.

Certainly, above-mentioned functional module is also combined into non-redundant system (single control system), such as, although there is two flight processors of FMU1 and FMU2, but FMU1 is only used, although GPS1 and FMU1 is used only and forms system there are three GPS (GPS1~GPS3).Then the system of FMU1 and GPS1 composition is exactly non-redundant system.

Fig. 4 shows a kind of exemplary interaction flow of unmanned aerial vehicle (UAV) control method provided by the embodiment of the present invention, can include:

Topological structure that S1, unmanned plane form multiple functional modules, actually connecting carries out verification and carries out topological structure verification；

S2, unmanned plane feed back to ground control terminal for result information is verified；

S3, ground control terminal are accordingly prompted according to above-mentioned check results information.

More specifically, ground control terminal can accordingly be prompted by suggestion device, such as the user interface (UI) of display screen.

Corresponding, Fig. 5 is referred to, the control method as performed by unmanned plane can include at least following steps:

S501, multiple functional modules are formed, actually the topological structure that connects verifies；

S502, verification result information is fed back into ground control terminal.

Correspondingly, referring to Fig. 6, the control method as performed by ground control terminal can include at least following steps:

S601, the topological structure check results information for receiving unmanned plane feedback；

Above topology structure check information is obtained after fleet-footed runner's machine forms multiple functional modules, the topological structure that actually connects verifies；

S602, it is accordingly prompted according to above-mentioned check results information.

In other embodiments of the present invention, above-mentioned verification may include initial verification and at least one of verification in real time.For example, can only include initial verification, it can also only include verification in real time, may also comprise initial verification and verification in real time.

Wherein, initial verification is to carry out after unmanned plane starting, before operation, and verifying in real time is the real-time perfoming in the operational process of above-mentioned unmanned plane.That is, under normal circumstances, initial verification will be prior to verifying execution in real time.

Primary verification is explained below.

Fig. 7 a or Fig. 7 b is referred to, initial verification can further comprise level-one verification (S11), correspondingly, check results information above-mentioned may include level-one check results information.

The level-one verification executed by unmanned plane may particularly include: whether the topological structure and default topological structure that verification actually connects are consistent.

Default topological structure can be by the pre-set topological structure of user, when can also dispatch from the factory for unmanned plane certainly The default topological structure of band.

Unmanned plane can feed back to the information of ground control terminal characterization " carrying out level-one verification " when executing level-one verification.Ground control terminal will be prompted to user " carrying out level-one verification " after receiving.

When the above-mentioned topological structure actually connected and inconsistent above-mentioned default topological structure, level-one check results information includes at least the information of characterization level-one verification failure.

And when the above-mentioned topological structure actually connected is consistent with above-mentioned default topological structure, level-one check results information may include that characterization level-one verifies successful information.

More specifically, number 0 or other number/characters can be used to characterize level-one verification failure, verified successfully with number 1 or other number/characters to characterize level-one.

When level-one check results information includes characterizing the information of level-one verification failure, Fig. 7 a is referred to, ground control terminal is accordingly prompted (S3 or S602) can accordingly include: according to check results information

S31: prompt level-one verification failure.

" topological structure and default topological structure actually connected is inconsistent " can specifically be prompted.

And when level-one check results information includes that characterization level-one verifies successful information, refer to Fig. 7 b, ground control terminal is accordingly prompted (S3 or S602) can accordingly include: according to check results information

S32: prompt initially verifies successfully, can operate normally.

It is explained below and how to determine whether the topological structure actually connected and default topological structure are consistent:

The module attribute of functional module is introduced first.Each functional module can all have corresponding module attribute.

Module attribute includes at least functional module ID, User ID and module status.Wherein, User ID is set by the user, in order to which user identifies module.It is subsequent herein to be introduced in topological structure setting unit.

Above-mentioned module status includes at least connection status and error condition.Wherein:

Connection status includes " having connected " and " not connected " two kinds of connection types.For hardware module, connection status is for indicating whether hardware device is connected to unmanned plane.For software module, whether the function that connection status can be used for characterizing the software module is enabled, for example, disabling the function of certain software module, then its connection status is " not connected ".

Error condition shows module inerrancy if it is sky (there is no the mistakes on communication, link or hardware).If error condition is not sky, content may include that (such as error is big, data for type of error Do not update, can not work), show which kind of failure is module occur.

Module status may also include busy condition.

Busy condition includes " busy " and " not busy " two types.It is in the module of work, can be denoted as busy.For example, two GPS modules access unmanned plane, wherein GPS1 works, and GPS2 is as its backup, then GPS1 will be shown as busy on UI, and GPS2 will be displayed as " not busy " on UI.Certainly, it can not also show the busy condition of GPS2, it is not busy not show that the module of busy condition is defaulted as.

Based on module attribute, the topological structure actually connected is consistent with above-mentioned default topological structure to include at least following content:

1), any functional module that default topological structure includes similarly includes in the above-mentioned topological structure actually connected；

It also include GPS1 in the topological structure actually connected for example, including GPS1 in default topological structure.

2), the good connection of any functional module；

So-called good connection refers to that connection status is " having connected ".

3), the error condition of any of the above-described functional module is sky.

Furthermore, the topological structure actually connected with it is above-mentioned it is default flutter the consistent connection relationship that may also include that any functional module and other function module in default topological structure of structure, and the functional module is identical as the connection relationship of other function module in the topological structure actually connected.

For example, GPS1 is connect with FMU1, and in the topological structure actually connected, GPS1 is also to connect with FMU1 in default topological structure.

And the case where " topological structure that actually connects and above-mentioned default to flutter structure inconsistent " then may include any one following or any combination:

1) functional module for including in topological structure, is preset, does not include in the topological structure actually connected；

For example, including GPS1 in default topological structure, and GPS1 is not included in the topological structure actually connected, then the two is inconsistent.

2) functional module that above-mentioned default topological structure does not include is contained in the topological structure, actually connected；

For example, not including GPS1 in default topological structure, and in the topological structure actually connected include GPS1, then the two is inconsistent.

3), presetting topological structure with the above-mentioned topological structure actually connecting includes same functional module, but the error condition of the functional module is not empty.

For example, default topological structure and the topological structure actually connected include GPS1, but the error condition of GPS1 is not sky, then the two is inconsistent.

Furthermore, the topological structure and above-mentioned preset actually connected flutters the inconsistent connection relationship that may also include that any functional module and other function module in default topological structure of structure, different with the connection relationship of other function module from the functional module in the topological structure actually connected.

For example, GPS1 is connect with FMU1, but in the topological structure actually connected, GPS1 is connect with FMU2 in default topological structure, it is determined that the topological structure actually connected presets that flutter structure inconsistent with above-mentioned.

In other embodiments of the present invention, when the above-mentioned topological structure actually connected and inconsistent above-mentioned default topological structure, the level-one check results information in above-mentioned all embodiments may also include that the functional module and corresponding module attribute that level-one verification fails.

That is, unmanned plane can also feed back the information of the functional module comprising level-one verification failure and corresponding module attribute in addition to the information of characterization level-one verification failure.

Wherein, the functional module of level-one verification failure may include at least one below:

1) functional module for, including in above-mentioned default topological structure but not including in the above-mentioned topological structure actually connected；

For example, including GPS1 in default topological structure, and GPS1 is not included in the topological structure actually connected, then GPS1 is the functional module of level-one verification failure.

2) functional module for, not including in above-mentioned default topological structure but including in the above-mentioned topological structure actually connected；

For example, not including GPS2 in default topological structure, and in the topological structure actually connected include GPS2, then GPS2 is the functional module of level-one verification failure.

3), error condition is not empty functional module.

Such as the error condition of GPS3 is not functional module empty, then that GPS3 fails for level-one verification.

In addition, the functional module of level-one verification failure may also include that the connection relationship in the topological structure actually connected with other function module, the connection relationship in default topological structure with other function module is followed Different functional module.

For example, GPS1 should be connect with FMU1, but in the topological structure actually connected, GPS1 is connect with FMU2 in default topological structure, it is determined that GPS1 is the functional module of level-one verification failure.

Correspondingly, referring to Fig. 7 c, ground control terminal, which is accordingly prompted (S3 or S602) also according to check results information, accordingly to include:

S33, the functional module of prompt level-one verification failure and corresponding module attribute.

For the functional module (or even functional module of the subsequent second verification failure referred to) of level-one verification failure, the type of error and connection status of different color or parameter display function module can be used.

It is green to indicate to have connected etc. to hooking for example, red fork indicates not connected.

More specifically, ground control terminal can show the mapping relations figure of the functional module of level-one verification failure, in order to which user positions according to functional module of the mapping relations figure to level-one verification failure.

The mapping relations between physical port that mapping relations figure is used to characterize the User ID of functional module and unmanned plane externally provides.

Mapping relations figure between the User ID and physical port of all functional modules can be stored in unmanned plane, also can be stored in ground control terminal.

For example, it is assumed that in default topological structure, GPS1 is connected to FMU1:GPS1 with GPS2 (GPS1 is User ID with GPS2) and connects physical port 1, GPS2 connection physical port 2.

And in the topological structure actually connected, GPS2 is not connected to FMU1, then can prompt the mapping relations figure between GPS2 and physical port 2.

The modes such as table, tree form data structure can be used on UI and show mapping relations figure for ground control terminal, can also show mapping relations figure using mode in kind.For example, referring to Fig. 7 d, the pictorial diagram of unmanned plane can be directly displayed, indicates physical port 2, user is prompted to be inserted into GPS2.

For the functional module of software class, ground control terminal can prompt user's selection to enable or disable the functional module.

In the present embodiment, user can be notified to exclude failure by way of simple, intuitive, user can be visually seen the module attribute of level-one verification failure, improve the treatment effeciency of module failure.

In other embodiments of the present invention, Fig. 8 a is referred to, above-mentioned initial verification may also include the steps of:

For unmanned plane after level-one verification failure, triggering executes second verification (S12)；

Wherein, whether the second verification minimum of topological structure that include: the above-mentioned topological structure actually connected of verification support with unmanned plane is consistent.

Minimum of topological structure is that unmanned plane takes off required configuration.

Unmanned plane can feed back to the information of ground control terminal characterization " carrying out second verification " when executing second verification.Ground control terminal will be prompted to user " carrying out second verification " after receiving." carrying out minimum of topological verification " can specifically be prompted.

Correspondingly, check results information above-mentioned may also include second verification result information.

More specifically, when the topological structure and above-mentioned minimal redundancy system topology that actually connect are inconsistent, second verification result information includes at least the information of characterization second verification failure；And when the topological structure actually connected is consistent with above-mentioned minimal redundancy system topology, second verification result information includes the characterization successful information of second verification.

Further, number 0 or other number/characters can be used to characterize second verification failure, second verification success is characterized with number 1 or other number/characters.

Corresponding, ground control terminal is accordingly prompted (S3 or S602) according to check results information further include:

S34: when second verification result information information successful including characterization second verification, user is prompted to select to check failure or select to continue to run.

In addition, ground control terminal can also remind user that can operate normally when second verification result information includes characterization second verification successful information, but recommend to restart after carrying out troubleshooting.

When second verification success, it can be presented such as Fig. 8 b.

S35: when second verification result information includes characterizing the information of second verification failure, second verification failure (Fig. 8 c) is prompted.

In other embodiments of the present invention, when the above-mentioned topological structure actually connected and minimum of topological structure are inconsistent, the second verification result information in above-mentioned all embodiments may also include the functional module and corresponding module attribute that second verification fails.

And correspondingly, ground control terminal is accordingly prompted (S3 or S602) may also include that according to check results information referring to Fig. 8 d

S36: the functional module of prompt second verification failure and corresponding module attribute.

More specifically, ground control terminal can show the mapping relations figure of the functional module of second verification failure, in order to which user positions according to functional module of the mapping relations figure to second verification failure.

In addition, ground control terminal is restarted after can also reminding user to carry out troubleshooting.

More specifically, the functional module of above-mentioned second verification failure can include: the functional module for including in minimum of topological structure but not including in the above-mentioned topological structure actually connected, the functional module for not including in minimum of topological structure but including in the above-mentioned topological structure actually connected, and error condition is not empty at least one of functional module.

Determine the topological structure actually connected and the whether consistent mode of minimum of topological structure, it is similar with the whether consistent mode of default topological structure with the determining topological structure actually connecting.

Wherein, the topological structure actually connected is consistent with minimum of topological structure to include at least following content:

1), any functional module that minimum of topological structure includes similarly includes in the above-mentioned topological structure actually connected；

2), the good connection of any functional module；

3), the error condition of any of the above-described functional module is sky.

Furthermore, the functional module is identical as the connection relationship of other function module in the topological structure actually connected the connection relationship that may also include that any functional module and other function module in minimum of topological structure consistent with minimum of topological structure, and the topological structure that actually connects.

And the case where " topological structure that actually connects and minimum flutter structure inconsistent " then may include any one following or any combination:

1) functional module for, including in minimum of topological structure do not include in the topological structure actually connected；

2) functional module that minimum of topological structure does not include is contained in the topological structure, actually connected；

3), minimum of topological structure includes same functional module with the above-mentioned topological structure actually connecting, but the error condition of the functional module is not empty.

Furthermore, the topological structure and minimum actually connected flutters the inconsistent connection relationship that may also include that any functional module and other function module in minimum of topological structure of structure, different with the connection relationship of other function module from the functional module in the topological structure actually connected.

Specific details refer to introduction described previously herein, and therefore not to repeat here.

Since minimum of topological structure is that unmanned plane takes off required configuration, in other embodiments of the present invention, Fig. 8 e is referred to, when the above-mentioned topological structure actually connected and above-mentioned minimum of topological structure are inconsistent, the unmanned plane in above-mentioned all embodiments can also carry out following operation: pressure is prohibited from entering operating status.

Then second verification result information may also include the information that characterization is prohibited from entering operating status.

And ground control terminal can also accordingly include: according to the corresponding prompt of check results information progress

Prompt is prohibited from entering operating status.

In other embodiments of the present invention, before carrying out above-mentioned initial configuration verification, the control method in above-mentioned all embodiments may also include that

A: unmanned plane loads default topological structure, meanwhile, it is above-mentioned multiple functional module preset module attributes.

Module attribute refers to introduction described previously herein, and therefore not to repeat here.

Default topological structure can be reserved in the eeprom of system.After system starting, the default topological structure stored in eeprom can be loaded, it is stored using tree-like topological data structure.

B: the topological structure actually connected is generated.

Wherein, generating the topological structure actually connected may particularly include:

1), by the detection of data flow, each functional module for being physically connected to flight control units (unmanned plane processor) is determined, and, the module attribute of each functional module；

2) topological structure actually connected, is determined according to module status.

Real-time verification is explained below.

Verification in real time with it is above-mentioned initially verify it is similar, it is subsequent herein to will focus on introduction the two not something in common.

In the process of running, due to internal system, such as system hardware failure, connection status, the error condition that may result in the functional module (especially hardware function) in the topological structure actually connected change unmanned plane.Further, since outside cause, such as hit, is artificial intentional or unintentional destroy, it is also possible to the connection status of the functional module in the topological structure actually connected, error condition be caused to change.

Therefore, unlike initial verification, verification is in addition to including level-one verification (or level-one verification+second verification) in real time, further includes:

The module status for monitoring each functional module in real time, according to module status real-time update it is practical connect open up Flutter structure.

In other embodiments of the present invention, above-mentioned real-time verification may also include that

Control terminal push real-time update, the topological structure actually connected and each functional module module status to the ground.

With it is above-mentioned initially verify it is similar, verify in real time include level-one verification it is whether consistent with default topological structure for verifying the topological structure actually connected.

Correspondingly, check results information above-mentioned may include level-one check results information.

When the above-mentioned topological structure actually connected and inconsistent above-mentioned default topological structure, above-mentioned level-one check results information at least may include characterizing the information of level-one verification failure.

Then ground control terminal, which carries out corresponding prompt according to check results information, accordingly to include:

Prompt level-one verification failure.

Particular content can be found in record described previously herein, and therefore not to repeat here.

In other embodiments of the present invention, when the above-mentioned topological structure actually connected and inconsistent above-mentioned default topological structure, above-mentioned level-one check results information may also include that the functional module and corresponding module attribute that level-one verification fails.

And ground control terminal is accordingly prompted (S3 or S602) also according to check results information to include: accordingly

The functional module for prompting level-one verification to fail and corresponding module attribute.

The functional module related introduction of level-one verification failure refers to record described previously herein, and therefore not to repeat here.

More specifically, ground control terminal can show the mapping relations figure of the functional module of level-one verification failure by UI, in order to which user positions according to functional module of the mapping relations figure to level-one verification failure.

The mapping relations between physical port that mapping relations figure is used to characterize the User ID of functional module and unmanned plane externally provides.The mode that table etc. can be used in ground control terminal on UI shows mapping relations figure, can also show mapping relations figure using mode in kind.Particular content refers to record described previously herein, and therefore not to repeat here.

And when the above-mentioned topological structure actually connected is consistent with above-mentioned default topological structure, unmanned plane may be selected not to feed back characterization level-one check results information.

This is because verification in real time can carry out once, feeding back after verifying successfully such as each level-one every second, prompting can be more frequent.It may be selected only to feed back level-one check results information when level-one verifies failure.

Alternatively, unmanned plane, which can feed back characterization level-one, verifies successful information, but ground based processor does not prompt user's level-one to verify successfully.

Further, number 0 or other number/characters can be used to characterize level-one verification failure, verified successfully with number 1 or other number/characters to characterize level-one.

How to determine whether the topological structure actually connected is consistent with default topological structure, refers to record described previously herein, therefore not to repeat here.

Similar with primary detection, verification may also include second verification in real time: whether the above-mentioned topological structure actually connected of verification and the minimum of topological structure that unmanned plane is supported are consistent.Second verification is the execution that is triggered after level-one verification failure.

How to determine whether the topological structure actually connected is consistent with minimum of topological structure, refers to record described previously herein, therefore not to repeat here.

When real-time verification includes second verification, check results information above-mentioned may also include second verification result information.

More specifically, number 0 or other number/characters can be used to characterize second verification failure, second verification success is characterized with number 1 or other number/characters.

When second verification result information information successful including characterization second verification, user is prompted to select to check failure or select to continue to run.

When second verification result information includes characterizing the information of second verification failure, second verification is prompted to lose It loses.

And correspondingly, ground control terminal is accordingly prompted (S3 or S602) may also include that according to check results information

The functional module for prompting second verification to fail and corresponding module attribute.

The functional module related introduction of second verification failure refers to record described previously herein, and therefore not to repeat here.

In other embodiments of the present invention, in the real-time verification failure of above-mentioned all embodiments (level-one or second verification failure are thought to verify failure in real time), Fig. 9 a and Fig. 9 b is referred to, operation performed by unmanned plane may also include that

Take emergency trouble shooting measures；

The information for characterizing emergency trouble shooting measures is fed back into ground control terminal.

And operation made by ground control terminal may also include that

Receive the information of characterization emergency trouble shooting measures；The measure taken when the emergency trouble shooting measures are unmanned planes in carrying out real-time checking procedure, level-one or second verification fail；

User is accordingly prompted according to the information of above-mentioned characterization emergency trouble shooting measures.

Further, above-mentioned emergency trouble shooting measures may include the switching of redundancy feature module；

Correspondingly, " corresponding prompt " operation made by ground control terminal can include: prompt has carried out redundancy feature module switching, and, it is proposed that stop functional module operation debugging.

Alternatively, above-mentioned emergency trouble shooting measures include forced landing or make a return voyage.

For example, verification failure in real time occurs suddenly in flight course for unmanned plane, and when the flight control system of unmanned plane has had little time to switch redundance unit, forced landing can be carried out or equal measures of making a return voyage.

Then " corresponding prompt " operation made by ground control terminal can include: prompt remote control operation is to ensure unmanned plane safe falling.

For example, prompt not be remotely controlled operation when unmanned plane use bales out.

In addition, when verification fails in real time, system has not been entered into normal operating conditions, as unmanned plane does not take off also there are also more special situation.Such case can occur after unmanned plane takes off a period of time, landing.Just verification failure in real time at this time, but since unmanned plane does not take off also, so in a safe condition.

For above situation, in other embodiments of the present invention, in above-mentioned real-time verification, if level-one or second verification fail and above-mentioned unmanned plane is in a safe condition, operation performed by unmanned plane may also include that will characterize information in a safe condition feeds back to ground control terminal.

It is operated as made by ground control terminal, includes:

Receive above-mentioned characterization information in a safe condition；

Prompt user selects queuing failure to operate normally again, or selection forced service, or selection is forced to forbid taking off.

More specifically, " being lined up failure to be operated normally again ", " forced service " and " pressure is forbidden taking off " three options (button) can be shown, select one to execute by user.

Aforementioned to be referred to, the functional module of unmanned plane is combined into non-redundant system (single control system).For single control system, it due to there is no redundancy backup, may not include level-one verification in initial verification and in real time verification, directly include second verification.That is, whether single control system only to verify the minimum of topological structure that the topological structure that actually connects and unmanned plane are supported consistent.

Processing made by unmanned plane and ground control terminal refers to record described previously herein when for second verification success or failure, and therefore not to repeat here.

Equipment is explained below.

Figure 10 shows a kind of exemplary structure for the unmanned plane 100 that the embodiment of the present invention to be protected, can include:

UAV Communication device 101, for transmitting data between ground control terminal；And

Unmanned plane processor 102, for the multiple functional modules and the communication connection of above-mentioned UAV Communication device 101 with unmanned plane；Different functional modules can connect to form different topological structures；

Wherein, above-mentioned unmanned plane processor 102 is verified for topological structure being formed to above-mentioned multiple functional modules, actually connecting, and controls above-mentioned UAV Communication device 101 and above-mentioned check results information is fed back to ground control terminal.

In other embodiments of the present invention, the verification in above-mentioned all embodiments may include initial verification and at least one of verification in real time；Also, above-mentioned initial verification is carried out after unmanned plane starting, before operation, and above-mentioned real-time verification is the real-time perfoming in the operational process of above-mentioned unmanned plane.

Aforementioned to be referred to, the functional module of unmanned plane is combined into redundant system.

For redundant system, above-mentioned initial verification or verification in real time may include level-one verification.

In other embodiments, for redundant system, after the verification failure of above-mentioned level-one, above-mentioned initial verification or verification in real time further include second verification.

And for non-redundant system, it may not include level-one verification in initial verification and in real time verification, directly include second verification.That is, whether non-redundant system only to verify the minimum of topological structure that the topological structure that actually connects and unmanned plane are supported consistent.

Wherein:

Level-one verification includes: whether the topological structure that verification actually connects and default topological structure are consistent.

Then above-mentioned check results information includes level-one check results information；When the above-mentioned topological structure actually connected and inconsistent above-mentioned default topological structure, above-mentioned level-one check results information includes at least the information of characterization level-one verification failure.

In other embodiments of the present invention, when the above-mentioned topological structure actually connected is consistent with above-mentioned default topological structure, the level-one check results information in above-mentioned all embodiments may include that characterization level-one verifies successful information.

Detail refers to record described previously herein, and therefore not to repeat here.

Further, when the above-mentioned topological structure actually connected and inconsistent above-mentioned default topological structure, the level-one check results information in above-mentioned all embodiments may also include that the functional module and corresponding module attribute that level-one verification fails.

Detail refers to the record of method part described previously herein, and therefore not to repeat here.

Whether the minimum of topological structure that above-mentioned second verification, which includes: the above-mentioned topological structure actually connected of verification, to be supported with unmanned plane is consistent；Above-mentioned check results information further includes second verification result information.

More specifically, when the above-mentioned topological structure actually connected and above-mentioned minimal redundancy system topology are inconsistent, above-mentioned second verification result information includes at least the information of characterization second verification failure；When the above-mentioned topological structure actually connected is consistent with above-mentioned minimal redundancy system topology, above-mentioned second verification Result information includes the characterization successful information of second verification.

In other embodiments of the present invention, when the above-mentioned topological structure actually connected and above-mentioned minimum of topological structure are inconsistent, the second verification result information in above-mentioned all embodiments further includes the functional module and corresponding module attribute that second verification fails.

In other embodiments of the present invention, the unmanned plane processor 102 in above-mentioned all embodiments can also be used in: when the above-mentioned topological structure actually connected and above-mentioned minimum of topological structure are inconsistent, pressure is prohibited from entering operating status；Then above-mentioned second verification result information further includes the information that characterization is prohibited from entering operating status.

In other embodiments of the present invention, the unmanned plane processor 102 in above-mentioned all embodiments can also be used in:

Before carrying out above-mentioned initial configuration verification, above-mentioned default topological structure is loaded；

For above-mentioned multiple functional module preset module attributes；Above-mentioned module attribute includes at least functional module ID, User ID and functional module state；Above-mentioned functional module state includes at least connection status and error condition；

Generate the topological structure actually connected.

In other embodiments of the present invention, the real-time verification in above-mentioned all embodiments further include: the functional module state of each above-mentioned functional module of real time monitoring, according to the practical topological structure connected of above-mentioned functional module state real-time update.

In above-mentioned real-time verification, when level-one or second verification fail, emergency trouble shooting measures are taken；

It controls above-mentioned UAV Communication device 101 and the information for characterizing emergency trouble shooting measures is fed back into ground control terminal.

In above-mentioned real-time verification, if level-one or second verification fail and above-mentioned unmanned plane is in a safe condition, above-mentioned UAV Communication device 101 is controlled by information in a safe condition is characterized and feeds back to ground control terminal.

Figure 11 shows a kind of exemplary structure for the ground control terminal 110 that the embodiment of the present invention to be protected, can include:

Suggestion device 111, for issuing prompt information；

Suggestion device 111 is concretely equipped with the display screen of user interface.

Terrestrial communication device 112, for transmitting data between above-mentioned unmanned plane；And

Ground surface end processor 113 is communicated to connect with above-mentioned suggestion device 111, above-mentioned terrestrial communication device 112；

Wherein, above-mentioned ground surface end processor 113 is used for, and is controlled above-mentioned terrestrial communication device 112 and is received the topological structure check results information of above-mentioned unmanned plane feedback, and controls above-mentioned suggestion device 111 according to above-mentioned check results information and accordingly prompted.

Topological structure check results information and the detail of prompt refer to introduction described previously herein, and therefore not to repeat here.

Specifically, above-mentioned ground control terminal may include following at least one: hand-hold communication device (such as mobile phone, ipad), remote controler and unmanned plane base station.

In other embodiments of the present invention, the ground surface end processor 113 in above-mentioned all embodiments can also be used in:

Control the information that above-mentioned terrestrial communication device 112 receives characterization emergency trouble shooting measures；

Above-mentioned suggestion device 111 is controlled according to the information of above-mentioned characterization emergency trouble shooting measures accordingly to prompt user；The measure taken when above-mentioned emergency trouble shooting measures are above-mentioned unmanned planes in carrying out real-time checking procedure, level-one or second verification fail.

It controls above-mentioned terrestrial communication device 112 and receives characterization information in a safe condition；Above-mentioned characterization information in a safe condition is above-mentioned unmanned plane in carrying out real-time checking procedure, is fed back in level-one or second verification failure and above-mentioned unmanned plane in a safe condition；

It controls above-mentioned suggestion device 111 user is prompted to select to be lined up failure and operate normally again or forced service, or force to forbid taking off.Suggestion device 111 can be display screen, LED light, acoustical generator etc..Specifically in the illustrated embodiment, suggestion device 111 is display screen.

In addition to lacking outside the interaction with user in the design that topological structure verifies, user also has no idea to be added topological structure, modify or delete current topological structure method of calibration.

For this purpose, the embodiment of the present invention provides the control method and relevant apparatus of unmanned plane, to realize that user participates in the setting of topological structure.

This control method is related to unmanned plane and ground control terminal.Communication scenes between unmanned plane and ground control terminal can be as shown in Figure 1, also as shown in figure 12: unmanned plane is connect by transmission line (such as USB line) with ground control terminal.

Above-mentioned ground control terminal or unmanned plane, universal architecture is as shown in Fig. 2, include at least one processor 201, such as CPU/FMU, at least one network interface 204 or other users interface 203, memory 205, at least one communication bus 202.Communication bus 202 is for realizing the connection communication between these components.Ground control terminal or unmanned plane optionally include user interface 203, keyboard or pointing device, for example, trace ball (trackball) etc..In embodiments of the present invention, processor 201 executes each step of control method by the application program 2051 or instruction of calling memory 205 to store.

Unmanned plane includes multiple functional modules, and functional module can be hardware module (hardware device) or software module.Such as, hardware module may include propeller, motor, flight processor, data acquisition device (various sensors, GPS, compass etc.), the physical port that unmanned plane externally provides, hardware device, especially data acquisition device can be mounted on unmanned plane by physical port.

Software module may include the driving of hardware device, system etc..

Different above-mentioned functional modules can connect into different topological structures.

Figure 13 shows a kind of exemplary interaction flow of unmanned aerial vehicle (UAV) control method provided by the embodiment of the present invention, can include:

S131: ground control terminal shows multiple functional modules by user interface UI；

More specifically, referring to Figure 14, it can show the maximum topology diagram that unmanned plane is supported.All functional modules are all contained in the maximum topological structure.

Above-mentioned maximum topology diagram includes not connected functional module, and, it is highlighted the default topological structure (the topological structure relationship that characterization has connected functional module) of presentation.

In maximum topology diagram, default topological structure can be shown by the methods of color exacerbation emphasis, and another color can be used to show (such as grey) for not connected functional module.

Maximum topology diagram is storable in ground control terminal, may also be stored in unmanned generator terminal.

S132: ground control terminal receives the setting data of user's input by the UI and sends the setting data to the unmanned plane, and the setting data form a default topological structure for selecting the corresponding functional module；

More specifically, above-mentioned " selection " may include " selection addition ", " selection is deleted " and " selection modification " functional module.

For example, FMU2 maximum can connect three ACC, and have connected ACC1 and ACC2, addition ACC3 may be selected in user, perhaps selection deletes ACC1 (or ACC2) or the connection relationship of modification ACC1 and other modules also may be selected, and ACC1 is modified to being connected in other modules.

In other embodiments of the present invention, above-mentioned setting data can also be used in the User ID for modifying functional module.In this way, user can be conducive to user and the operation such as position, load and unload to module with the User ID convenient for oneself identification come marking Function module.

There are many modes that the setting data are sent to the unmanned plane, for example, after one functional module of every selection, can synchronize to the unmanned plane by the UI in user and send setting data；

Alternatively, Xiang Suoshu unmanned plane sends setting data after can also constructing the default topological structure on the UI.

S133: unmanned plane resets default topological structure according to the setting data and stores.

As it can be seen that in the present embodiment, the interactive mode for being added, modifying or deleting to topological structure being provided for user, participates in into user efficiently, the interactive experience of user is improved.

It is corresponding, referring to Figure 15, the control method as performed by ground control terminal can include at least such as Lower step:

S151: show multiple functional modules of unmanned plane by UI；

Topological structure preceding to have addressed, that the various combination of above-mentioned multiple functional modules can be different.

S152: the setting data of user's input are received by the UI and send the setting data to the unmanned plane, the setting data form a default topological structure for selecting the corresponding functional module.

Correspondingly, referring to Figure 16, the control method as performed by unmanned plane can include at least following steps:

S161: the setting data for default topological structure to be arranged are received, the setting data are from ground control terminal；

S162: the default topological structure of the unmanned plane is reset according to the setting data.

In other embodiments of the present invention, after step S132 or step S152, referring to Figure 17, the ground control terminal in above-mentioned all embodiments can also carry out following steps:

S135, mapping relations figure is shown by the UI.

Mapping relations figure between the User ID and physical port of above-mentioned all functional modules can be stored in unmanned plane, also can be stored in ground control terminal.

If being stored in unmanned plane, still referring to Figure 17, unmanned plane need to proceed as follows:

S134: control terminal sends mapping relations figure to the ground.

And correspondingly, ground control terminal is before showing the mapping relations figure, it is also necessary to proceed as follows:

S136: the mapping relations figure is received, the mapping relations figure is from the unmanned plane.

The mapping relations between physical port that mapping relations figure is used to characterize the User ID of functional module and unmanned plane externally provides, display mapping relations figure can be convenient user and connect or disconnect functional module according to mapping relations figure.

For example, it is assumed that in the default topological structure of user setting, GPS1 is connected to FMU1:GPS1 with GPS2 (GPS1 is User ID with GPS2) and connects physical port 1, GPS2 connection physical port 2.

And in fact, GPS2 is not connected to FMU1, then the mapping relations figure between GPS2 and physical port 2 can be prompted.

The modes such as table, tree form data structure can be used on UI and show mapping relations figure for ground control terminal, can also show mapping relations figure using mode in kind.For example, still referring to Fig. 7 d, the pictorial diagram of unmanned plane can be directly displayed, indicates physical port 2, user is prompted to be inserted into GPS2.

For the functional module of software class, ground control terminal can prompt user to select the enabled/disabled functional module.

After mapping graph is presented to user, user can click confirmation after connection/enabling, disconnection/disabling functional module on UI.Later, it is whether consistent with the default topological structure that resets can to verify the topological structure actually connected for unmanned plane.

Referring to Figure 18, the step of ground control terminal is carried out can include:

S137: confirmation message is finished by the connection that the UI receives user and feeds back to the unmanned plane；

S141: check results information is received, the check results information is obtained after the topological structure actually connected is compared the unmanned plane with the default topological structure；

S142: it is prompted accordingly according to the check results information.

And unmanned plane it is carried out the step of can include:

S138: it receives connection and finishes confirmation message, the connection finishes confirmation message from the ground control terminal；

S139: whether the topological structure that verification actually connects and the default topological structure reset are consistent；

How to determine whether unanimously to refer to record described previously herein, therefore not to repeat here.

S140: back-checking result information.

When the topological structure actually connected and the inconsistent default topological structure, the check results information includes at least the information of characterization verification failure；When the topological structure actually connected is consistent with the default topological structure, the check results information includes at least characterization and verifies successful information.

Then above-mentioned steps S142 may particularly include:

When the check results information includes the information of characterization verification failure, verification failure is prompted；

When the check results information includes that characterization verifies successful information, prompt to verify successfully.

In other embodiments of the present invention, the check results information when the topological structure actually connected and the inconsistent default topological structure, in above-mentioned all embodiments further include: verify the function mould of failure Block and corresponding module attribute.

Then above-mentioned steps S142 may also include that the functional module and corresponding module attribute that prompt verification fails.

The functional module of above-mentioned verification failure includes: the functional module for including in the default topological structure but not including in the topological structure actually connected, the functional module for not including in the default topological structure but including in the topological structure actually connected, and error condition is not empty at least one of functional module.

Particular content refers to the description of level-one check part described previously herein, and therefore not to repeat here.

More specifically, ground control terminal can show the mapping relations figure of the functional module of verification failure, in order to which user positions according to functional module of the mapping relations figure to verification failure.

After user is handled according to functional module of the mapping relations figure to verification failure, confirmation can be clicked on UI again.Later, unmanned plane can verify the topological structure actually connected again and whether default topological structure is consistent.

In other embodiments of the present invention, after unmanned plane resets the default topological structure of the unmanned plane according to the setting data or after back-checking result information, unmanned plane also control terminal can feed back the module attribute information of each functional module to the ground.

Its corresponding movement as ground control terminal can include:

Receive the module attribute information of each functional module of the unmanned plane feedback；

Refresh the module attribute information of the multiple functional module on the UI.

Equipment is explained below.

Figure 19 shows a kind of exemplary structure for the ground control terminal 190 that the embodiment of the present invention to be protected, can include:

Display screen 191 is equipped with user interface (UI), and the setting data of user's input can be received by the UI, and the setting data form a default topological structure for selecting corresponding functional module；

Terrestrial communication device 192, for transmitting data between the unmanned plane；And

Ground surface end processor 193 is communicated to connect with the display screen 191, the terrestrial communication device 192；

Wherein, the UI that ground surface end processor 193 controls the display screen 191 shows multiple functional modules, and controls the setting data that terrestrial communication device 192 inputs user and be sent to unmanned plane.

In other embodiments of the present invention, in terms of the setting data for inputting user are sent to the unmanned plane, the control terrestrial communication device 192 in above-mentioned all embodiments can be specifically used for:

After one functional module of every selection by the UI, the synchronous setting data that the functional module selected is sent to the unmanned plane of the terrestrial communication device 192 are controlled；

Alternatively, controlling the terrestrial communication device 192 after constructing the default topological structure on the UI to the unmanned plane and sending setting data.

Particular content refers to record described previously herein, and therefore not to repeat here.

In other embodiments of the present invention, the ground surface end processor 193 in above-mentioned all embodiments can also be used in, and the UI for controlling the display screen 191 shows mapping relations figure.

Wherein, the mapping relations between physical port that the mapping relations figure is used to characterize the User ID of the functional module in the default topological structure and unmanned plane externally provides, in order to which user connects or disconnects the functional module according to the mapping relations figure.

If being stored in unmanned plane, in other embodiments of the present invention, the ground surface end processor 193 in above-mentioned all embodiments can also be used in, before showing the mapping relations figure, it controls the terrestrial communication device 192 and receives the mapping relations figure, the mapping relations figure is from the unmanned plane.

After mapping graph is presented to user, user can click confirmation after connection/enabling, disconnection/disabling functional module on UI.In other embodiments of the present invention, the ground surface end processor 193 in above-mentioned all embodiments can also be used in:

The connection for controlling the UI reception user of the display screen 191, which finishes confirmation message and controls the terrestrial communication device 192, feeds back to the unmanned plane；

It controls the terrestrial communication device 192 and receives check results information, the check results information is obtained after the topological structure actually connected is compared the unmanned plane with the default topological structure；

It is prompted accordingly according to the UI that the check results information controls the display screen 191.

In other embodiments of the present invention, when the topological structure actually connected and the inconsistent default topological structure, the check results information in above-described embodiment includes at least the information of characterization verification failure；When the topological structure actually connected is consistent with the default topological structure, the check results information includes at least characterization and verifies successful information；

Then it is described prompted accordingly according to the check results information in terms of, the ground surface end processor 193 can be specifically used for:

When the check results information includes the information of characterization verification failure, the UI prompt verification failure of the display screen 191 is controlled；

When the check results information includes that characterization verifies successful information, the UI prompt for controlling the display screen 191 is verified successfully.

In other embodiments of the present invention, when the topological structure actually connected and the inconsistent default topological structure, the check results information further include: verify failure functional module and corresponding module attribute；

Then it is described prompted accordingly according to the check results information in terms of, the ground surface end processor 193 can also be used in: control the display screen 191 UI prompt verification failure functional module and corresponding module attribute.

In other embodiments of the present invention, after unmanned plane resets the default topological structure of the unmanned plane according to the setting data, unmanned plane also control terminal can feed back the module attribute information of each functional module to the ground.

Then correspondingly, the ground surface end processor 193 can also be used in:

Control the module attribute information that the terrestrial communication device 192 receives each functional module of the unmanned plane feedback；

The UI for controlling the display screen 191 refreshes the module attribute information of the multiple functional module.

Figure 20 shows a kind of exemplary structure for the unmanned plane 200 that the embodiment of the present invention to be protected, can include:

Multiple functional modules (being not shown), and the different functional modules can connect to form different topological structures；

UAV Communication device 201, for transmitting data between ground control terminal；And

Unmanned plane processor 202 is communicated to connect with the multiple functional module and the UAV Communication device 201；

Wherein, the UAV Communication device 201 receives the setting data from the ground control terminal, and the unmanned plane processor 202 resets the default topological structure of the multiple functional module according to the setting data.

In other embodiments of the present invention, the unmanned plane processor 202 in above-mentioned all embodiments can also be used in, and after resetting default topological structure according to the setting data, controlling the UAV Communication device 201, control terminal sends mapping relations figure to the ground.

The mapping relations between physical port that the mapping relations figure is used to characterize the User ID of the functional module in the default topological structure and unmanned plane externally provides, in order to which the functional module is connected to according to the mapping relations figure physical port of phase mapping by user, alternatively, disconnecting the connection between the functional module and physical port.

After mapping graph is presented to user, user can click confirmation after connection/enabling, disconnection/disabling functional module on UI.

In other embodiments of the present invention, the unmanned plane processor 202 in above-mentioned all embodiments is also used to:

It controls the reception of UAV Communication device 201 connection and finishes confirmation message, the connection finishes confirmation message from the ground control terminal；

It verifies the topological structure actually connected and whether the default topological structure reset is consistent；

Control the 201 back-checking result information of UAV Communication device.

The related content of check results information refers to record described previously herein, and therefore not to repeat here.

In other embodiments of the present invention, after unmanned plane resets the default topological structure of the unmanned plane according to the setting data, the unmanned plane processor 202 can also be used in, after resetting default topological structure, controlling the UAV Communication device 201, control terminal feeds back the module attribute information of each functional module to the ground.

Each embodiment in this specification is described in a progressive manner, and each embodiment stresses It is the difference from other embodiments, the same or similar parts in each embodiment refer to mutually.For the device that embodiment provides, since it is corresponding with the method that embodiment provides, so being described relatively simple, related place refers to method part illustration.

It should be noted that, herein, relational terms such as first and second and the like are only used to distinguish one entity or operation from another entity or operation, and without necessarily requiring or implying between these entities or operation, there are any actual relationship or orders.And, the terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those elements, it but also including other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that there is also other identical elements in the process, method, article or equipment for including above-mentioned element.

Through the above description of the embodiments, it is apparent to those skilled in the art that the present invention can add the mode of required common hardware to realize by software, common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements etc., it can certainly include specific integrated circuit, dedicated cpu, private memory, special components and parts etc. by specialized hardware to realize, but the former is more preferably embodiment in many cases.Based on this understanding, substantially the part that contributes to existing technology can be embodied in the form of software products technical solution of the present invention in other words, the computer software product can store in a readable storage medium, such as USB flash disk, mobile memory medium, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), the various media that can store software program code such as magnetic or disk, it uses including some instructions so that a computer equipment (can be personal computer, server, or network equipment etc.) method that executes each embodiment of the present invention.

To the above description of provided embodiment, enable those skilled in the art to implement or use the present invention.Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention will not be limited to the embodiments shown herein, and is to fit to the widest scope consistent with principle provided in this article and features of novelty.

Claims

A kind of control method of unmanned plane, which is characterized in that the unmanned plane includes multiple functional modules, and the different functional modules can connect into different topological structures, which comprises

Topological structure being formed to the multiple functional module, actually connecting verifies；

The unmanned plane feeds back to ground control terminal for result information is verified.
The method as described in claim 1, which is characterized in that the verification includes initial verification and at least one of verification in real time；

The initial verification is carried out after unmanned plane starting, before operation, and the real-time verification is the real-time perfoming in the operational process of the unmanned plane.
Method according to claim 2, which is characterized in that

The initial verification or verification in real time include that level-one verifies；

The level-one verifies

It verifies the topological structure actually connected and whether default topological structure is consistent；

The check results information includes level-one check results information；When the topological structure actually connected and the inconsistent default topological structure, the level-one check results information includes at least the information of characterization level-one verification failure.
Method as claimed in claim 3, which is characterized in that when the topological structure actually connected is consistent with the default topological structure, the level-one check results information includes that characterization level-one verifies successful information.
Method as claimed in claim 3, which is characterized in that each functional module in the multiple functional module has module attribute, and the module attribute includes at least module I D, User ID and module status；The module status includes at least connection status and error condition.
Method as claimed in claim 5, which is characterized in that

The topological structure actually connected is consistent with the default topological structure to be included at least:

Any functional module that the default topological structure includes, in the topological structure actually connected It similarly include the good connection of any functional module, and, the error condition of any functional module is sky.
Method as claimed in claim 5, which is characterized in that

The topological structure actually connected the and default topological structure is inconsistent includes any of the following or any combination:

The functional module for including in the default topological structure do not include in the topological structure actually connected；

The functional module that the default topological structure does not include is contained in the topological structure actually connected；

The default topological structure includes same functional module with the topological structure actually connecting, but the error condition of the functional module is not empty.
The method of claim 7, which is characterized in that when the topological structure actually connected and the inconsistent default topological structure, the level-one check results information further include: the functional module of level-one verification failure and corresponding module attribute.
Method according to claim 8, it is characterized in that, the functional module of the level-one verification failure includes: the functional module for including in the default topological structure but not including in the topological structure actually connected, the functional module for not including in the default topological structure but including in the topological structure actually connected, and error condition is not empty at least one of functional module.
Method according to claim 2, which is characterized in that it is described it is initial verification or in real time verification include: second verification；

Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；

The check results information includes second verification result information；

When the topological structure actually connected and the minimal redundancy system topology are inconsistent, the second verification result information includes at least the information of characterization second verification failure；When the topological structure actually connected is consistent with the minimal redundancy system topology, the second verification result information packet Include the characterization successful information of second verification.
Method as claimed in claim 3, which is characterized in that the initial verification or verification in real time further include:

After level-one verification failure, triggering executes second verification；

Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；

The check results information further includes second verification result information；

When the topological structure actually connected and the minimal redundancy system topology are inconsistent, the second verification result information includes at least the information of characterization second verification failure；When the topological structure actually connected is consistent with the minimal redundancy system topology, the second verification result information includes the characterization successful information of second verification.
Method as described in claim 10 or 11, which is characterized in that when the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the functional module and corresponding module attribute that second verification fails.
Method as claimed in claim 12, it is characterized in that, the functional module of the second verification failure includes: the functional module for including in the minimum of topological structure but not including in the topological structure actually connected, the functional module for not including in the minimum of topological structure but including in the topological structure actually connected, and error condition is not empty at least one of functional module.
Method as claimed in claim 12, which is characterized in that when the topological structure actually connected and the minimum of topological structure are inconsistent, further includes: pressure is prohibited from entering operating status；

The second verification result information further includes the information that characterization is prohibited from entering operating status.
Method as described in claim 3 or 10, which is characterized in that before carrying out the initial configuration verification, further includes:

Load the default topological structure；

For the multiple functional module preset module attribute；The module attribute includes at least functional module ID, User ID and functional module state；The functional module state includes at least connection status and error condition；

Generate the topological structure actually connected.
Method as claimed in claim 15, which is characterized in that the topological structure that actually connects of generating includes:

By the detection of data flow, each functional module for being physically connected to flight control units is determined, and, each functional module sets a property；

The topological structure actually connected is determined according to the functional module state.
Method as described in claim 3 or 10, which is characterized in that the real-time verification further include:

The functional module state for monitoring each functional module in real time, according to the practical topological structure connected of the functional module state real-time update.
Method as described in claim 10 or 11, which is characterized in that in the real-time verification, when level-one or second verification fail, further includes:

Take emergency trouble shooting measures；

The information for characterizing emergency trouble shooting measures is fed back into ground control terminal.
Method as claimed in claim 18, which is characterized in that

The emergency trouble shooting measures include the switching of redundancy feature module；

Alternatively, the emergency trouble shooting measures include forced landing or make a return voyage.
Method as claimed in claim 19, which is characterized in that in the real-time verification, if level-one or second verification fail and the unmanned plane is in a safe condition, further includes:

The information for characterizing in a safe condition is fed back into ground control terminal.
A kind of unmanned plane characterized by comprising

UAV Communication device, for transmitting data between ground control terminal；And

Unmanned plane processor, for the multiple functional modules and UAV Communication device communication connection with the unmanned plane, the different functional modules can connect to form different topological structures；

Wherein, the unmanned plane processor be used to form the multiple functional module, actually connect Topological structure is verified, and controls the UAV Communication device and the check results information is fed back to ground control terminal.
Unmanned plane as claimed in claim 21, which is characterized in that the verification includes initial verification and at least one of verification in real time；

The initial verification is carried out after unmanned plane starting, before operation, and the real-time verification is the real-time perfoming in the operational process of the unmanned plane.
Unmanned plane as claimed in claim 22, which is characterized in that

The initial verification or verification in real time include that level-one verifies；The level-one verification includes: whether the topological structure that verification actually connects and default topological structure are consistent；

The check results information includes level-one check results information；When the topological structure actually connected and the inconsistent default topological structure, the level-one check results information includes at least the information of characterization level-one verification failure.
Unmanned plane as claimed in claim 23, which is characterized in that when the topological structure actually connected is consistent with the default topological structure, the level-one check results information includes that characterization level-one verifies successful information.
Unmanned plane as claimed in claim 23, which is characterized in that each functional module in the topological structure actually connected has module attribute, and the module attribute includes at least module I D, User ID and module status；The module status includes at least connection status and error condition.
Unmanned plane as claimed in claim 25, which is characterized in that when the topological structure actually connected and the inconsistent default topological structure, the level-one check results information further include: the functional module of level-one verification failure and corresponding module attribute.
Unmanned plane as claimed in claim 23, which is characterized in that the initial verification or verification in real time further include:

After level-one verification failure, triggering executes second verification；

Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；

The check results information further includes second verification result information；

When the topological structure actually connected and the minimal redundancy system topology are inconsistent, the second verification result information includes at least the information of characterization second verification failure；When the topological structure actually connected is consistent with the minimal redundancy system topology, the second verification result information includes the characterization successful information of second verification.
Unmanned plane as claimed in claim 22, which is characterized in that it is described it is initial verification or in real time verification include: second verification；

Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；

The check results information includes second verification result information；

When the topological structure actually connected and the minimal redundancy system topology are inconsistent, the second verification result information includes at least the information of characterization second verification failure；When the topological structure actually connected is consistent with the minimal redundancy system topology, the second verification result information includes the characterization successful information of second verification.
Unmanned plane as described in claim 27 or 28, which is characterized in that when the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the functional module and corresponding module attribute that second verification fails.
Unmanned plane as claimed in claim 29, which is characterized in that the unmanned plane processor is also used to: when the topological structure actually connected and the minimum of topological structure are inconsistent, pressure is prohibited from entering operating status；

The second verification result information further includes the information that characterization is prohibited from entering operating status.
Unmanned plane as described in claim 25 or 28, which is characterized in that the unmanned plane processor is also used to:

Before carrying out the initial configuration verification, the default topological structure is loaded；

For the multiple functional module preset module attribute；The module attribute includes at least functional module ID, User ID and functional module state；The functional module state includes at least connection status and error condition；

Generate the topological structure actually connected.
Unmanned plane as described in claim 27 or 28, which is characterized in that the real-time verification further include: the functional module state of each functional module of real time monitoring, according to the practical topological structure connected of the functional module state real-time update.
Unmanned plane as described in claim 27 or 28, which is characterized in that the unmanned plane processor is also used to:

In the real-time verification, when level-one or second verification fail, emergency trouble shooting measures are taken；

It controls the UAV Communication device and the information for characterizing emergency trouble shooting measures is fed back into ground control terminal.
Unmanned plane as described in claim 27 or 28, it is characterized in that, the unmanned plane processor is also used to: in the real-time verification, if level-one or second verification fail and the unmanned plane is in a safe condition, the UAV Communication device is controlled by information in a safe condition is characterized and feeds back to ground control terminal.
A kind of control method of unmanned plane, which is characterized in that the control method includes:

Ground control terminal receives the topological structure check results information of unmanned plane feedback；The unmanned plane includes multiple functional modules, and the different functional modules can connect into different topological structures, and the topological structure check information is obtained after the unmanned plane forms multiple functional modules, the topological structure that actually connects verifies；

The ground control terminal is accordingly prompted according to the check results information.
Method as claimed in claim 35, which is characterized in that the verification includes initial verification and at least one of verification in real time；

The initial verification is carried out after unmanned plane starting, before operation, and the real-time verification is carried out in the operational process of the unmanned plane.
Method as claimed in claim 36, which is characterized in that

The initial verification or verification in real time include that level-one verifies, and the level-one verification includes: that verification is practical Whether the topological structure of connection is consistent with default topological structure；

The check results information includes level-one check results information；When the topological structure actually connected and the inconsistent default topological structure, the level-one check results information includes at least the information of characterization level-one verification failure；

It is described to include: according to the corresponding prompt of check results information progress

When the level-one check results information includes characterizing the information of the level-one verification failure, level-one verification failure is prompted.
Method as claimed in claim 37, which is characterized in that

When the topological structure actually connected is consistent with the default topological structure, the level-one check results information includes that characterization level-one verifies successful information；

It is described to include: according to the corresponding prompt of check results information progress

When the level-one check results information includes characterizing the level-one to verify successful information, prompts initially to verify successfully, can operate normally.
Method as claimed in claim 37, which is characterized in that

When the topological structure actually connected and the inconsistent default topological structure, the level-one check results information further include: the functional module of level-one verification failure and corresponding module attribute；

It is described accordingly to be prompted according to the check results information further include:

The functional module for prompting level-one verification to fail and corresponding module attribute.
Method as described in claim 36 or 37, which is characterized in that

The initial verification or verification in real time further include after level-one verification failure, the second verification for the execution that is triggered；Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；The check results information further includes second verification result information；The second verification result information, which includes at least, characterizes the second verification failure or successful information；Alternatively,

The initial verification or verification in real time include second verification；Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；The check results information includes second verification result information；The second verification result information, which includes at least, characterizes the second level Verification failure or successful information.
Method as claimed in claim 40, which is characterized in that described accordingly to be prompted according to the check results information further include:

When second verification result information information successful including the characterization second verification, user is prompted to select to check failure or select to continue to run；

When the second verification result information includes characterizing the information of the second verification failure, second verification failure is prompted.
Method as claimed in claim 40, which is characterized in that

When the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the information that characterization is prohibited from entering operating status；

It is described accordingly to be prompted according to the check results information further include:

Prompt is prohibited from entering operating status.
Method as claimed in claim 40, which is characterized in that

When the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the functional module and corresponding module attribute that second verification fails；

It is described accordingly to be prompted according to the check results information further include:

The functional module for prompting second verification to fail and corresponding module attribute.
Method as claimed in claim 40, which is characterized in that further include:

Receive the information of characterization emergency trouble shooting measures；The measure taken when the emergency trouble shooting measures are the unmanned planes in carrying out real-time checking procedure, level-one or second verification fail；

User is accordingly prompted according to the information of the characterization emergency trouble shooting measures.
Method as claimed in claim 44, which is characterized in that

The emergency trouble shooting measures include redundancy feature module switching, it is described it is corresponding prompt include: prompt carried out redundancy feature module switching, and, it is proposed that stop functional module operation debugging；

Alternatively, the emergency trouble shooting measures include forced landing or make a return voyage, the corresponding prompt includes prompt Remote control operation is to ensure the unmanned plane safe falling.
Method as claimed in claim 40, which is characterized in that further include:

It receives and characterizes information in a safe condition；Characterization information in a safe condition is the unmanned plane in carrying out real-time checking procedure, is fed back in level-one or second verification failure and the unmanned plane in a safe condition；

Prompt user's selection queuing failure operates normally again or forced service, or forces to forbid taking off.
A kind of ground control terminal, for controlling unmanned plane, which is characterized in that the unmanned plane includes multiple functional modules, and the different functional modules can connect into different topological structures, and the ground control terminal includes:

Suggestion device, for issuing prompt information；

Terrestrial communication device, for transmitting data between the unmanned plane；And

Ground surface end processor is communicated to connect with the suggestion device, the terrestrial communication device；

Wherein, the ground surface end processor controls the terrestrial communication device and receives the topological structure check results information of the unmanned plane feedback, and controls the suggestion device according to the check results information and accordingly prompted.
Ground control terminal as claimed in claim 47, which is characterized in that the ground control terminal includes following at least one: hand-hold communication device, remote controler and unmanned plane base station.
Ground control terminal as claimed in claim 47, which is characterized in that the ground surface end processor is also used to, and controls the information that the terrestrial communication device receives characterization emergency trouble shooting measures；The suggestion device is controlled according to the information of the characterization emergency trouble shooting measures accordingly to prompt user；The measure taken when the emergency trouble shooting measures are the unmanned planes in carrying out real-time checking procedure, level-one or second verification fail.
Ground control terminal as claimed in claim 40, which is characterized in that the ground surface end processor is also used to, and is controlled the terrestrial communication device and is received characterization information in a safe condition；Characterization information in a safe condition is the unmanned plane in carrying out real-time checking procedure, in level-one or second verification It is fed back when unsuccessfully and the unmanned plane is in a safe condition；It controls suggestion device prompt user and selects to be lined up failure and operate normally again or forced service, or force to forbid taking off.
A kind of control method of unmanned plane, which is characterized in that the unmanned plane includes multiple functional modules, and the different functional modules can connect into different topological structures, which comprises

Topological structure that unmanned plane forms the multiple functional module, actually connecting verifies；

The unmanned plane feeds back to ground control terminal for result information is verified；

The ground control terminal is accordingly prompted according to the check results information.
Method as claimed in claim 51, which is characterized in that the topological structure verification includes initial verification and at least one of verification in real time；

The initial verification is carried out after unmanned plane starting, before operation, and the real-time verification is carried out in the operational process of the unmanned plane.
Method as claimed in claim 51, which is characterized in that

The initial verification or verification in real time include that level-one verifies, and the level-one verification includes: whether the topological structure that verification actually connects and default topological structure are consistent；The check results information includes level-one check results information；When the topological structure actually connected and the inconsistent default topological structure, the level-one check results information includes at least the information of characterization level-one verification failure；

The ground control terminal carries out corresponding prompt according to the check results information

When the level-one check results information includes characterizing the information of the level-one verification failure, the ground control terminal prompt level-one verification failure.
Method as claimed in claim 53, which is characterized in that

When the topological structure actually connected is consistent with the default topological structure, the level-one check results information includes that characterization level-one verifies successful information；

The ground control terminal carries out corresponding prompt according to the check results information

When the level-one check results information includes characterizing the level-one to verify successful information, describedly Control terminal prompt in face initially verifies successfully, can operate normally.
Method as claimed in claim 53, which is characterized in that

When the topological structure actually connected and the inconsistent default topological structure, the level-one check results information further include: the functional module of level-one verification failure and corresponding module attribute；

The ground control terminal is accordingly prompted according to the check results information further include:

The functional module of the ground control terminal prompt level-one verification failure and corresponding module attribute.
Method as described in claim 52 or 53, which is characterized in that

The initial verification or verification in real time further include after level-one verification failure, the second verification for the execution that is triggered；The second verification includes: whether the unmanned plane to verify the minimum of topological structure that the topological structure actually connected and unmanned plane are supported consistent；The check results information further includes second verification result information；The second verification result information, which includes at least, characterizes the second verification failure or successful information；Alternatively,

The initial verification or verification in real time include second verification；Whether the minimum of topological structure that the second verification, which includes: the verification topological structure actually connected, to be supported with unmanned plane is consistent；The check results information includes second verification result information；The second verification result information, which includes at least, characterizes the second verification failure or successful information.
Method as claimed in claim 56, which is characterized in that

The ground control terminal is accordingly prompted according to the check results information further include:

When second verification result information information successful including the characterization second verification, the ground control terminal prompts user to select to check failure or select to continue to run by the UI；

When the second verification result information includes characterizing the information of the second verification failure, the ground control terminal prompt second verification failure.
Method as claimed in claim 56, which is characterized in that

When the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the information that characterization is prohibited from entering operating status；

The ground control terminal is accordingly prompted according to the check results information further include:

The ground control terminal prompt is prohibited from entering operating status.
Method as claimed in claim 56, which is characterized in that

When the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information further includes the functional module and corresponding module attribute that second verification fails；

The ground control terminal is accordingly prompted according to the check results information further include:

The functional module of the ground control terminal prompt second verification failure and corresponding module attribute.
Method as claimed in claim 56, which is characterized in that when the real-time verification included level-one or second verification fail, further includes:

The unmanned plane takes emergency trouble shooting measures；

The information for characterizing emergency trouble shooting measures is fed back to ground control terminal by the unmanned plane；

The ground control terminal accordingly prompts user according to the information of the characterization emergency trouble shooting measures.
Method as claimed in claim 60, which is characterized in that

The emergency trouble shooting measures include redundancy feature module switching, it is described it is corresponding prompt include: prompt carried out redundancy feature module switching, and, it is proposed that stop functional module operation debugging；

Alternatively, the emergency trouble shooting measures include forced landing or make a return voyage, the corresponding prompt includes prompt remote control operation to ensure the unmanned plane safe falling.
Method as claimed in claim 56, which is characterized in that in the real-time verification, if level-one or second verification fail and the unmanned plane is in a safe condition, further includes:

The unmanned plane feeds back to ground control terminal for information in a safe condition is characterized；

The ground control terminal prompt user selection queuing failure operates normally again or forced service, or forces to forbid taking off.
A kind of control method of unmanned plane, which is characterized in that the described method includes:

Show multiple functional modules of unmanned plane by user interface UI, the different functional modules can Connection forms different topological structures；

The setting data of user's input are received by the UI and send the setting data to the unmanned plane, and the setting data form a default topological structure for selecting the corresponding functional module.
The control method as described in claim 63, which is characterized in that described to include: to the unmanned plane transmission setting data

It is synchronous to send setting data to the unmanned plane after one functional module of every selection by the UI；

Alternatively, Xiang Suoshu unmanned plane sends setting data after constructing the default topological structure on the UI.
Method as described in claim 63, which is characterized in that further include:

Mapping relations figure is shown by the UI, the mapping relations between physical port that the mapping relations figure is used to characterize the User ID of the functional module in the default topological structure and unmanned plane externally provides, in order to which user connects or disconnects the functional module according to the mapping relations figure.
Method as described in claim 65, which is characterized in that before showing the mapping relations figure, further includes:

The mapping relations figure is received, the mapping relations figure is from the unmanned plane.
Method as described in claim 65, which is characterized in that further include:

Confirmation message is finished by the connection that the UI receives user and feeds back to the unmanned plane；

Check results information is received, the check results information is obtained after the topological structure actually connected is compared the unmanned plane with the default topological structure；

It is prompted accordingly according to the check results information by user interface UI.
Method as described in claim 67, which is characterized in that further include:

Receive the module attribute information of each functional module of the unmanned plane feedback；

Refresh the module attribute information of the multiple functional module on the UI.
Method as described in claim 67, which is characterized in that

When the topological structure actually connected and the inconsistent default topological structure, the check results information includes at least the information of characterization verification failure；When the topological structure actually connected with it is described pre- If topological structure is consistent, the check results information includes at least characterization and verifies successful information；

It is described to include: by the corresponding prompt of user interface UI progress according to the check results information

When the check results information includes the information of characterization verification failure, verification failure is prompted；

When the check results information includes that characterization verifies successful information, prompt to verify successfully.
Method as described in claim 69, which is characterized in that

When the topological structure actually connected and the inconsistent default topological structure, the check results information further include: verify failure functional module and corresponding module attribute；

It is described to be prompted accordingly according to the check results information further include:

The functional module of prompt verification failure and corresponding module attribute.
Method as described in claim 63, which is characterized in that described to show the multiple functional module and include:

Show the maximum topology diagram that the unmanned plane is supported；The maximum topology diagram includes not connected functional module, and, preset topological structure；The default topological structure is highlighted presentation.
A kind of ground control terminal, for controlling unmanned plane, the unmanned plane includes multiple functional modules, and the different functional modules can connect to form different topological structures, which is characterized in that the ground control terminal includes:

Display screen is equipped with user interface (UI), and the setting data of user's input can be received by the UI, and the setting data form a default topological structure for selecting the corresponding functional module；

Terrestrial communication device, for transmitting data between the unmanned plane；And

Ground surface end processor is communicated to connect with the display screen, the terrestrial communication device；

Wherein, the UI that the ground surface end processor controls the display screen shows the multiple functional module, and controls the setting data that the terrestrial communication device inputs user and be sent to the unmanned plane.
Ground control terminal as described in claim 72, which is characterized in that the ground control terminal includes following at least one: hand-hold communication device, remote controler and unmanned plane base station.
Ground control terminal as described in claim 72, which is characterized in that in terms of the setting data that the control terrestrial communication device inputs user are sent to the unmanned plane, the ground surface end processor is used for:

After one functional module of every selection by the UI, the synchronous setting data that the functional module selected is sent to the unmanned plane of the terrestrial communication device are controlled；

Alternatively, controlling the terrestrial communication device after constructing the default topological structure on the UI to the unmanned plane and sending setting data.
Ground control terminal as described in claim 72, it is characterized in that, the ground surface end processor is also used to, the UI for controlling the display screen shows mapping relations figure, the mapping relations between physical port that the mapping relations figure is used to characterize the User ID of the functional module in the default topological structure and unmanned plane externally provides, in order to which user connects or disconnects the functional module according to the mapping relations figure.
Ground control terminal as described in claim 75, which is characterized in that the ground surface end processor is also used to, and before showing the mapping relations figure, is controlled the terrestrial communication device and is received the mapping relations figure, the mapping relations figure is from the unmanned plane.
Ground control terminal as described in claim 75, which is characterized in that the ground surface end processor is also used to, and the connection for controlling the UI reception user of the display screen, which finishes confirmation message and controls the terrestrial communication device, feeds back to the unmanned plane；

It controls the terrestrial communication device and receives check results information, the check results information is obtained after the topological structure actually connected is compared the unmanned plane with the default topological structure；

It is prompted accordingly according to the UI that the check results information controls the display screen.
Ground control terminal as described in claim 77, which is characterized in that the ground surface end processor is also used to,

Control the module attribute information that the terrestrial communication device receives each functional module of the unmanned plane feedback；

The UI for controlling the display screen refreshes the module attribute information of the multiple functional module.
Ground control terminal as described in claim 77, which is characterized in that

When the topological structure actually connected and the inconsistent default topological structure, the check results information includes at least the information of characterization verification failure；When the topological structure actually connected is consistent with the default topological structure, the check results information includes at least characterization and verifies successful information；

It is described according to the check results information by user interface UI prompted accordingly in terms of, the ground surface end processor is specifically used for:

When the check results information includes the information of characterization verification failure, the UI prompt verification failure of the display screen is controlled；

When the check results information includes that characterization verifies successful information, the UI prompt for controlling the display screen is verified successfully.
Ground control terminal as described in claim 79, which is characterized in that

When the topological structure actually connected and the inconsistent default topological structure, the check results information further include: verify failure functional module and corresponding module attribute；

It is described according to the check results information by user interface UI prompted accordingly in terms of, the ground surface end processor is also used to:

Control the functional module and corresponding module attribute that the UI prompt verification of the display screen fails.
A kind of control method of unmanned plane, which is characterized in that the unmanned plane includes multiple functional modules, and the different functional modules can connect to form different topological structures, which comprises

The setting data for default topological structure to be arranged are received, the setting data are from ground control terminal；

The default topological structure of the unmanned plane is reset according to the setting data.
Method as described in claim 81, which is characterized in that after resetting default topological structure, further includes:

Control terminal feeds back the module attribute information of each functional module to the ground.
Method as described in claim 81, which is characterized in that after resetting default topological structure according to the setting data, further includes:

Control terminal sends mapping relations figure to the ground, the mapping relations between physical port that the mapping relations figure is used to characterize the User ID of the functional module in the default topological structure and unmanned plane externally provides, in order to which the functional module is connected to according to the mapping relations figure physical port of phase mapping by user, alternatively, disconnecting the connection between the functional module and physical port.
Method as described in claim 82 or 83, which is characterized in that further include:

It receives connection and finishes confirmation message, the connection finishes confirmation message from the ground control terminal；

It verifies the topological structure actually connected and whether the default topological structure reset is consistent；

Back-checking result information.
Method as described in claim 84, which is characterized in that when the topological structure actually connected and the inconsistent default topological structure, the check results information includes at least the information of characterization verification failure；When the topological structure actually connected is consistent with the default topological structure, the check results information includes at least characterization and verifies successful information.
Method as described in claim 85, which is characterized in that

When the topological structure actually connected and the inconsistent default topological structure, the check results information further include: verify failure functional module and corresponding functional module attribute.
Method as described in claim 86, it is characterized in that, the functional module of the verification failure includes: the functional module for including in the default topological structure but not including in the topological structure actually connected, the functional module for not including in the default topological structure but including in the topological structure actually connected, and error condition is not empty at least one of functional module.
Method as described in claim 81, which is characterized in that the default topological structure is stored in a manner of tree topology data structure.
A kind of unmanned plane, which is characterized in that the unmanned plane includes:

UAV Communication device, for transmitting data between ground control terminal；And

Unmanned plane processor is communicated to connect with multiple functional modules of the unmanned plane and the UAV Communication device, and the different functional modules can connect to form different topological structures；

Wherein, the UAV Communication device receives the setting data from the ground control terminal, and the unmanned plane processor resets the default topological structure of the multiple functional module according to the setting data.
Unmanned plane as described in claim 89, which is characterized in that the unmanned plane processor is also used to, and after resetting default topological structure, controlling the UAV Communication device, control terminal feeds back the module attribute information of each functional module to the ground.
Unmanned plane as described in claim 89, which is characterized in that the unmanned plane processor is also used to, and after resetting default topological structure according to the setting data, controls the UAV Communication Control terminal sends mapping relations figure to device to the ground, the mapping relations between physical port that the mapping relations figure is used to characterize the User ID of the functional module in the default topological structure and unmanned plane externally provides, in order to which the functional module is connected to according to the mapping relations figure physical port of phase mapping by user, alternatively, disconnecting the connection between the functional module and physical port.
Unmanned plane as described in claim 90 or 91, which is characterized in that the unmanned plane processor is also used to:

It controls the UAV Communication device reception connection and finishes confirmation message, the connection finishes confirmation message from the ground control terminal；

It verifies the topological structure actually connected and whether the default topological structure reset is consistent；

Control the UAV Communication device back-checking result information.
A kind of control method of unmanned plane, which is characterized in that the unmanned plane includes multiple functional modules, and the different functional modules can connect to form different topological structures, which comprises

Ground control terminal shows the multiple functional module by user interface UI；

Ground control terminal receives the setting data of user's input by the UI and sends the setting data to the unmanned plane, and the setting data form a default topological structure for selecting the corresponding functional module；

Unmanned plane resets default topological structure according to the setting data and stores.
Method as described in claim 93, which is characterized in that further include:

Ground control terminal shows mapping relations figure by the UI, the mapping relations figure is used to characterize the mapping relations between the physical port that the User ID of functional module and unmanned plane externally provide in the default topological structure, in order to which hardware function is connected to according to the mapping relations figure physical port of phase mapping by user, alternatively, disconnecting the connection between hardware function and physical port.
Method as described in claim 94, which is characterized in that further include:

Ground control terminal finishes confirmation message by the connection that the UI receives user, and feeds back to the unmanned plane；

Whether the topological structure that the unmanned plane verification actually connects and the default topological structure reset are consistent, and back-checking result information；

Ground control terminal receives check results information, and is prompted accordingly according to the check results information by user interface UI.