CN107703870A - Unmanned aerial vehicle station starting-up method, device and unmanned aerial vehicle station - Google Patents
Unmanned aerial vehicle station starting-up method, device and unmanned aerial vehicle station Download PDFInfo
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- CN107703870A CN107703870A CN201710994087.2A CN201710994087A CN107703870A CN 107703870 A CN107703870 A CN 107703870A CN 201710994087 A CN201710994087 A CN 201710994087A CN 107703870 A CN107703870 A CN 107703870A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of unmanned aerial vehicle station starting-up method, device and unmanned aerial vehicle station.This method includes：According to the startup time of the module to be triggered of storage, the trigger sequence of the module to be triggered and corresponding triggered time are determined；When reaching the triggered time, trigger signal is sent to the corresponding module to be triggered, to trigger the startup of the module to be triggered.According to the present invention it is possible to save the power consumption in the start process of unmanned aerial vehicle station.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly, to a kind of unmanned aerial vehicle station starting-up method, device and
Unmanned aerial vehicle station.
Background technology
Unmanned air vehicle technique suffers from huge application prospect in multiple fields such as investigation monitoring, data acquisition, remote measurement explorations.
Unmanned aerial vehicle station is the important component of UAS, there is provided the commander of unmanned plane is controlled and ensures that base data are led to
Letter.
Unmanned aerial vehicle station generally comprises four data transfer, image transmitting, single-chip microcomputer and high level operating system modules.
Above-mentioned modules are by being arranged on the battery powered at unmanned aerial vehicle station.When being started shooting at unmanned aerial vehicle station, above-mentioned each module meeting
Upper electricity simultaneously.But the toggle speed of actually modules is different, and power consumption operationally is also different, and this, which is resulted in, opens
The module of dynamic speed expends battery electric quantity when waiting other modules completion electrifying startup.And unmanned aerial vehicle station generally exists
Outdoor use, the electricity of battery are limited.Therefore, need badly and a kind of power consumption that can be saved in the start process of unmanned aerial vehicle station is provided
The unmanned aerial vehicle station starting-up method of amount.
The content of the invention
It is an object of the present invention to provide a kind of new solution for unmanned aerial vehicle station starting-up method.
According to the first aspect of the invention, there is provided a kind of unmanned aerial vehicle station starting-up method, including：
According to the startup time of the module to be triggered of storage, determine the trigger sequence of the module to be triggered and corresponding touch
Send out the time；
When reaching the triggered time, trigger signal is sent to the corresponding module to be triggered, to wait to touch described in triggering
Send out the startup of module.
Optionally, the startup time of the module to be triggered according to storage, determine that the triggering of the module to be triggered is suitable
Sequence and corresponding triggered time, including：
The startup time of the module to be triggered is ranked up, the module to be triggered corresponding to the most long startup time
Start at first；
Under the module to be triggered and the difference of the startup time of next module to be triggered started at first is described
The triggered time of one module to be triggered.
Optionally, methods described also includes：
Receive the feedback signal sent after the module to be triggered starts；
According to the time for receiving the feedback signal, the startup time of the module to be triggered corresponding to renewal.
Optionally, it is described to send trigger signal to the corresponding module to be triggered, specifically include：
Trigger signal is sent to the corresponding module to be triggered by universal input/output GPIO interface；
It is described to receive the feedback signal sent after the module to be triggered starts, specifically include：
The feedback signal sent after the module to be triggered starts is received by the GPIO interface.
Optionally, the module to be triggered includes：Data transmission module, image transmission module and system level chip SOC.
According to the second aspect of the invention, there is provided a kind of device for the start of unmanned aerial vehicle station, including：
Memory module, for storing the startup time of module to be triggered；
Determining module, for the startup time of the module to be triggered stored according to the memory module, it is determined that described
The trigger sequence of module to be triggered and corresponding triggered time；
Sending module, during for reaching the triggered time, trigger signal is sent to the corresponding module to be triggered, with
Trigger the startup of the module to be triggered.
Optionally, the determining module is specifically used for：
The startup time of the module to be triggered is ranked up, the module to be triggered corresponding to the most long startup time
Start at first；
Under the module to be triggered and the difference of the startup time of next module to be triggered started at first is described
The triggered time of one module to be triggered.
Optionally, described device also includes：
Receiving module, for receiving the feedback signal sent after the module to be triggered starts；
Update module, it is described corresponding to renewal for receiving the time of the feedback signal according to the receiving module
The startup time of module to be triggered.
Optionally, the sending module is specifically used for：Described wait to touch to corresponding by universal input/output GPIO interface
Send out module and send trigger signal；
The receiving module is specifically used for：Sent after being started by the GPIO interface reception module to be triggered anti-
Feedback signal.
According to the third aspect of the invention we, there is provided a kind of unmanned aerial vehicle station, including：
Data transmission module, image transmission module, system level chip SOC and single-chip microcomputer；
The single-chip microcomputer is used to perform the unmanned aerial vehicle station starting-up method as described in any one of first aspect present invention.
According to one embodiment of the disclosure, power consumption of the unmanned aerial vehicle station in start process can be saved.
By referring to the drawings to the present invention exemplary embodiment detailed description, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
It is combined in the description and the accompanying drawing of a part for constitution instruction shows embodiments of the invention, and even
It is used for the principle for explaining the present invention together with its explanation.
Fig. 1 is the flow chart of unmanned aerial vehicle station provided in an embodiment of the present invention starting-up method.
Fig. 2 is the schematic block diagram of the device provided in an embodiment of the present invention for the start of unmanned aerial vehicle station.
Fig. 3 is the schematic block diagram at unmanned aerial vehicle station provided in an embodiment of the present invention.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should be noted that：Unless have in addition
Body illustrates that the unlimited system of part and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The scope of invention.
The description only actually at least one exemplary embodiment is illustrative to be never used as to the present invention below
And its application or any restrictions that use.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
Fig. 1 is the flow chart of unmanned aerial vehicle station provided in an embodiment of the present invention starting-up method.As shown in figure 1, this implementation
The method that example provides can include：
Step 101, the startup time according to the module to be triggered of storage, determine the module to be triggered trigger sequence and
The corresponding triggered time.
Specifically, when it is determined that taking the trigger sequence of feedback and corresponding triggered time out of, opened for unmanned aerial vehicle station
The device of machine is ranked up to the startup time of the module to be triggered.The module to be triggered corresponding to the most long startup time
Start at first.Under the module to be triggered and the difference of the startup time of next module to be triggered started at first is described
The triggered time of one module to be triggered.
It should be noted that in the present embodiment, the module to be triggered includes：Data transmission module, image transmission module
And system level chip (System On Chip, SOC).
For example, the startup time of data transmission module is Ts, startup time of image transmission module is Tt, SOC startup
Time is Ta.After detecting that key is pressed, what acquisition stored first waits to touch device for the start of unmanned aerial vehicle station
Send out startup time Ts, Tt and Ta of module.Ts, Tt and Ta are ranked up according to order from big to small.
Assuming that Ta ＞ Tt ＞ Ts, then SOC corresponding to Ta is triggered at first, then triggers image transmission module corresponding to Tt, most
Data transmission module corresponding to Ts is triggered afterwards.
After the trigger sequence for determining three modules to be triggered, according to the startup time of three modules to be triggered, it is determined that each
Triggered time.SOC is triggered at first, in Ta-Tt time triggered image transmission module, is passed in Ta-Ts time triggered data
Defeated module.
When step 102, the arrival triggered time, trigger signal is sent to the corresponding module to be triggered, with triggering
The startup of the module to be triggered.
Specifically, the device for the start of unmanned aerial vehicle station can pass through universal input/output (General
Purpose Input Output, GPIO) interface sends trigger signal to the corresponding module to be triggered.
For example, the device for the start of unmanned aerial vehicle station first passes through GPIO interface after detecting that key is pressed
Trigger signal is sent to SOC, makes SOC electrifying startups.In Ta-Tt time, sent by GPIO interface to image transmission module
Trigger signal, trigger image transmission module electrifying startup.Sent in Ta-Ts time by GPIO interface to data transmission module
Trigger signal, with trigger data transport module electrifying startup.In this manner it is ensured that the module start completion that the startup time is most long
When, other modules also just start completion, so as to save power consumption of the unmanned aerial vehicle station in start process.
In one example, for the device that unmanned aerial vehicle station is started shooting after trigger signal is sent to module to be triggered,
The feedback signal sent after module start completion to be triggered can also be received；According to the time for receiving the feedback signal, more
The startup time of the module to be triggered corresponding to new.Specifically, the mould to be triggered can be received by the GPIO interface
The feedback signal that block is sent after starting.The startup time of real-time update module to be triggered, it can be opened every time at unmanned aerial vehicle station
Each module is all ensured that during machine while completes to start, reaches the purpose for saving unmanned aerial vehicle station power consumption in start process.
The unmanned aerial vehicle station starting-up method that the present embodiment provides, it is ensured that start time most long module start completion
When, other modules also just start completion, save power consumption of the unmanned aerial vehicle station in start process.
Fig. 2 is the schematic block diagram of the device provided in an embodiment of the present invention for the start of unmanned aerial vehicle station.Such as Fig. 2 institutes
Show, the device 20 for being used to start shooting at unmanned aerial vehicle station that the present embodiment provides can include：
Memory module 21, for storing the startup time of module to be triggered；
Determining module 22, for the startup time of the module to be triggered stored according to the memory module, determine institute
State the trigger sequence of module to be triggered and corresponding triggered time；
Sending module 23, during for reaching the triggered time, trigger signal is sent to the corresponding module to be triggered,
To trigger the startup of the module to be triggered.
Wherein, the determining module 22 is specifically used for：The startup time of the module to be triggered is ranked up, it is most long
The module to be triggered corresponding to starting the time starts at first；The module to be triggered started at first described is waited to touch with next
The difference for sending out the startup time of module is the triggered time of next module to be triggered.
Further, described device 20 can also include receiving module, be sent out for receiving after the module to be triggered starts
The feedback signal sent；Update module, for receiving the time of the feedback signal according to the receiving module, corresponding to renewal
The startup time of the module to be triggered.
The sending module 23 specifically can be used for：Triggering is sent to the corresponding module to be triggered by GPIO interface
Signal；The receiving module is specifically used for：The feedback sent after the module to be triggered starts is received by the GPIO interface
Signal.
The device for being used for the start of unmanned aerial vehicle station that the present embodiment provides, available for the skill for performing above method embodiment
Art scheme, its implementing principle and technical effect is similar, and here is omitted.
It is well known by those skilled in the art that the development of the electronic information technology with such as large scale integrated circuit technology
With the trend of hardware and software, clearly to divide computer system soft and hardware boundary and seem relatively difficult.Because appoint
What operation can be realized with software, can also be realized by hardware.The execution of any instruction can be completed by hardware, equally also may be used
To be completed by software.Hardware implementations or software implement scheme are used for a certain machine function, depending on price, speed
The Non-technical factors such as degree, reliability, memory capacity, change cycle.For the technician, software realization mode and hardware
It is achieved in that equivalent.Technical staff can select software or hardware to realize such scheme as needed.Therefore, here not
Specific software or hardware are limited.
Fig. 3 is the schematic block diagram at unmanned aerial vehicle station provided in an embodiment of the present invention.As shown in figure 3, the present embodiment carries
The unmanned aerial vehicle station 30 of confession can include：
Data transmission module 31, image transmission module 32, SOC33 and single-chip microcomputer 34；
The single-chip microcomputer 34 is used to perform the unmanned aerial vehicle station starting-up method as described in above-mentioned embodiment of the method：According to depositing
The startup time of the module to be triggered of storage, determine the trigger sequence of the module to be triggered and corresponding triggered time；Reach institute
When stating the triggered time, trigger signal is sent to the corresponding module to be triggered, to trigger the startup of the module to be triggered.Its
In, module to be triggered includes data transmission module 31, image transmission module 32 and SOC33.
The unmanned aerial vehicle station that the present embodiment provides, available for the technical scheme for performing above method embodiment, it is realized
Principle is similar with technique effect, and here is omitted.
The present invention can be system, method and/or computer program product.Computer program product can include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the invention.
Computer-readable recording medium can keep and store to perform the tangible of the instruction that uses of equipment by instruction
Equipment.Computer-readable recording medium for example can be-- but be not limited to-- storage device electric, magnetic storage apparatus, optical storage
Equipment, electromagnetism storage device, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer-readable recording medium
More specifically example (non exhaustive list) includes：Portable computer diskette, hard disk, random access memory (RAM), read-only deposit
It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static RAM (SRAM), portable
Compact disk read-only storage (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
It is stored with punch card or groove internal projection structure and the above-mentioned any appropriate combination of instruction.Calculating used herein above
Machine readable storage medium storing program for executing is not construed as instantaneous signal in itself, the electromagnetic wave of such as radio wave or other Free propagations, leads to
Cross the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or transmitted by electric wire
Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer-readable recording medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, LAN, wide area network and/or wireless network
Portion's storage device.Network can include copper transmission cable, optical fiber is transmitted, is wirelessly transferred, router, fire wall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment receive from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
For perform the computer program instructions that operate of the present invention can be assembly instruction, instruction set architecture (ISA) instruction,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
The source code or object code that any combination is write, programming language of the programming language including object-oriented-such as
Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer
Readable program instructions fully can on the user computer perform, partly perform on the user computer, be only as one
Vertical software kit performs, part performs or completely in remote computer on the remote computer on the user computer for part
Or performed on server.In the situation of remote computer is related to, remote computer can pass through network-bag of any kind
LAN (LAN) or wide area network (WAN)-be connected to subscriber computer are included, or, it may be connected to outer computer (such as profit
Pass through Internet connection with ISP).In certain embodiments, by using computer-readable program instructions
Status information carry out personalized customization electronic circuit, such as PLD, field programmable gate array (FPGA) or can
Programmed logic array (PLA) (PLA), the electronic circuit can perform computer-readable program instructions, so as to realize each side of the present invention
Face.
Referring herein to method, apparatus (system) and computer program product according to embodiments of the present invention flow chart and/
Or block diagram describes various aspects of the invention.It should be appreciated that each square frame and flow chart of flow chart and/or block diagram and/
Or in block diagram each square frame combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to all-purpose computer, special-purpose computer or other programmable datas
The processor of processing unit, so as to produce a kind of machine so that these instructions are passing through computer or other programmable datas
During the computing device of processing unit, work(specified in one or more of implementation process figure and/or block diagram square frame is generated
The device of energy/action.These computer-readable program instructions can also be stored in a computer-readable storage medium, these refer to
Order causes computer, programmable data processing unit and/or other equipment to work in a specific way, so as to be stored with instruction
Computer-readable medium then includes a manufacture, and it is included in one or more of implementation process figure and/or block diagram square frame
The instruction of the various aspects of defined function/action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other
In equipment so that series of operation steps is performed on computer, other programmable data processing units or miscellaneous equipment, with production
Raw computer implemented process, so that performed on computer, other programmable data processing units or miscellaneous equipment
Instruct function/action specified in one or more of implementation process figure and/or block diagram square frame.
Flow chart and block diagram in accompanying drawing show system, method and the computer journey of multiple embodiments according to the present invention
Architectural framework in the cards, function and the operation of sequence product.At this point, each square frame in flow chart or block diagram can generation
One module of table, program segment or a part for instruction, the module, program segment or a part for instruction include one or more use
In the executable instruction of logic function as defined in realization.At some as the function of in the realization replaced, being marked in square frame
Can be with different from the order marked in accompanying drawing generation.For example, two continuous square frames can essentially be held substantially in parallel
OK, they can also be performed in the opposite order sometimes, and this is depending on involved function.It is also noted that block diagram and/or
The combination of each square frame and block diagram in flow chart and/or the square frame in flow chart, function or dynamic as defined in performing can be used
The special hardware based system made is realized, or can be realized with the combination of specialized hardware and computer instruction.It is right
It is well known that, realized for those skilled in the art by hardware mode, realized by software mode and by software and
It is all of equal value that the mode of combination of hardware, which is realized,.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
The principle of each embodiment, practical application or technological improvement to the technology in market are best being explained, or is leading this technology
Other those of ordinary skill in domain are understood that each embodiment disclosed herein.The scope of the present invention is limited by appended claims
It is fixed.
Claims (10)
- A kind of 1. unmanned aerial vehicle station starting-up method, it is characterised in that including：According to the startup time of the module to be triggered of storage, when determining the trigger sequence of the module to be triggered and corresponding triggering Between；When reaching the triggered time, trigger signal is sent to the corresponding module to be triggered, to trigger the mould to be triggered The startup of block.
- 2. according to the method for claim 1, it is characterised in that the startup time of the module to be triggered according to storage, The trigger sequence of the module to be triggered and corresponding triggered time are determined, including：The startup time of the module to be triggered is ranked up, the module to be triggered corresponding to the most long startup time is at first Start；The module to be triggered and the difference of the startup time of next module to be triggered started at first is described next The triggered time of module to be triggered.
- 3. according to the method for claim 1, it is characterised in that methods described also includes：Receive the feedback signal sent after the module to be triggered starts；According to the time for receiving the feedback signal, the startup time of the module to be triggered corresponding to renewal.
- 4. according to the method for claim 3, it is characterised in that described to send triggering letter to the corresponding module to be triggered Number, specifically include：Trigger signal is sent to the corresponding module to be triggered by universal input/output GPIO interface；It is described to receive the feedback signal sent after the module to be triggered starts, specifically include：The feedback signal sent after the module to be triggered starts is received by the GPIO interface.
- 5. according to the method for claim 1, it is characterised in that the module to be triggered includes：Data transmission module, image Transport module and system level chip SOC.
- A kind of 6. device for the start of unmanned aerial vehicle station, it is characterised in that including：Memory module, for storing the startup time of module to be triggered；Determining module, for the startup time of the module to be triggered stored according to the memory module, it is determined that described wait to touch Send out the trigger sequence of module and corresponding triggered time；Sending module, during for reaching the triggered time, trigger signal is sent to the corresponding module to be triggered, with triggering The startup of the module to be triggered.
- 7. device according to claim 6, it is characterised in that the determining module is specifically used for：The startup time of the module to be triggered is ranked up, the module to be triggered corresponding to the most long startup time is at first Start；The module to be triggered and the difference of the startup time of next module to be triggered started at first is described next The triggered time of module to be triggered.
- 8. device according to claim 6, it is characterised in that described device also includes：Receiving module, for receiving the feedback signal sent after the module to be triggered starts；Update module, it is described corresponding to renewal to wait to touch for receiving the time of the feedback signal according to the receiving module Send out the startup time of module.
- 9. device according to claim 8, it is characterised in that the sending module is specifically used for：By universal input/defeated Go out GPIO interface and send trigger signal to the corresponding module to be triggered；The receiving module is specifically used for：The feedback letter sent after the module to be triggered starts is received by the GPIO interface Number.
- A kind of 10. unmanned aerial vehicle station, it is characterised in that including：Data transmission module, image transmission module, system level chip SOC and single-chip microcomputer；The single-chip microcomputer is used to perform the unmanned aerial vehicle station starting-up method as described in claim any one of 1-5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710994087.2A CN107703870A (en) | 2017-10-23 | 2017-10-23 | Unmanned aerial vehicle station starting-up method, device and unmanned aerial vehicle station |
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| CN201710994087.2A CN107703870A (en) | 2017-10-23 | 2017-10-23 | Unmanned aerial vehicle station starting-up method, device and unmanned aerial vehicle station |
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Cited By (1)
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| CN109992005A (en) * | 2019-05-10 | 2019-07-09 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle (UAV) control method, apparatus, computer readable storage medium and relevant device |
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Application publication date: 20180216 |