CN109885089A

CN109885089A - The control method and relevant apparatus of unmanned plane

Info

Publication number: CN109885089A
Application number: CN201910204030.7A
Authority: CN
Inventors: 赖镇洲; 陈超彬; 闫光
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2015-11-20
Filing date: 2015-11-20
Publication date: 2019-06-14
Anticipated expiration: 2035-11-20
Also published as: CN109885089B; WO2017084097A1; CN107209520A; CN107209520B

Abstract

The embodiment of the invention discloses the control method of unmanned plane and relevant apparatus, to improve the interaction friendliness of topology verification.Unmanned plane includes multiple functional modules, the different functional modules can connect into different topological structures, the described method includes: topological structure being formed to the multiple functional module, actually connecting verifies, the verification includes: whether the topological structure that verification actually connects and default topological structure are consistent；When the topological structure actually connected and the inconsistent default topological structure, whether the verification topological structure actually connected and the minimum of topological structure that unmanned plane is supported are consistent.The working condition that the topological structure actually connected can be monitored by verifying, to be taken appropriate measures according to working condition, to improve the safety of unmanned plane.

Description

The control method and relevant apparatus of unmanned plane

The application applied on November 20th, 2015, entered on May 04th, 2017 National Phase in China, application Number be 201580060159.5, the patent application of entitled " control method and relevant apparatus of unmanned plane " is submitted Divisional application.

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 topology Structure verification mode list carries out the design of topological structure verification from technical standpoint, lacks the interaction between user, which results in mesh Preceding 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 more A functional module, 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 verification in real time At least one of；

The initial verification is carried out after unmanned plane starting, before operation, and the real-time verification is in the nothing Real-time perfoming in man-machine operational process.

The first possible implementation with reference to first aspect, in the second possible implementation, the initial school It tests or verifies in real time and verified including level-one；The level-one verification includes: the topological structure that verification actually connects and default topology knot Whether structure is consistent；The check results information includes level-one check results information；When the topological structure actually connected and institute State default topological structure it is inconsistent when, the level-one check results information include at least characterization level-one verification failure information.

Second of possible implementation with reference to first aspect, in the third possible implementation, when the reality When the topological structure of connection is consistent with the default topological structure, the level-one check results information includes characterization level-one school Test successful information.

Second of possible implementation with reference to first aspect, in the fourth possible implementation, the multiple function Each functional module in energy module has module attribute, and the module attribute includes at least module I D, User ID and mould Bulk state；The module status includes at least connection status and error condition.

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

4th kind of possible implementation with reference to first aspect, it is in a sixth possible implementation, described actually to connect The topological structure that connects and described default flutter that structure is inconsistent to be included any of the following or any combination: the default topology is tied The functional module for including in structure do not include in the topological structure actually connected；In the topological structure actually connected Contain the functional module that the default topological structure does not include；The default topological structure and the topology actually connecting Structure includes same functional module, 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 reality When the topological structure of connection and the inconsistent default topological structure, the level-one check results information further include: level-one verification The functional module of failure and corresponding module attribute.

7th kind of possible implementation with reference to first aspect, in the 8th kind of possible implementation, the level-one school The functional module for testing failure includes: include in the default topological structure but in the topological structure actually connected not The functional module for including does not include in the default topological structure but includes in the topological structure actually connected Functional module, 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 school Testing or verifying in real time includes: second verification；The second verification includes: the verification topological structure actually connected and nobody Whether the minimum of topological structure that machine is supported is consistent；The check results information includes second verification result information；When the reality When the topological structure of connection and the minimal redundancy system topology are inconsistent, the second verification result information is at least wrapped Include the information of characterization second verification failure；When the topological structure actually connected and the minimal redundancy system topology When consistent, 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 school It tests or verifies in real time further include: after level-one verification failure, triggering executes second verification；The second verification includes: school Whether consistent test the minimum of topological structure that the topological structure actually connected and unmanned plane are supported；The check results information It further include second verification result information；When the topological structure actually connected and the minimal redundancy system topology not When consistent, the second verification result information includes at least the information of characterization second verification failure；When it is described actually connect open up Flutter structure it is consistent with the minimal redundancy system topology when, the second verification result information include characterization second level school Test successful information.

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 is also wrapped Include 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, described two The functional module of grade verification failure includes: including in the minimum of topological structure but in the topological structure actually connected In the functional module that does not include, do not include in the minimum of topological structure but wrapped in the topological structure actually connected The functional module contained, 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, described When the topological structure and the minimum of topological structure actually connected is inconsistent, further includes: pressure is prohibited from entering operating status；Institute Stating 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, into Before the row initial configuration verification, further includes: the load default topological structure；For the preset mould of the multiple functional module Block's attribute；The module attribute includes at least functional module ID, User ID and functional module state；The functional module state Including 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 generation The topological structure actually connected includes: the detection by data flow, determines each function mould for being physically connected to flight control units Block, 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, it is described in the 16th possible implementation Verification in real time further include: the functional module state of each functional module of real time monitoring, it is real-time according to the functional module state Update the topological structure actually connected.

With reference to first aspect the 9th or second of possible implementation, in the 17th possible implementation, in institute It states in verification in real time, when level-one or second verification fail, further includes: take emergency trouble shooting measures；Characterization emergency processing is arranged The information applied feeds back to ground control terminal.

17th kind of possible implementation with reference to first aspect, in the 18th possible implementation, the emergency Treatment 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, described real-time In verification, if level-one or second verification fail and the unmanned plane is in a safe condition, further includes: characterization is in safe shape The information of state feeds 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 being communicated with multiple functional modules of the unmanned plane and the UAV Communication device Connection, the different functional modules can connect to form different topological structures；

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

In conjunction with second aspect, in second aspect in the first possible implementation, the verification include initial verification and At least one of verification in real time；The initial verification is carried out after unmanned plane starting, before operation, described 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, in second of second aspect possible implementation, institute It states initial verification or verification in real time includes that level-one verifies；Level-one verification includes: the topological structure that verification actually connects and pre- If whether topological structure is consistent；The check results information includes level-one check results information；When the topology actually connected When structure and the inconsistent default topological structure, the level-one check results information includes at least characterization level-one verification failure Information.

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

In conjunction with second of second aspect possible implementation, in the 4th kind of possible implementation of second aspect, institute Stating each functional module in the topological structure actually connected has module attribute, and the module attribute includes at least mould Block ID, 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 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, institute State initial verification or verification in real time further include: after level-one verification failure, triggering executes second verification；The second level school Whether consistent test the minimum of topological structure that include: the verification topological structure actually connected support with unmanned plane；The verification Result information further 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 reality When the topological structure of connection is consistent with the minimal redundancy system topology, the second verification result information includes table Levy the successful information of second verification.

The first possible implementation in conjunction with second aspect, in the 7th kind of possible implementation of second aspect, institute Stating initial verification or verification in real time includes: second verification；The second verification includes: the verification topology knot actually connected Whether structure and the minimum of topological structure that unmanned plane is supported are consistent；The check results information includes second verification result information；When When the topological structure actually connected and the minimal redundancy system topology are inconsistent, the second verification result letter Breath includes at least the information of characterization second verification failure；When the topological structure actually connected and the minimal redundancy system When topological structure is consistent, 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 realization side of second aspect In formula, when the topological structure actually connected and the minimum of topological structure are inconsistent, the second verification result information It further include 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, institute It states unmanned plane processor to be also used to: when the topological structure actually connected and the minimum of topological structure are inconsistent, force It 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 realization side of second aspect In formula, 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 function mould Bulk 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 realization of second aspect the tenth In mode, the real-time verification further include: the functional module state of each functional module of real time monitoring, according to the function The practical topological structure connected of module status real-time update.

In conjunction with second aspect the 6th or the 7th kind of possible implementation, in the 12nd kind of possible realization of second aspect In mode, the unmanned plane processor is also used to: in the real-time verification, when level-one or second verification fail, being taken and is answered Anxious treatment 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 realization of second aspect In mode, the unmanned plane processor is also used to: in the real-time verification, if level-one or second verification failure and the nothing It is man-machine in a safe condition, control the UAV Communication device will characterize information in a safe condition feed back to ground control End processed.

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 function Energy module, the different functional modules can connect into different topological structures, and the topological structure check information is described What topological structure that fleet-footed runner's machine forms multiple functional modules, actually connecting obtained after verifying；

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 include initial verification and At least one of verification in real time；The initial verification is carried out after unmanned plane starting, before operation, described Verification in real time 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, institute It states initial verification or verification in real time includes that level-one verifies, the level-one verification includes: the topological structure that verification actually connects and pre- If whether topological structure is consistent；The check results information includes level-one check results information；When the topology actually connected When structure and the inconsistent default topological structure, the level-one check results information includes at least characterization level-one verification failure Information；It is described to carry out accordingly prompting to include: when the level-one check results information includes table according to the check results information When levying the information of the level-one verification failure, level-one verification failure is prompted.

In conjunction with second of the third aspect possible implementation, in the third aspect in the third possible implementation, when When the topological structure actually connected is consistent with the default topological structure, the level-one check results information includes table It levies level-one and verifies successful information；It is described accordingly prompt according to the check results information including: when the level-one verifies Result information includes when characterizing the level-one to verify successful information, prompting initially to verify successfully, can operating normally.

In conjunction with second of the third aspect possible implementation, in the 4th kind of possible implementation of the third aspect, when 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 In, the initial verification or verification in real time further include after level-one verification failure, the second verification for the execution that is triggered；Institute Whether consistent state the second verification minimum of topological structure that include: the verification topological structure actually connected support with unmanned plane； The check results information further includes second verification result information；The second verification result information includes at least described in characterization Second verification failure or successful information；Alternatively, the initial verification or verification in real time include second verification；The second level school Whether consistent test the minimum of topological structure that include: the verification topological structure actually connected support with unmanned plane；The verification Result information includes second verification result information；The second verification result information, which includes at least, characterizes the second verification mistake It loses 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, institute It states and is accordingly prompted according to the check results information further include: when the second verification result information includes described in characterization When the successful information of second verification, user is prompted to select to check that failure or selection continue to run；When the second verification result is believed Breath includes when characterizing the information of the second verification failure, prompting second verification failure.

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 Characterization is prohibited from entering the information of operating status；It is described accordingly to be prompted according to the check results information further include: prompt is prohibited Only enter 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 of second 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 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, also It include: the information for receiving characterization emergency trouble shooting measures；The emergency trouble shooting measures are that the unmanned plane verified in real time The measure that Cheng Zhong, level-one or second verification are taken when failing；User is carried out according to the information of the characterization emergency trouble shooting measures Corresponding prompt.

In conjunction with the 9th kind of possible implementation of the third aspect, in the tenth kind of possible implementation of the third aspect, institute Stating emergency trouble shooting measures includes the switching of redundancy feature module, and the corresponding prompt includes: that prompt has carried out redundancy feature module and cuts It changes, and, it is proposed that stop functional module operation debugging；Alternatively, the emergency trouble shooting measures include forced landing or return Boat, the corresponding prompt include 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 implementation of the third aspect the tenth, Further include: it receives and characterizes information in a safe condition；Characterization information in a safe condition be the unmanned plane into In the real-time checking procedure of row, fed back in level-one or second verification failure and the unmanned plane in a safe condition；Prompt is used Family selection queuing failure is operated 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 nothing Man-machine includes multiple functional modules, and the different functional modules can connect into different topological structures, the ground control End 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 topology knot that the terrestrial communication device receives the unmanned plane feedback Structure check results information, and the suggestion device is controlled according to the check results information and is accordingly prompted.

In conjunction with fourth aspect, in fourth aspect in the first possible implementation, the ground control terminal includes as follows It is 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 In controlling the information that the terrestrial communication device receives characterization emergency trouble shooting measures；According to the characterization emergency trouble shooting measures Information controls the suggestion device and is accordingly prompted user；The emergency trouble shooting measures are that the unmanned plane is carrying out in fact When checking procedure in, the measure taken when failing of level-one or second verification.

In conjunction with fourth aspect, in the 5th kind of possible implementation of fourth aspect, the ground surface end processor is also used In controlling the terrestrial communication device and receive and characterize information in a safe condition；Characterization information in a safe condition It is the unmanned plane in carrying out real-time checking procedure, fails in level-one or second verification and the unmanned plane is in safe shape It is fed back when state；It controls suggestion device prompt user and selects to be lined up failure and operate normally again or forced service, or Pressure is forbidden 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 more A functional module, 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；

In conjunction with the 5th aspect, in the 5th aspect the first possible implementation, topological structure verification includes just Begin to verify and at least one of verification in real time；The initial verification is carried out after unmanned plane starting, before operation, 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 It is verified including level-one, 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 default topology When structure is inconsistent, the level-one check results information includes at least the information of characterization level-one verification failure；The ground control It includes: when the level-one check results information includes characterization described one that end, which carries out corresponding prompt according to the check results information, When the information of grade verification failure, the ground control terminal prompt level-one verification failure.

In conjunction with the 5th aspect second of possible implementation, the 5th aspect the third possible implementation in, when When the topological structure actually connected is consistent with the default topological structure, the level-one check results information includes table It levies level-one and verifies successful information；It includes: to work as institute that the ground control terminal, which carries out corresponding prompt according to the check results information, Stating level-one check results information includes when characterizing the level-one to verify successful information, and the ground control terminal prompts initial school Success is tested, can be operated normally.

In conjunction with the 5th second of possible implementation of aspect, in the 5th the 4th kind of possible implementation of aspect, when 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 according to the check results information into The corresponding prompt of row 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 In, the initial verification or verification in real time further include after level-one verification failure, the second verification for the execution that is triggered；Institute Stating second verification includes: the minimum of topological knot that the unmanned plane verifies that the topological structure actually connected and unmanned plane are supported Whether structure is consistent；The check results information further includes second verification result information；The second verification result information at least wraps Include the characterization second verification failure or successful information；Alternatively, the initial verification or verification in real time include second verification； The second verification include: the minimum of topological structure supported of the verification topological structure actually connected and unmanned plane whether one It causes；The check results information includes second verification result information；The second verification result information includes at least characterization institute State 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, institute It states ground control terminal accordingly to be prompted according to the check results information further include: when the second verification result information packet When including the successful information of the characterization second verification, the ground control terminal prompt user selects to check that failure or selection continue Operation；When the second verification result information includes characterizing the information of the second verification failure, the ground control terminal is mentioned Show that second verification fails.

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 Characterization is prohibited from entering the information of operating status；The ground control terminal carries out corresponding prompt also according to the check results information It include: that 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 of second verification failure and corresponding module attribute；The ground control terminal according to the check results information into The corresponding prompt of row 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 is according to the table The information of sign emergency trouble shooting measures accordingly prompts user.

In conjunction with the 5th the 9th kind of possible implementation of aspect, in the 5th the tenth kind of possible implementation of aspect, institute Stating emergency trouble shooting measures includes the switching of redundancy feature module, and the corresponding prompt includes: that prompt has carried out redundancy feature module and cuts It changes, and, it is proposed that stop functional module operation debugging；Alternatively, the emergency trouble shooting measures include forced landing or return Boat, the corresponding prompt include prompt remote control operation to 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 nothing It is man-machine to characterize information in a safe condition and feed back to ground control terminal；The ground control terminal prompt user selects to be lined up Failure is operated 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 shape At different topological structures；

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

In conjunction with the 6th aspect, the 6th aspect the first possible implementation in, it is described to the unmanned plane send institute Stating setting data includes: after one functional module of every selection by the UI, and synchronous send to the unmanned plane is arranged Data；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 includes: shown by the UI Mapping relations figure, the mapping relations figure be used to characterize functional module in the default topological structure User ID and nobody The mapping relations between physical port that machine externally provides, in order to which user connects or disconnects institute according to the mapping relations figure State functional module.

In conjunction with the 6th aspect second of possible implementation, the 6th aspect the third possible implementation in, Before showing the mapping relations figure, further includes: receive the mapping relations figure, the mapping relations figure is from the nothing It is man-machine.

In conjunction with the 6th second of possible implementation of aspect, in the 6th the 4th kind of possible implementation of aspect, also It include: that confirmation message is finished by the connection that the UI receives user and feeds back to the unmanned plane；Receive check results letter Breath, the check results information is that the unmanned plane compares the topological structure actually connected and the default topological structure It is obtained to after；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, also It include: the module attribute information for receiving each functional module of the unmanned plane feedback；Refresh the multiple function on the UI The module attribute information of module.

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 When the topological structure actually connected and the inconsistent default topological structure, the check results information includes at least table The information of sign verification failure；When the topological structure actually connected is consistent with the default topological structure, the verification knot Fruit information includes at least characterization and verifies successful information；It is described to be carried out according to the check results information by user interface UI Corresponding prompt includes: to prompt verification failure when the check results information includes the information of characterization verification failure；Work as institute Stating check results information includes when characterizing to verify successful information, prompting 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 When the topological structure actually connected and the inconsistent default topological structure, the check results information further include: verification The functional module of failure 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 function mould in the 6th the 8th kind of possible implementation of aspect in conjunction with the 6th aspect Block includes: the maximum topology diagram that the display unmanned plane is supported；The maximum topology diagram includes not connected function 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 nothing Man-machine includes multiple functional modules, and the different functional modules can connect to form different topological structures, the ground control End processed includes:

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

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 are sent to the unmanned plane.

In conjunction with the 7th aspect, the 7th aspect the first possible implementation in, the ground control terminal include it is as follows It is 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 the control ground communication The setting data that device inputs user are sent to the aspect of the unmanned plane, and the ground surface end processor is used for: logical After crossing the UI one functional module of every selection, it is synchronous to unmanned plane transmission quilt to control the terrestrial communication device The setting data of the functional module of selection；Alternatively, control is describedly after constructing the default topological structure on the UI Face communication device sends setting data to the unmanned plane.

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

In conjunction with the 7th aspect the third possible implementation, the 7th aspect the 4th kind of possible implementation in, institute It states ground surface end processor to be also used to, before showing the mapping relations figure, controls and reflected described in the terrestrial communication device reception Relational graph is penetrated, the mapping relations figure is from the unmanned plane.

In conjunction with the 7th aspect the third possible implementation, the 7th aspect the 5th kind of possible implementation in, institute It states ground surface end processor to be also used to, the connection for controlling the UI reception user of the display screen finishes described in confirmation message and control Terrestrial communication device feeds back to the unmanned plane；It controls the terrestrial communication device and receives check results information, the verification knot Fruit information is obtained after the topological structure actually connected is compared the unmanned plane with the default topological structure；Root 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, institute It states ground surface end processor to be also used to, controls the mould that the terrestrial communication device receives each functional module of the unmanned plane feedback Block's attribute information；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 When the topological structure actually connected and the inconsistent default topological structure, the check results information includes at least table The information of sign verification failure；When the topological structure actually connected is consistent with the default topological structure, the verification knot Fruit information includes at least characterization and verifies successful information；It is prompted accordingly described according to the check results information Aspect, the ground surface end processor are specifically used for: when the check results information includes the information of characterization verification failure, control Make the UI prompt verification failure of the display screen；When the check results information includes that characterization verifies successful information, control The UI prompt of the display screen verifies 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 When the topological structure actually connected and the inconsistent default topological structure, the check results information further include: verification The functional module of failure and corresponding module attribute；In the side prompted accordingly according to the check results information Face, the ground surface end processor are also used to: controlling the functional module and corresponding mould that the UI prompt verification of the display screen fails Block's 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 more A functional module, 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, default topological structure is being reset Afterwards, 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, according to the setting data again It is arranged after default topological structure, further includes: control terminal sends mapping relations figure to the ground, and the mapping relations figure is used for table Mapping between the physical port that the User ID and unmanned plane for levying the functional module in the default topological structure externally provide is closed System, in order to which the functional module is connected to according to the mapping relations figure physical port of phase mapping by user, alternatively, disconnected Open the connection between the functional module and physical port.

In conjunction with the possible implementation of eighth aspect first or second kind, the third possible realization side in eighth aspect In formula, further includes: receive connection and finish confirmation message, the connection finishes confirmation message from the ground control terminal；School Whether test the topological structure actually connected consistent with the default topological structure that resets；Back-checking result information.

The third possible implementation in conjunction with eighth aspect, in the 4th kind of possible implementation of eighth aspect, when When the topological structure actually connected and the inconsistent default topological structure, the check results information includes at least table The information of sign verification failure；When the topological structure actually connected is consistent with the default topological structure, the verification knot Fruit 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 When the topological structure actually connected and the inconsistent default topological structure, the check results information further include: verification The functional module of failure 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, institute The functional module for stating verification failure includes: including in the default topological structure but in the topological structure actually connected In the functional module that does not include, do not include in the default topological structure but wrapped in the topological structure actually connected The functional module contained, 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 with tree-like The mode of topological data structure stores.

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

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

In conjunction with the 9th possible implementation of aspect first or second kind, in the 9th the third possible realization side of aspect In formula, the unmanned plane processor is also used to: it controls the UAV Communication device reception connection and finishes confirmation message, it is described Connection finishes confirmation message from the ground control terminal；The topological structure actually connected is verified to preset with what is reset Whether topological structure 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 more A functional module, 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 to the unmanned plane Data, 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 that mapping relations figure, the mapping relations figure are opened up for characterizing described preset by the UI The mapping relations between the physical port that the User ID of functional module and unmanned plane externally provide in structure are flutterred, in order to user Hardware function is connected to the physical port of phase mapping according to the mapping relations figure, alternatively, disconnecting hardware function Connection between physical port.

In conjunction with the tenth aspect the first possible implementation, the tenth aspect second of possible implementation in, also Including: ground control terminal finishes confirmation message by the connection that the UI receives user, and feeds back to the unmanned plane；It is described Whether the topological structure that 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 control terminal can be fed back to the ground after carrying out topological structure verification Check results information, ground control terminal pass through user interface again and prompt user.In this way, user can have interactive channel Topological structure verification is understood, 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, below will to embodiment or Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only Some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also Other drawings may be obtained according to these drawings without any creative labor.

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

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 solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its His embodiment, shall fall within the protection scope of the present invention.

Unmanned plane mainly passes through ground control terminal and is controlled.Fig. 1 gives logical between unmanned plane and ground control terminal Letter scene: data (such as sensing data) can be transmitted to ground surface end in unmanned plane downlink, and data (example also can be transmitted in ground surface end uplink Data in terms of such as controlling) to unmanned plane.

Above-mentioned ground control terminal or unmanned plane, universal architecture is as shown in Fig. 2, include at least one processor 201, example 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 use Family interface 203, keyboard or pointing device, for example, trace ball (trackball) etc..In embodiments of the present invention, processor 201 application program 2051 or instruction by calling memory 205 to store executes each step of control method.

Wherein, ground control terminal can be remote controler, the handheld communication devices for supporting to control unmanned plane (such as hand Machine, ipad), PC machine, unmanned plane base station 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.Example Such as, 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 On.

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, which are shown, simply to be opened up Flutter topology example: flight processor 1 (FMU1) can with two GPS (GPS1 and GPS2) form topological structure, can also only with GPS1 forms topological structure；Flight processor 2 (FMU2) can be only with GPS3 hybrid topologies, can also be with two GPS (GPS2 and GPS3) forms topological structure.

In addition, above-mentioned functional module can Combinational redundancy system, for example, in Fig. 3 a, FMU1 and GPS1, GPS2 composition Topological structure is 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), although for example, have FMU1 and Two flight processors of FMU2, only use FMU1, although there are three GPS

(GPS1~GPS3), but GPS1 and FMU1 is used only and forms system.Then the system of FMU1 and GPS1 composition is with regard to right and wrong 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 mentioned by suggestion device, such as the user interface (UI) of display screen Show.

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 the topological structure that fleet-footed runner's machine forms multiple functional modules, actually connects It is obtained after being verified；

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.Example Such as, it can only include initial verification, 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 in above-mentioned nothing Real-time perfoming in man-machine operational process.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, verification above-mentioned Result information may include level-one check results information.

The level-one verification executed by unmanned plane may particularly include: the topological structure and default topology knot that verification actually connects Whether structure is consistent.

Default topological structure can also write from memory for by the pre-set topological structure of user for what is carried when unmanned plane factory Recognize topological structure.

Unmanned plane can feed back to the letter of ground control terminal characterization " carrying out level-one verification " when executing level-one verification Breath.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 Including 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 letter Breath may include that characterization level-one verifies successful information.

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

When level-one check results information includes characterizing the information of level-one verification failure, Fig. 7 a, ground control terminal are referred to (S3 or S602) is accordingly prompted can accordingly to 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 End 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 by user setting , 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 used for Indicate whether hardware device is connected to unmanned plane.For software module, connection status can be used for characterizing the function of the software module Whether enable, 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 type of error (such as error is big, data do not update, can not work), table Which kind of failure is bright 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 on UI To be busy, GPS2 will be displayed as " not busy " on UI.Certainly, it can not also show the busy condition of GPS2, not show busy shape The module of state is defaulted as not busy.

Based on module attribute, the topological structure actually connected is consistent with above-mentioned default topological structure including at least as follows Content:

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

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.

In addition, the topological structure actually connected with it is above-mentioned it is default flutter structure it is consistent may also include that in default topological structure appoint The connection relationship of one functional module and other function module, with the functional module in the topological structure actually connecting and other function The connection relationship of energy module is identical.

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

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

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

Both for example, including GPS1 in default topological structure, and do not include GPS1 in the topological structure actually connected, then It is inconsistent.

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

Both for example, not including GPS1 in default topological structure, and in the topological structure actually connected include GPS1, then It is inconsistent.

3) it, presets topological structure and includes same functional module, but the functional module with the above-mentioned topological structure actually connecting Error condition be 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.

In addition, the topological structure actually connected and above-mentioned default flutterring that structure is inconsistent to be may also include that in default topological structure The connection relationship of any functional module and other function module, with the functional module in the topological structure actually connecting and other The connection relationship of functional module is different.

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

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

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

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

1) function of, including in above-mentioned default topological structure but do not include in the above-mentioned topological structure actually connected Module；

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

2) function of, not including in above-mentioned default topological structure but include in the above-mentioned topological structure actually connected Module；

For example, not including GPS2 in default topological structure, and in the topological structure actually connected include GPS2, then GPS2 For 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, level-one verification failure functional module may also include that in the topological structure actually connected with other function The connection relationship of module follows the different functional module of connection relationship in default topological structure with other function module.

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

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

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

It, can for the functional module (or even functional module of the subsequent second verification failure referred to) of level-one verification failure Using the type of error and connection status of different colors or parameter display function module.

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 level-one verification failure functional module mapping relations figure, in order to Family is positioned according to functional module of the mapping relations figure to level-one verification failure.

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

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

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

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

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 adopt Mapping relations figure is shown with mode in kind.For example, referring to Fig. 7 d, the pictorial diagram of unmanned plane can be directly displayed, physics is indicated Port 2 prompts user 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 intuitive The module attribute for seeing level-one verification failure, improves 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, second verification includes: the minimum of topological knot that the above-mentioned topological structure actually connected of verification and unmanned plane are supported Whether structure is consistent.

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

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

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 level Check results information includes at least the information of characterization second verification failure；And the topological structure that ought actually connect and above-mentioned minimum When redundant system topological structure is consistent, second verification result information includes the characterization successful information of second verification.

Further, can be used number 0 or other number/characters come characterize second verification failure, with number 1 or other Number/character is successful to characterize second verification.

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 selection continue to run.

In addition, when second verification result information includes the characterization successful information of second verification, ground control terminal can also be reminded User can operate normally, 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 is prompted (Fig. 8 c).

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

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

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

More specifically, ground control terminal can show second verification failure functional module mapping relations figure, in order to Family is positioned 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: in minimum of topological structure include but The functional module not included in the above-mentioned topological structure actually connected does not include in minimum of topological structure but in above-mentioned reality The functional module for including in the topological structure of connection, and, error condition is not empty at least one of functional module.

The topological structure and the whether consistent mode of minimum of topological structure that determination actually connects actually are connect with determination Whether consistent topological structure is similar with default topological structure mode.

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 is wrapped in the above-mentioned topological structure actually connected Contain；

2), the good connection of any functional module；

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

In addition, the topological structure actually connected it is consistent with minimum of topological structure may also include that it is any in minimum of topological structure The connection relationship of functional module and other function module, with the functional module and other function in the topological structure actually connecting The connection relationship of module is identical.

And the case where " topological structure that actually connects and minimum flutter structure inconsistent " then may include it is following any one 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, but the functional module with the above-mentioned topological structure actually connecting Error condition be not empty.

In addition, the topological structure actually connected and minimum flutter structure it is inconsistent may also include that it is any in minimum of topological structure The connection relationship of functional module and other function module, with the functional module and other function in the topological structure actually connecting The connection relationship of module is different.

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

Since minimum of topological structure is that unmanned plane required configuration of taking off refers to figure in other embodiments of the present invention 8e, when the above-mentioned topological structure actually connected and above-mentioned minimum of topological structure are inconsistent, nobody in above-mentioned all embodiments Machine 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, the control before carrying out above-mentioned initial configuration verification, in above-mentioned all embodiments Method processed 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.System starting after, can load stored in eeprom it is pre- If topological structure, 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 function of being physically connected to flight control units (unmanned plane processor) is determined Module, 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.

Unmanned plane in the process of running, due to internal system, such as system hardware failure, may result in reality Connection status, the error condition of functional module (especially hardware function) in the topological structure of connection change.This Outside, it due to outside cause, such as hits, is artificial intentional or unintentional destroy, it is also possible to cause in the topological structure actually connected Connection status, the error condition of functional module change.

Therefore, unlike initial verification, it includes level-one verification (or level-one verification+second verification) that verification in real time, which removes, Outside, further includes:

The module status for monitoring each functional module in real time, according to the practical topological structure connected of module status real-time update.

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 shape to the ground State.

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

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 above-mentioned default topological structure are different When cause, 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, with It is positioned convenient for user according to functional module of the mapping relations figure to level-one verification failure.

Reflecting between the physical port that mapping relations figure is used to characterize the User ID of functional module and unmanned plane externally provides Penetrate relationship.The mode that table etc. can be used in ground control terminal on UI shows mapping relations figure, can also be aobvious using mode in kind Show mapping relations figure.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 Feedback 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, prompt It 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 school Test success.

Further, can be used number 0 or other number/characters come characterize level-one verification failure, with number 1 or other Number/character verifies successfully 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: the above-mentioned topological structure actually connected of verification Whether the minimum of topological structure supported with unmanned plane is 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, can be used number 0 or other number/characters come characterize second verification failure, with number 1 or other Number/character is successful to characterize second verification.

When second verification result information information successful including characterization second verification, user is prompted to select to check failure Or selection continues to run.

When second verification result information includes characterizing the information of second verification failure, second verification failure is prompted.

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, (level-one or second verification in the real-time verification failure of above-mentioned all embodiments Failure is 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 emergency trouble shooting measures are that unmanned plane is carrying out real-time checking procedure In, the measure taken when failing of level-one or second verification；

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 and cut It changes, 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 the flight control system of unmanned plane has been come When not as good as switching redundance unit, forced landing can be carried out or the measures of grade 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 safety Landing.

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, such as there are also more special situation Unmanned plane does not take off also.Such case can occur after unmanned plane takes off a period of time, landing.Just verification is lost in real time at this time It loses, 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 Failure and above-mentioned unmanned plane it is in a safe condition, performed by unmanned plane operation may also include that will characterize it is in a safe condition Information 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 have forbidden Fly.

More specifically, " being lined up failure to be operated normally again ", " forced service " and " pressure is forbidden taking off " three can be shown A option (button) selects 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 For, it due to there is no redundancy backup, may not include level-one verification in initial verification and in real time verification, directly include two Grade verification.That is, single control system only verify minimum of topological structure that the topological structure that actually connects and unmanned plane are supported whether one It causes.

Processing made by unmanned plane and ground control terminal refers to described previously herein when for second verification success or failure It records, 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 unmanned plane multiple functional modules and above-mentioned UAV Communication device 101 it is logical Letter connection；Different functional modules can connect to form different topological structures；

Wherein, above-mentioned unmanned plane processor 102 is used for topology to above-mentioned multiple functional modules formation, actually connecting Structure is verified, 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 verification in real time At least one of；Also, above-mentioned initial verification is carried out after unmanned plane starting, before operation, above-mentioned real-time verification It 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 real-time Verification further includes 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 level Verification.That is, non-redundant system only verify minimum of topological structure that the topological structure that actually connects and unmanned plane are supported whether one It causes.

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 with it is upper State default topological structure it is inconsistent when, above-mentioned level-one check results information include at least characterization level-one verification failure information.

In other embodiments of the present invention, when the above-mentioned topological structure actually connected and above-mentioned default topological structure phase one When cause, 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, above-mentioned all when the above-mentioned topological structure actually connected and inconsistent above-mentioned default topological structure Level-one check results information in embodiment 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.

Above-mentioned second verification includes: the minimum of topological knot that the above-mentioned topological structure actually connected of verification and unmanned plane are supported Whether structure 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 When consistent with above-mentioned minimal redundancy system topology, above-mentioned second verification result information includes characterization second verification success Information.

In other embodiments of the present invention, different in the above-mentioned topological structure actually connected and above-mentioned minimum of topological structure When cause, the second verification result information in above-mentioned all embodiments further includes the functional module of second verification failure and corresponding Module attribute.

In other embodiments of the present invention, the unmanned plane processor 102 in above-mentioned all embodiments can also be used in: upper When stating the topological structure actually connected and inconsistent above-mentioned minimum of topological structure, pressure is prohibited from entering operating status；Then above-mentioned two Grade check results 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 With 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: real time monitoring is each above-mentioned The functional module state of functional module, 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, in control It states UAV Communication device 101 and feeds back to ground control terminal for information in a safe condition is characterized.

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

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 controlling above-mentioned terrestrial communication device 112, to receive above-mentioned unmanned plane anti- The topological structure check results information of feedback, and above-mentioned suggestion device 111 is controlled according to above-mentioned check results information and is carried out accordingly Prompt.

Topological structure check results information and the detail of prompt refer to introduction described previously herein, do not go to live in the household of one's in-laws on getting married herein It states.

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； It is 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 Measure.

It controls above-mentioned terrestrial communication device 112 and receives characterization information in a safe condition；Above-mentioned characterization is in safe shape The information of state is above-mentioned unmanned plane in carrying out real-time checking procedure, at level-one or second verification failure and above-mentioned unmanned plane It is fed back when 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 Pressure is forbidden taking off.Suggestion device 111 can be display screen, LED light, acoustical generator etc..Specifically in the embodiment of diagram In, suggestion device 111 is display screen.

Current topological structure method of calibration 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.

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 topology knot The setting of structure.

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

Unmanned plane includes multiple functional modules, and functional module can be hardware module (hardware device) or software module.Example 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 nobody by physical port On machine.

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 It is 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 of presentation (the topological structure relationship that characterization has connected functional module).

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

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 institute to the unmanned plane Setting data are stated, 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 " function mould Block.

For example, FMU2 maximum can connect three ACC, and have connected ACC1 and ACC2, and addition may be selected in user ACC3, perhaps selection deletes ACC1 (or ACC2) or the connection relationship of modification ACC1 and other modules also may be selected, will 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 behaviour such as position, load and unload to module with the User ID convenient for oneself identification come marking Function module Make.

There are many modes that the setting data are sent to the unmanned plane, for example, can pass through the every choosing of the UI in user It is synchronous to send setting data to the unmanned plane after selecting the functional module；

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

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 interaction side for being added, modifying or deleting to topological structure is provided for user Formula participates in into user efficiently, improves the interactive experience of user.

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

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: receiving the setting data of user's input 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: receiving the setting data for default topological structure to be arranged, and the setting data are controlled from ground End；

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, above-mentioned all realities The ground control terminal applied in example 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 it 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.

Reflecting between the physical port that mapping relations figure is used to characterize the User ID of functional module and unmanned plane externally provides Relationship is penetrated, 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 and GPS2 are user by GPS1 and GPS2 ID FMU1:GPS1 connection physical port 1, GPS2 connection physical port 2) are connected to.

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 adopt Mapping relations figure is shown with mode in kind.For example, still referring to Fig. 7 d, the pictorial diagram of unmanned plane can be directly displayed, object is indicated Port 2 is managed, 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 be on UI after connection/enabling, disconnection/disabling functional module Click confirmation.Later, unmanned plane can verify the topological structure actually connected and the default topological structure that resets whether one It causes.

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: receiving check results information, and the check results information is that the unmanned plane ties the topology actually connected What structure obtained after being compared 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 Including 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, when the topological structure actually connected and the default topological structure are different Check results information when cause, in above-mentioned all embodiments further include: verify failure functional module and corresponding module category Property.

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: including in the default topological structure but in the practical connection Topological structure in the functional module that does not include, do not include in the default topological structure but it is described actually connect open up The functional module for including in structure is flutterred, 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 presses It is positioned 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, it can be clicked on UI again Confirmation.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, the pre- of the unmanned plane is reset according to the setting data in unmanned plane If after topological structure or after back-checking result information, unmanned plane also control terminal can feed back each functional module to the ground Module attribute information.

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, and can wrap It includes:

Display screen 191 is equipped with user interface (UI), and the setting data of user's input can be received by the UI, described 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 ground The setting data that face communication device 192 inputs user are sent to unmanned plane.

In other embodiments of the present invention, the side of the unmanned plane is sent in the setting data for inputting user Face, 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, it is synchronous to institute to control the terrestrial communication device 192 State the setting data that unmanned plane sends the functional module selected；

Alternatively, controlling the terrestrial communication device 192 to institute after constructing the default topological structure on the UI It states unmanned plane and sends 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, control The UI of the display screen 191 shows mapping relations figure.

Wherein, the mapping relations figure is used to characterize the User ID and nothing of the functional module in the default topological structure Mapping relations between the man-machine physical port externally provided, in order to which user connects or disconnects according to the mapping relations figure The functional module.

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

After mapping graph is presented to user, user, can be on UI after connection/enabling, disconnection/disabling functional module Click confirmation.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 finishes confirmation message and controls the ground communication dress It sets 192 and feeds back to the unmanned plane；

It controls the terrestrial communication device 192 and receives check results information, the check results information is the unmanned plane It is obtained after the topological structure actually connected is compared 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 default topological structure are different When cause, the check results information in above-described embodiment includes at least the information of characterization verification failure；When it is described actually connect open up Flutter structure it is consistent with the default topological structure when, 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 It can be specifically used for:

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

When the check results information includes that characterization verifies successful information, the UI prompt of the display screen 191 is controlled It verifies successfully.

In other embodiments of the present invention, when the topological structure actually connected and the default topological structure are different When cause, 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 It can also be used in: controlling the functional module and corresponding module attribute that the UI prompt verification of the display screen 191 fails.

In other embodiments of the present invention, the pre- of the unmanned plane is reset according to the setting data in unmanned plane If after topological structure, 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 be formed it is different Topological structure；

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, the nothing Man-machine 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, in root After resetting default topological structure according to the setting data, the UAV Communication device 201 control terminal to the ground is controlled Send mapping relations figure.

The mapping relations figure is used to characterize the User ID and unmanned plane pair of the functional module in the default topological structure Mapping relations between the physical port of outer offer, in order to which user connects the functional module according to the mapping relations figure It is connected to the physical port of phase mapping, alternatively, disconnecting the connection between the functional module and physical port.

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

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 in 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, the pre- of the unmanned plane is reset according to the setting data in unmanned plane If after topological structure, the unmanned plane processor 202 can also be used in, after resetting default topological structure, described in control Control terminal feeds back the module attribute information of each functional module to UAV Communication device 201 to the ground.

Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with its The difference of his embodiment, the same or similar parts in each embodiment refer to mutually.Embodiment is provided For device, since it is corresponding with the method that embodiment provides, so being described relatively simple, the related place side of referring to Method part explanation.

It should also be noted that, herein, relational terms such as first and second and the like are used merely to one Entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning Covering non-exclusive inclusion, so that including that the process, method, article or equipment of a series of elements not only includes Those elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or The intrinsic element of person's equipment.In the absence of more restrictions, the element limited by sentence "including a ...", and It is not precluded in the process, method, article or equipment including above-mentioned element that there is also other identical elements.

Through the above description of the embodiments, it is apparent to those skilled in the art that the present invention can It is realized by the mode of software plus required common hardware, common hardware includes universal integrated circuit, universal cpu, general deposits Reservoir, universal elements etc., naturally it is also possible to by specialized hardware include specific integrated circuit, dedicated cpu, private memory, Special components and parts etc. realize, but the former is more preferably embodiment in many cases.Based on this understanding, of the invention Substantially the part that contributes to existing technology can be embodied in the form of software products technical solution in other words, should 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), magnetic or disk Etc. the various media that can store software program code, including some instructions are used so that a computer equipment (can be a People's 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, defined herein General Principle can realize in other embodiments without departing from the spirit or scope of the present invention.Therefore, originally Invention is not intended to be limited to the embodiments shown herein, and is to fit to special with principle provided in this article and novelty The consistent widest scope of point.

Claims

1. a kind of control method of unmanned plane, which is characterized in that the unmanned plane includes multiple functional modules, the different function Energy module can connect into different topological structures, which comprises

Topological structure being formed to the multiple functional module, actually connecting verifies, and the verification includes: that verification is practical Whether the topological structure of connection is consistent with default topological structure；

When the topological structure actually connected and the inconsistent default topological structure, the topology actually connected is verified Whether structure and the minimum of topological structure that unmanned plane is supported are consistent.

2. control method as described in claim 1, which is characterized in that further include obtaining check results letter after verification Breath；

The check results information includes level-one check results information；When the topological structure actually connected and described preset are opened up Flutter structure it is inconsistent when determine level-one verification failure, the level-one check results information include at least characterization level-one verification failure Information；

The check results information includes second verification result information；When the topological structure actually connected is opened up with the minimum Flutter structure it is inconsistent when determine second verification fail, the second verification result information include at least characterization second verification failure Information；Second verification success is determined when the topological structure actually connected is consistent with the minimum of topological structure, it is described Second verification result information includes the characterization successful information of second verification.

3. control method as claimed in claim 2, which is characterized in that in the topological structure actually connected and the minimum When topological structure is inconsistent, the second verification result information further includes the functional module and corresponding module of second verification failure Attribute.

4. control method as claimed in claim 3, which is characterized in that

The functional module of the second verification failure includes: including in the minimum of topological structure but in the practical connection Topological structure in the functional module that does not include, do not include in the minimum of topological structure but it is described actually connect open up The functional module for including in structure is flutterred, and, error condition is not empty at least one of functional module.

5. control method as claimed in claim 3, which is characterized in that in the topological structure actually connected and the minimum When topological structure is 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.

6. control method as claimed in claim 2, which is characterized in that in the real-time verification, described actually connected determining After topological structure and the default topological structure are inconsistent, alternatively, being supported in the topological structure actually connected and unmanned plane Minimum of topological structure it is inconsistent after, further includes:

Take emergency trouble shooting measures；

7. control method as claimed in claim 6, 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.

8. control method as claimed in claim 7, which is characterized in that in the real-time verification, actually connected if described Topological structure and under the default topological structure is inconsistent and the unmanned plane situation in a safe condition, alternatively, if the reality The topological structure of border connection inconsistent and described unmanned plane situation in a safe condition with the minimum of topological structure that unmanned plane is supported Under, further includes:

The information for characterizing in a safe condition is fed back into ground control terminal.

9. a kind of control method of unmanned plane, which is characterized in that the unmanned plane includes multiple functional modules, the different function Energy module can connect into different topological structures, which comprises

Topological structure being formed to the multiple functional module, actually connecting is verified in real time；

In real-time verification failure, emergency trouble shooting measures are taken.

10. control method as claimed in claim 9, which is characterized in that after taking emergency trouble shooting measures further include:

11. control method as claimed in claim 10, which is characterized in that

12. control method as claimed in claim 11, which is characterized in that at the real-time verification failure and the unmanned plane In the case of safe condition, further includes:

13. a kind of unmanned plane characterized by comprising

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

Wherein, the unmanned plane processor is carried out for topological structure being formed to the multiple functional module, actually connecting Verification, the verification include: whether the topological structure that verification actually connects and default topological structure are consistent；When the practical connection Topological structure and the inconsistent default topological structure when, verify the topological structure actually connected and unmanned plane support Whether minimum of topological structure is consistent.

14. unmanned plane as claimed in claim 13, which is characterized in that unmanned plane processor is also used to obtain after verification Check results information；

15. unmanned plane as claimed in claim 14, which is characterized in that in the topological structure actually connected and the minimum When topological structure is inconsistent, the second verification result information further includes the functional module and corresponding module of second verification failure Attribute.

16. unmanned plane as claimed in claim 14, which is characterized in that

17. unmanned plane as claimed in claim 14, which is characterized in that in the topological structure actually connected and the minimum When topological structure is inconsistent, unmanned plane processor is also used to force to be prohibited from entering operating status；

18. unmanned plane as claimed in claim 14, which is characterized in that in the real-time verification, described actually connected determining After topological structure and the default topological structure are inconsistent, alternatively, being supported in the topological structure actually connected and unmanned plane Minimum of topological structure it is inconsistent after, unmanned plane processor is also used to take emergency trouble shooting measures；

19. unmanned plane as claimed in claim 18, which is characterized in that

20. unmanned plane as claimed in claim 19, which is characterized in that in the real-time verification, actually connected if described Topological structure and under the default topological structure is inconsistent and the unmanned plane situation in a safe condition, alternatively, if the reality The topological structure of border connection inconsistent and described unmanned plane situation in a safe condition with the minimum of topological structure that unmanned plane is supported Under, unmanned plane processor is also used to: the information for characterizing in a safe condition is fed back to ground control terminal.

21. a kind of unmanned plane characterized by comprising

Wherein, the unmanned plane processor is carried out for topological structure being formed to the multiple functional module, actually connecting Verification in real time；In real-time verification failure, emergency trouble shooting measures are taken.

22. unmanned plane as claimed in claim 21, which is characterized in that unmanned plane processor is also after taking emergency trouble shooting measures For the information for characterizing emergency trouble shooting measures to be fed back to ground control terminal.

23. unmanned plane as claimed in claim 22, which is characterized in that

24. unmanned plane as claimed in claim 23, which is characterized in that fail in the real-time verification and the unmanned plane is in In the case of safe condition, unmanned plane processor is also used to characterize information in a safe condition and feeds back to ground control terminal.