CN111279637B - Information synchronization method, unmanned aerial vehicle, load equipment, system and storage medium - Google Patents
Information synchronization method, unmanned aerial vehicle, load equipment, system and storage medium Download PDFInfo
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Abstract
An information synchronization method, a load device, an unmanned aerial vehicle, a system and a storage medium are provided, wherein the method comprises the following steps: the unmanned aerial vehicle acquires first data through a first information acquisition module and generates a first synchronization pulse signal (S201); the load device sends an instruction for acquiring a first synchronization pulse signal to the unmanned aerial vehicle (S202); the unmanned aerial vehicle receives an instruction for acquiring the first synchronous pulse signal and sends the first synchronous pulse signal to the load equipment (S203); the load device receives the first synchronization pulse signal, and performs a synchronization operation according to the first synchronization pulse signal (S204). Can realize load equipment and unmanned aerial vehicle's synchro operation.
Description
Technical Field
The invention relates to the technical field of control, in particular to an information synchronization method, an unmanned aerial vehicle, load equipment, a system and a storage medium.
Background
In the process of data interaction between the unmanned aerial vehicle and the load device, the load device and the unmanned aerial vehicle are generally required to perform synchronous operation. For example, in an application scenario of unmanned aerial vehicle precision mapping, a lack of synchronization operation may cause real-time errors in image position information, thereby causing mapping errors.
Disclosure of Invention
The embodiment of the invention provides an information synchronization method, an unmanned aerial vehicle, load equipment, a system and a storage medium, which can realize the synchronous operation of the load equipment and the unmanned aerial vehicle.
In a first aspect, an embodiment of the present invention provides an information synchronization method, where the method includes:
the unmanned aerial vehicle acquires first data through a first information acquisition module and generates a first synchronous pulse signal, wherein the first information acquisition module is any one of the plurality of information acquisition modules;
the unmanned aerial vehicle receives an instruction for acquiring the first synchronization pulse signal from a load device;
the unmanned aerial vehicle sends the first synchronous pulse signal to the load equipment, and the first synchronous pulse signal is used for the load equipment to carry out synchronous operation.
In a second aspect, an embodiment of the present invention provides an information synchronization method, where the method includes:
sending an instruction for acquiring a first synchronization pulse signal to an unmanned aerial vehicle, wherein the first synchronization pulse signal is generated when a first information acquisition module of the unmanned aerial vehicle acquires first data, and the first information acquisition module is any one of a plurality of information acquisition modules of the unmanned aerial vehicle;
Receiving the first synchronous pulse signal;
and carrying out synchronous operation according to the first synchronous pulse signal.
In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle system, including: unmanned aerial vehicle and load device;
the unmanned aerial vehicle is used for acquiring first data through a first information acquisition module and generating a first synchronous pulse signal, wherein the first information acquisition module is any one of the plurality of information acquisition modules;
the load equipment is used for sending an instruction for acquiring a first synchronous pulse signal to the unmanned aerial vehicle;
the unmanned aerial vehicle is further used for receiving an instruction for acquiring the first synchronous pulse signal and sending the first synchronous pulse signal to the load equipment;
the load equipment is also used for receiving the first synchronous pulse signal; and carrying out synchronous operation according to the first synchronous pulse signal.
In a fourth aspect, an embodiment of the present invention provides an unmanned aerial vehicle, where the unmanned aerial vehicle includes: comprises a memory and a processor;
the memory to store program instructions;
the processor, executing the program instructions stored by the memory, when executed, is configured to perform the steps of:
Acquiring first data through a first information acquisition module and generating a first synchronous pulse signal, wherein the first information acquisition module is any one of the plurality of information acquisition modules;
receiving an instruction for acquiring the first synchronization pulse signal from a load device;
and sending the first synchronous pulse signal to the load equipment, wherein the first synchronous pulse signal is used for the load equipment to carry out synchronous operation.
In a fifth aspect, an embodiment of the present invention provides a load device, where the load device includes: a memory and a processor;
the memory to store program instructions;
the processor, executing the program instructions stored by the memory, when executed, is configured to perform the steps of:
sending an instruction for acquiring a first synchronization pulse signal to the unmanned aerial vehicle, wherein the first synchronization pulse signal is generated when a first information acquisition module of the unmanned aerial vehicle acquires first data, and the first information acquisition module is any one of a plurality of information acquisition modules of the unmanned aerial vehicle;
receiving the first synchronous pulse signal;
and carrying out synchronous operation according to the first synchronous pulse signal.
In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the information synchronization method according to the first aspect and the second aspect is implemented.
In the embodiment of the invention, the load equipment can send the instruction for acquiring the first synchronization pulse to the unmanned aerial vehicle, and the unmanned aerial vehicle can determine which information acquisition module needs to acquire the synchronization pulse signal generated by the load equipment according to the instruction, namely the load equipment can control the source of the synchronization pulse signal according to the self requirement, so that the flexibility of acquiring the synchronization pulse signal is improved, and different requirements of the load equipment are met. After receiving the instruction, the unmanned aerial vehicle can send the first synchronous pulse signal to the load equipment, and the load equipment can carry out synchronous operation according to the first synchronous pulse signal, so that the synchronous operation of the load equipment and the unmanned aerial vehicle can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a network architecture of an unmanned aerial vehicle system according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of an information synchronization method according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of another information synchronization method according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of another information synchronization method according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a load device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to better understand the information synchronization method, the unmanned aerial vehicle, and the load device provided by the embodiment of the present invention, a network architecture according to the embodiment of the present invention is described first.
Referring to fig. 1, fig. 1 is a schematic diagram of a network architecture of an unmanned aerial vehicle system according to an embodiment of the present invention, where the network architecture includes an unmanned aerial vehicle 10 and a load device 11.
The unmanned aerial vehicle 10 includes a plurality of information acquisition modules, and in fig. 1, the unmanned aerial vehicle 10 includes three information acquisition modules, which are a first information acquisition module 12, a second information acquisition module 13, and a third information acquisition module 14, respectively; the information acquisition modules can be used to acquire data and generate synchronization pulse signals. For example, the first information acquiring module is configured to acquire first data and generate a first synchronization pulse signal, where the first data may be position information, attitude information, sensor information, Real-time kinematic (RTK) data, and the like of the drone. The position information of the unmanned aerial vehicle can include longitude and latitude information of the unmanned aerial vehicle, and the attitude information of the unmanned aerial vehicle can include pitch angle information or/and yaw angle information of the unmanned aerial vehicle.
The information acquisition module may include a Global Positioning System (GPS) module, an RTK module, a time acquisition module, a control module, a Position and Orientation System (POS) module, a communication module, and a plurality of sensors. The sensor can be at least one of vision sensor, radar sensor, attitude sensor etc. can acquire sensor information through these sensors, and sensor information can include distance between unmanned aerial vehicle and the barrier, unmanned aerial vehicle's positional information or unmanned aerial vehicle's attitude information etc.. Wherein, the vision sensor can comprise a monocular vision sensor, a binocular vision sensor or a multi-ocular vision sensor; the radar sensor may include a laser radar, an ultrasonic radar, a millimeter wave radar; the attitude sensor may include an Inertial Measurement Unit (IMU). It will be appreciated that the sensor is not limited to the above listed categories and that sensors performing the same or similar functions are possible.
The load device 11 may refer to a device disposed on the unmanned aerial vehicle 10, such as an image capturing device (e.g., a camera), a searchlight, and the like. Alternatively, the load device 11 may refer to a device independent of the drone 10, such as one of a remote controller, a smartphone, a tablet, a laptop, a ground station, and a wearable device (watch, bracelet).
Wherein, load device 11 can be connected through wireless or wired with unmanned aerial vehicle 10, and load device 11 can send the instruction that is used for acquireing first synchronous pulse signal to unmanned aerial vehicle 10, and unmanned aerial vehicle 10 can send first synchronous pulse signal to load device 11, and first synchronous pulse signal is used for load device 11 to carry out the synchronization operation.
Optionally, the unmanned aerial vehicle 10 may further include a switch 15, the switch 15 and each information acquisition module may communicate with each other, and each information acquisition module may send a synchronization pulse signal generated when acquiring data to the switch 15, so that the synchronization pulse signals generated by the plurality of information acquisition modules may be collected in the switch 15. The switch 15 and the load device 11 may communicate with each other, and the load device 11 may send an instruction to acquire the first synchronization pulse signal to the switch 15. The switch 15 receives the instruction, and transmits a first synchronization pulse signal to the load device 11.
In one embodiment, the load device may be connected to the switch through a synchronization signal interface, and the load device may implement time division multiplexing through the synchronization signal interface, and may implement multiple synchronization operations for the load device, which may improve efficiency of the synchronization operations. For example, at a first time, the load device may send an instruction to the switch through the synchronization signal interface to acquire a first synchronization pulse signal generated when the first information acquisition module acquires the first data. The first data may be sensor information, and the load device may synchronize an acquisition time of the first data according to the first synchronization pulse signal. For example, at the second time, the load device may transmit, to the switch through the synchronization signal interface, an instruction for acquiring a second synchronization pulse signal generated when the second information acquisition module receives the second data. The second data may be an operation instruction, and the load device may implement synchronous execution of the operation instruction with the drone according to the second synchronization pulse signal.
In one embodiment, the load device may be a sensor, which may be at least one of a vision sensor, a radar sensor, an attitude sensor, and the like. These sensors may be used to perform operations to collect data in synchronization with the sensors of the drone.
Wherein, among the above-mentioned network architecture, the inside information acquisition module of unmanned aerial vehicle has realized hardware isolation with external load equipment, can avoid external load equipment's performance problem to draw down or draw high the inside synchronizing signal bus of unmanned aerial vehicle, influences the synchronization function of other information acquisition modules.
Referring to fig. 2, an embodiment of the present invention provides an information synchronization method, which may be applied to an unmanned aerial vehicle system. As shown in fig. 2, the information synchronization method may include the following steps.
S201, the unmanned aerial vehicle acquires first data through a first information acquisition module and generates a first synchronous pulse signal, and the first information acquisition module is any one of the plurality of information acquisition modules.
In one example, the first data may be data collected by the first information obtaining module, the first synchronization pulse signal may be generated when the first data is collected, and the first synchronization pulse signal may be used to trigger the load device to synchronize the collection time of the first data. For example, the first information acquisition module may be a POS module, and the drone may acquire the first data through the POS module and generate the first synchronization pulse signal. Wherein, this first data can be unmanned aerial vehicle's POS data, and this POS data can include unmanned aerial vehicle's positional information and/or attitude information, and this first synchronization pulse signal is used for load equipment to carry out the synchronization to the acquisition time of POS data.
In another example, the first data may be an operation instruction received by the first information acquisition module, and the first synchronization pulse signal may be used to trigger the load device and the drone device to execute the operation instruction synchronously. For example, the first information obtaining module may be a control module (or a communication module) of the drone, and the drone may receive first data through the control module, where the first data is an operation instruction received by the control module, and the operation instruction may be used to control a sensor of the drone to acquire position information of the drone; the sensor of the unmanned aerial vehicle executes the operation instruction to acquire the position information of the unmanned aerial vehicle and generates a first synchronous pulse signal. The first synchronous pulse signal is used for triggering a sensor of the load equipment and a sensor of the unmanned aerial vehicle to synchronously acquire position information. Wherein, the operation instruction can be sent to the drone by other devices, or the operation instruction can be automatically generated by the drone.
In one implementation, a switch may be included in the drone, and the drone may transmit the first synchronization pulse signal generated by the first information acquisition module to the switch, which may include a plurality of synchronization pulse signals therein.
In one implementation, a correspondence between each synchronization pulse signal and an identification of the information acquisition module may be established. The identifier may be a name or a number of the information acquisition module; the drone may determine from the correspondence which information acquisition module each synchronization pulse signal was generated by. For example, the identity of the first information acquisition module and the first synchronization pulse signal have a corresponding relationship, and the drone may determine that the first synchronization pulse signal is generated by the first information acquisition module.
S202, the load equipment sends an instruction for acquiring a first synchronization pulse signal to the unmanned aerial vehicle.
Load equipment can be according to the demand of self, sends the instruction that is used for acquireing first synchronization pulse signal to unmanned aerial vehicle, and this instruction can include the sign of information acquisition module for control first synchronization pulse signal's source. For example, the load device needs to receive POS data (i.e., drone position information and attitude information) sent by the drone and determine when the drone acquires the POS data. Assuming that the time for the POS module of the unmanned aerial vehicle to acquire the POS data is t1, and the time for the load device to receive the POS data sent by the unmanned aerial vehicle is t 2; because the POS data has transmission delay in the transmission process, t2 is different from t1, and t2 cannot be directly used as the time for acquiring the POS data by the drone. Therefore, the load device needs to determine the time when the drone acquires POS data through the synchronization pulse signal. Since the POS data is generated by the POS module, the load device may send an instruction to the drone for acquiring the first synchronization pulse signal, where the instruction may include an identifier of the POS module, and is used to control the source of the first synchronization pulse signal to be the POS module. For another example, in a scene where the first light emitting device and the second light emitting device are required to be illuminated synchronously, such as a scene where the unmanned aerial vehicle flies at night, the second light emitting device on the load device and the first light emitting device on the unmanned aerial vehicle are required to flash synchronously to provide illumination. When the first light-emitting device flickers, the control module of the unmanned aerial vehicle sends a flickering instruction to the load equipment, and the load equipment receives the flickering instruction to control the second light-emitting device to flicker. Because the transmission delay exists in the transmission process of the flicker instruction, the flicker time of the second light-emitting device is later than that of the first light-emitting device, and synchronous flicker between the first light-emitting device and the second light-emitting device cannot be realized. Therefore, the load device is required to control the second light emitting device to blink in synchronization with the first light emitting device by the synchronization pulse signal. Therefore, the load device may send an instruction for acquiring the first synchronization pulse signal to the drone, where the instruction may include an identifier of the control module, and is used to control a source of the first synchronization pulse signal to be the control module.
Therefore, the source of the synchronous pulse signal can be controlled by the load equipment, the load equipment can send an acquisition request for acquiring the synchronous pulse signal according to the self requirement, the flexibility of acquiring the synchronous signal is improved, and different requirements of the load equipment can be met.
S203, the unmanned aerial vehicle receives an instruction for acquiring the first synchronous pulse signal and sends the first synchronous pulse signal to the load equipment.
In one example, the unmanned aerial vehicle may be configured to obtain the instruction of the first synchronization pulse signal, and determine which information acquisition module's synchronization pulse signal is required by the load device according to a correspondence between each synchronization pulse signal and the identifier of the information acquisition module. For example, the instruction includes an identifier of the first information acquisition module, and the unmanned aerial vehicle determines that the load device needs the first synchronization pulse signal generated by the first information acquisition module, and sends the first synchronization pulse signal to the load device.
And S204, the load equipment receives the first synchronous pulse signal and carries out synchronous operation according to the first synchronous pulse signal.
In the embodiment of the present invention, after receiving the first synchronization pulse signal, the load device may perform a synchronization operation according to the first synchronization pulse signal.
The synchronization operation may include time synchronization and synchronization triggering, where the time synchronization refers to synchronization of the load device with the acquisition time of the first data, for example, synchronization of the acquisition time of the POS data of the unmanned aerial vehicle, that is, determination of the time when the unmanned aerial vehicle acquires the POS data. Supposing that the unmanned aerial vehicle acquires the POS data at t1, generates a first synchronization pulse signal, and sends the POS data and the first synchronization pulse signal to the load equipment; the load device receives the first synchronization pulse signal at t1 and receives the POS data at t 2. The load device can determine that the time for acquiring the POS data by the unmanned aerial vehicle is t1 according to the first synchronization pulse signal, and can achieve time synchronization of the acquisition of the POS data. The synchronous triggering may refer to triggering the load device and the unmanned aerial vehicle to execute a certain operation instruction synchronously, for example, triggering a sensor of the load device and a sensor of the unmanned aerial vehicle to execute an instruction of acquiring data synchronously; or, the light emitting device of the load device is triggered to execute the blinking instruction in synchronization with the light emitting device of the drone, and so on. Suppose that the first light emitting device of the unmanned aerial vehicle flickers at t1, the unmanned aerial vehicle sends a first synchronization pulse signal to the load device at t1, and the load device can determine that the flicking time of the first light emitting device of the unmanned aerial vehicle is t1 according to the first synchronization pulse signal, and control the second light emitting device to flick synchronously, so that the second light emitting device and the first light emitting device can synchronously execute a flicking instruction.
In the embodiment of the invention, the load equipment can send a command for acquiring the first synchronization pulse to the unmanned aerial vehicle, and the unmanned aerial vehicle can determine which information acquisition module generates the synchronization pulse signal that the load equipment needs to acquire according to the command; the load equipment can control the source of the synchronous pulse signal according to the self requirement, the flexibility of obtaining the synchronous pulse signal is improved, and different requirements of the load equipment are met. After receiving the instruction, the unmanned aerial vehicle can send the first synchronous pulse signal to the load equipment, and the load equipment can carry out synchronous operation according to the first synchronous pulse signal, so that the synchronous operation of the load equipment and the unmanned aerial vehicle can be realized.
Referring to fig. 3, fig. 3 is a schematic flow chart of another information synchronization method according to an embodiment of the present invention, and as shown in fig. 3, the information synchronization method may include the following steps:
s301, the unmanned aerial vehicle acquires first data through a first information acquisition module and generates a first synchronous pulse signal, and the first information acquisition module is any one of the plurality of information acquisition modules.
In one example, the first information acquiring module may be a sensor, and the first data is sensor information collected by the sensor. For example, the first information acquisition module may be a vision sensor, and the drone may acquire the first data through the vision sensor and generate the first synchronization pulse signal. Wherein, this first data is the sensor information that vision sensor gathered, and this sensor information is the distance between unmanned aerial vehicle and the barrier.
In another example, the first information acquisition module may be a GPS module; the first data is the unmanned aerial vehicle's that the GPS module was gathered positional information, and unmanned aerial vehicle's positional information can be used for realizing the real-time location to unmanned aerial vehicle.
In another embodiment, the first information acquisition module may be an RTK module, and the first data is RTK data acquired by the RTK module, where the RTK data is carrier phase data, and the carrier phase data is used for calculating the position information of the drone.
In yet another example, the first information acquisition module may be a time acquisition module, and the first data may be time information of the drone. For example, the Time information may be Universal Time (UTC) of the drone. The UTC timestamp may be used to implement time alignment.
In one example, the manner in which the load device generates the first synchronization pulse signal includes: the first information acquisition module acquires first data and generates a first synchronization pulse signal at the same time. The first synchronization pulse signal may include a rising edge and a falling edge, and the acquisition time of the first data may be determined according to the falling edge time of the first synchronization pulse signal.
Optionally, the acquisition time of the first data corresponds to a pulse interruption time of the first synchronization pulse signal.
Optionally, the pulse interruption time of the first synchronization pulse signal is a time corresponding to the falling edge of the pulse.
S302, the load device sends an instruction for acquiring a first synchronization pulse signal to the unmanned aerial vehicle.
Load equipment can be according to the demand of self, sends the instruction that is used for acquireing first synchronization pulse signal to unmanned aerial vehicle, and this instruction can include the sign of information acquisition module for control first synchronization pulse signal's source. For example, in a scenario where the load device controls the drone to avoid an obstacle, the instruction may include an identification of the vision sensor for controlling the source of the first synchronization pulse signal to be the vision sensor. In a scenario where the load device positions the drone, the instruction may include an identifier of the GPS module or an identifier of the RTK module, and the source for controlling the first synchronization pulse signal is the GPS module or the RTK module. In the scenario where the load device is calibrated to time, the instruction may include an identification of the time acquisition module, for controlling the source of the first synchronization pulse signal to be the time acquisition module.
S303, the unmanned aerial vehicle receives an instruction for acquiring the first synchronous pulse signal and sends the first synchronous pulse signal to the load equipment.
In one example, the drone may determine which information acquisition module's synchronization pulse signal is needed by the load device according to the instruction, for example, the determined module is the first information acquisition module, and sends the first synchronization pulse signal generated by the first information acquisition module to the load device. For example, the instructions include an identification of a vision sensor, and it is determined that the load device requires a synchronization pulse signal generated by the vision sensor, and the drone may send a first synchronization pulse signal generated when the vision sensor acquires the first data to the load device.
And S304, the load equipment receives the first synchronous pulse signal.
S305, the unmanned aerial vehicle sends the first data to the load equipment.
Optionally, the drone may send the first data and the first synchronization pulse signal to the load device simultaneously.
S306, the load device receives the first data, and synchronizes the acquisition time of the first data according to the first synchronization pulse signal.
In one embodiment, since the first data has a transmission delay in the transmission process between the drone and the load device, the acquisition time of the first data is not the time when the load device receives the first data, and therefore, the load device is required to synchronize the acquisition time of the first data. Specifically, the load device may synchronize the acquisition time of the first data according to the first synchronization pulse signal.
In one embodiment, the time when the first data is acquired corresponds to a pulse interruption time of the first synchronization pulse signal, and step S306 includes: and determining the time for acquiring the first data according to the pulse interruption time of the first synchronous pulse signal.
In different application scenarios, the load device can meet different requirements according to the first synchronization pulse signal. For example, in the scene that load equipment control unmanned aerial vehicle kept away the barrier, this first data can be the sensor data that vision sensor gathered, and this sensor data is the distance between unmanned aerial vehicle and the barrier, and first synchronization pulse signal can be generated when vision sensor gathers sensor data. Load equipment can confirm the acquisition time of sensor data according to first synchronization pulse signal, can acquire the distance between unmanned aerial vehicle and the barrier accurately, and further, load equipment can realize that unmanned aerial vehicle keeps away the barrier according to distance adjustment unmanned aerial vehicle's flight orbit. In a scenario where the load device locates the drone, the first data may be location information of the drone acquired by the GPS module, and the first synchronization pulse signal may be generated when the location information of the drone is acquired. The load equipment can confirm the acquisition time of the position information of the unmanned aerial vehicle according to the first synchronous pulse signal, and can realize high-precision positioning of the unmanned aerial vehicle. In a scene that the load device calibrates time, the first data may be a time acquisition module that acquires a UTC timestamp of the drone, and the first synchronization pulse signal is generated when the UTC timestamp is acquired; the load device may determine the time obtained by the UTC timestamp from the first synchronization pulse signal, and may calibrate the time of the load device according to the time obtained by the UTC timestamp.
In the embodiment of the invention, the load equipment can send a command for acquiring the first synchronous pulse to the unmanned aerial vehicle, and the unmanned aerial vehicle can determine which information acquisition module needs the synchronous pulse signal generated by the load equipment according to the command; the load equipment can control the source of the synchronous pulse signal according to the requirement of the load equipment, the flexibility of obtaining the synchronous pulse signal is improved, and different requirements of the load equipment can be met. After receiving the instruction, the unmanned aerial vehicle can send the first synchronization pulse signal and the first data to the load equipment, and the load equipment can synchronize the acquisition time of the first data according to the first synchronization pulse signal, so that the time synchronization of the acquisition data can be realized, and the precision of the time for determining the acquisition data is improved.
Referring to fig. 4, fig. 4 is a schematic flowchart of another information synchronization method according to an embodiment of the present invention. As shown in fig. 4, the information synchronization method may include the steps of:
s401, the unmanned aerial vehicle acquires first data through a first information acquisition module and generates a first synchronous pulse signal, wherein the first information acquisition module is any one of the plurality of information acquisition modules.
In one embodiment, the first data is a first operation instruction, the operation instruction may be a flashing instruction, and the drone may control the first light emitter to flash according to the flashing instruction. For example, the drone may control the first light emitting device to flash at a preset flashing frequency according to the flashing instruction. The preset flashing frequency may be carried by the flashing command, or the preset flashing frequency may be manually set by a user, for example, the preset flashing frequency may be 5 times/s. The first synchronous pulse signal is used for triggering the load equipment to control the second light-emitting device to synchronously flicker according to the flicker frequency of the first light-emitting device. The first light emitting device may be a position light provided on the drone, and the second light emitting device may be a searchlight on the load device.
In one embodiment, the drone may generate a first synchronization pulse signal according to a flashing frequency of a first light emitting device, the first synchronization pulse signal being used to trigger the load device to control the second light emitting device to flash synchronously according to the flashing frequency of the first light emitting device. For example, the first light emitting device has a flashing frequency of 5 times/s, and the drone may generate a first synchronization pulse signal, which may have a frequency of 5 Hz.
In another embodiment, the first data is position information and/or attitude information of the drone, the first synchronization pulse signal is used to trigger the load device to perform synchronization shooting or data acquisition, and the drone sends the first data to the load device.
S402, the load equipment sends an instruction for acquiring a first synchronization pulse signal to the unmanned aerial vehicle.
Load equipment can be according to the demand of self, sends the instruction that is used for acquireing first synchronization pulse signal to unmanned aerial vehicle, and this instruction can include the sign of information acquisition module for control first synchronization pulse signal's source. For example, in a scene requiring the first light emitting device to be illuminated synchronously with the second light emitting device, such as a night rescue scene, the instruction may include an identification of the control module (or communication module) for controlling the source of the first synchronization pulse signal to be the control module (or communication module). In scenarios where the load device (e.g., a camera load) is mapped, the instruction may include an identification of the POS module controlling the source of the first synchronization pulse signal to be the POS module. The source of the synchronous pulse signal can be controlled by the load equipment, and the load equipment can send an acquisition request for acquiring the synchronous pulse signal according to the self requirement, so that the flexibility of acquiring the synchronous signal is improved, and different requirements of the load equipment can be met.
S403, the unmanned aerial vehicle receives the instruction for acquiring the first synchronization pulse signal and sends the first synchronization pulse signal to the load device.
S404, the load device receives the first synchronous pulse signal and synchronously executes target operation according to the first synchronous pulse signal.
In different application scenarios, the load device may meet different requirements according to the first synchronization pulse signal. For example, in a scene that the first light emitting device and the second light emitting device are required to perform synchronous illumination, the load device may implement synchronous illumination of the second light emitting device and the first light emitting device according to the first synchronous pulse signal, and may provide illumination for a night work scene. In a scenario where the load device (e.g., a camera load) is mapping, the load device may achieve accurate mapping based on the first synchronization pulse signal.
In one embodiment, the first operation instruction is a flashing instruction, the flashing instruction is used for controlling the first light-emitting device to perform a flashing step, and step S405 includes: and controlling the second light-emitting device and the first light-emitting device of the unmanned aerial vehicle to synchronously flicker according to the first synchronous pulse signal. For example, the load device may determine a flashing time of the first light emitting device according to the first synchronization pulse signal, and control the second light emitting device to flash at the flashing time of the first light emitting device, so as to implement the synchronous flashing of the second light emitting device and the first light emitting device, and provide illumination for a night work scene. Here, the flicker frequency of the first light emitting device and the flicker frequency of the second light emitting device may be the same or different.
In another embodiment, the first synchronization pulse signal is obtained according to a flashing frequency of the first light emitting device, and the controlling the second light emitting device to flash synchronously with the first light emitting device of the drone according to the first synchronization pulse signal includes: and determining the flicker frequency of the first light-emitting device according to the first synchronous pulse signal, and controlling the second light-emitting device to flicker synchronously at the flicker frequency of the first light-emitting device. For example, the first light emitting device may have a blinking frequency of 5 times/s, the load device may determine the blinking frequency of the first light emitting device according to the frequency of occurrence of pulses in the first synchronization pulse signal, may control the second light emitting device to blink at the blinking frequency of 5 times/s immediately, or may control the second light emitting device to blink at the blinking frequency of 5 times/s after a preset time period (e.g., 5 s).
In one embodiment, the load device may receive the first data, the first data being position information and/or attitude information of the drone; step S405 includes: and determining the acquisition time of the first data according to the first synchronous pulse signal, and executing synchronous shooting or data acquisition according to the first synchronous pulse signal. For example, the drone acquires the first data at t1, where the first data is the position information and/or the attitude information, generates a first synchronization pulse signal, and transmits the first synchronization pulse signal and the first data to the load device at t 1. And the load equipment determines that the time for acquiring the first data by the unmanned aerial vehicle is t1 according to the first synchronous pulse signal, and shoots or executes synchronous data acquisition at t 1. Optionally, after the load device receives the first data, the load device may further associate and store the position information and/or the attitude information of the drone with the image data, so as to implement accurate mapping.
In the embodiment of the invention, the load equipment can send a command for acquiring the first synchronous pulse to the unmanned aerial vehicle, and the unmanned aerial vehicle can determine which information acquisition module needs the synchronous pulse signal generated by the load equipment according to the command; the load equipment can control the source of the synchronous pulse signal according to the self requirement, the flexibility of obtaining the synchronous pulse signal is improved, and different requirements of the load equipment are met. After receiving the instruction, the unmanned aerial vehicle can send the first synchronization pulse signal to the load device, and the load device can execute target synchronization operation according to the first synchronization pulse signal.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. Specifically, unmanned aerial vehicle includes: a processor 501, a memory 502, and an information acquisition module 503.
The information acquisition module 503 is a set of a plurality of information acquisition modules, and is used for acquiring data and generating a synchronization pulse signal.
The memory 502 may include a volatile memory (volatile memory); memory 502 may also include non-volatile memory (non-volatile memory); the memory 502 may also comprise a combination of memories of the kind described above. The processor 501 may be a Central Processing Unit (CPU). The processor 501 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
In one embodiment, the memory is for storing program instructions, and the processor may call the program instructions stored in the memory for performing the steps of:
acquiring first data through a first information acquisition module and generating a first synchronous pulse signal, wherein the first information acquisition module is any one of the plurality of information acquisition modules;
receiving an instruction for acquiring the first synchronization pulse signal from a load device;
and sending the first synchronous pulse signal to the load equipment, wherein the first synchronous pulse signal is used for the load equipment to carry out synchronous operation.
Optionally, the memory is for storing program instructions. The processor may call program instructions stored in the memory for performing the steps of:
the unmanned aerial vehicle sends the first data to the load equipment, and the first synchronization pulse signal is used for the load equipment to synchronize the acquisition time of the first data.
Optionally, the memory is for storing program instructions. The processor may call program instructions stored in the memory for performing the steps of:
optionally, the acquisition time of the first data corresponds to a pulse interruption time of the first synchronization pulse signal.
Optionally, a pulse interruption time of the first synchronization pulse signal is a time corresponding to the pulse falling edge.
Optionally, the first data includes at least one of position information, attitude information, time information, sensor information, and real-time dynamic RTK data of the drone.
Optionally, the first synchronization pulse signal is used to trigger the load device to synchronously execute a target operation.
Optionally, the first data is a first operation instruction.
Optionally, the first operation instruction is a flashing instruction, and the flashing instruction is used for controlling the first light-emitting device to flash; the first synchronous pulse signal is used for triggering the load equipment to control the second light-emitting device and the first light-emitting device to synchronously flicker.
Optionally, the first synchronization pulse signal is obtained according to a flicker frequency of the first light emitting device, and the first synchronization pulse signal is used to trigger the load device to control the second light emitting device to synchronously flicker according to the flicker frequency of the first light emitting device.
Optionally, the first data is position information and/or attitude information of the unmanned aerial vehicle, the first synchronization pulse signal is used to trigger the load device to perform synchronous shooting or data acquisition, the memory is used to store program instructions, and the processor may call the program instructions stored in the memory to perform the following steps:
The unmanned aerial vehicle sends the first data to the load equipment.
In the embodiment of the invention, the load equipment can send the instruction for acquiring the first synchronization pulse to the unmanned aerial vehicle, and the unmanned aerial vehicle can determine which information acquisition module needs to acquire the synchronization pulse signal generated by the load equipment according to the instruction, namely the load equipment can control the source of the synchronization pulse signal according to the self requirement, so that the flexibility of acquiring the synchronization pulse signal is improved. After unmanned aerial vehicle can receive this instruction, can send first synchronization pulse signal to load equipment, load equipment can carry out the synchronization operation according to this first synchronization pulse signal, can realize load equipment and unmanned aerial vehicle's synchronization operation.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a load device according to an embodiment of the present invention. Specifically, the load device includes: a processor 601 and a memory 602.
The memory 602 may include a volatile memory (volatile memory); the memory 602 may also include a non-volatile memory (non-volatile memory); the memory 602 may also comprise a combination of memories of the kind described above. The processor 601 may be a Central Processing Unit (CPU). The processor 601 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
In one embodiment, the memory is for storing program instructions, and the processor may call the program instructions stored in the memory for performing the steps of:
sending an instruction for acquiring a first synchronization pulse signal to the unmanned aerial vehicle, wherein the first synchronization pulse signal is generated when a first information acquisition module of the unmanned aerial vehicle acquires first data, and the first information acquisition module is any one of a plurality of information acquisition modules of the unmanned aerial vehicle;
receiving the first synchronous pulse signal;
and carrying out synchronous operation according to the first synchronous pulse signal.
In one embodiment, the memory is for storing program instructions, and the processor may call the program instructions stored in the memory for performing the steps of:
receiving the first data;
the performing of the synchronization operation according to the first synchronization pulse signal includes:
and synchronizing the acquisition time of the first data according to the first synchronization pulse signal.
In one embodiment, the time when the first data is acquired corresponds to a pulse interruption time of the first synchronization pulse signal, the memory is used for storing program instructions, and the processor may call the program instructions stored in the memory for executing the following steps: and determining the time for acquiring the first data according to the pulse interruption time of the first synchronous pulse signal.
Optionally, a pulse interruption time of the first synchronization pulse signal is a time corresponding to the pulse falling edge.
Optionally, the first data includes at least one of position information, attitude information, time information, sensor information, and RTK data of the drone.
The memory is configured to store program instructions, and the processor may call the program instructions stored in the memory to perform the steps of: and synchronously executing target operation according to the first synchronous pulse signal.
Optionally, the first data is a first operation instruction.
Optionally, the first operation instruction is a flashing instruction, and the flashing instruction is used for controlling the first light-emitting device to flash; the memory is configured to store program instructions, and the processor may call the program instructions stored in the memory to perform the steps of:
and controlling a second light-emitting device and a first light-emitting device of the unmanned aerial vehicle to flicker synchronously according to the first synchronous pulse signal.
Optionally, the first synchronization pulse signal is obtained according to a flicker frequency of the first light emitting device, the memory is used to store program instructions, and the processor may call the program instructions stored in the memory to perform the following steps: determining the flicker frequency of the first light-emitting device according to the first synchronous pulse signal;
Controlling the second light emitting device to flash synchronously at the flash frequency of the first light emitting device.
Optionally, the memory is used for storing program instructions, and the processor may call the program instructions stored in the memory to perform the following steps: receiving the first data, wherein the first data is position information and/or attitude information of the unmanned aerial vehicle;
the synchronous execution of the target operation according to the first synchronous pulse signal comprises:
determining the acquisition time of the first data according to the first synchronous pulse signal;
and performing synchronous shooting or data acquisition according to the first synchronous pulse signal.
In the embodiment of the invention, the load equipment can send the instruction for acquiring the first synchronization pulse to the unmanned aerial vehicle, and the unmanned aerial vehicle can determine which information acquisition module needs to acquire the synchronization pulse signal generated by the load equipment according to the instruction, namely the load equipment can control the source of the synchronization pulse signal according to the self requirement, so that the flexibility of acquiring the synchronization pulse signal is improved. After the unmanned aerial vehicle can receive the instruction, can send first synchronous pulse signal to load equipment, load equipment can carry out the synchro-operation according to this first synchronous pulse signal, can realize load equipment and unmanned aerial vehicle's synchro-operation.
In an embodiment of the present invention, an unmanned aerial vehicle system is further provided, where the unmanned aerial vehicle system includes a load device and an unmanned aerial vehicle, and the unmanned aerial vehicle and the load device may be used to implement the information synchronization method described in the embodiments corresponding to fig. 2 to 4 of the present invention, and the repetition points are not described herein again.
In an embodiment of the present invention, a computer-readable storage medium is further provided, where the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the information synchronization method described in the embodiment corresponding to fig. 2 to 4 of the present invention, or to implement the unmanned aerial vehicle according to the embodiment of the present invention shown in fig. 5 and the load device according to the embodiment of the present invention shown in fig. 6, and details thereof are not repeated here.
The computer readable storage medium may be an internal storage unit of the test device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer-readable storage medium may also be an external storage device of the vehicle control apparatus, such as a plug-in hard disk provided on the device, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the test equipment. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program, which may be stored in a computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like. While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (32)
1. An information synchronization method is applied to an unmanned aerial vehicle, the unmanned aerial vehicle comprises a plurality of information acquisition modules, and the method comprises the following steps:
the unmanned aerial vehicle acquires first data through a first information acquisition module and generates a first synchronous pulse signal, wherein the first information acquisition module is any one of the plurality of information acquisition modules;
the unmanned aerial vehicle receives an instruction for acquiring the first synchronization pulse signal from a load device;
The unmanned aerial vehicle sends the first synchronous pulse signal to the load equipment, and the first synchronous pulse signal is used for the load equipment to carry out synchronous operation;
the first synchronous pulse signal is used for synchronizing the acquisition time of the first data by the load equipment, and the unmanned aerial vehicle sends the first data to the load equipment; or the first data is a first operation instruction, and the first synchronization pulse signal is used for triggering the load equipment to synchronously execute an operation corresponding to the first operation instruction; or, the first data are position information and/or attitude information of the unmanned aerial vehicle, the first synchronous pulse signal is used for triggering the load equipment to carry out synchronous shooting or data acquisition, and the unmanned aerial vehicle sends the first data to the load equipment.
2. The method of claim 1, wherein the acquisition time of the first data corresponds to a pulse interruption time of the first synchronization pulse signal.
3. The method of claim 2, wherein a pulse interruption time of the first synchronization pulse signal is a time corresponding to a falling edge of the pulse.
4. The method of any of claims 1-3, wherein the first data comprises at least one of position information, attitude information, time information, sensor information, Real Time Kinematic (RTK) data of the drone.
5. The method according to claim 1, wherein the first operation instruction is a flashing instruction, and the flashing instruction is used for controlling a first light-emitting device to flash;
the first synchronous pulse signal is used for triggering the load equipment to control the second light-emitting device and the first light-emitting device to synchronously flicker.
6. The method of claim 5, wherein the first synchronization pulse signal is obtained according to a flashing frequency of the first light emitting device, and the first synchronization pulse signal is used for triggering the load device to control the second light emitting device to flash synchronously according to the flashing frequency of the first light emitting device.
7. An information synchronization method applied to a load device, the method comprising:
sending an instruction for acquiring a first synchronization pulse signal to an unmanned aerial vehicle, wherein the first synchronization pulse signal is generated when a first information acquisition module of the unmanned aerial vehicle acquires first data, and the first information acquisition module is any one of a plurality of information acquisition modules of the unmanned aerial vehicle;
Receiving the first synchronous pulse signal;
receiving the first data, and synchronizing the acquisition time of the first data according to the first synchronization pulse signal; or, the first data is a first operation instruction, and the operation corresponding to the first operation instruction is synchronously executed according to the first synchronization pulse signal; or receiving the first data, wherein the first data is position information and/or attitude information of the unmanned aerial vehicle, determining the acquisition time of the first data according to the first synchronous pulse signal, and executing synchronous shooting or data acquisition according to the first synchronous pulse signal.
8. The method according to claim 7, wherein the acquiring the first data at a time corresponding to a pulse interruption time of the first synchronization pulse signal, and the synchronizing the acquiring the first data according to the first synchronization pulse signal comprises:
and determining the time for acquiring the first data according to the pulse interruption time of the first synchronous pulse signal.
9. The method of claim 8, wherein a pulse interruption time of the first synchronization pulse signal is a time corresponding to a falling edge of the pulse.
10. The method of any of claims 7-9, wherein the first data comprises at least one of position information, attitude information, time information, sensor information, Real Time Kinematic (RTK) data of the drone.
11. The method of claim 7, wherein the first operation instruction is a flashing instruction, and the flashing instruction is used for controlling a first light-emitting device to flash; the synchronous execution of the operation corresponding to the first operation instruction according to the first synchronous pulse signal comprises:
and controlling a second light-emitting device and a first light-emitting device of the unmanned aerial vehicle to flicker synchronously according to the first synchronous pulse signal.
12. The method of claim 11, wherein the first synchronization pulse signal is obtained according to a flashing frequency of the first light emitting device, and the controlling the second light emitting device to flash synchronously with the first light emitting device of the drone according to the first synchronization pulse signal comprises:
determining the flicker frequency of the first light-emitting device according to the first synchronous pulse signal;
controlling the second light emitting device to blink synchronously with the blinking frequency of the first light emitting device.
13. An unmanned aerial vehicle system comprises an unmanned aerial vehicle and load equipment, and is characterized in that the unmanned aerial vehicle comprises a plurality of information acquisition modules,
the unmanned aerial vehicle is used for acquiring first data through a first information acquisition module and generating a first synchronous pulse signal, wherein the first information acquisition module is any one of the plurality of information acquisition modules;
the load equipment is used for sending an instruction for acquiring a first synchronous pulse signal to the unmanned aerial vehicle;
the unmanned aerial vehicle is also used for receiving an instruction for acquiring the first synchronous pulse signal and sending the first synchronous pulse signal to the load equipment;
the load equipment is also used for receiving the first synchronous pulse signal;
the unmanned aerial vehicle is further used for sending the first data to the load equipment; the load equipment is also used for receiving the first data and synchronizing the acquisition time of the first data according to the first synchronization pulse signal; or, the first data is a first operation instruction, and the load device is further configured to synchronously execute an operation corresponding to the first operation instruction according to the first synchronization pulse signal; or the first data is position information and/or attitude information of the unmanned aerial vehicle, and the unmanned aerial vehicle is further used for sending the first data to the load equipment; the load equipment is further used for receiving the first data, determining the acquisition time of the first data according to the first synchronous pulse signal, and executing synchronous shooting or data acquisition according to the first synchronous pulse signal.
14. The system of claim 13, wherein the acquisition time of the first data corresponds to a pulse interruption time of the first synchronization pulse signal;
the method for synchronizing the acquisition time of the first data by the load device according to the first synchronization pulse signal specifically includes: and determining the time for acquiring the first data according to the pulse interruption time of the first synchronous pulse signal.
15. The system of claim 14, wherein a pulse interruption time of the first synchronization pulse signal is a time corresponding to a falling edge of the pulse.
16. The system of any of claims 13-15, wherein the first data comprises at least one of position information, attitude information, time information, sensor information, Real Time Kinematic (RTK) data of the drone.
17. The system of claim 13, wherein the first operation instruction is a flashing instruction;
the unmanned aerial vehicle is also used for controlling the first light-emitting device to flicker according to the flicker instruction;
the method for the load device to synchronously execute the operation corresponding to the first operation instruction according to the first synchronization pulse signal specifically includes: and controlling a second light-emitting device and a first light-emitting device of the unmanned aerial vehicle to flicker synchronously according to the first synchronous pulse signal.
18. The system of claim 17,
the mode that unmanned aerial vehicle generates first synchronization pulse signal specifically does: generating the first synchronous pulse signal according to the flicker frequency of the first light-emitting device;
the mode that the load equipment controls the second light emitting device and the first light emitting device of the unmanned aerial vehicle to synchronously flicker according to the first synchronous pulse signal is specifically as follows: determining the flicker frequency of the first light-emitting device according to the first synchronous pulse signal; controlling the second light emitting device to blink synchronously with the blinking frequency of the first light emitting device.
19. The system of claim 13, wherein the drone further comprises a switch,
the switcher is used for acquiring the synchronous pulse signal of each information acquisition module;
the mode that the load equipment sends the instruction for acquiring the first synchronization pulse signal to the unmanned aerial vehicle specifically is as follows: sending an instruction for acquiring the first synchronization pulse signal to the switcher;
the mode that the unmanned aerial vehicle sends the first synchronous pulse signal to the load equipment is specifically as follows: transmitting the first synchronization pulse signal to the load device through the switch.
20. An unmanned aerial vehicle, comprising a plurality of information acquisition modules, a memory, and a processor;
the first information acquisition module is used for acquiring first data and generating a first synchronous pulse signal, and the first information acquisition module is any one of the plurality of information acquisition modules;
the memory to store program instructions;
the processor, executing the program instructions stored by the memory, when executed, is configured to perform the steps of:
receiving an instruction for acquiring the first synchronization pulse signal from a load device; sending the first synchronous pulse signal to the load equipment, wherein the first synchronous pulse signal is used for the load equipment to carry out synchronous operation;
the first synchronous pulse signal is used for synchronizing the acquisition time of the first data by the load equipment, and the unmanned aerial vehicle sends the first data to the load equipment; or the first data is a first operation instruction, and the first synchronization pulse signal is used for triggering the load equipment to synchronously execute an operation corresponding to the first operation instruction; or, the first data is position information and/or attitude information of the unmanned aerial vehicle, the first synchronous pulse signal is used for triggering the load equipment to carry out synchronous shooting or data acquisition, and the unmanned aerial vehicle sends the first data to the load equipment.
21. A drone according to claim 20, wherein the time of acquisition of the first data corresponds to the pulse interruption time of the first synchronization pulse signal.
22. The drone of claim 21, wherein a pulse interruption time of the first synchronization pulse signal is a time corresponding to the pulse falling edge.
23. A drone as claimed in any one of claims 20 to 22, wherein the first data includes at least one of position information, attitude information, time information, sensor information, real time kinematic RTK data of the drone.
24. The unmanned aerial vehicle of claim 20, wherein the first operating instruction is a flashing instruction, and the flashing instruction is used for controlling a first light-emitting device to flash;
the first synchronous pulse signal is used for triggering the load equipment to control the second light-emitting device and the first light-emitting device to synchronously flicker.
25. The unmanned aerial vehicle of claim 24, wherein the first synchronization pulse signal is derived from a flashing frequency of the first light emitting device, and the first synchronization pulse signal is used to trigger the load device to control the second light emitting device to flash synchronously at the flashing frequency of the first light emitting device.
26. A load device, wherein the load device is connected to a drone, the load device comprising a memory and a processor;
the memory to store program instructions;
the processor, executing the program instructions stored by the memory, when executed, is configured to perform the steps of:
sending an instruction for acquiring a first synchronization pulse signal to the unmanned aerial vehicle, wherein the first synchronization pulse signal is generated when a first information acquisition module of the unmanned aerial vehicle acquires first data, and the first information acquisition module is any one of a plurality of information acquisition modules of the unmanned aerial vehicle;
receiving the first synchronous pulse signal;
receiving the first data, and synchronizing the acquisition time of the first data according to the first synchronization pulse signal; or, the first data is a first operation instruction, and the operation corresponding to the first operation instruction is synchronously executed according to the first synchronization pulse signal; or receiving the first data, wherein the first data is position information and/or attitude information of the unmanned aerial vehicle, determining the acquisition time of the first data according to the first synchronous pulse signal, and executing synchronous shooting or data acquisition according to the first synchronous pulse signal.
27. The apparatus according to claim 26, wherein a time at which the first data is acquired corresponds to a pulse interruption time of the first synchronization pulse signal;
the method for synchronizing the acquisition time of the first data according to the first synchronization pulse signal by the processor specifically comprises the following steps:
and determining the time for acquiring the first data according to the pulse interruption time of the first synchronous pulse signal.
28. The apparatus of claim 27, wherein a pulse interruption time of the first synchronization pulse signal is a time corresponding to a falling edge of the pulse.
29. The apparatus of any of claims 26-28, wherein the first data comprises at least one of position information, attitude information, time information, sensor information, RTK data of the drone.
30. The apparatus according to claim 26, wherein the first operation instruction is a flashing instruction, and the flashing instruction is used for controlling the first light-emitting device to flash;
the mode for the processor to synchronously execute the operation corresponding to the first operation instruction according to the first synchronous pulse signal is specifically as follows:
And controlling a second light-emitting device and a first light-emitting device of the unmanned aerial vehicle to synchronously flicker according to the first synchronous pulse signal.
31. The apparatus of claim 30, wherein the first synchronization pulse signal is derived from a blinking frequency of the first light emitting device,
the mode that the processor controls the second light-emitting device and the first light-emitting device of the unmanned aerial vehicle to synchronously flicker according to the first synchronous pulse signal is specifically as follows:
determining the flicker frequency of the first light-emitting device according to the first synchronous pulse signal;
controlling the second light emitting device to blink synchronously with the blinking frequency of the first light emitting device.
32. A computer-readable storage medium, comprising: the computer-readable storage medium stores a computer program which, when executed by a processor, is operable to perform the information synchronization method according to any one of claims 1 to 12.
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| CN113190044B (en) * | 2021-05-08 | 2022-12-30 | 一飞(海南)科技有限公司 | Cluster performance unmanned aerial vehicle takeoff control method, system, medium, terminal and unmanned aerial vehicle |
| CN115001615A (en) * | 2022-05-25 | 2022-09-02 | 中国第一汽车股份有限公司 | Synchronization control method, device, system and storage medium |
| CN116528229B (en) * | 2023-07-03 | 2023-09-05 | 北京中科网芯科技有限公司 | 5G secure communication method and system thereof |
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| CN108701419B (en) * | 2017-03-21 | 2022-01-11 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and control equipment, unmanned aerial vehicle supervision method and supervision equipment |
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2018
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- 2018-11-27 CN CN201880065269.4A patent/CN111279637B/en not_active Expired - Fee Related
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| CN102607527A (en) * | 2012-02-17 | 2012-07-25 | 中测新图(北京)遥感技术有限责任公司 | UAV (unmanned aerial vehicle) aerial photography measurement method and UAV aerial photography measurement system |
| CN103744372A (en) * | 2013-12-23 | 2014-04-23 | 广东电网公司电力科学研究院 | Multisensor time synchronization method for unmanned plane power patrol and system thereof |
| CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
| EP3358892A1 (en) * | 2015-10-02 | 2018-08-08 | NTT DoCoMo, Inc. | User equipment and synchronization method |
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| WO2020107195A1 (en) | 2020-06-04 |
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