CN112947590A - Unmanned aerial vehicle-based field data recovery system and method - Google Patents
Unmanned aerial vehicle-based field data recovery system and method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle-based field data recovery system and a method, wherein the system comprises a ground control device, an unmanned aerial vehicle recovery device and a field data acquisition device, the data recovery device comprises an unmanned aerial vehicle, a power supply module, a wireless router and a recovery control module, the unmanned aerial vehicle recovery device comprises the unmanned aerial vehicle, and the power supply module, the second narrow-band radio frequency module, the recovery control module and the wireless router which are arranged on the unmanned aerial vehicle, and the field data acquisition device comprises a main controller, a Wi-Fi module, a third narrow-band radio frequency module and a sensor module; the temporary wireless local area network is constructed through the wireless router, so that the construction of infrastructure facilities with huge cost is avoided; the narrow-band radio frequency module is used for transmitting control instructions and state information between the ground control station and the recovery control module, so that the operation difficulty is reduced, and the success rate of data recovery is improved.
Description
Technical Field
The invention relates to the field of data acquisition, in particular to a digital information transmission method based on a wireless local area network and a remote control method based on an LoRa technology.
Background
In the fields of environmental monitoring, geological detection and animal protection, data acquisition equipment is usually required to be arranged under the field environment with complex terrain, unattended operation and backward infrastructure, so as to provide data support for analyzing environmental changes. After the acquisition equipment is installed, the mode of manually returning to the field environment to search for the data acquisition equipment is usually adopted, and storage media such as a memory card and the like are taken out from the data acquisition equipment to realize the recovery of data. The method is easily influenced by objective conditions such as terrain, season, weather and the like, consumes manpower and material resources, is full of danger and uncertainty, and causes long period of data recovery and adverse influence on data real-time.
Industrial unmanned aerial vehicle technique is mature day by day, and commercial grade rotor unmanned aerial vehicle can carry several kilograms equipment flight ten kilometers to can work under multiple weather condition. Utilize unmanned aerial vehicle as data acquisition device's carrier, can ignore the inconvenience that mountain area topography brought for walking on foot, alleviate artifical burden and cost by a wide margin, be applicable to multiple weather environment simultaneously, increase recovery frequency. However, in a field environment, the data acquisition device cannot acquire electric energy through a power grid, and the Wi-Fi module has high power consumption and can be turned on only under necessary conditions; simultaneously, because mountain height forest is dense, unmanned aerial vehicle is difficult to be close to data acquisition equipment, needs connect in the position far away, consequently can often appear connecting failure or the condition of signal interruption. Therefore, the radio frequency communication technology is applied to recovery, high-speed data recovery is carried out through Wi-Fi, the received equipment is remotely controlled through the wireless narrow-band radio frequency module, wireless digital communication from several kilometers to dozens of kilometers can be carried out, the Wi-Fi module is awakened to rapidly transmit data, meanwhile, the data recovery condition of the unmanned aerial vehicle end is monitored in real time, personnel can operate conveniently, blind recovery is avoided, and recovery efficiency is improved.
The unmanned aerial vehicle is used for carrying the wireless routing equipment, the wireless routing equipment can quickly reach the position near the acquisition equipment, and a temporary wireless local area network is constructed. The recovery plant that unmanned aerial vehicle carried and the collection equipment that ground arranged can insert this network simultaneously, and then the automation of time data is retrieved. Further avoid personnel to get into open-air environment, improve the success rate of retrieving, recovery plant and open-air data acquisition device have all been equipped the narrowband radio frequency module, can receive the instruction that the control personnel sent to return the recovery state in real time, reduce the operation degree of difficulty, improve the probability of retrieving the success, be convenient for reequip other control functions.
Disclosure of Invention
The invention aims to solve the technical problem of providing a field data recovery system and method based on an unmanned aerial vehicle, wherein the unmanned aerial vehicle carries an acquisition device and network equipment, information stored in network-connectable data acquisition equipment arranged on the ground is recovered, or a temporary network link is constructed to upload data in the acquisition equipment, so that the problems of high manpower recovery cost, high risk and poor data real-time performance are solved.
In order to solve the technical problems, the invention adopts the technical scheme that:
a field data recovery system based on an unmanned aerial vehicle comprises a ground control device, an unmanned aerial vehicle recovery device and a field data acquisition device;
ground control device
The ground control device comprises a ground control server and a first narrow-band radio frequency module; the ground control server is connected with the first narrow-band radio frequency module through a serial port, is communicated with the unmanned aerial vehicle recovery device and the field data acquisition device through the first narrow-band radio frequency module, and sends instructions, receives and analyzes feedback information;
the first narrow-band radio frequency module is provided with a working mode and a monitoring mode, wherein the working mode is a mode running in a normal working state, the monitoring mode is a low-power-consumption mode which only has receiving and sending functions and has a wake-up function, and an interrupt signal is sent after information is received in any mode;
second, unmanned aerial vehicle recovery unit
The unmanned aerial vehicle recovery device comprises an unmanned aerial vehicle, and a power module, a second narrow-band radio frequency module, a recovery control module and a wireless router which are arranged on the unmanned aerial vehicle;
the wireless router is used for forming a local area network, so that the recovery control module can communicate with the field data acquisition device through the local area network and transmit data;
the power supply module is used for supplying power to the second narrow-band radio frequency module, the wireless router and the recovery control module;
the recovery control module is used for recovering data from the field data acquisition device; the recovery control module is connected to a local area network formed by a wireless router in a wired or wireless mode, is provided with a storage space and an expansion interface, can enter a standby mode and is awakened through a second narrow-band radio frequency module;
the second narrow-band radio frequency module and the first narrow-band radio frequency module of the ground control device adopt the same model, and the second narrow-band radio frequency module is used for communicating with the first narrow-band radio frequency module;
third, field data acquisition device
The field data acquisition device comprises a main controller, a Wi-Fi module, a third narrow-band radio frequency module and a sensor module, wherein the Wi-Fi module, the third narrow-band radio frequency module and the sensor module are all connected to the main controller;
the main controller receives the instruction of the first narrow-band radio frequency module through the third narrow-band radio frequency module, executes corresponding operation and controls the sensor module to work; the third narrow-band radio frequency module and the first narrow-band radio frequency module of the ground control device adopt the same model;
the Wi-Fi module is used for realizing communication with a wireless router carried by the unmanned aerial vehicle.
Furthermore, the ground control server is a mobile device with a serial port and a corresponding program, and comprises a notebook computer.
Furthermore, the first narrow-band radio frequency module adopts E22-230T30S, is used for the ground control device to carry out remote communication through wireless radio frequency digital signals, and adopts a serial port to communicate with an upper computer; or the first narrowband radio frequency module adopts an E90-DTU (230N37) module.
Furthermore, the wireless router supports a 2.4GHz working frequency band and is provided with a wired network port so as to support the recovery control module to be connected through a network cable.
Further, the power module can support auxiliary power supply to the unmanned aerial vehicle.
Furthermore, the wireless router has the function of expanding and connecting to the Internet, can be inserted into an SIM card to be connected to the Internet, and uploads data in real time in the environment covered by a 3G, 4G or 5G network.
Further, the main controller adopts an embedded system based on ARM or a loaded Linux operating system or directly operates a serial port through a bare computer program, and receives a third narrowband radio frequency module instruction through the serial port.
A field data recovery method based on an unmanned aerial vehicle comprises the following steps:
s1: when the unmanned aerial vehicle is located at a target position, the ground control device sends a starting instruction through the first narrow-band radio frequency module, wakes up the field data acquisition device, opens the communication function of the Wi-Fi module, receives returned data, and analyzes a narrow-band radio frequency signal returned by the field data acquisition device;
if the information returned by the successful start-up is not available, the information is forwarded by the unmanned aerial vehicle recovery device, the narrow-band radio-frequency signals returned by the field data acquisition device are analyzed, if the information cannot be fed back by the unmanned aerial vehicle recovery device, the ground control device loses control, the coordinates and the error types of the unmanned aerial vehicle are reported, and the data recovery is finished; if the returned information which is started successfully exists or the returned information is received, the subsequent steps are carried out;
s2: the unmanned aerial vehicle recovery device receives a starting instruction sent by the ground control device through the second narrow-band radio frequency module, starts the recovery control module to operate a recovery program, detects the current local area network IP and MAC address and judges whether target equipment is detected or not; if yes, go to S4; if not, jumping to S3;
s3: if the target equipment does not exist, the recovery control module records the search times, judges whether the search times exceed the preset times, and if the search times do not exceed the preset times, the unmanned aerial vehicle adjusts the position according to a preset program in a small range and detects the target equipment again; if the number of times exceeds the preset number, reporting the coordinates and the error types of the unmanned aerial vehicle, and ending the data recovery;
s4: the unmanned aerial vehicle recovery device completes Wi-Fi connection with a field data acquisition device, and recovery equipment based on Linux recovers data through SCP instructions on the basis of SSH mutual trust; starting to recycle all data stored in the field data acquisition device, comparing and analyzing a transmission result through a narrow-band radio frequency network after transmission is finished, and judging whether the recovery is normal: if the recovery is normal, jumping to S5; if the recovery is abnormal, jumping to S3 according to the condition that the target equipment is not detected;
s5: after the recovery is finished, the ground control device analyzes the recovery result, lists the recovery result to be a recovery name list, sends the recovery name list to the field data acquisition device through the first narrow-band radio frequency network, and the field data acquisition device deletes corresponding information according to the recovery name list and releases a storage space;
s6: the recovery control module sends recovery status, error codes and related error information through the second narrow-band radio frequency module, sets the recovery control module and the second narrow-band radio frequency module to be in a standby mode and a monitoring mode, ends the recovery process and waits for the next instruction.
Further, the starting instruction comprises the IP address and physical address information of the ground equipment to be recovered and instruction checking information, and a recovery program is triggered at the same time; and automatically detecting all the devices in the local area network after the recovery control module is started, wherein the identity information of the target device is obtained by analyzing the IP address and the physical address information in the starting instruction and is compared with the IP address and the physical address existing in the local area network.
Further, when the unmanned aerial vehicle recovery device detects whether the target equipment exists, the ARP instruction is called to retrieve the IP, or the PING instruction is executed on the possible IPs in sequence, so that whether the target equipment exists is detected.
Compared with the prior art, the invention has the beneficial effects that: carry recovery plant through unmanned aerial vehicle and retrieve data, found interim wireless local area network through wireless router, avoided the huge infrastructure of expenditures and construct, also avoided personnel to get into rugged and difficult field environment and retrieve the operation, it is safe high-efficient, save time, reduce cost. In addition, the narrow-band radio frequency module is used for transmitting control instructions and state information between the ground control station and the recovery control module, so that the operation difficulty is reduced, and the success rate of data recovery is improved.
Drawings
Fig. 1 is a block diagram of the acquisition system of the present invention.
FIG. 2 is a flow chart of the data recovery method of the present invention.
Fig. 3 is a schematic diagram of the movement process of the unmanned aerial vehicle in the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.
As shown in fig. 1, a field data recovery system based on unmanned aerial vehicle includes: the ground control device, the unmanned aerial vehicle recovery device and the field data acquisition device are communicated through a narrow-band radio frequency network, and the unmanned aerial vehicle recovery device and the field data acquisition device are communicated at a high speed through a Wi-Fi network;
the ground control device comprises a ground control server and a first narrow-band radio frequency module; the ground control server is usually a server, can also be a mobile device such as a notebook computer with a serial port and a corresponding program installed, is connected with the first narrow-band radio frequency module through the serial port, can communicate with the unmanned aerial vehicle recovery device and the field data acquisition device through the first narrow-band radio frequency module, sends an instruction, receives and analyzes feedback information;
the first narrow-band radio frequency module adopts E22-230T30S, is used for remote communication of a ground control device through a wireless radio frequency digital signal, adopts serial ports to communicate with an upper computer, has the transmitting power of 30dBm and the transmission distance of 8km, if the ground control device is far away from a field data acquisition device, an E90-DTU (230N37) module can be adopted, the transmitting power is 37dBm and the transmission distance is 15km, in consideration of the problem of installation size, 37dBm power radio frequency equipment can be selected in an unmanned aerial vehicle recovery device and the ground control device, the field data acquisition device selects a 30dBm device, then the ground control device forwards an instruction through the unmanned aerial vehicle recovery device and transmits the instruction to the field data acquisition device, and the narrow-band radio frequency module has a working mode and a monitoring mode, wherein the working mode is a mode (with receiving and sending functions) running under a normal working, the monitoring mode is a low power consumption mode which only has receiving and does not have sending, has a wake-up function, and sends an interrupt signal after receiving information in any mode;
open-air data acquisition device (including various sensing equipment) interval sets up the AP point, with data gradual transmission to data collector, when unmanned aerial vehicle arrived, data collector radio frequency transmission data, unmanned aerial vehicle only hovered in the sky above data collector, need not descend to the forest in, avoid the damage. The AP points are arranged at intervals of 100m-150m, a plurality of data collectors can be arranged, and each data collector corresponds to a field data acquisition device of a corresponding block. The specific search method is as follows:
as shown in fig. 3, the radius of the area theoretically covered by the aircraft at a fixed position can be estimated by the flight altitude and the communication distance under the general condition, and considering that the flight altitude is h meters and the theoretical communication distance is r meters, the ground coverage radius of the aircraft can be calculated according to the pythagorean theorem to be about
And (4) rice. Centering on the initial position, and moving every time to ensure no leakage
Rice, moved clockwise 8 times in the sequence shown in fig. 3, the signal strength was checked after each movement,and selecting the position with the highest signal intensity for communication until all the squares are covered, and returning if the target is not found after all the squares are inspected, namely the position error is larger, or the field data acquisition device on the ground is damaged and cannot be communicated.
The unmanned aerial vehicle recovery device comprises an unmanned aerial vehicle, a power supply module, a second narrow-band radio frequency module, a recovery control module and a wireless router; the second narrow-band radio frequency module, the recovery control module and the wireless router are sequentially connected, the third narrow-band radio frequency module, the recovery control module and the wireless router are carried on the unmanned aerial vehicle, and the unmanned aerial vehicle, the second narrow-band radio frequency module, the recovery control module and the wireless router are all connected with the power supply module;
the unmanned aerial vehicle is used for carrying the data recovery device to enter a field environment, has certain waterproof and moistureproof performance, can work in rainy weather, has enough loading capacity, can load a wireless router, a recovery control module, a second narrow-band radio frequency module and a power supply module, has enough endurance mileage, and can take off from places where control personnel such as villages and roads can easily arrive and fly to any ground acquisition equipment;
the wireless router is used for recovering data from a field data acquisition device, can be connected into a local area network formed by the wireless router through wires or wirelessly, has enough storage space or can support external storages such as a storage card, is provided with an expansion interface such as a USB (universal serial bus) and a UART (universal asynchronous receiver/transmitter), enables the recovery control module to communicate with the field data acquisition device through the local area network and transmit data, at least supports a 2.4GHz working frequency band, and is provided with a wire network port, so as to support the recovery control module to be connected through a network cable, support an 802.1n wireless communication protocol, and have a wireless bandwidth of more than 300Mbps and enough transmitting power, and can penetrate through a ground surface vegetation layer to cover the ground acquisition device at a height of 50 meters away from the ground, thereby ensuring that the ground acquisition device and the recovery device are uninterruptedly connected through the wireless local area network as. The wireless router can expand the function of connecting to the Internet, and if the wireless router can be inserted into an SIM card to be connected to the Internet, the data can be uploaded in real time in the environment covered by a 3G, 4G or 5G network;
the power supply module is used for supplying power to the second narrow-band radio frequency module, the wireless router and the data recovery control module, comprises a battery and a voltage transformation module, can provide multiple paths of different power outputs, can supply power to the wireless router, the recovery control module and the narrow-band radio frequency module, supports auxiliary power supply to the unmanned aerial vehicle, and prolongs the voyage of the unmanned aerial vehicle;
the recovery control module is used for recovering data from the field data acquisition device, can be connected into a local area network formed by a wireless router through wires or wirelessly, has enough storage space or can support external memories such as a memory card and the like, has expansion interfaces such as a USB (universal serial bus), a UART (universal asynchronous receiver/transmitter) and the like, is provided with a network port, can be connected with the router through a network cable, can enter a standby mode, and is awakened through a narrow-band radio frequency module;
the second narrow-band radio frequency module and the first narrow-band radio frequency module of the ground control device adopt the same model, so that bidirectional communication is ensured; the recovered ground acquisition equipment can comprise field work equipment which can access a wireless network, such as a weather detection device supporting Wi-Fi, an infrared camera and the like.
The field data acquisition device comprises a main controller, a Wi-Fi module, a third narrow-band radio frequency module and a sensor module, wherein all the modules are connected to the main controller;
according to specific use situations, the main controller can be an embedded system based on ARM, can operate a serial port based on a loaded Linux operating system or directly operate the serial port through a bare computer program, receives an instruction from a narrow-band radio frequency module through the serial port, executes corresponding operation, sends the instruction through the narrow-band radio frequency module, can control modules such as a sensor and the like to work, has corresponding storage capacity, and can be connected with an SD card and store 32GB data by taking an infrared camera as an example;
the Wi-Fi module is a Wi-Fi chip with larger power, namely a corresponding peripheral circuit, does not need an additional power amplifier, has the power of 20dBm under the condition of good field radio environment, and can realize the transmission distance of about 100 meters by being matched with a 5dB gain antenna, thereby realizing the communication of a router carried by an unmanned aerial vehicle;
the third narrow-band radio frequency module selects E22-230T30S, the transmitting power is 30dBm, the transmission distance is 8km, and in consideration of power and volume, a high-power radio frequency station cannot be selected as the narrow-band radio frequency module, and if the communication distance exceeds the allowable range of E22-230T30S, a control command can be forwarded through the relay of the unmanned aerial vehicle;
the other sub-modules (including the sensor module) are configured according to the actual requirements of the data acquisition device, taking an infrared camera as an example, and comprise a camera module, a microphone module and the like, and in addition, the other sub-modules also comprise necessary modules for maintaining the normal work of the device, such as a power supply module.
As shown in fig. 2, a field data recovery method based on an unmanned aerial vehicle includes the following steps:
s1: when the unmanned aerial vehicle is located at a target position, the ground control device sends a starting instruction through the first narrow-band radio frequency module, wakes up the field data acquisition device, opens the communication function of the Wi-Fi module, receives returned data, and analyzes a narrow-band radio frequency signal returned by the field data acquisition device; the starting instruction is divided into three types of information, including: recovering equipment information, including serial numbers of recovery control modules, addresses of programs to be started and other information; the ground equipment recovery information comprises information such as the serial number, longitude and latitude information, SSH password, IP address and physical address of the ground equipment; the check information includes information such as a transmitting end identification number, a check code and the like.
If the information returned by the successful start-up is not available, the information is forwarded by the unmanned aerial vehicle recovery device, the narrow-band radio-frequency signals returned by the field data acquisition device are analyzed, if the information cannot be fed back by the unmanned aerial vehicle recovery device, the ground control device loses control, the coordinates and the error types of the unmanned aerial vehicle are reported, and the data recovery is finished; if the returned information which is started successfully exists or the returned information is received, the subsequent steps are carried out;
s2: the unmanned aerial vehicle recovery device receives a starting instruction sent by the ground control device through the second narrow-band radio frequency module, starts the recovery control module to operate a recovery program, detects the current local area network IP and MAC address and judges whether target equipment is detected or not; if yes, go to S4; if not, jumping to S3;
s3: if the target equipment does not exist, the recovery control module records the search times, judges whether the search times exceed the preset times, and if the search times do not exceed the preset times, the unmanned aerial vehicle adjusts the position according to a preset program in a small range and detects the target equipment again; if the number of times exceeds the preset number, reporting the coordinates and the error types of the unmanned aerial vehicle, and ending the data recovery;
s4: the unmanned aerial vehicle recovery device completes Wi-Fi connection with a field data acquisition device, and recovery equipment based on Linux recovers data through SCP instructions on the basis of SSH mutual trust; starting to recycle all data stored in the field data acquisition device, comparing and analyzing a transmission result through a narrow-band radio frequency network after transmission is finished, and judging whether the recovery is normal: if the recovery is normal, jumping to S5; if the recovery is abnormal, jumping to S3;
s5: after the recovery is finished, the ground control device analyzes the recovery result, lists the recovery result to be a recovery name list, sends the recovery name list to the field data acquisition device through the first narrow-band radio frequency network, and the field data acquisition device deletes corresponding information according to the recovery name list and releases a storage space; the recovery directory is a table for recording the name, the size and the modification time of the file to be recovered;
s6: the recovery control module sends recovery status, error codes and related error information through the second narrow-band radio frequency module, sets the recovery control module and the second narrow-band radio frequency module to be in a standby mode and a monitoring mode, ends the recovery process and waits for the next instruction. The recovery control module has two modes including: the system comprises a working mode and a standby mode, wherein the working mode is a mode running in a normal working state, and the standby mode is a running mode for closing an operating system and keeping power supply; the narrowband radio frequency module (including the first narrowband radio frequency module, the second narrowband radio frequency module and the third narrowband radio frequency module) has a working mode and an interception mode, wherein the working mode is a mode running in a normal working state, and the interception mode is a low power consumption mode with receiving and without sending.
Claims (10)
1. A field data recovery system based on an unmanned aerial vehicle is characterized by comprising a ground control device, an unmanned aerial vehicle recovery device and a field data acquisition device;
ground control device
The ground control device comprises a ground control server and a first narrow-band radio frequency module; the ground control server is connected with the first narrow-band radio frequency module through a serial port, is communicated with the unmanned aerial vehicle recovery device and the field data acquisition device through the first narrow-band radio frequency module, and sends instructions, receives and analyzes feedback information;
the first narrow-band radio frequency module is provided with a working mode and a monitoring mode, wherein the working mode is a mode running in a normal working state, the monitoring mode is a low-power-consumption mode which only has receiving and sending functions and has a wake-up function, and an interrupt signal is sent after information is received in any mode;
second, unmanned aerial vehicle recovery unit
The unmanned aerial vehicle recovery device comprises an unmanned aerial vehicle, and a power module, a second narrow-band radio frequency module, a recovery control module and a wireless router which are arranged on the unmanned aerial vehicle;
the wireless router is used for forming a local area network, so that the recovery control module can communicate with the field data acquisition device through the local area network and transmit data;
the power supply module is used for supplying power to the second narrow-band radio frequency module, the wireless router and the recovery control module;
the recovery control module is used for recovering data from the field data acquisition device; the recovery control module is connected to a local area network formed by a wireless router in a wired or wireless mode, is provided with a storage space and an expansion interface, can enter a standby mode and is awakened through a second narrow-band radio frequency module;
the second narrow-band radio frequency module and the first narrow-band radio frequency module of the ground control device adopt the same model, and the second narrow-band radio frequency module is used for communicating with the first narrow-band radio frequency module;
third, field data acquisition device
The field data acquisition device comprises a main controller, a Wi-Fi module, a third narrow-band radio frequency module and a sensor module, wherein the Wi-Fi module, the third narrow-band radio frequency module and the sensor module are all connected to the main controller;
the main controller receives the instruction of the first narrow-band radio frequency module through the third narrow-band radio frequency module, executes corresponding operation and controls the sensor module to work; the third narrow-band radio frequency module and the first narrow-band radio frequency module of the ground control device adopt the same model;
the Wi-Fi module is used for realizing communication with a wireless router carried by the unmanned aerial vehicle.
2. The unmanned aerial vehicle-based field data recovery system of claim 1, wherein the ground control server is a mobile device with a serial port and a corresponding program, and comprises a notebook computer.
3. The field data recovery system based on unmanned aerial vehicle of claim 1, characterized in that the first narrowband radio frequency module adopts E22-230T30S, and is used for ground control device to perform remote communication through wireless radio frequency digital signals, and adopts serial port and upper computer communication; or the first narrowband radio frequency module adopts an E90-DTU (230N37) module.
4. The field data recovery system based on unmanned aerial vehicle of claim 1, wherein the wireless router supports 2.4GHz working frequency band, and is provided with a wired network port to support the recovery control module to be connected through a network cable.
5. The unmanned-aerial-vehicle-based field data recovery system of claim 1, wherein the power module is capable of supporting auxiliary power supply to the unmanned aerial vehicle.
6. The field data recovery system based on unmanned aerial vehicle of claim 1, characterized in that, the wireless router has the function of expanding the internet network, can insert SIM card to access the internet, and uploads the data in real time in the environment covered by 3G, 4G or 5G network.
7. The unmanned aerial vehicle-based field data recovery system as claimed in claim 1, wherein the main controller adopts an ARM-based embedded system or an on-board Linux operating system or directly operates a serial port through a bare computer program, and receives a third narrowband radio frequency module instruction through the serial port.
8. A field data recovery method based on an unmanned aerial vehicle is characterized by comprising the following steps:
s1: when the unmanned aerial vehicle is located at a target position, the ground control device sends a starting instruction through the first narrow-band radio frequency module, wakes up the field data acquisition device, opens the communication function of the Wi-Fi module, receives returned data, and analyzes a narrow-band radio frequency signal returned by the field data acquisition device;
if the information returned by the successful start-up is not available, the information is forwarded by the unmanned aerial vehicle recovery device, the narrow-band radio-frequency signals returned by the field data acquisition device are analyzed, if the information cannot be fed back by the unmanned aerial vehicle recovery device, the ground control device loses control, the coordinates and the error types of the unmanned aerial vehicle are reported, and the data recovery is finished; if the returned information which is started successfully exists or the returned information is received, the subsequent steps are carried out;
s2: the unmanned aerial vehicle recovery device receives a starting instruction sent by the ground control device through the second narrow-band radio frequency module, starts the recovery control module to operate a recovery program, detects the current local area network IP and MAC address and judges whether target equipment is detected or not; if yes, go to S4; if not, jumping to S3;
s3: if the target equipment does not exist, the recovery control module records the search times, judges whether the search times exceed the preset times, and if the search times do not exceed the preset times, the unmanned aerial vehicle adjusts the position according to a preset program in a small range and detects the target equipment again; if the number of times exceeds the preset number, reporting the coordinates and the error types of the unmanned aerial vehicle, and ending the data recovery;
s4: the unmanned aerial vehicle recovery device completes Wi-Fi connection with a field data acquisition device, and recovery equipment based on Linux recovers data through SCP instructions on the basis of SSH mutual trust; starting to recycle all data stored in the field data acquisition device, comparing and analyzing a transmission result through a narrow-band radio frequency network after transmission is finished, and judging whether the recovery is normal: if the recovery is normal, jumping to S5; if the recovery is abnormal, jumping to S3;
s5: after the recovery is finished, the ground control device analyzes the recovery result, lists the recovery result to be a recovery name list, sends the recovery name list to the field data acquisition device through the first narrow-band radio frequency network, and the field data acquisition device deletes corresponding information according to the recovery name list and releases a storage space;
s6: the recovery control module sends recovery status, error codes and related error information through the second narrow-band radio frequency module, sets the recovery control module and the second narrow-band radio frequency module to be in a standby mode and a monitoring mode, ends the recovery process and waits for the next instruction.
9. The unmanned aerial vehicle-based field data recovery method of claim 8, wherein the start instruction comprises the information of the IP address and the physical address of the ground equipment to be recovered and instruction verification information, and simultaneously triggers the recovery program; and automatically detecting all the devices in the local area network after the recovery control module is started, wherein the identity information of the target device is obtained by analyzing the IP address and the physical address information in the starting instruction and is compared with the IP address and the physical address existing in the local area network.
10. The recycling method according to claim 9, wherein when the unmanned aerial vehicle recycling apparatus detects whether the target device exists, the presence of the target device is detected by calling an ARP command for retrieval or sequentially executing PING commands for possible IPs.
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