CN113126528A - Remote control system and method for hanging and flying acquisition equipment - Google Patents
Remote control system and method for hanging and flying acquisition equipment Download PDFInfo
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- CN113126528A CN113126528A CN201911398911.3A CN201911398911A CN113126528A CN 113126528 A CN113126528 A CN 113126528A CN 201911398911 A CN201911398911 A CN 201911398911A CN 113126528 A CN113126528 A CN 113126528A
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- 230000002159 abnormal effect Effects 0.000 claims abstract description 55
- 238000013523 data management Methods 0.000 claims abstract description 31
- 238000012544 monitoring process Methods 0.000 claims abstract description 31
- 230000008569 process Effects 0.000 claims abstract description 25
- 238000007726 management method Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 20
- 238000012360 testing method Methods 0.000 claims description 14
- 239000013307 optical fiber Substances 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 description 7
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
Abstract
The invention provides a remote control system and a remote control method for a hanging and flying acquisition device. The hanging and flying acquisition equipment completes automatic data acquisition and storage in a flying state; in the ground mode, receiving a take-over instruction of ground remote control equipment, and executing data management, export, playback, acquisition and storage operation processes; the ground remote control equipment comprises a data management module and a state monitoring module; after the hanging and flying acquisition equipment enters a ground mode, the data management module sends a take-over instruction to the hanging and flying acquisition equipment to complete data file system management, ground mode data acquisition, data export and playback function control; and the state monitoring module is used for monitoring the abnormal state of the hanging and flying acquisition equipment. The invention can not only carry out automatic data acquisition and storage in the flight environment, but also respond to the interruption of the ground remote control system and enter the trusteeship state of the ground remote control system.
Description
Technical Field
The invention belongs to the technical field of aircraft data storage and management, and particularly relates to a remote control system and method for a hanging and flying acquisition device.
Background
All kinds of aircrafts need to verify functions and indexes through flight tests, a large amount of test data can be generated in real time in the flight tests, and the data information can be used for rechecking flight states and recovering flight scenes after the flight tests are completed. The space in the flight cabin is limited, and the flight cabin needs to work under the conditions of strong vibration, low temperature and the like, so that the flight cabin is often unattended, and the collection work of the test data is difficult.
And with the increase of the signal bandwidth of the airborne radar, the transmission requirement of the data volume is doubled, and the requirements on the transmission bandwidth and the transmission rate of the acquisition and recording equipment are higher. The conventional acquisition and storage equipment generally adopts a man-machine interaction interface and a local control mode, needs manual intervention to start or stop an acquisition process, and cannot be suitable for unmanned airborne data acquisition. The airborne acquisition equipment realized by a host-free autonomous acquisition mechanism is poor in reliability and low in storage rate; after the flight test data acquisition and storage are completed, subsequent operations such as data playback, data export, file system management and the like often do not have a convenient and feasible processing mechanism, and the requirements of high-speed data storage and data file management of the unmanned aerial vehicle hanging and flying acquisition equipment cannot be met.
The automatic data acquisition and storage system is required to realize the automatic acquisition and storage function under the control of an unattended operation and a non-host computer so as to receive mass data output by an aircraft at a high speed, and also to be compatible with remote hosting under an attended ground mode so as to realize the functions of data acquisition, data management, data export, data playback and the like, so that flight test data can play a role. Therefore, the remote control system and method for the hanging and flying acquisition equipment are a very important technology for researching data storage of the aircraft.
Disclosure of Invention
The invention aims to provide a design and a method of an autonomous high-speed hanging and flying acquisition device and an offline remote data management system suitable for an unmanned aerial vehicle, and the data acquisition and storage of a flight test can be realized more conveniently and rapidly.
In order to solve the technical problem, the invention provides a remote control system of a hanging and flying acquisition device, which adopts the following technical scheme:
the system comprises a hanging flight acquisition device and a ground remote control device;
the hanging and flying acquisition equipment completes automatic data acquisition and storage in a flying state and performs state monitoring and processing; in the ground mode, the hanging and flying acquisition equipment is physically connected with the ground remote control equipment by using an optical fiber cable, receives a take-over instruction of the ground remote control equipment, and executes data management, export, playback, acquisition and storage operation processes;
the ground remote control equipment comprises a data management module and a state monitoring module; after the hanging and flying acquisition equipment enters a ground mode, the data management module sends a take-over instruction to the hanging and flying acquisition equipment to complete data file system management, ground mode data acquisition, data export and playback function control; the state monitoring module is used for monitoring the abnormal state of the hanging and flying acquisition equipment, classifying the abnormal state identification and driving different abnormal processing mechanisms;
under the ground environment, enabling a receiving end of an interconnection optical fiber interface of ground remote control equipment by the hanging and flying acquisition equipment, enabling a take-over instruction identifier after binding an instruction frame of the ground remote control equipment, and entering a remote take-over state; the hang-off collection equipment enters corresponding data management, export, playback, collection and storage operation processes according to an instruction issued by the ground remote control equipment, and meanwhile, a ground remote control equipment state monitoring module monitors the abnormal state of the hang-off collection equipment, and if the abnormal state exists, the hang-off collection equipment is switched to abnormal processing; and if the state is normal, executing corresponding data operation until the data management, export, playback, acquisition and storage operation process is completed.
The hanging flight acquisition equipment is provided with a delay timer, after the hanging flight acquisition equipment is started and powered on for resetting, the delay timer is opened, the arrival of a take-over instruction frame sent by the ground remote control equipment is waited, and after the delay timer is waited to be full, a take-over instruction identifier is judged.
And the hang-off acquisition equipment is provided with abnormal state identification marks in each corresponding instruction operation flow of the ground remote control equipment and is used for monitoring the abnormal state of the hang-off acquisition equipment.
The invention provides a remote control method of a hanging and flying acquisition device based on a remote control system of the hanging and flying acquisition device, which comprises the following steps:
step S1, after the power-on reset of the hang-off collection equipment, opening a waiting delay timer, enabling the ground remote control equipment to interconnect the receiving end of the optical fiber interface, and waiting for the arrival of a take-over instruction frame issued by the ground remote control equipment;
step S2, after waiting for the time delay timer to be full, the hanging flight acquisition equipment enables the take-over instruction identification after the instruction frame of the ground remote control equipment is bound, and enters a remote take-over state; otherwise, go to step S4;
step S3, the hanging and flying acquisition equipment enters corresponding data management, export, playback, acquisition and storage operation flows according to the instruction issued by the ground remote control equipment, meanwhile, the ground remote control equipment state monitoring module monitors the abnormal state of the hanging and flying acquisition equipment, and if the abnormal state exists, the hanging and flying acquisition equipment is switched to abnormal processing; if the state is normal, executing corresponding data operation until completing corresponding data management, export, playback, acquisition and storage operation processes;
step S4, after the ground remote control equipment takes over the invalid, the hanging and flying acquisition equipment starts automatic parameter binding, and automatically enters a data acquisition and storage process until a flight test command end issues a stop instruction to the hanging and flying acquisition equipment through a remote measuring interface; and the hanging and flying acquisition equipment carries out state monitoring and processing in real time in the automatic acquisition process.
According to the technical scheme, the beneficial effects of the invention comprise that:
1. the system can not only automatically acquire and store data in a flight environment, but also respond to the interruption of the ground remote control system, enter a hosting state of the ground remote control system and execute instruction operation bound by the ground remote control system;
2. the operation of data acquisition, data management, data export, data playback and the like can be repeatedly carried out under the hosting state of the ground remote control system;
3. the abnormal state monitoring can be carried out in real time under the hosting state of the ground remote control system, the abnormal type is judged, and corresponding error handling measures are executed;
4. the aircraft can enter a host-free autonomous working mode in a flight environment, automatically complete parameter binding and carry out data acquisition and storage;
5. the system can be repeatedly and circularly restarted in a flight test to finish data acquisition and storage operations until the flight test is finished and shut down.
Drawings
Fig. 1 is a schematic flow chart of a method for remotely controlling a hanging flight acquisition device according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be explained and explained in further detail with reference to the accompanying drawings and examples.
The remote control system for the hanging and flying acquisition equipment is composed of the hanging and flying acquisition equipment and ground remote control equipment.
The hanging and flying acquisition equipment completes automatic data acquisition and storage in a flying state and performs state monitoring and processing; in the ground mode, the hanging and flying acquisition equipment is physically connected with the ground remote control equipment by using an optical fiber cable, receives a take-over instruction of the ground remote control equipment, and completes operations such as data management, export, playback, acquisition and storage and the like.
The ground remote control equipment comprises a data management module and a state monitoring module. And after the hanging and flying acquisition equipment enters the ground mode, the data management module sends a take-over instruction to the hanging and flying acquisition equipment to complete data file system management, ground mode data acquisition, data export and playback function control and the like. The state monitoring module is mainly used for monitoring the abnormal state of the hanging and flying acquisition equipment, classifying the abnormal state identification and driving different abnormal processing mechanisms.
Under the ground environment, enabling a receiving end of an interconnection optical fiber interface of ground remote control equipment by the hanging and flying acquisition equipment, enabling a take-over instruction identifier after binding an instruction frame of the ground remote control equipment, and entering a remote take-over state; the hang-off collection equipment enters corresponding data management, export, playback, collection and storage operation processes according to an instruction issued by the ground remote control equipment, and meanwhile, a ground remote control equipment state monitoring module monitors the abnormal state of the hang-off collection equipment, and if the abnormal state exists, the hang-off collection equipment is switched to abnormal processing; and if the state is normal, executing corresponding data operation until finishing corresponding data management, export, playback, acquisition and storage operations.
The hanging and flying acquisition equipment is provided with a timer, after the starting up and the power-on reset, a waiting delay timer is opened, the arrival of a take-over instruction frame sent by the ground remote control equipment is waited, and after the waiting delay timer is full, the hanging and flying acquisition equipment judges a take-over instruction identifier.
And the hang-off acquisition equipment sets an abnormal state identification mark in each corresponding instruction operation flow of the ground remote control equipment, is used for monitoring the abnormal state of the hang-off acquisition equipment, and reports the abnormal state after the ground remote control equipment initiates inquiry. The ground remote control equipment is classified and distinguished according to the abnormality, if the error is unrecoverable, the abnormal state is reported, and a user decision is waited; if the error is recoverable, initiating a reset operation, waiting for the completion of the reset of the hanging and flying acquisition equipment, and starting to take over again.
The invention provides a remote control method of a hanging and flying acquisition device based on a remote control system of the hanging and flying acquisition device. Fig. 1 is a schematic flow chart of a remote control method for a hanging flight acquisition device according to an embodiment of the present invention, which specifically includes the following steps:
step 1, establishing physical optical fiber link connection
1.1 physical connection
In the ground environment, the hanging and flying acquisition equipment is physically connected with ground remote control equipment by using an optical fiber cable;
1.2 ground remote control Equipment preparation
And starting a control program by the ground remote control equipment, and entering a waiting state.
Step 2, power-on delay waiting
And after the power-on and power-on of the hang-off acquisition equipment are started, the power-on reset is started, after the self-checking state is normal, the reset operation is completed, then the waiting delay timer is started, the ground remote control equipment is enabled to be interconnected with the optical fiber interface receiving end, and the arrival of a take-over instruction frame issued by the ground remote control equipment is waited.
Step 3, remote control connection pipe judgment
3.1 parsing takeover instruction frame
In the ground environment, before the hang-off acquisition equipment is full of delay time, receiving an instruction frame bound by ground remote control equipment, analyzing the instruction frame, and acquiring a takeover instruction identifier of the ground remote control equipment; if the flight environment is met, the step is omitted, and the hanging flight acquisition equipment cannot receive the instruction frame of the ground remote control equipment;
3.2 waiting for the time delay to expire, determine the takeover identifier
After waiting for the time delay timer to be full, the hang-off acquisition equipment judges the takeover instruction identifier, and if the hang-off acquisition equipment is in a flight environment, the takeover instruction identifier is not enabled, and takeover is invalid; and if the system is in the ground environment, enabling the take-over instruction identification after the instruction frame of the ground remote control equipment is bound, and entering a remote take-over state.
Step 4, remote control data management operation
4.1 data management operations
The ground remote control equipment issues a data management (data deletion, data list reading and the like) instruction, the hang-off acquisition equipment executes specified operation after entering a data management flow, and then the ground remote control equipment inquires whether the working state of the hang-off acquisition equipment is abnormal or not, and if the working state of the hang-off acquisition equipment is abnormal, the ground remote control equipment is switched to abnormal processing; if the state is normal, updating the data list information, exiting the data management process, and waiting for the next operation instruction of the ground remote control equipment;
4.2 data export operations
The ground remote control equipment issues a data export instruction, after the hanging and flying acquisition equipment enters a data export process, the ground remote control equipment inquires whether the working state of the hanging and flying acquisition equipment is abnormal or not, and if the working state of the hanging and flying acquisition equipment is abnormal, the ground remote control equipment is switched to abnormal processing; if the state is normal, transmitting the data to the ground remote control equipment by frames through the optical fiber according to the data format; after the transmission of each section of data is finished, the ground remote control equipment judges whether the data export is finished according to the data quantity of the file, if the export is not finished, the next section of data transmission is switched to, and whether the working state of the hanging flight acquisition equipment is abnormal or not is continuously inquired; if the export is finished, exiting the data export process, and waiting for the next operation instruction of the ground remote control equipment;
4.3 data playback operation
The ground remote control equipment issues a data playback instruction, after the hanging and flying acquisition equipment enters a data playback flow, the ground remote control equipment inquires whether the working state of the hanging and flying acquisition equipment is abnormal or not, and if the working state of the hanging and flying acquisition equipment is abnormal, the ground remote control equipment is switched to abnormal processing; if the state is normal, transmitting the data to the data receiving equipment by frames through the optical fiber according to the data format; after the transmission of each section of data is completed, the ground remote control equipment judges whether the data playback is completed or not according to the data volume of the file, if the data playback is not completed, the next section of data transmission is switched, and whether the working state of the hanging flight acquisition equipment is abnormal or not is continuously inquired; if the playback is finished, quitting the data playback process, and waiting for the next operation instruction of the ground remote control equipment;
4.4 data acquisition storage operations
The ground remote control equipment issues a data acquisition and storage starting instruction, after the hanging and flying acquisition equipment enters a data acquisition flow, the ground remote control equipment inquires whether the working state of the hanging and flying acquisition equipment is abnormal or not, and if the working state of the hanging and flying acquisition equipment is abnormal, the ground remote control equipment is switched to abnormal processing; if the state is normal, waiting for data acquisition; organizing the data content for storage according to the requirements of the data protocol; and (4) until the ground remote control equipment issues a data acquisition and storage stop instruction, the hanging flight acquisition equipment finishes the current data acquisition and storage, updates the data list information, exits the data acquisition process and waits for the next operation instruction of the ground remote control equipment.
Step 5, status monitoring processing
5.1 anomaly monitoring
Under the takeover of the ground remote equipment, the hang-off acquisition equipment sets an abnormal state identification mark in each corresponding instruction operation flow for monitoring the abnormal state of the hang-off acquisition equipment, and the ground remote control equipment reports the abnormal state after initiating inquiry;
5.2 anomaly identification
And the exception handling process classifies the exception state identifications according to the exception severity level and drives different exception handling mechanisms.
5.3 Exception handling
The ground remote control equipment is classified and distinguished according to the abnormality, if the error is unrecoverable, the abnormal state is reported, and a user decision is waited; if the error is recoverable, initiating a reset operation, waiting for the completion of the reset of the hanging and flying acquisition equipment, and starting to take over again.
Step 6, automatic data acquisition and storage
After the ground remote control equipment takes over the invalid, the hanging flight acquisition equipment starts automatic parameter binding and carries out system initialization; then automatically entering a data acquisition flow to wait for data acquisition; organizing the data content for storage according to the requirements of the data protocol; until the flight test command terminal issues a stop instruction to the hang-off acquisition equipment through the remote measuring interface, the hang-off acquisition equipment completes current file storage, establishes a file list and exits the automatic acquisition process;
step 7, automatic error monitoring processing
Monitoring an abnormal state in real time in the automatic acquisition process by the hanging and flying acquisition equipment, automatically quitting the acquisition process if an unrecoverable error is generated, entering a silent state, and waiting for the completion of a flight test; and if a recoverable error is generated, executing an exception handling measure and exiting the automatic acquisition process.
The above embodiments are only for explaining and explaining the technology of the present invention, but are not to be construed as limiting the scope of the claims. It should be clear to those skilled in the art that any simple modification or replacement based on the technical solution of the present invention will fall into the protection scope of the present invention.
Claims (4)
1. The remote control system for the hanging and flying acquisition equipment is characterized by comprising the hanging and flying acquisition equipment and ground remote control equipment;
the hanging and flying acquisition equipment completes automatic data acquisition and storage in a flying state and performs state monitoring and processing; in the ground mode, the hanging and flying acquisition equipment is physically connected with the ground remote control equipment by using an optical fiber cable, receives a take-over instruction of the ground remote control equipment, and executes data management, export, playback, acquisition and storage operation processes;
the ground remote control equipment comprises a data management module and a state monitoring module; after the hanging and flying acquisition equipment enters a ground mode, the data management module sends a take-over instruction to the hanging and flying acquisition equipment to complete data file system management, ground mode data acquisition, data export and playback function control; the state monitoring module is used for monitoring the abnormal state of the hanging and flying acquisition equipment, classifying the abnormal state identification and driving different abnormal processing mechanisms;
under the ground environment, the hanging and flying acquisition equipment enables a receiving end of an interconnection optical fiber interface of ground remote control equipment, a take-over instruction mark is enabled after an instruction frame of the ground remote control equipment is bound, and a remote take-over state is entered; the hang-off collection equipment enters corresponding data management, export, playback, collection and storage operation processes according to an instruction issued by the ground remote control equipment, and meanwhile, a ground remote control equipment state monitoring module monitors the abnormal state of the hang-off collection equipment, and if the abnormal state exists, the hang-off collection equipment is switched to abnormal processing; and if the state is normal, executing corresponding data operation until the data management, export, playback, acquisition and storage operation process is completed.
2. The system according to claim 1, wherein the on-hook collection device is provided with a delay timer, and after power-on reset, the delay timer is turned on to wait for a takeover command frame sent by the ground remote control device to arrive, and after the delay timer expires, the takeover command identifier is determined.
3. The remote control system for the hanging-off collection device according to claim 1, wherein the hanging-off collection device is provided with an abnormal state identification flag in each corresponding instruction operation flow of the ground remote control device, and the abnormal state identification flag is used for monitoring the abnormal state of the hanging-off collection device.
4. A method for remotely controlling a hanging-off collection device based on claim 1, comprising the steps of:
step S1, after the power-on reset of the hang-off collection equipment, opening a waiting delay timer, enabling the ground remote control equipment to interconnect the receiving end of the optical fiber interface, and waiting for the arrival of a take-over instruction frame issued by the ground remote control equipment;
step S2, after waiting for the time delay timer to be full, the hanging flight acquisition equipment enables the take-over instruction identification after the instruction frame of the ground remote control equipment is bound, and enters a remote take-over state; otherwise, go to step S4;
step S3, the hanging and flying acquisition equipment enters corresponding data management, export, playback, acquisition and storage operation flows according to the instruction issued by the ground remote control equipment, meanwhile, the ground remote control equipment state monitoring module monitors the abnormal state of the hanging and flying acquisition equipment, and if the abnormal state exists, the hanging and flying acquisition equipment is switched to abnormal processing; if the state is normal, executing corresponding data operation until completing corresponding data management, export, playback, acquisition and storage operation processes;
step S4, after the ground remote control equipment takes over the invalid, the hanging and flying acquisition equipment starts automatic parameter binding, and automatically enters a data acquisition and storage process until a flight test command end issues a stop instruction to the hanging and flying acquisition equipment through a remote measuring interface; and the hanging and flying acquisition equipment carries out state monitoring and processing in real time in the automatic acquisition process.
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| CN201911398911.3A CN113126528A (en) | 2019-12-30 | 2019-12-30 | Remote control system and method for hanging and flying acquisition equipment |
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| CN201911398911.3A CN113126528A (en) | 2019-12-30 | 2019-12-30 | Remote control system and method for hanging and flying acquisition equipment |
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2019
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| US5890079A (en) * | 1996-12-17 | 1999-03-30 | Levine; Seymour | Remote aircraft flight recorder and advisory system |
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Application publication date: 20210716 |