CN113777910A - Periodic autonomous operation control method for inspection device - Google Patents
Periodic autonomous operation control method for inspection device Download PDFInfo
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Abstract
The invention relates to a periodic autonomous operation control method for a patrol device, belongs to the technical field of autonomous control of spacecrafts, and solves the problem that the conventional patrol device cannot be used for controlling the autonomous on-off of measurement and control equipment with high reliability under the condition of no ground measurement and control support. The method comprises the following steps: defining a periodic operation task and a periodic instruction template, and solidifying the periodic operation task and the periodic instruction template in flight software of the inspection tour device; receiving a starting period operation instruction, updating a top layer operation control parameter corresponding to a period operation task, and executing a starting process when a period instruction template to be operated is identified according to a task type identifier and a task main/standby identifier in the top layer operation control parameter; triggering a program for scheduling the flight software at regular time according to time slices, and sequentially executing a template expansion control flow and an autonomous switching control flow in each scheduling period; and receiving a stop cycle operation instruction and executing a stop flow. The high-reliability autonomous operation control of the inspection device under the condition without ground measurement and control support is realized.
Description
Technical Field
The invention relates to the technical field of spacecraft autonomous control, in particular to a periodic autonomous operation control method for a patrol device.
Background
With the development of aerospace technology, Chinese scientists developed a congratulation Mars patrol instrument which safely lands on the surface of Mars and successfully departs from a landing platform, and completed the first fire surface scientific detection task in China.
In the former star patrol instrument in China, measurement and control equipment is used as an interface between the patrol instrument and the ground, and generally keeps a long-term power-on working state in the flight process. On the surface of a Mars, the energy level of the patrol device is not enough to support the long-term power-on work of the measurement and control equipment. In order to ensure that scientific detection within the design life is completed in the fire surface environment with limited energy, the patrol device needs to be purposefully designed in two aspects of survival preservation and communication preservation. In order to keep survival, energy balance needs to be ensured; in order to ensure communication, the normal work of the measurement and control equipment in each communication arc section needs to be ensured. The two requirements are combined, energy constraints are considered when the patrol device works on a fire surface, and high-reliability autonomous on-off control is carried out on the measurement and control equipment periodically.
This special requirement brings about two problems: after the measurement and control equipment is shut down, the measurement and control equipment cannot receive a ground uplink remote control instruction, and needs to be automatically started up by the equipment with high reliability, otherwise, the risk of losing communication exists; due to the fact that the distance between the ground and the fire is far, the time is prolonged, the arc sections are few, the speed is low, if the ground adopts a delay instruction mode to carry out startup and shutdown sequences every day, waste of communication bandwidth and flight control manpower can be caused, and when the delay instruction fails to carry out uplink, the energy risk (long-term startup power consumption of the measurement and control equipment) or the communication risk (the measurement and control equipment cannot be started up again) exists in the inspection device.
Disclosure of Invention
In view of the foregoing analysis, an embodiment of the present invention is directed to provide a periodic autonomous operation control method for a patrol device, so as to solve the problem that, in the prior art, the patrol device cannot implement autonomous on/off control of measurement and control equipment with high reliability without ground measurement and control support.
The embodiment of the invention provides a periodic autonomous operation control method for a patrol device, which comprises the following steps:
defining a periodic operation task and a periodic instruction template, and solidifying the periodic operation task and the periodic instruction template in flight software of the inspection tour device;
receiving a starting cycle operation instruction injected on the ground, updating a top layer operation control parameter corresponding to a cycle operation task, and executing a starting process of the periodic autonomous control when a cycle instruction template to be operated is identified according to a task type identifier and a task main/standby identifier in the top layer operation control parameter;
triggering a program for scheduling the flight software at regular time according to time slices, and sequentially executing a template expansion control flow and an autonomous switching control flow in each scheduling period;
and receiving a stop cycle operation instruction of the ground upper notes, and executing a stop process of the periodic autonomous control.
Based on the further improvement of the method, the periodic operation task is a part of flight software of the patrol device, and realizes specific, independent and periodic operation functions, and one or more implementation modes exist in the time sequence of the function execution;
one embodiment of the periodic instruction template corresponding to the periodically executed task is a program sequence segment which is periodically executed and is controlled to be in a self-closed loop.
Based on the further improvement of the method, each period operation task controls the operation of N period instruction templates through a star finite state machine, wherein the operation state of the N period instruction templates and 1 idle state are included, and only 1 period instruction template is in an operation state at most at the same time; when a cycle instruction template running in a cycle running task is switched, firstly stopping running of the current cycle instruction template, carrying out normalization setting, and then starting running of a new cycle instruction template; the number N of the cycle instruction templates is more than or equal to 1.
Based on the further improvement of the method, the top-level task operation control parameters corresponding to the periodically operated tasks are divided into two types:
the first type is a template identification parameter, which comprises a task type identifier and a task main/standby identifier, wherein the task type identifier is specified on the ground, and the task main/standby identifier is autonomously maintained by a tour device in an autonomous switching control flow according to an autonomous switching strategy after being specified on the ground;
the second type is an operation control parameter for controlling the periodic expansion of the periodic instruction template, namely, after the current periodic instruction template starts to operate, the template is expanded in each template period and is expanded only once, and the operation control parameter comprises the current period start time, the current period serial number and the latest expansion period serial number.
Based on the further improvement of the method, the periodic instruction template controls the execution state by configuring template control parameters; the template control parameters comprise task ID, template operation control variables and template configuration parameters; the task ID is used for external indexing and identifying a periodic instruction template; the template operation control variable comprises a starting identifier and a periodic operation identifier, and is respectively used for supporting the operation of a starting periodic instruction template and a periodic operation periodic instruction template; the template configuration parameters comprise total instruction number, template starting operation time, template period and instruction sequence and are used for supporting the expansion action of the template.
Based on the further improvement of the method, the starting process of the periodic autonomous control comprises the following steps: indexing a corresponding task ID according to a task type identifier and a task master/standby identifier in the top-level operation control parameter;
according to the task ID, identifying a periodic instruction template to be operated in a periodic operation task corresponding to the task type identification, and if the periodic instruction template to be operated is not found, recording error information to form an event report; if the periodic instruction template to be operated is found, firstly, the periodic operation task is subjected to normalization setting, then the template control parameters of the current periodic instruction template are updated, wherein the template control parameters comprise a starting identifier, a periodic operation identifier and a template period, and finally the top-layer task operation control parameters are updated.
Based on the further improvement of the method, the template expansion control flow comprises two processes: starting a template and periodically operating the template to expand; the template starting process is operated only once in the template expansion control flow, and comprises the following steps:
updating the operation control parameters;
acquiring all periodic instruction templates in a periodically running task corresponding to the task type identifier, sequentially identifying whether the starting identifier of the current periodic instruction template is in a starting state or not until the periodic instruction template in the starting state is acquired, and then performing time comparison:
if the current time of the inspection tour device is not less than the time when the template starts to operate, and the time in the current period is not less than the first instruction time in the instruction sequence, performing one-time expansion, setting the serial number of the latest expansion period as the serial number of the current period, setting the starting identifier of the instruction template of the current period as not in the starting state, setting the periodic operation identifier as in the periodic operation state, and completing the process of starting the template;
if the current time of the inspection tour device is not less than the time when the template starts to operate and the time in the current period is less than the first instruction time in the instruction sequence, the inspection tour device is not unfolded, the starting identifier of the instruction template in the current period is set to be in a non-starting state, the periodic operation identifier is set to be in a periodic operation state, and the template starting process is completed;
if the current moment of the inspection tour device is less than the moment when the template starts to run, the template is not unfolded, and the process of starting the template is completed;
and if the periodic instruction template in the starting state is not found after traversing, finishing the template starting process.
Based on the further improvement of the method, the unfolding process of the periodic operation template is the unfolding control of the periodic instruction template in a periodic operation state, and the method comprises the following steps:
updating the operation control parameters;
acquiring all periodic instruction templates in a periodic operation task corresponding to the task type identifier, sequentially taking out the periodic instruction templates, identifying whether the periodic operation identifier of the periodic instruction template is in a periodic operation state or not when the start identifier of the periodic instruction template is not in the start state until the periodic instruction template in the periodic operation state is acquired, and then judging whether the periodic instruction template is already unfolded:
if the current cycle serial number is not equal to the latest expansion cycle serial number and the time in the current cycle is not equal to or greater than the first instruction time in the instruction sequence, performing expansion once, setting the latest expansion cycle serial number as the current cycle serial number, keeping the starting identifier of the current cycle instruction template in a non-starting state, keeping the cycle operation identifier in a cycle operation state, and completing the expansion process of the cycle operation template in the current scheduling cycle;
if the current cycle serial number is not equal to the latest expansion cycle serial number and the time in the current cycle is less than the first instruction time in the template, the current cycle instruction template is not expanded, the starting identifier of the current cycle instruction template is kept in a non-starting state, the cycle operation identifier is kept in a cycle operation state, and the expansion process of the cycle operation template in the current scheduling cycle is completed;
if the serial number of the current cycle is equal to the serial number of the latest expansion cycle, the expansion is not carried out, and the expansion process of the periodically operated template in the current scheduling cycle is completed;
and if the periodic instruction template in the periodic operation state is not found after traversal, completing the expansion process of the periodic operation template in the current scheduling period.
Based on the further improvement of the method, the autonomous switching control flow comprises the following steps:
acquiring all autonomous switching strategies of the periodically running tasks corresponding to the task type identification;
sequentially identifying whether the periodic operation task meets a switching condition according to a current autonomous switching strategy, and if the periodic operation task meets the switching condition, executing a periodic autonomous control stopping flow; switching the main and standby task identifiers, and setting the operating environment of the template according to the new main and standby task identifiers; executing the starting process of the periodic autonomous control again according to the current task type identification and the new main and standby task identification, exiting from traversal, and completing the autonomous switching control process in the current scheduling period;
and if the autonomous switching strategy meeting the switching condition is not found after traversing, completing the autonomous switching control flow in the current scheduling period.
Based on the further improvement of the method, the stopping process of the periodic autonomous control comprises the following steps:
clearing a time delay instruction sequence corresponding to the periodic operation task, and deleting the existing residual instructions;
setting the starting marks of all periodic instruction templates in the periodic operation task to be in a non-starting state, and setting the periodic operation marks to be in a non-periodic operation state;
and updating the top-level task operation control parameters.
Compared with the prior art, the invention can realize at least one of the following beneficial effects:
(1) the cyclic autonomous operation control of the inspection tour device is realized through a cyclic operation task and cyclic instruction template two-stage management mode and corresponding processing logic. Ground intervention is not needed after starting, the measurement and control equipment can be automatically started after being shut down, repeated generation and injection of a startup and shutdown sequence of the measurement and control equipment on the ground are avoided, and waste of communication bandwidth and flight control manpower is avoided.
(2) The star finite state machine realizes the ordered organization of the operation relation of a plurality of cycle instruction templates in a cycle operation task. And in combination with corresponding expansion control logic, the certainty of the internal state of the periodically running task is ensured.
(3) Through autonomous switching control, the autonomous switching of the periodic operation tasks according to a preset switching strategy is realized, so that the patrol device can autonomously handle the failure of device-to-device communication caused by the problem of the measurement and control equipment on the patrol device, and the reliability and safety of periodic autonomous operation are improved.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a flowchart of a method for controlling periodic autonomous operation of a patrol unit according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a process for initiating periodic autonomous control according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating the control flow of template expansion according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating an autonomous handover control procedure according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a stopping process of the periodic autonomous control according to an embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The embodiment of the invention discloses a periodic autonomous operation control method of a patrol device, which is shown in figure 1.
S11: defining a periodic operation task and a periodic instruction template, and solidifying the periodic operation task and the periodic instruction template in flight software of the inspection tour device;
s12: receiving a starting cycle operation instruction injected on the ground, updating a top layer operation control parameter corresponding to a cycle operation task, and executing a starting process of the periodic autonomous control when a cycle instruction template to be operated is identified according to a task type identifier and a task main/standby identifier in the top layer operation control parameter;
s13: triggering a program for scheduling the flight software at regular time according to time slices, and sequentially executing a template expansion control flow and an autonomous switching control flow in each scheduling period;
s14: and receiving a stop cycle operation instruction of the ground upper notes, and executing a stop process of the periodic autonomous control.
In the implementation process, the periodic instruction templates are extracted from the flight program and organized by the star finite-state machine to form a periodic operation task. Defining an operation control data structure in a grading way aiming at a periodic operation task and a periodic instruction template; and aiming at the periodic operation task, mutually exclusive starting periodic operation, stopping periodic operation and template expansion control in time sequence are defined, and the autonomous switching control logic of the parallel periodic instruction templates in the time sequence is defined.
Compared with the prior art, the embodiment realizes the periodic autonomous operation control of the Mars train. After the start-up, ground intervention is not needed, the measurement and control equipment can be automatically and reliably started up after being shut down, the repeated generation and injection of the ground into the on-off sequence of the measurement and control equipment are avoided, and the waste of communication bandwidth and flight control manpower is avoided.
Specifically, in step S11, the cyclic operation task is a part of the flight program of the rover, and realizes specific, independent and cyclic operation functions, and one or more implementations of the function execution exist in time sequence; one embodiment of the periodic instruction template corresponding to the periodically executed task is a program sequence segment which is periodically executed and is controlled to be in a self-closed loop. That is, a cycle run task includes one or more cycle instruction templates.
Illustratively, there are three types of periodic execution tasks and corresponding periodic instruction templates:
1) and (3) conventional work tasks: and each patrol device is switched to a daytime standby/charging mode at the local time of 7:00, the receiver is powered on to work at the local time of 13:20, the receiver is powered off after 1h, and the patrol device is switched to a nighttime state at the local time of 17: 00. The method is mainly used in the normal working scene of the patrol device, or in the working scene of stopping the follow-up task instruction and waiting for ground fault elimination on the premise of ensuring communication and thermal control after a fault occurs.
2) Minimum work task: and (4) powering up the receiver to work at 13:20 local time of each patrol device, and powering off the UHF frequency band receiver after 1 h. The intelligent patrol system is mainly used for enabling the patrol device to be in the minimum power consumption mode state after energy source unbalance or awakening (timing completion), only reserving the communication capacity between devices in the daytime and thermal control in the cabin, and waiting for weather improvement or ground disposal.
3) And (3) awakening task: starting at the wakeup time, the receiver and transceiver are turned on and off according to a fixed period. The method is mainly used for establishing communication between the patrol device and the surrounding device or a ground communication link between the patrol device and the ground after the patrol device is awakened, and realizing the timing operation of the patrol device by the ground or the surrounding device.
Each period operation task controls the operation of N period instruction templates through a star finite state machine, wherein the operation state of the N period instruction templates and 1 idle state are included, and only 1 period instruction template is in an operation state at most at the same time; when a cycle instruction template running in a cycle running task is switched, firstly stopping running of the current cycle instruction template, carrying out normalization setting, and then starting running of a new cycle instruction template; the number N of the cycle instruction templates is more than or equal to 1.
And aiming at the periodic operation task and the periodic instruction template, defining an operation control data structure in a grading way, wherein the operation control data structure comprises a top-layer task operation control parameter corresponding to the periodic operation task and a template control parameter corresponding to the periodic instruction template.
It should be noted that the top-level task operation control parameters are divided into two categories:
the first type is a template identification parameter, which comprises a task type identifier and a task main/standby identifier, wherein the task type identifier is specified on the ground, and the task main/standby identifier is autonomously maintained by a tour device in an autonomous switching control flow according to an autonomous switching strategy after being specified on the ground;
the second type is an operation control parameter for controlling the periodic expansion of the periodic instruction template, namely, after the current periodic instruction template starts to operate, the template is expanded in each template period and is expanded only once, and the operation control parameter comprises the current period start time, the current period serial number and the latest expansion period serial number.
The template control parameters include: task ID, template operation control variables and template configuration parameters, wherein:
the task ID is used for external indexing and identifying a periodic instruction template;
the template operation control variable comprises a starting identifier and a periodic operation identifier, and is respectively used for supporting the operation of a starting periodic instruction template and a periodic operation periodic instruction template;
the template configuration parameters comprise total instruction number, template starting operation time, template period and instruction sequence and are used for supporting the expansion action of the template.
It should be noted that the time when the template starts to operate is the time reference of the periodic operation task, and the template can be modified by ground injection; the template period may also be modified by surface injection. And controlling a periodic instruction template through template configuration parameters, taking the starting running moment of the template as a starting point, and periodically and autonomously generating and executing a specific instruction sequence according to a set template period.
Preferably, the total number of instructions in the instruction template per cycle does not exceed 100.
The top task operation control parameters can be stored as important data, and the continuous operation of the function can be automatically recovered after the operation of events such as resetting, cutting off a machine, adding power failure and the like is interrupted.
As the flight software of the patrol device is set as a non-running periodic running task by default, when the periodic running task needs to be started and stopped on the ground, corresponding starting periodic running instructions and stopping periodic running instructions need to be annotated, and the type identifier of the task to be started is indicated in the instructions.
Receiving a starting period operation instruction injected on the ground, entering a step S12, updating top-level operation control parameters corresponding to a period operation task, and executing a starting process of periodic autonomous control; upon receiving the stop cycle operation command of the ground upper note, the process proceeds to step S14, and a stop flow of the cyclic autonomous control is executed.
Specifically, the starting flow of the periodic autonomous control in step S12 includes the following steps, and a detailed flowchart is shown in fig. 2.
Indexing a corresponding task ID according to a task type identifier and a task master/standby identifier in the top-level operation control parameter;
identifying a periodic instruction template to be operated in a periodic operation task corresponding to the task type identification according to the task ID, if the periodic instruction template to be operated is not found, recording error information, forming an event report, exiting the current flow, and not executing a subsequent template expansion control flow and an autonomous switching control flow;
if the periodic instruction template to be operated is found, firstly, the normalization setting is carried out on the periodic operation task, including the clearing of the delay instruction sequence corresponding to the periodic task and the deletion of the existing residual instructions.
Then, updating the template control parameters of the instruction template in the current period, including:
setting the starting marks of all periodic instruction templates in the current periodic operation task to be in a non-starting state, and setting the periodic operation marks to be in a non-periodic operation state; setting a starting identifier of a periodic instruction template to be operated to be in a starting state;
if the template period of the current period instruction template is less than or equal to the period minimum legal value threshold value, taking a preset template default period as the template period of the current period instruction template;
it should be noted that, by judging the reasonable range of the template period, frequent calling of the template deployment control flow caused by ground error setting is avoided, the delay instruction resource exhaustion of the inspection tour device is induced, and the reliability of template deployment is improved. Illustratively, the preset template default period is 88758 seconds, and the period minimum legal threshold is 80000 seconds.
And finally, updating the top task operation control parameters to complete the starting process of the periodic autonomous control.
In accordance with the time slice scheduling control of the patrol flight software, the routine proceeds to step S13, and the template deployment control routine of step S131 and the autonomous switching control routine of step S132 are executed periodically. The template expansion control flow is used for controlling the patrolling device to autonomously generate a group of delay instruction sequences marked by absolute time on the patrolling device at a specific relative moment in each template period and autonomously act at a corresponding time point in the follow-up process according to the instruction sequences; and the autonomous switching control flow is used for controlling the autonomous switching action of the patrol device when the patrol device meets the switching conditions, and continuing the template expansion control flow and the autonomous switching control flow at the next time slice of the flight software.
It should be noted that, in each round of the flight software time slice scheduling, a template deployment control flow and an autonomous switching control flow are executed in sequence.
Preferably, the flight software of the patrol device schedules the template expansion control flow and the autonomous switching control flow every 1 second according to the time slice. In the template development control flow, once a specific timing within a template cycle is reached, template development control is executed once.
S131: the template expansion control flow comprises two processes: the flow chart of the combined process of the starting template and the periodic operation template is shown in FIG. 3.
It should be noted that the template starting process corresponds to the periodic instruction template in the starting state, and only once operation is performed in the template expansion control flow, so that the periodic instruction template is ensured to be expanded at all times when being started. And circularly operating the unfolding process of the periodic operation template, and corresponding to the periodic instruction template in a periodic operation state.
The first process is as follows: the execution step of the template starting process comprises the following steps:
updating operational control parameters, including: the current time of the patrol device, the starting time of the current period, the time in the current period and the serial number of the current period. Wherein, (current time of the patrol device-time of starting operation of the template)/template period, wherein the remainder is the time in the current period, and the quotient is the serial number of the current period.
Acquiring all periodic instruction templates in a periodically running task corresponding to the task type identifier, sequentially identifying whether the starting identifier of the current periodic instruction template is in a starting state or not until the periodic instruction template in the starting state is acquired, and then performing time comparison:
if the current time of the inspection tour device is not less than the time when the template starts to operate, and the time in the current period is not less than the first instruction time in the instruction sequence, performing one-time expansion, setting the serial number of the latest expansion period as the serial number of the current period, setting the starting identifier of the instruction template of the current period as not in the starting state, setting the periodic operation identifier as in the periodic operation state, and completing the process of starting the template;
it should be noted that the instruction that has timed out in the instruction sequence in the current template cycle is not executed.
If the current time of the inspection tour device is not less than the time when the template starts to operate and the time in the current period is less than the first instruction time in the instruction sequence, the inspection tour device is not unfolded, the starting identifier of the instruction template in the current period is set to be in a non-starting state, the periodic operation identifier is set to be in a periodic operation state, and the template starting process is completed;
if the current moment of the inspection tour device is less than the moment when the template starts to run, the template is not unfolded, and the process of starting the template is completed;
and if the periodic instruction template in the starting state is not found after traversing, finishing the template starting process.
The second process is as follows: the unfolding process of the periodic operation template is the unfolding control of the periodic instruction template in a periodic operation state, and the execution steps comprise:
updating operational control parameters, including: the current time of the patrol device, the starting time of the current period, the time in the current period and the serial number of the current period. This step is the same as in the start-up of the template.
Acquiring all periodic instruction templates in a periodic operation task corresponding to the task type identifier, sequentially taking out the periodic instruction templates, identifying whether the periodic operation identifier of the periodic instruction template is in a periodic operation state or not when the start identifier of the periodic instruction template is not in the start state until the periodic instruction template in the periodic operation state is acquired, and then judging whether the periodic instruction template is already unfolded:
if the current cycle serial number is not equal to the latest expansion cycle serial number, the current template cycle is not expanded, and the time in the current cycle is not less than or equal to the first instruction time in the instruction sequence, performing expansion once, setting the latest expansion cycle serial number as the current cycle serial number, keeping the starting identifier of the current cycle instruction template in a non-starting state, keeping the cycle operation identifier in a cycle operation state, and completing the cycle operation template expansion process in the current scheduling cycle;
if the current cycle serial number is not equal to the latest expansion cycle serial number and the time in the current cycle is less than the first instruction time in the template, not expanding, keeping the starting identifier of the instruction template in the current cycle in a non-starting state, keeping the cycle operation identifier in a cycle operation state, and completing the expansion process of the cycle operation template in the current scheduling cycle;
if the serial number of the current cycle is equal to the serial number of the latest expansion cycle, the expansion is not carried out, and the expansion process of the periodic operation template in the current scheduling cycle is completed;
and if the periodic instruction template in the periodic operation state is not found after traversal, completing the expansion process of the periodic operation template in the current scheduling period.
It should be noted that, in the process of expanding the starting template and the periodic operation template, each time of control is scheduled according to the flight software time slice of the inspection tour, and each time of expansion is expanded according to the current periodic instruction template to generate a delay instruction sequence in a template period; and the patrol device acts at a series of corresponding time points according to the delay instruction sequence generated in the current template period. After each expansion, the sequence number of the current period is used as the sequence number of the latest expansion period, so that the repeated generation of delay instructions can be avoided by comparing the sequence number of the current period with the sequence number of the latest expansion period, and a normal expansion period instruction template can be ensured when time fluctuates.
S132: fig. 4 shows a flowchart of an autonomous handover control procedure, and the execution steps include:
acquiring all autonomous switching strategies of the periodically running tasks corresponding to the task type identification;
sequentially identifying whether the periodic operation task meets a switching condition according to a current autonomous switching strategy, and if the periodic operation task meets the switching condition, executing a periodic autonomous control stopping flow; switching the main and standby task identifiers, and setting the operating environment of the template according to the new main and standby task identifiers; executing the starting process of the periodic autonomous control again according to the current task type identification and the new main and standby task identification, starting the operation of the new periodic instruction template, exiting the traversal, and completing the autonomous switching control process in the current scheduling period;
it should be noted that the devices on the inspection tour device are divided into a master and a backup, and considering that the device combinations of the master and backup template switches are different, the setting of the operating environment mainly avoids that the devices opened by the old template cannot be turned off for a long time and abnormal power consumption is caused.
And if the autonomous switching strategy meeting the switching condition is not found after traversing, completing the autonomous switching control flow in the current scheduling period.
Illustratively, the template period of the set period command template is 88758 seconds, the set autonomous switching strategy is that no remote control injection data is received in one Mars day (88758 seconds), the flight software schedules a template deployment control flow and an autonomous switching control flow in turn every 1 second, the template deployment condition is met every 88758 seconds in the template deployment control flow, template deployment is performed once, when the tour machine can normally receive remote control data every 1 second, the switching condition is not met in the autonomous switching flow, autonomous switching action is not needed, and when no remote control injection data is received in 88758 seconds, autonomous switching action is triggered.
It should be noted that, although the periodic instruction templates to be executed are already identified according to the task type identifiers and the task master/slave identifiers in the starting periodic autonomous control flow, when the periodic execution template deployment control flow is executed, all the periodic instruction templates in the periodic execution tasks corresponding to the task type identifiers are still traversed, and the deployed templates and the deployed control are positioned through the starting identifiers and the periodic execution identifiers of the periodic instruction templates. The method is mainly used for orderly organizing the operation relations of a plurality of periodic instruction templates in a periodic operation task by the star finite state machine, so that the certainty of the internal state of the periodic operation task can be ensured; and the system can receive a stop command injected on the ground, execute a stop periodic autonomous control process, and quickly and accurately stop the expansion of the periodic instruction templates when the periodic operation task and all templates are subjected to normalized setting.
Specifically, in step S14, the flow chart of the periodic autonomous control stop flow shown in fig. 5 includes the following steps:
clearing a time delay instruction sequence corresponding to the periodic operation task, and deleting the existing residual instructions;
setting the starting marks of all periodic instruction templates in the periodic operation task to be in a non-starting state, and setting the periodic operation marks to be in a non-periodic operation state;
and updating the top-level task operation control parameters.
The cyclic autonomous operation control of the patrol machine is completed through the above-described steps S11 to S14.
Compared with the prior art, the periodic autonomous operation control method for the inspection device of the embodiment realizes periodic autonomous operation control of the inspection device through a two-stage management mode of a periodic operation task and a periodic instruction template and corresponding processing logic under the condition of ensuring energy balance. Ground intervention is not needed after starting, the measurement and control equipment can be automatically started after being shut down, repeated generation and injection of a startup and shutdown sequence of the measurement and control equipment on the ground are avoided, and waste of communication bandwidth and flight control manpower is avoided. The star finite state machine realizes the ordered organization of the operation relation of a plurality of cycle instruction templates in a cycle operation task. And in combination with corresponding expansion control logic, the certainty of the internal state of the periodically running task is ensured. Through autonomous switching control, the autonomous switching of the periodic operation tasks according to a preset switching strategy is realized, so that the patrol device can autonomously handle the failure of device-to-device communication caused by the problem of the measurement and control equipment on the patrol device, and the reliability and safety of periodic autonomous operation are improved.
Those skilled in the art will appreciate that all or part of the processes for implementing the methods of the embodiments described above can be implemented by controlling the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. The computer readable storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory. On the congratulatory mars rover, the computer readable storage medium is a read-only memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A cyclic autonomous operation control method of a patrol device is characterized by comprising the following steps:
defining a periodic operation task and a periodic instruction template, and solidifying the periodic operation task and the periodic instruction template in flight software of the inspection tour device;
receiving a starting periodic operation instruction injected on the ground, updating a top layer operation control parameter corresponding to the periodic operation task, and executing a periodic autonomous control starting process when a periodic instruction template to be operated is identified according to a task type identifier and a task main/standby identifier in the top layer operation control parameter;
triggering a program for scheduling the flight software at regular time according to time slices, and sequentially executing a template expansion control flow and an autonomous switching control flow in each scheduling period;
and receiving a stop cycle operation instruction of the ground upper notes, and executing a stop process of the periodic autonomous control.
2. The cyclic autonomous operation control method of a rover according to claim 1, characterized in that the cyclic operation task is part of flight software of the rover, implementing specific, independent and cyclic operation functions, there being one or more implementations of function execution in time sequence;
the periodic instruction template corresponds to one implementation mode of a periodic operation task and is a program sequence segment which is periodically operated and is in a control state self-closed loop.
3. The cyclic autonomous operation control method of the patrol instrument according to claim 2, wherein each cyclic operation task controls the operation of N cyclic instruction templates through a star finite state machine, including the operation states and 1 idle state of the N cyclic instruction templates, and only 1 cyclic instruction template is in the operation state at most at the same time; when a cycle instruction template running in a cycle running task is switched, firstly stopping running of the current cycle instruction template, carrying out normalization setting, and then starting running of a new cycle instruction template; the number N of the cycle instruction templates is more than or equal to 1.
4. The patrolling device periodic autonomous operation control method according to claim 1 or 3, wherein top-level task operation control parameters corresponding to the periodic operation tasks are divided into two categories:
the first type is a template identification parameter, which comprises a task type identifier and a task main/standby identifier, wherein the task type identifier is specified on the ground, and the task main/standby identifier is autonomously maintained by a tour device in an autonomous switching control flow according to an autonomous switching strategy after being specified on the ground;
the second type is an operation control parameter for controlling the periodic expansion of the periodic instruction template, namely, after the current periodic instruction template starts to operate, the template is expanded in each template period and is expanded only once, and the operation control parameter comprises the current period start time, the current period serial number and the latest expansion period serial number.
5. The patrolling device periodic autonomous operation control method according to claim 4, wherein the periodic instruction template controls an execution state by configuring a template control parameter;
the template control parameters comprise task IDs, template operation control variables and template configuration parameters;
the task ID is used for external indexing and identifying a periodic instruction template;
the template operation control variables comprise a starting identifier and a periodic operation identifier, and are respectively used for supporting the operation of a starting periodic instruction template and a periodic operation periodic instruction template;
the template configuration parameters comprise total instruction number, template starting operation time, template period and instruction sequence, and are used for supporting the expansion action of the template.
6. The cyclic autonomous operation control method of the patrol instrument according to claim 5, wherein the starting process of the cyclic autonomous control includes the steps of:
indexing a corresponding task ID according to a task type identifier and a task master/standby identifier in the top-level operation control parameter;
according to the task ID, identifying a periodic instruction template to be operated in a periodic operation task corresponding to the task type identification, and if the periodic instruction template to be operated is not found, recording error information to form an event report; if the periodic instruction template to be operated is found, firstly, the periodic operation task is subjected to normalization setting, then the template control parameters of the current periodic instruction template are updated, wherein the template control parameters comprise a starting identifier, a periodic operation identifier and a template period, and finally the top-layer task operation control parameters are updated.
7. The cyclic autonomous operation control method of the patrol instrument according to claim 6, wherein the template deployment control flow includes two processes: starting a template and periodically operating the template to expand; the template starting process is operated only once in the template unfolding control flow and comprises the following steps:
updating the operation control parameters;
acquiring all periodic instruction templates in a periodically running task corresponding to the task type identifier, sequentially identifying whether the starting identifier of the current periodic instruction template is in a starting state or not until the periodic instruction template in the starting state is acquired, and then performing time comparison:
if the current time of the inspection tour device is not less than the time when the template starts to operate, and the time in the current period is not less than the first instruction time in the instruction sequence, performing one-time expansion, setting the serial number of the latest expansion period as the serial number of the current period, setting the starting identifier of the instruction template of the current period as not in the starting state, setting the periodic operation identifier as in the periodic operation state, and completing the process of starting the template;
if the current time of the inspection tour device is not less than the time when the template starts to operate and the time in the current period is less than the first instruction time in the instruction sequence, the inspection tour device is not unfolded, the starting identifier of the instruction template in the current period is set to be in a non-starting state, the periodic operation identifier is set to be in a periodic operation state, and the template starting process is completed;
if the current moment of the inspection tour device is less than the moment when the template starts to run, the template is not unfolded, and the process of starting the template is completed;
and if the periodic instruction template in the starting state is not found after traversing, finishing the template starting process.
8. The cyclic autonomous operation control method of the patrol instrument according to claim 7, wherein the cyclic operation template deployment process is deployment control for the cyclic instruction template in a cyclic operation state, and comprises the steps of:
updating the operation control parameters;
acquiring all periodic instruction templates in a periodic operation task corresponding to the task type identifier, sequentially taking out the periodic instruction templates, identifying whether the periodic operation identifier of the periodic instruction template is in a periodic operation state or not when the start identifier of the periodic instruction template is not in the start state until the periodic instruction template in the periodic operation state is acquired, and then judging whether the periodic instruction template is already unfolded:
if the current cycle serial number is not equal to the latest expansion cycle serial number and the time in the current cycle is not equal to or greater than the first instruction time in the instruction sequence, performing expansion once, setting the latest expansion cycle serial number as the current cycle serial number, keeping the starting identifier of the current cycle instruction template in a non-starting state, keeping the cycle operation identifier in a cycle operation state, and completing the expansion process of the cycle operation template in the current scheduling cycle;
if the current cycle serial number is not equal to the latest expansion cycle serial number and the time in the current cycle is less than the first instruction time in the template, the current cycle instruction template is not expanded, the starting identifier of the current cycle instruction template is kept in a non-starting state, the cycle operation identifier is kept in a cycle operation state, and the expansion process of the cycle operation template in the current scheduling cycle is completed;
if the serial number of the current cycle is equal to the serial number of the latest expansion cycle, the expansion is not carried out, and the expansion process of the periodically operated template in the current scheduling cycle is completed;
and if the periodic instruction template in the periodic operation state is not found after traversal, completing the expansion process of the periodic operation template in the current scheduling period.
9. The cyclic autonomous operation control method of the patrol instrument according to claim 8, wherein the autonomous switching control flow includes the steps of:
acquiring all autonomous switching strategies of the periodically running tasks corresponding to the task type identification;
sequentially identifying whether the periodic operation task meets a switching condition according to a current autonomous switching strategy, and if the periodic operation task meets the switching condition, executing a periodic autonomous control stopping flow; switching the main and standby task identifiers, and setting the operating environment of the template according to the new main and standby task identifiers; executing the starting process of the periodic autonomous control again according to the current task type identification and the new main and standby task identification, exiting from traversal, and completing the autonomous switching control process in the current scheduling period;
and if the autonomous switching strategy meeting the switching condition is not found after traversing, completing the autonomous switching control flow in the current scheduling period.
10. The cyclic autonomous operation control method of the patrol machine according to claim 9, wherein the stop flow of the cyclic autonomous control includes the steps of:
clearing a time delay instruction sequence corresponding to the periodic operation task, and deleting the existing residual instructions;
setting the starting marks of all periodic instruction templates in the periodic operation task to be in a non-starting state, and setting the periodic operation marks to be in a non-periodic operation state;
and updating the top-level task operation control parameters.
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