CN114373365A - Police unmanned aerial vehicle training system - Google Patents
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Abstract
The invention discloses a training system of a police unmanned aerial vehicle, relates to the field of unmanned aerial vehicles, and solves the problems that the training efficiency of the police unmanned aerial vehicle is low and uniform teaching standards are difficult to form. The scheme comprises the following steps: the system comprises a ground station cabinet, an unmanned aerial vehicle and a mobile terminal, wherein the ground station cabinet comprises a ground station computer, and the ground station cabinet is connected with the unmanned aerial vehicle; the ground station computer is used for generating training information, and the training information comprises a flight task; the unmanned aerial vehicle is used for executing a flight task and sending flight data acquired in the flight task to the ground station cabinet; the ground station cabinet is used for receiving the flight data and sending the flight data to the ground station computer; the ground station computer is used for receiving the flight data, determining a flight track according to the flight data, comparing the flight track with a reference track by adopting a training rule and generating a training report; the mobile terminal is used for generating simulated flight animation according to the flight data.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a training system of an unmanned aerial vehicle for police.
Background
Police unmanned aerial vehicle is widely used in police work, and is important equipment for maintaining public safety and flight safety. At present, the whole-process application system of the unmanned aerial vehicle for the police is perfected and the industrial technical standard of the unmanned aerial vehicle for the police is released by establishing the design, management, training and actual combat application of the unmanned aerial vehicle for the police.
In the training of police unmanned aerial vehicles, a method of manual teaching of trainers is generally adopted to train trainees to use the police unmanned aerial vehicles. This approach has high requirements on the experience and ability of the trainer, resulting in low training efficiency and difficulty in forming uniform teaching norms.
Disclosure of Invention
The invention provides a training system for a police unmanned aerial vehicle, which improves the teaching efficiency of the police unmanned aerial vehicle and realizes unified teaching standard of the police unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a training system for a police drone, the system comprising: the system comprises a ground station cabinet, an unmanned aerial vehicle and a mobile terminal, wherein the ground station cabinet comprises a ground station computer, and the ground station cabinet is connected with the unmanned aerial vehicle;
the ground station computer is used for generating training information, the training information comprises a flight task, and the training information is used for prompting a student to operate the unmanned aerial vehicle to execute the flight task;
the unmanned aerial vehicle is used for executing a flight task and sending flight data acquired in the flight task to the ground station cabinet;
the ground station cabinet is used for receiving the flight data and sending the flight data to the ground station computer;
the ground station computer is used for receiving the flight data, determining a flight track according to the flight data, comparing the flight track with a reference track by adopting a training rule, and generating a training report which is used for prompting the accuracy degree of the flight mission executed by a student;
and the mobile terminal is used for generating simulated flight animation according to the flight data, and the simulated flight animation is used for a student to watch the process of operating the unmanned aerial vehicle to execute a flight task.
In one possible implementation, the training system for the police drone further comprises at least one position marker, each position marker connected to a ground station cabinet, the at least one position marker comprising a landing position marker;
each position marker is used for collecting position data of a preset position and sending the position data to the ground station cabinet;
the landing position marker is also used for acquiring a landing signal and a landing signal of the unmanned aerial vehicle and sending the landing signal and the landing signal to the ground station cabinet, wherein the landing signal is used for indicating whether the unmanned aerial vehicle takes off or not, and the landing signal is used for indicating whether the unmanned aerial vehicle lands or not;
the ground station cabinet is also used for receiving the takeoff signal, the landing signal and at least one position data and sending the data to the ground station computer;
and the ground station computer is also used for generating a reference track according to the at least one position data and determining the time length for the unmanned aerial vehicle to execute the flight mission according to the takeoff signal and the landing signal.
In one possible implementation manner, the training system of the police unmanned aerial vehicle further comprises a weather station, wherein the weather station is connected to the ground station cabinet;
the meteorological station is used for acquiring meteorological data in real time in the process that the unmanned aerial vehicle executes the flight mission and sending the meteorological data to the ground station cabinet, and the meteorological data comprises wind direction and wind power;
the ground station cabinet is also used for receiving meteorological data and sending the meteorological data to the ground station computer, and the training information comprises the meteorological data.
In one possible implementation manner, the training system of the police unmanned aerial vehicle further comprises a prompting terminal, and the prompting terminal is connected to the ground station cabinet;
the ground station computer is also used for sending training information to the ground station cabinet;
the ground station cabinet is also used for receiving the training information and sending the training information to the prompt terminal;
and the prompt terminal is used for receiving the training information, and playing and displaying the training information.
In one possible implementation manner, the training system of the police unmanned aerial vehicle further comprises a server, the server is connected to the ground station cabinet, and the mobile terminal is connected to the server;
the ground station computer is also used for sending flight data and a training report to the ground station cabinet;
the ground station cabinet is also used for sending flight data and a training report to the server;
a server for receiving and storing flight data and training reports;
and the mobile terminal is used for requesting flight data and a training report from the server.
In one possible implementation manner, the training system of the police unmanned aerial vehicle further comprises a system maintenance computer, and the system maintenance computer is connected to the server;
the system maintenance computer is used for generating a training rule and sending the training rule to the server;
and the server is used for receiving and storing the training rules, sending the training rules to the ground station computer through the ground station cabinet, and verifying the training report according to the training rules to generate a verification result, wherein the verification result is used for indicating whether the training report is abnormal.
In a possible implementation manner, the ground station computer is further configured to send a return command to the ground station cabinet when it is determined that the unmanned aerial vehicle flies out of the preset range according to the flight data;
and the ground station cabinet is also used for receiving the return flight instruction and sending the return flight instruction to the unmanned aerial vehicle.
According to the system provided by the embodiment of the invention, the training information is generated through the ground station computer, so that the trainee can acquire the flight task and other training information in the training information and then operate the unmanned aerial vehicle to execute the flight task. The unmanned aerial vehicle sends the flight data acquired in the flight mission to the ground station cabinet, and the ground station cabinet receives the flight mission and then sends the flight mission to the ground station computer. The ground station computer can confirm unmanned aerial vehicle's flight track according to flight data, compares flight track and reference track, and the generation training report, and the reference track has unified standard, and the training report can show that there are error and error in contrast reference track in carrying out the flight task, has realized the unified teaching standard of unmanned aerial vehicle. Meanwhile, the mobile terminal generates simulated flight animation according to the flight data, the simulated flight animation can visually reflect the process of the unmanned aerial vehicle for executing flight tasks, and students and coaches can repeatedly watch and analyze the simulated flight animation, so that the teaching efficiency of the unmanned aerial vehicle is improved.
In a second aspect, the present invention provides a training method for a police unmanned aerial vehicle, which is applied to a training system for the police unmanned aerial vehicle, the training system for the police unmanned aerial vehicle comprising: the system comprises a ground station cabinet, an unmanned aerial vehicle and a mobile terminal, wherein the ground station cabinet comprises a ground station computer, and the ground station cabinet is connected with the unmanned aerial vehicle;
the ground station computer generates training information, the training information comprises a flight task, and the training information is used for prompting a student to operate the unmanned aerial vehicle to execute the flight task;
the unmanned aerial vehicle executes a flight task and sends flight data acquired in the flight task to the ground station cabinet;
the ground station cabinet receives the flight data and sends the flight data to the ground station computer;
the ground station computer receives the flight data, determines a flight track according to the flight data, compares the flight track with a reference track by adopting a training rule, and generates a training report, wherein the training report is used for prompting the accuracy of a student to execute a flight task;
the mobile terminal generates simulated flight animation according to the flight data, and the simulated flight animation is used for a student to watch the process of operating the unmanned aerial vehicle to execute a flight task.
In one possible implementation, the training system for the police drone further comprises at least one position marker, each position marker connected to a ground station cabinet, the at least one position marker comprising a landing position marker;
each position marker acquires position data of a preset position and sends the position data to the ground station cabinet;
the landing position marker acquires a landing signal and a landing signal of the unmanned aerial vehicle and sends the landing signal and the landing signal to the ground station cabinet, wherein the landing signal is used for indicating whether the unmanned aerial vehicle takes off or not, and the landing signal is used for indicating whether the unmanned aerial vehicle lands or not;
the ground station cabinet receives the takeoff signal, the landing signal and at least one position data and sends the signals to the ground station computer;
the ground station computer generates a reference track according to the at least one position data;
and the ground station computer determines the time length of the unmanned aerial vehicle for executing the flight mission according to the takeoff signal and the landing signal.
In one possible implementation manner, the training system of the police unmanned aerial vehicle further comprises a weather station, wherein the weather station is connected to the ground station cabinet;
the method comprises the steps that a meteorological station collects meteorological data in real time in the process that an unmanned aerial vehicle executes a flight task and sends the meteorological data to a ground station cabinet, wherein the meteorological data comprises wind direction and wind power;
the ground station cabinet receives the meteorological data and sends the meteorological data to the ground station computer, and the training information comprises the meteorological data.
In one possible implementation manner, the training system of the police unmanned aerial vehicle further comprises a prompting terminal, and the prompting terminal is connected to the ground station cabinet;
the ground station computer sends training information to the ground station cabinet;
the ground station cabinet receives the training information and sends the training information to the prompt terminal;
and the prompting terminal receives the training information, and plays and displays the training information.
In one possible implementation manner, the training system of the police unmanned aerial vehicle further comprises a server, the server is connected to the ground station cabinet, and the mobile terminal is connected to the server;
the ground station computer sends flight data and a training report to a ground station cabinet;
the ground station cabinet sends flight data and a training report to the server;
the server receives and stores flight data and training reports;
the mobile terminal requests flight data and training reports from the server.
In one possible implementation manner, the training system of the police unmanned aerial vehicle further comprises a system maintenance computer, and the system maintenance computer is connected to the server;
the system maintenance computer generates a training rule and sends the training rule to the server;
the server receives and stores the training rules and sends the training rules to the ground station computer through the ground station cabinet;
and the server verifies the training report according to the training rule to generate a verification result, wherein the verification result is used for indicating whether the training report is abnormal or not.
In one possible implementation mode, the ground station computer sends a return command to the ground station cabinet when determining that the unmanned aerial vehicle flies out of the preset range according to the flight data;
and the ground station cabinet receives the return flight instruction and sends the return flight instruction to the unmanned aerial vehicle.
In a third aspect, the invention provides a training system for a police unmanned aerial vehicle, which comprises a memory and a processor; a memory coupled to the processor; the memory is for storing computer program code, the computer program code comprising computer instructions; when the processor executes the computer instructions, the training system of the police drone performs the training method of the police drone as in the second aspect and any one of its possible implementations.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon computer instructions which, when run on a training system for a police drone, cause the training system for a police drone to perform the method of training a police drone as in the second aspect or any one of the possible implementations of the second aspect.
In a fifth aspect, the present invention provides a computer program product comprising computer instructions for causing a training system of a police drone to perform a method of training a police drone as in the second aspect and any possible implementation thereof, when the computer instructions are run on the training system of a police drone.
Drawings
Fig. 1 is a schematic structural diagram of a training system for a police drone according to an embodiment of the present invention;
fig. 2 is a second schematic structural diagram of a training system for a police drone according to an embodiment of the present invention;
fig. 3 is a third schematic structural diagram of a training system for a police drone according to an embodiment of the present invention;
fig. 4 is a fourth schematic structural diagram of a training system of a police unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a flowchart of a training method for a police drone according to an embodiment of the present invention;
fig. 6 is a second flowchart of a training method for a police drone according to an embodiment of the present invention;
fig. 7 is a third flowchart of a training method for a police drone according to an embodiment of the present invention;
fig. 8 is a fourth flowchart of a training method for a police drone according to an embodiment of the present invention;
fig. 9 is a fifth flowchart of a training method for a police drone according to an embodiment of the present invention;
fig. 10 is a sixth flowchart of a training method for a police drone according to an embodiment of the present invention;
fig. 11 is a seventh flowchart of a training method for a police drone according to an embodiment of the present invention;
fig. 12 is an eighth flowchart of a training method for a police drone according to an embodiment of the present invention;
fig. 13 is a ninth flowchart of a training method for a police drone according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram of a position marker according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The use of "based on" or "based on" means open and inclusive, as a process, step, calculation, or other action that is "based on" or "based on" one or more stated conditions or values may in practice be based on additional conditions or values beyond those stated.
In order to solve the problems that the training efficiency of the unmanned aerial vehicle for the police is low and uniform teaching specifications are difficult to form, the embodiment of the invention provides the training system of the unmanned aerial vehicle for the police. The unmanned aerial vehicle sends the flight data acquired in the flight mission to the ground station cabinet, and the ground station cabinet receives the flight mission and then sends the flight mission to the ground station computer. The ground station computer can confirm unmanned aerial vehicle's flight track according to flight data, compares flight track and reference track, and the generation training report, and the reference track has unified standard, and the training report can show that there are error and error in contrast reference track in carrying out the flight task, has realized the unified teaching standard of unmanned aerial vehicle. Meanwhile, the mobile terminal generates simulated flight animation according to the flight data, the simulated flight animation can visually reflect the process of the unmanned aerial vehicle for executing flight tasks, and students and coaches can repeatedly watch and analyze the simulated flight animation, so that the teaching efficiency of the unmanned aerial vehicle is improved.
Fig. 1 is a schematic structural diagram of a training system for a police drone according to an embodiment of the present invention, and as shown in fig. 1, the training system for a police drone may include: a ground station cabinet 11, a drone 12 and a mobile terminal 13.
Wherein, the ground station cabinet 11 is connected with the ground station computer 111 and the unmanned aerial vehicle 12 respectively.
And the ground station computer 111 is configured to generate training information, where the training information includes a flight mission, and the training information is used to prompt the trainee to operate the unmanned aerial vehicle 12 to execute the flight mission.
The ground station computer 111 is loaded with the ground software of the training and testing unmanned aerial vehicle for the police, and the ground software of the training and testing unmanned aerial vehicle for the police is developed by using a C + + language and a Qt interface framework. The ground station computer 111 may communicate with the drone 12 through the ground station cabinet 11, with the communication protocol using an internally defined proprietary protocol.
Police is with training unmanned aerial vehicle ground software of examining has multiple role login function, including site management person, examiner, examinee, coach and student etc. can switch according to the demand. Illustratively, when a site administrator logs in, the site administrator has the authority to change the relevant parameters of the training site; when the coach logs in, a training subject may be selected.
Police training unmanned aerial vehicle ground software of examining has place mode conversion function, can switch training mode and examination mode to adapt to the different functional requirements of same place under training and two kinds of modes of examining. This function is authorized for the site administrator.
Police training unmanned aerial vehicle ground software has personnel information management function, can add and delete personnel, including but not limited to coach and student. The training information includes an operator, i.e., a trainee, which can be clearly instructed to operate the drone 12 to perform a flight mission. The training information also comprises a trainer corresponding to the student, so that the trainer can follow up the training condition of the student in time. The personnel information management function is authorized for the site manager.
Police have the function of the flight task of automatic demonstration standard with training unmanned aerial vehicle ground software, when starting the automatic demonstration function, ground station computer 111 controls unmanned aerial vehicle 12 to operate the demonstration through ground station rack 11 and unmanned aerial vehicle 12 communication, can pause at any time or continue in the demonstration process. Meanwhile, the progress bar can be dragged to adjust the current demonstration progress, the unmanned aerial vehicle 12 keeps a hovering state during the demonstration progress adjustment, and after the adjustment progress is determined, the unmanned aerial vehicle 12 flies to the position after the progress adjustment from the current position and continues subsequent flight demonstration according to the standard flight task.
Police training unmanned aerial vehicle ground software has and provides training subject sequence start, pause and termination function. An operator can start or stop the authorization of a certain flight subject training by training the ground software of the unmanned aerial vehicle through police, but the final normal starting or ending of the actual subject is based on the takeoff or landing of the unmanned aerial vehicle.
Police training unmanned aerial vehicle ground software has the function of providing and playing teaching video. The software is internally provided with video resources and a player, and can project the teaching video to other playing equipment for teaching.
It is alert with training unmanned aerial vehicle ground software of examining has the record function, and it is alert with training unmanned aerial vehicle ground software of examining can record will be according to information such as current operating personnel ID, time, training place serial number.
And the unmanned aerial vehicle 12 is used for executing the flight mission and sending the flight data acquired in the flight mission to the ground station cabinet 11. The unmanned aerial vehicle 12 is equipped with the data transmission module, orientation module, inertia measurement module, magnetism force measurement module, atmospheric pressure measurement module, the altimeter module, can acquire unmanned aerial vehicle 12 in real time in carrying out various flight data of flight task in-process, especially orientation module and altimeter module, can acquire longitude, latitude and the height of unmanned aerial vehicle 12 in the position of carrying out the flight task in-process, these flight data are used for drawing unmanned aerial vehicle 12's flight track.
The ground station cabinet 11 is configured to receive the flight data and transmit the flight data to the ground station computer 111.
The ground station cabinet 11 further includes a switch, a ground station information management module, and a power management module. The switch is used for communicating with external equipment, the ground station information management module is used for storing data, and the power supply management module is used for supplying power to the ground station cabinet 11 and part of the external equipment.
The ground station cabinet 11 is in the form of a 6U cabinet, and 10 network interfaces are provided for connecting network devices. The ground station cabinet 11 includes 1-way mains input and 1-way device 24V output and 2-way HDMI output. The 24V output circuit is used for supplying power to other training equipment. The 2-way HDMI output is used to display the police training unmanned aerial vehicle software ground PC system administrator software loaded on the ground station computer 111.
And the ground station computer 111 is used for receiving the flight data, determining a flight track according to the flight data, comparing the flight track with a reference track by adopting a training rule, and generating a training report which is used for prompting the accuracy of the flight mission execution of the trainee. The reference trajectory includes the longitude, latitude, and altitude of the target flight trajectory. The longitude, the latitude and the altitude can be divided into a plurality of error intervals, each error interval corresponds to a certain deduction value, when the flight track is compared with the reference track, the score of the flight task is determined through the error value between the flight track and the reference track, meanwhile, the point of the deviation can also be determined, and then a training report is formed. The flight trajectory is generated in real time from the execution of the flight mission by the drone 12, and therefore the score is also varied in real time. It may be set that when the score is lower than the set value, the ground station computer 111 sends a return flight instruction to the unmanned aerial vehicle 12 through the ground station cabinet 11, and stops training. This indicates that the trainee has a major drawback to the operation of the drone 12, requiring further learning, improving training efficiency.
When the training is interrupted due to the abnormality of the unmanned aerial vehicle 12, the ground station computer 111 automatically stores flight data, and can choose to continue training or retrain after the fault is eliminated.
And the mobile terminal 13 is used for generating simulated flight animation according to the flight data, and the simulated flight animation is used for a student to watch the process of operating the unmanned aerial vehicle to execute a flight task.
As a possible implementation, referring to fig. 1 and fig. 2, the training system of the police drone further comprises at least one position marker 14, each position marker 14 being connected to the ground station cabinet 11. Each position marker 14 is configured to collect position data of a preset position and transmit the position data to the ground station cabinet 11.
Referring to fig. 14, since different training fields are located at different positions, the position marker 14 is required to collect the longitude and latitude of the position of the training field, and the position marker 14 includes at least one.
Each position marker 14 is numbered, and for example, when the position markers 14 include a first position marker, a second position marker, a third position marker, a fourth position marker, a fifth position marker, a sixth position marker, a seventh position marker, and an eighth position marker, the position markers are placed as shown in fig. 14, and the placed position is the preset position. The position marker 14 is mounted with a positioning module and a data transmission module, and the positioning module can acquire the longitude and latitude of the position marker 14, and the data of the longitude and latitude is position data, and then send the position data to the ground station cabinet 11 through the data transmission module.
The ground station cabinet 11 is also configured to receive at least one location data and send it to the ground station computer 111. The ground station computer 111 is further configured to generate a reference trajectory based on the at least one location data. For example, when the flight mission is "8-way," the flight path of the drone 12 may be described as first position marker-fifth position marker-fourth position marker-third position marker-first position marker-eighth position marker-seventh position marker-sixth position marker-first position marker. The ground station computer 111 generates a reference trajectory based on the position data collected by each position marker 14 and the flight altitude requirements.
Meanwhile, the position marker 14 may also be used for identification of the trainee when performing the flight mission, prompting the trainee to operate the drone 12 according to the flight mission.
The at least one position marker 14 includes a landing position marker 141. The landing position marker 141 is further configured to acquire a takeoff signal and a landing signal of the unmanned aerial vehicle 12, and send the takeoff signal and the landing signal to the ground station cabinet 11, where the takeoff signal is used to indicate whether the unmanned aerial vehicle 12 takes off, and the landing signal is used to indicate whether the unmanned aerial vehicle 12 lands. The ground station cabinet 11 is further configured to receive a takeoff signal and a landing signal, and send the signals to the ground station computer 111;
the ground station computer 111 is further configured to determine a time duration for the unmanned aerial vehicle 12 to execute the flight mission according to the takeoff signal and the landing signal.
Continuing to refer to FIG. 14, the exemplary landing position marker 141 has an "H" designation, and the landing position marker 141 is larger in size than the other position markers 14. The landing position marker 141 further includes a pressure sensing module, the unmanned aerial vehicle 12 first stops at the landing position marker 141, when the unmanned aerial vehicle 12 takes off, the landing position marker 141 senses a pressure change and sends a take-off signal to the ground station cabinet 11, the ground station cabinet 11 sends the take-off signal to the ground station computer 111, and the ground station computer 111 starts timing after receiving the take-off signal. After the unmanned aerial vehicle 12 has executed the flight mission, the unmanned aerial vehicle stops on the landing position marker 141, the landing position marker 141 senses the pressure change, and sends the landing signal to the ground station cabinet 11, the ground station cabinet 11 sends the landing signal to the ground station computer 111, and the ground station computer 111 finishes timing after receiving the landing signal. From the takeoff signal and the landing signal, the duration of the mission performed by the drone 12 may be determined.
As a possible implementation, referring to fig. 1 and fig. 2, the training system of the police drone 12 further includes a weather station 15, the weather station 15 being connected to the ground station cabinet 11;
and the meteorological station 15 is used for acquiring meteorological data in real time during the flight mission of the unmanned aerial vehicle 12 and sending the meteorological data to the ground station cabinet 11, wherein the meteorological data comprises wind direction and wind power. The unmanned aerial vehicle 12 is greatly influenced by weather, especially wind, during the task execution process. The weather station 15 is capable of collecting weather data, including wind direction and force, in real time and transmitting to the ground station cabinet 11.
The ground station cabinet 11 is also configured to receive weather data and send the weather data to the ground station computer 111, and the training information includes the weather data. The ground station cabinet 11 transmits the received weather data to the ground station computer 111, which the ground station computer 111 records and displays.
As a possible implementation, referring to fig. 1 and as shown in fig. 2, the training system of the police drone 12 further includes a prompt terminal 16, and the prompt terminal 16 is connected to the ground station cabinet 11.
A ground station computer 111 for sending training information to the ground station cabinet 11
The ground station cabinet 11 is also used for receiving the training information and sending the training information to the prompting terminal 16.
And the prompt terminal 16 is used for receiving the training information, and playing and displaying the training information.
Due to the large training field, the ground station computer 111 is located some distance from the trainee operating area. The prompt terminal 16 is generally disposed in the trainee operating area, so that the trainee can know training information, environmental parameters and the like conveniently. The prompting terminal 16 includes a display screen and a sound, and is capable of receiving the training information, playing the training information through the sound, and displaying the training information through the display screen. Training information includes, but is not limited to, time, weather data, operator, current subject, time remaining.
As a possible implementation, referring to fig. 1, as shown in fig. 3, the training system of the police drone 12 further includes a server 17, the server 17 is connected to the ground station cabinet 11, and the mobile terminal 13 is connected to the server 17.
The ground station computer 111 is also used to send flight data and training reports to the ground station cabinet 11.
The ground station cabinet 11 is also used for sending flight data and training reports to the server 17.
And the server 17 is used for receiving and storing flight data and training reports.
And the mobile terminal 13 is used for requesting flight data and training reports from the server 17.
The server 17 is provided with a database and police training unmanned aerial vehicle software server software, and the database adopts mysql. Software of a software server of the training unmanned aerial vehicle for police adopts a springboot and springclosed distributed micro-service architecture. The server 17 receives the training report and stores the training report in the database.
The server 17 can provide a data storage interface: and storing the data or data sets of different services by using a specified protocol format, and returning a specified code value representing success after success. And returning a failure reason after failure. For example, the ground station software of the test hall uploads the flight data of the test taker to the server.
The server 17 provides a data acquisition interface: and searching data or data sets of different services by using the specified protocol format and the key word parameters, and sending the searching result to the mobile terminal.
The server 17 provides a client login interface: logging in by using a specified protocol format, a user name and a password, and returning role attribute parameters after successful logging in, wherein the role attribute parameters comprise role types and are used for enabling functions of a client; and returning a failure reason after the login fails.
The server 17 provides a role information management interface: and uniformly establishing the authority of each role by using a specified protocol format, and editing the information of the specified role. For example, a student changes the contact information and then uses the mobile terminal to modify the contact information, or the site manager deletes the information of the student.
The server 17 provides a role relationship management interface: the relationship between the two roles is modified using a specified protocol format, such as designating the trainer of student A as trainer B.
The server 17 provides a site verification interface: the ground station computer 111 uploads the position data collected by the position marker 14 to the server 17 through the ground station cabinet 11, and the server 17 compares the position data with standard site data in a database. If the verification is passed, success is returned, and if the verification is failed, a failure reason is returned. Illustratively, if the distance between the first position marker and the second position marker is too short, the verification fails. Training is not allowed after verification fails, and the position marker 14 needs to be adjusted and verified before training can be performed, so that the training accuracy can be ensured.
The server 17 provides a subject parameter verification interface: the ground station computer 111 uploads the parameters related to the training discipline to the server 17 through the ground station cabinet 11. The server 17 verifies the relevant parameters. Illustratively, the ground station computer 111 uploads the meteorological data collected by the meteorological station 15 to the server 17 through the ground station cabinet 11, and when the wind in the meteorological data is too strong, the verification fails and the reason for the failure is returned. This prevents unreasonable factors from affecting the training effect.
The server 17 provides a chat content management interface: the mobile terminal 13 communicates with the server 17, and the server 17 verifies and stores the validity of the chat content, shields illegal words, and maintains a communication environment.
The mobile terminal 13 can be a mobile phone or a notebook, the police training unmanned aerial vehicle software mobile app is mounted on the mobile terminal 13, and the police training unmanned aerial vehicle software mobile app uses a retrofit2 http request frame to request data by using a rest api. The local storage adopts sqlite3 database, ORM adopts greenDAO, and adopts recyclerview control to layout and display on the page of the mobile phone or the notebook through http request, and the data interaction with the server 17 is performed through 4G/5G network, and the communication protocol uses the internally defined private protocol.
Police is with training unmanned aerial vehicle software mobile app of examining has the registration function, and after registering successfully, student or coach have unique ID.
Police is with standard unmanned aerial vehicle software mobile app of examining has the login function: the ID can be used to log in the app.
Police is with training unmanned aerial vehicle software removal app of examining has reservation function: the coach or the student can make an appointment according to the time and the training field, so that the training time conflict is avoided.
Police training unmanned aerial vehicle software mobile app has a query function: the trainer or the student can log in the app to request the server 17 to inquire the training report after the training is finished, so that the trainer or the trainer can master the training condition in time.
Police training unmanned aerial vehicle software mobile app has a playback function: the coach or the student can ask for inquiring the flight simulation animation after training is finished through the police training unmanned aerial vehicle software mobile app at the mobile terminal 13, the flight simulation animation adopts a 3D animation form to play back the training process, the duration can be compared with a reference track, and an error interval and a deduction can be displayed around the flight track. Is beneficial to the coach or the student to visually master the defects in the training, is beneficial to enhancing the improvement and improving the training effect
Police is with standard unmanned aerial vehicle software mobile app of examining has the chat function: the coach or the student can communicate with a field manager or an official through the police unmanned aerial vehicle training software mobile app, and know relevant information such as training subjects and training fields.
As a possible implementation, referring to fig. 1, as shown in fig. 4, the training system of the police drone 12 further includes a system maintenance computer 18, and the system maintenance computer 18 is connected to the server 17.
The system maintenance computer 18 generates training rules and transmits the training rules to the server 17.
The system maintenance computer 18 is loaded with the police training and examination unmanned aerial vehicle system maintenance software which is developed by using a C + + language and a Qt interface frame and is in communication connection with the server 17 through an Internet network, and a communication protocol uses an internally defined private protocol.
It is alert with training unmanned aerial vehicle system maintenance software to have the function of setting up training branch of academic or vocational study purpose, simultaneously, can also adjust different training branch of academic or vocational study purpose and constitute and order, makes things convenient for training rule to update in real time.
The police training unmanned aerial vehicle system maintenance software has the function of generating training rules, the training rules comprise waypoint sequence, residence time, completion time, general subject scores, subject passing scores and error interval deduction standards, and the generated training rules are sent to the server 17.
A server 17 for receiving and storing the training rules and sending the training rules to the ground station computer 111 via the ground station cabinet 11.
The server 17 is further configured to verify the training report according to the training rule, and generate a verification result, where the verification result is used to indicate whether the training report is abnormal. The server 17 provides a score verification save interface: after the ground station computer 111 generates the training report, the training report is sent to the server 17 through the ground station cabinet 11, and the server 17 verifies the training report and determines whether the training report is abnormal. If the verification is successful, the training report is stored in the database and can be requested to be inquired by the mobile terminal 13, if the verification is failed, the failure reason is returned, the training report is judged to be invalid, and the failure reason is sent to the mobile terminal 13.
As a possible implementation, the ground station computer 111 is further configured to send a return command to the ground station cabinet 11 when it is determined that the unmanned aerial vehicle 12 flies out of the preset range according to the flight data. The ground station cabinet 11 is further configured to receive a return flight instruction, and send the return flight instruction to the unmanned aerial vehicle 12.
Because the ability that the student carried out the flight task to operating unmanned aerial vehicle is different, in order to avoid unmanned aerial vehicle departure training place, cause danger, refer to fig. 14 and show, set up position marker 14 around the training place. The position marker 14 collects position data of a preset position, here specifically the longitude and latitude of the edge of the training field, and transmits the position data to the ground station cabinet 11. When the ground computer 12 determines that the unmanned aerial vehicle flies out of the preset range according to the flight data, which is specifically referred to as a training field, the ground computer 12 sends a return flight instruction to the ground station cabinet 11, and the ground station cabinet 11 sends the return flight instruction to the unmanned aerial vehicle 12. When receiving the return command, the drone 12 does not receive the control of the trainee, and directly returns to land on the landing position marker 141. Avoid unmanned aerial vehicle 12 to fly out of the training place and cause danger.
The scheme provided by the embodiment of the invention is mainly introduced from the perspective of equipment. It will be appreciated that the apparatus, in order to carry out the above-described functions, comprises corresponding hardware structures and/or software modules for performing the respective functions. Those of skill in the art will readily appreciate that the present invention can be implemented in hardware or a combination of hardware and computer software, in conjunction with the exemplary algorithm steps described in connection with the embodiments disclosed herein. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Based on the introduction of the training system for the police unmanned aerial vehicle shown in fig. 1 to 4, the embodiment of the invention provides a training method for the police unmanned aerial vehicle, which is applied to the training system for the police unmanned aerial vehicle. The training method of the police unmanned aerial vehicle provided by the embodiment of the invention is described below with reference to the accompanying drawings.
As shown in fig. 5, the training method of the police drone may include the following steps 501 to 505.
501. The ground station computer generates training information, the training information comprises a flight task, and the training information is used for prompting a student to operate the unmanned aerial vehicle to execute the flight task.
502. The unmanned aerial vehicle executes the flight mission and sends the flight data acquired in the flight mission to the ground station cabinet.
503. The ground station cabinet receives the flight data and sends the flight data to the ground station computer.
504. And the ground station computer receives the flight data, determines a flight track according to the flight data, compares the flight track with a reference track by adopting a training rule and generates a training report, wherein the training report is used for prompting the accuracy of the trainee to execute the flight mission.
505. The mobile terminal generates simulated flight animation according to the flight data and sends the simulated flight animation to the mobile terminal, and the simulated flight animation is used for a student to watch the process of operating the unmanned aerial vehicle to execute a flight task.
Referring to fig. 5, as shown in fig. 6, before the step 504 is performed, the training method of the police drone may further include the following steps 506 to 508.
506. Each position marker collects position data of a preset position and sends the position data to the ground station cabinet.
507. The ground station cabinet receives the at least one location data and transmits it to the ground station computer.
508. The ground station computer generates a reference trajectory from the at least one location data.
Referring to fig. 5, as shown in fig. 7, before the step 504 is performed, the training method of the police drone may further include the following steps 509 to 512.
509. The take-off and landing position marker acquires a take-off signal of the unmanned aerial vehicle and sends the take-off signal to the ground station cabinet, and the take-off signal is used for indicating whether the unmanned aerial vehicle takes off or not.
502. The unmanned aerial vehicle executes the flight mission and sends the flight data acquired in the flight mission to the ground station cabinet.
510. The landing position marker acquires a landing signal of the unmanned aerial vehicle and sends the landing signal to the ground station cabinet, and the landing signal is used for indicating whether the unmanned aerial vehicle lands on the ground.
511. The ground station cabinet receives the takeoff signal and the landing signal and sends the signals to the ground station computer.
512. And the ground station computer determines the time length of the unmanned aerial vehicle for executing the flight mission according to the takeoff signal and the landing signal.
Referring to fig. 5, as shown in fig. 8, before the step 504 is performed, the training method of the police drone may further include the following steps 513 and 514.
513. The meteorological station collects meteorological data in real time in the process that the unmanned aerial vehicle executes a flight task, and sends the meteorological data to the ground station cabinet, and the meteorological data comprise wind direction and wind power.
514. The ground station cabinet receives the meteorological data and sends the meteorological data to the ground station computer, and the training information comprises the meteorological data.
With reference to fig. 5, as shown in fig. 9, after the step 501 is executed, the training method of the police drone may further include the following steps 515 to 517.
517. The ground station computer sends training information to the ground station cabinet.
518. And the ground station cabinet receives the training information and sends the training information to the prompt terminal.
519. And the prompting terminal receives the training information, and plays and displays the training information.
Referring to fig. 5, as shown in fig. 10, after the step 504 is performed, the training method of the police drone may further include the following steps 518 to 521.
518. The ground station computer sends flight data and training reports to the ground station cabinet.
519. The ground station cabinet sends flight data and training reports to the server.
520. The server receives and stores flight data and training reports.
521. The mobile terminal requests flight data and training reports from the server.
Referring to fig. 5, as shown in fig. 11, before step 504 is performed, the training method of the police drone may further include the following steps 522 and 523.
522. The system maintenance computer generates training rules and sends the training rules to the server.
523. The server receives and stores the training rules and sends the training rules to the ground station computer via the ground station cabinet.
Referring to fig. 10, as shown in fig. 12, before the step 521 is performed, the training method of the police drone may further include the following step 524.
524. The server 18 verifies the training report according to the training rule to generate a verification result, and the verification result is used for indicating whether the training report is abnormal or not.
Specifically, in conjunction with fig. 5, as shown in fig. 13, step 504 may further include the following steps 525 and 526.
525. When determining that the unmanned aerial vehicle flies out of the preset range according to the flight data, the ground station computer sends a return flight instruction to the ground station cabinet 11;
526. and the ground station cabinet receives the return flight instruction and sends the return flight instruction to the unmanned aerial vehicle.
The embodiment of the invention also provides a training system of the police unmanned aerial vehicle, which comprises a memory and a processor; a memory coupled to the processor; the memory is for storing computer program code, the computer program code comprising computer instructions; when the processor executes the computer instructions, the training system of the police drone executes the training method of the police drone provided by the embodiment.
The embodiment of the invention also provides a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are run on the training system of the police unmanned aerial vehicle, the training system of the police unmanned aerial vehicle is enabled to execute the training method of the police unmanned aerial vehicle provided by the embodiment of the invention.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions within the technical scope of the present invention are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (16)
1. The utility model provides a police unmanned aerial vehicle's training system which characterized in that includes: the system comprises a ground station cabinet, an unmanned aerial vehicle and a mobile terminal, wherein the ground station cabinet comprises a ground station computer, and the ground station cabinet is connected with the unmanned aerial vehicle;
the ground station computer is used for generating training information, the training information comprises a flight task, and the training information is used for prompting a student to operate the unmanned aerial vehicle to execute the flight task;
the unmanned aerial vehicle is used for executing a flight task and sending flight data acquired in the flight task to the ground station cabinet;
the ground station cabinet is used for receiving the flight data and sending the flight data to the ground station computer;
the ground station computer is used for receiving the flight data, determining a flight track according to the flight data, comparing the flight track with a reference track by adopting a training rule, and generating a training report, wherein the training report is used for prompting the accuracy of the flight mission to be executed by a student;
and the mobile terminal is used for generating simulated flight animation according to the flight data, and the simulated flight animation is used for a student to watch and operate the process of the unmanned aerial vehicle for executing a flight task.
2. A training system for police drones as claimed in claim 1, further comprising at least one position marker, each position marker attached to the ground station cabinet, the at least one position marker comprising a landing position marker;
each position marker is used for collecting position data of a preset position and sending the position data to the ground station cabinet;
the landing position marker is further used for acquiring a landing signal and a landing signal of the unmanned aerial vehicle and sending the landing signal and the landing signal to the ground station cabinet, wherein the landing signal is used for indicating whether the unmanned aerial vehicle takes off or not, and the landing signal is used for indicating whether the unmanned aerial vehicle lands or not;
the ground station cabinet is also used for receiving the take-off signal, the landing signal and at least one piece of position data and sending the position data to the ground station computer;
the ground station computer is further configured to generate the reference trajectory according to at least one of the position data, and is further configured to determine a duration for the unmanned aerial vehicle to execute the flight mission according to the takeoff signal and the landing signal.
3. The training system of police drones as claimed in claim 1 or 2, further comprising a weather station connected to the ground station cabinet;
the meteorological station is used for acquiring meteorological data in real time in the process that the unmanned aerial vehicle executes a flight mission and sending the meteorological data to the ground station cabinet, wherein the meteorological data comprises wind direction and wind power;
the ground station cabinet is further configured to receive the meteorological data and send the meteorological data to the ground station computer, and the training information includes the meteorological data.
4. The training system of police drones as claimed in claim 3, further comprising a prompt terminal connected to the ground station cabinet;
the ground station computer is also used for sending the training information to the ground station cabinet;
the ground station cabinet is also used for receiving the training information and sending the training information to the prompt terminal;
and the prompt terminal is used for receiving the training information, and playing and displaying the training information.
5. The training system of police drones as claimed in claim 1 or 2, further comprising a server connected to the ground station cabinet, the mobile terminal being connected to the server;
the ground station computer is further used for sending the flight data and the training report to the ground station cabinet;
the ground station cabinet is further used for sending the flight data and the training report to the server;
the server is used for receiving and storing the flight data and the training report;
the mobile terminal is used for requesting the flight data and the training report from the server.
6. The training system of police drones as claimed in claim 5, further comprising a system maintenance computer, said system maintenance computer being connected to said server;
the system maintenance computer is used for generating a training rule and sending the training rule to the server;
the server is used for receiving and storing the training rules, sending the training rules to the ground station computer through the ground station cabinet, and verifying the training report according to the training rules to generate a verification result, wherein the verification result is used for indicating whether the training report is abnormal or not.
7. The training system of police drones as claimed in claim 1 or 2,
the ground station computer is further used for sending a return flight instruction to the ground station cabinet when the unmanned aerial vehicle is determined to fly out of the preset range according to the flight data;
the ground station cabinet is further used for receiving the return flight instruction and sending the return flight instruction to the unmanned aerial vehicle.
8. The training method of the police unmanned aerial vehicle is characterized by being applied to a training system of the police unmanned aerial vehicle, and the training system of the police unmanned aerial vehicle comprises the following steps: the system comprises a ground station cabinet, an unmanned aerial vehicle and a mobile terminal, wherein the ground station cabinet comprises a ground station computer, and the ground station cabinet is connected with the unmanned aerial vehicle;
the ground station computer generates training information, the training information comprises a flight task, and the training information is used for prompting a student to operate the unmanned aerial vehicle to execute the flight task;
the unmanned aerial vehicle executes a flight task and sends flight data acquired in the flight task to the ground station cabinet;
the ground station cabinet receives the flight data and sends the flight data to the ground station computer;
the ground station computer receives the flight data, determines a flight track according to the flight data, compares the flight track with a reference track by adopting a training rule, and generates a training report, wherein the training report is used for prompting the accuracy of the flight mission to be executed by a student;
and the mobile terminal generates simulated flight animation according to the flight data, and the simulated flight animation is used for a student to watch and operate the process of executing a flight task by the unmanned aerial vehicle.
9. A training method for a police drone according to claim 8, wherein the training system for a police drone further comprises at least one position marker, each position marker connected to the ground station cabinet, the at least one position marker comprising a landing position marker;
each position marker acquires position data of a preset position and sends the position data to the ground station cabinet;
the take-off and landing position marker acquires a take-off signal and a landing signal of the unmanned aerial vehicle and sends the take-off signal and the landing signal to the ground station cabinet, wherein the take-off signal is used for indicating whether the unmanned aerial vehicle takes off or not, and the landing signal is used for indicating whether the unmanned aerial vehicle lands or not;
the ground station cabinet receives the takeoff signal, the landing signal and at least one piece of position data and sends the signals to the ground station computer;
the ground station computer generating the reference trajectory from at least one of the location data;
and the ground station computer determines the time length for the unmanned aerial vehicle to execute the flight mission according to the takeoff signal and the landing signal.
10. A training method of a police drone according to claim 8 or 9, wherein the training system of a police drone further comprises a weather station connected to the ground station cabinet;
the meteorological station acquires meteorological data in real time in the process that the unmanned aerial vehicle executes a flight task and sends the meteorological data to the ground station cabinet, wherein the meteorological data comprises wind direction and wind power;
the ground station cabinet receives the meteorological data and sends the meteorological data to the ground station computer, and the training information comprises the meteorological data.
11. The training method of the police drone of claim 10, wherein the training system of the police drone further comprises a prompt terminal, the prompt terminal being connected to the ground station cabinet;
the ground station computer sends the training information to the ground station cabinet;
the ground station cabinet receives the training information and sends the training information to the prompting terminal;
and the prompt terminal receives the training information, and plays and displays the training information.
12. A training method of a police drone according to claim 8 or 9, wherein the training system of a police drone further comprises a server connected to the ground station cabinet, the mobile terminal being connected to the server;
the ground station computer sending the flight data and the training report to the ground station cabinet;
the ground station cabinet sends the flight data and the training report to the server;
the server receiving and storing the flight data and the training report;
the mobile terminal requests the flight data and the training report from the server.
13. The training method of a police drone of claim 12, wherein the training system of a police drone further comprises a system maintenance computer, the system maintenance computer being connected to the server;
the system maintenance computer generates a training rule and sends the training rule to the server;
the server receiving and storing the training rules and sending the training rules to the ground station computer via the ground station cabinet;
and the server verifies the training report according to the training rule to generate a verification result, wherein the verification result is used for indicating whether the training report is abnormal or not.
14. The training method of police drones, according to claim 8 or 9,
the ground station computer sends a return flight instruction to the ground station cabinet when determining that the unmanned aerial vehicle flies out of a preset range according to the flight data;
and the ground station cabinet receives the return flight instruction and sends the return flight instruction to the unmanned aerial vehicle.
15. The training system of the police unmanned aerial vehicle is characterized by comprising a memory and a processor; the memory and the processor are coupled; the memory for storing computer program code, the computer program code comprising computer instructions; when the processor executes the computer instructions, the training system of the police drone performs the method of training a police drone of any one of claims 8-14.
16. A computer-readable storage medium comprising computer instructions that, when run on a training system for a police drone, cause the training system for a police drone to perform the method of training a police drone of any one of claims 8-14.
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| CN202210184503.3A CN114373365A (en) | 2022-02-28 | 2022-02-28 | Police unmanned aerial vehicle training system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116592894A (en) * | 2023-07-11 | 2023-08-15 | 天津中远海运散运数字科技有限公司 | Route planning method, device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116592894A (en) * | 2023-07-11 | 2023-08-15 | 天津中远海运散运数字科技有限公司 | Route planning method, device and storage medium |
| CN116592894B (en) * | 2023-07-11 | 2023-12-26 | 天津中远海运散运数字科技有限公司 | Route planning method, device and storage medium |
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