WO2020011087A1 - 无人机系统日志的存储方法及无人机图传系统 - Google Patents

无人机系统日志的存储方法及无人机图传系统 Download PDF

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Publication number
WO2020011087A1
WO2020011087A1 PCT/CN2019/094603 CN2019094603W WO2020011087A1 WO 2020011087 A1 WO2020011087 A1 WO 2020011087A1 CN 2019094603 W CN2019094603 W CN 2019094603W WO 2020011087 A1 WO2020011087 A1 WO 2020011087A1
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Prior art keywords
log
abnormal
written
storage
preset
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English (en)
French (fr)
Inventor
李昭早
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Publication of WO2020011087A1 publication Critical patent/WO2020011087A1/zh
Priority to US17/136,202 priority Critical patent/US20210117107A1/en
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
    • G06F3/0601—Interfaces specially adapted for storage systems
    • G06F3/0668—Interfaces specially adapted for storage systems adopting a particular infrastructure
    • G06F3/0671—In-line storage system
    • G06F3/0673—Single storage device
    • G06F3/0679—Non-volatile semiconductor memory device, e.g. flash memory, one time programmable memory [OTP]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F12/00—Accessing, addressing or allocating within memory systems or architectures
    • G06F12/02—Addressing or allocation; Relocation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
    • G06F3/0601—Interfaces specially adapted for storage systems
    • G06F3/0602—Interfaces specially adapted for storage systems specifically adapted to achieve a particular effect
    • G06F3/0614—Improving the reliability of storage systems
    • G06F3/0619—Improving the reliability of storage systems in relation to data integrity, e.g. data losses, bit errors
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
    • G06F3/0601—Interfaces specially adapted for storage systems
    • G06F3/0628—Interfaces specially adapted for storage systems making use of a particular technique
    • G06F3/0638—Organizing or formatting or addressing of data
    • G06F3/064—Management of blocks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
    • G06F3/0601—Interfaces specially adapted for storage systems
    • G06F3/0628—Interfaces specially adapted for storage systems making use of a particular technique
    • G06F3/0638—Organizing or formatting or addressing of data
    • G06F3/0644—Management of space entities, e.g. partitions, extents, pools
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/085—Registering performance data using electronic data carriers
    • G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to a method for storing logs of an unmanned aerial vehicle system and an image transmission system of the unmanned aerial vehicle.
  • Drones are very popular and popular shooting vehicles in recent years. Based on the high maneuverability and flexible position movement of the drone or aircraft, many angles that cannot be achieved by normal photography can be obtained. This makes drones more and more applied to aerial photography or flight performance.
  • an embodiment of the present invention provides a drone system log storage method and a drone image transmission system that can provide complete drone log information during operation.
  • a method for storing a UAV system log includes: generating an operation log at one end of the drone, where the operation log includes an abnormal log generated when an abnormality occurs in the drone system; and storing the abnormal log in a preset first storage space.
  • the preset storage space is a private FLASH of the drone.
  • storing the abnormality log in a preset first storage space includes: sequentially writing the abnormality log in the preset first storage space according to an order in which the abnormality log is generated.
  • the preset first storage space includes an identification storage area and a content storage area located at the head, and the sequential writing in the preset first storage space according to the order in which the abnormal logs are generated Enter exception logs, including:
  • the method further includes: storing the operation log in a mass storage device of the drone.
  • the embodiments of the present invention further provide the following technical solutions: a method for storing a UAV system log.
  • the storage method includes generating an operation log at one end of the remote controller, where the operation log includes an abnormal log when an abnormality occurs on the remote controller, and storing the abnormal log in a preset second storage space.
  • the preset storage space is a private FLASH of the remote controller.
  • storing the abnormality log in a preset second storage space includes: sequentially writing the abnormality log in the preset second storage space according to an order in which the abnormality log is generated.
  • the preset second storage space includes an identification storage area and a content storage area located at the head, and the sequential writing in the preset second storage space according to the order in which the abnormal log is generated Enter exception logs, including:
  • the method further includes: storing the operation log in a mass storage device of a remote controller.
  • the UAV image transmission system includes: a UAV side image transmission module and a ground side image transmission module;
  • the UAV side image transmission module and the ground side image transmission module are connected through a wireless network; the UAV side image transmission module includes at least one first memory; and a preset is set in the first memory.
  • a first storage space, the preset first storage space is used to store an abnormal log generated when an abnormality occurs in the drone;
  • the ground-side image transmission module includes at least one second memory, and the second memory is provided with a preset second storage space, and the preset second storage space is used by a user to store an abnormality generated when the drone is abnormal. Log.
  • the UAV side image transmission module communicates with the image acquisition device via Ethernet; the ground side image transmission module communicates with the mobile terminal device via USB Communication connection.
  • the image acquisition device is connected to a mass storage device of a drone, and the mobile terminal device is connected to a mass storage device of a remote controller;
  • the UAV side image transmission module is used to transmit the operation log generated by one end of the UAV to the mass storage device of the UAV for storage through the Ethernet;
  • the ground side image transmission module Configured to transmit, through the USB connection, a running log generated by one end of the remote controller to a mass storage device of the mobile terminal for storage;
  • the operation log generated at one end of the drone includes an abnormal log generated when an abnormality occurs in the drone
  • the operation log generated at one end of the remote control includes an abnormal log generated when an abnormality occurs in the remote control
  • the first memory and the second memory are FLASH; a storage address of S bytes is allocated in the FLASH as the preset storage space; wherein the first N bytes are identification storage Area for storing the end position of the exception log; the N + 1th to S-th bytes are content storage areas for storing the exception log.
  • the drone system log storage method and the drone image transmission system provided in the embodiments of the present invention save the abnormal log in the private flash of the image transmission system. In this way, after the drone system is shipped, the log can be exported in time and sent to a technician for problem location.
  • the complete operation log of the drone system with a large amount of data can be stored in the large-capacity storage device of the drone or remote control, respectively, and can be used in research and development or test reproduction.
  • FIG. 1 is a schematic diagram of an application environment according to an embodiment of the present invention.
  • FIG. 2 is a structural block diagram of a remote controller according to an embodiment of the present invention.
  • FIG. 3 is a structural block diagram of an unmanned aerial vehicle system according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of storage address division of a first memory according to an embodiment of the present invention.
  • FIG. 5 is a method flowchart of a method for storing a drone system log according to an embodiment of the present invention
  • FIG. 6 is a method flowchart of an abnormal log writing method according to an embodiment of the present invention.
  • FIG. 7 is a method flowchart of a method for storing a drone system log according to another embodiment of the present invention.
  • FIG. 8 is a method flowchart of an exception log writing method according to another embodiment of the present invention.
  • FIG. 1 is an application environment provided by an embodiment of the present invention. As shown in FIG. 1, the application environment includes a drone 10, a remote controller 20, and a wireless network 30.
  • the drone 10 may be an unmanned aerial vehicle driven by any type of power, including but not limited to a four-axis drone, a fixed-wing aircraft, and a helicopter model.
  • a four-axis drone is taken as an example for description.
  • the drone 10 may have a corresponding volume or power according to the needs of the actual situation, so as to provide a load capacity, a flight speed, a flight range and the like that can meet the needs of use.
  • One or more functional modules can be added to the drone, so that the drone can achieve more functions.
  • the drone 10 is provided with at least one image acquisition device for acquiring image information and a mass storage device for storing image information.
  • the drone 10 may further provide a fixing bracket for fixedly installing the image acquisition module, so that the user can replace the image acquisition device installed on the drone 10 according to his own needs.
  • the remote control 20 may be any type of user interaction device for operating a drone.
  • the remote controller 20 may be equipped with one or more different user interaction devices to collect user instructions or display or feedback information to the user. These interactive devices include, but are not limited to, buttons, displays, touch screens, speakers, and remote joysticks.
  • the remote controller 20 may be equipped with a touch display screen, through which the user receives a remote control instruction of the drone and displays the image information to the user through the touch display screen.
  • the remote controller 20 may also be connected to or implemented by a smart terminal device directly.
  • a software application (APP) matching the drone 10 may be installed on the smart terminal.
  • the user can use the software application program to obtain image information collected by the drone 10 and / or operate the drone 10.
  • the remote control 20 may also be a dedicated control device supporting the drone 10, which may receive image information from the drone 10 and display it through a built-in or externally connected display screen (such as a mobile phone).
  • a dedicated control device supporting the drone 10 may receive image information from the drone 10 and display it through a built-in or externally connected display screen (such as a mobile phone).
  • FIG. 2 is a structural block diagram of a remote controller 20 according to an embodiment of the present invention.
  • the remote controller 20 may include a processor 21, a memory 22, an input device 23, a display screen 24, and a communication module 25.
  • a communication connection is established between the processor 21, the memory 22, the input device 23, the display screen 24, and the communication module 25 through a bus.
  • the processor 21 is any type of single-threaded or multi-threaded processor with one or more processing cores.
  • the memory 22 is a non-volatile computer-readable storage medium, for example, at least one magnetic disk storage device, a flash memory device, a distributed storage device remotely disposed relative to the processor 21, or other non-volatile solid-state storage devices.
  • the memory 22 may have a program storage area for storing a non-volatile software program, a non-volatile computer executable program, and a module, which are called by the processor 21 to cause the processor 21 to perform one or more method steps.
  • the memory 22 may further have a data storage area, which is used to store a calculation processing result issued by the processor 21.
  • the input device 23 is a user interaction device for collecting user input instructions, such as a mouse, a keyboard, a touch panel, a remote control lever, or other input devices.
  • the input device 23 receives numeric or character information input by a user and provides it to the processor 21 to cause the processor 21 to execute a corresponding control instruction.
  • the display screen 24 is a display device for displaying the corresponding data to the user in a specific form, and may be any type of display, such as an LED display, a picture tube display, or an LCD display.
  • the display screen 24 receives the display information output by the processor 21 and correspondingly converts it into image information and provides it to the user.
  • the communication module 25 is a functional module for establishing a communication connection with the drone 10 and providing a physical channel.
  • the communication module 25 may be any type of wireless or wired communication module, such as a WiFi module or a Bluetooth module.
  • the wireless network 30 may be a wireless communication network based on any type of data transmission principle, which can establish a data transmission channel between two nodes, such as a Bluetooth network, a WiFi network, a wireless cellular network, and various wireless communication networks located in different signal frequency bands Combination.
  • the wireless network 30 may be a radio frequency transmission network in a 2.4 GHz frequency band.
  • Corresponding radio frequency modules are provided on the drone aircraft 10 and the remote controller 20 to establish corresponding communication links to realize data transmission between the drone aircraft 10 and the remote controller 20.
  • the drone system may integrate an aircraft image transmission system.
  • the aircraft image transmission system may include a UAV side image transmission module 101 and a camera 102 applied to the UAV 10 side, and a ground side image transmission module 201 and a mobile phone 202 applied to the remote control 20 side.
  • the camera 102 may be a camera with a suitable resolution, an action camera, or the like. In the embodiment shown in FIG. 3, only the camera 102 is taken as an example.
  • a corresponding image acquisition device such as a video camera, for capturing video or images may also be selected according to the actual situation, which is not strictly limited here.
  • the UAV side image transmission module 101 can establish a communication connection with the image acquisition device of the UAV through an appropriate communication method, and acquire an image from the image acquisition device. Specifically, the UAV side image transmission module 101 may establish a communication connection with the image acquisition device through Ethernet.
  • the ground-side image transmission module 201 establishes a communication connection with the mobile phone 202, receives image information sent from the drone-side image transmission module 101, and provides it to the mobile phone 202.
  • the mobile phone 202 may specifically be any type of terminal device for implementing related operations. In the embodiment shown in FIG. 3, only the mobile phone 202 is taken as an example. It can be understood that, in other embodiments, other mobile terminal devices that can display image information to the user, such as a tablet computer, a laptop computer, or some smart wearable devices, may also be selected according to the actual situation.
  • the ground-side image transmission module 201 may establish a communication connection with the mobile phone 202 through a USB cable.
  • the UAV-side image transmission module 101 and the ground-side image transmission module 201 can implement data exchange between the two parties through a 2.4 GHz radio frequency communication network or other types of wireless communication networks, and are used to transmit image data captured by the camera, etc. .
  • the UAV side image transmission module 101 can continuously generate an operation log for recording the operation status of the UAV.
  • the ground-side image transmission module 201 can also generate an operation log that records the operation status of the remote controller or the reception of data instructions during the operation of the UAV system.
  • the operation log refers to the status of the drone (such as power consumption, motor speed, battery status), the trajectory of the drone (such as altitude, flight distance, speed), and input commands from the remote control. Related information. It records all the detailed information during the operation of the entire drone system, which can be provided to R & D or technical personnel for use as basic data.
  • the basic information provided by the R & D or technical personnel through the operation logs of the drone and the remote control can effectively and accurately restore the scene of the drone system, locate the problem, and provide a feasible solution.
  • a log generated in an abnormal state (for example, failure, remote control failure, etc.) is referred to as an abnormal log.
  • an abnormal log a log generated in an abnormal state (for example, failure, remote control failure, etc.)
  • the amount of data in the operation log is very large (such as 1 Mib per second), and the amount of data in the exception log usually occupies only a small part of the operation log (usually several tens of K).
  • the UAV side image transmission module 101 and the ground side image transmission module 201 may be respectively provided with their own first memory 101a and second memory 201a.
  • the first memory 101a and the second memory 201a may be private FLASH (flash memory) of the UAV-side image transmission module 101 and the ground-side image transmission module 201, or other suitable types of memory, respectively in the UAV-side image transmission module.
  • the private FLASH of 101 creates a first storage space and the private FLASH of the image transmission module 201 on the ground side opens a second storage space.
  • the first storage space and the second storage space are preset storage spaces for storing corresponding storage spaces. Exception log data or instruction program.
  • the mobile phone 202 will also have corresponding large-capacity storage devices, such as various types of expandable memory cards inserted into the mobile phone 202.
  • the large-capacity storage devices in the camera 102 and the mobile phone 202 have the characteristics of large storage space, large storage capacity, and can meet storage requirements for large amounts of data.
  • the UAV-side image transmission module 101 can save the abnormal log to the first In the storage space, the operation log is sent to the mass storage device in the image acquisition device for storage (such as an SD card) via Ethernet.
  • the ground-side image transmission module 201 can write the generated abnormal log into the second storage space of the private second storage 201a, and send the operation log with a large amount of data to the mobile phone 202 via a USB connection.
  • Mass storage device (such as a memory card).
  • the exception logs stored in the private FLASH of the UAV-side image transmission module 101 and the ground-side image transmission module 201 can be conveniently exported and provided to the corresponding R & D personnel or technical personnel for problem location through a network form such as an http server.
  • This export method can facilitate the user to complete the diagnosis of the drone in time when there is a problem or abnormality in the use of the drone, and provide the user with a corresponding solution.
  • the operation log stored in the mass storage device can be used as long-term storage data. It is used when technicians carry out follow-up R & D or test scene construction and reproduce the detailed problems of the drone.
  • the large-capacity storage device can guarantee a reorganized space to store the operation log with a large amount of data.
  • the first storage space and the second storage space opened by the first storage 101a and the second storage 102a may be set accordingly, and Use proper writing rules.
  • FIG. 4 is a schematic diagram of storage address division of a first storage space or a second storage space according to an embodiment of the present invention. As shown in FIG. 4, the preset first or second storage space can be divided into two parts: an identification storage area 31 and a content storage area 32.
  • the first N bytes are identification storage areas, which are used to store the end position of the exception log.
  • the remaining storage space is a content storage area, which is used to store the specific content of the exception log.
  • N may be set to 4. That is, the first four bytes are reserved for recording or storing the end position P of the abnormal log, which serves as a corresponding indication.
  • the abnormal log can be written and exported from the first or second memory in an orderly manner according to the sequence of generation time .
  • the content in the content storage area is derived according to the order from position P to S, and then the remaining content is derived according to the order from 0 to S, so as to provide an order based on the generation time Exception log.
  • the storage address division of the second memory is the same as the storage address division of the first memory.
  • FIG. 5 is a method for storing a UAV system log according to an embodiment of the present invention.
  • the method shown in FIG. 5 is executed by a hardware device at one end of the drone to provide a running log related to the drone.
  • the method may include the following steps:
  • the operation log refers to data that records the operation status information of the drone in detail at different times or times. This log truly records the operation process of the drone, and can provide a wealth of data for locating problems or reproducing the scene.
  • the operation log includes an abnormal log generated when an abnormality occurs in the drone system.
  • the specific content to be recorded in the operation log or the parameters and items involved can be selected and set by the technicians according to the actual situation.
  • the operation log may also be adjusted during use, and the information items to be recorded may be changed, increased, or decreased.
  • the abnormal log is a running log of a drone system failure or other abnormal situations. These operating logs usually represent abnormal working conditions of the drone. It should be understood that the amount of data involved in these abnormal logs is small (such as about tens of k), and can be stored in the internal memory (such as the private FLASH of the drone) that comes with the image transmission system or the drone core control system In order to facilitate timely transmission to the R & D personnel or technical support department through an external network or http server to locate problems with the drone.
  • the operation log is further stored in a mass storage device of the drone.
  • the operation log of the UAV system running process involves a large amount of data (such as 1Mib per second), and needs to be stored in a large-capacity storage device to meet the requirements of data storage to provide rich data.
  • the large-capacity storage device set in the drone may be specifically determined according to actual conditions, and depends on the functional modules provided or installed in the drone system.
  • the mass storage device may be an SD card in the camera for storing pictures.
  • the preset first storage space is still a limited space, and the abnormal log is in a process of continuous formation. Therefore, in order to ensure that the exception logs are in order and can be used, the specific steps described below can be adopted:
  • the abnormal logs are sequentially written in the preset storage space.
  • the preset storage space has addresses arranged in a certain order. In the process of writing the exception log, the exception log is written sequentially according to the sequence, and the subsequent exception log is written at the first address immediately after the end of the previous exception log.
  • the following storage methods may be specifically used:
  • the abnormal log to be written is written into the content storage area from an end position of the abnormal log written last time.
  • the abnormal log to be written is written into the content storage area from the start position of the earliest written abnormal log to cover the first written abnormal log.
  • the exception log to be written is written by overwriting the earliest written exception log originally stored in the preset storage space.
  • FIG. 6 is a specific flowchart of a method for storing an abnormal log disclosed in the foregoing method embodiment.
  • the process of writing the abnormal log in the first memory may include the following steps:
  • step 620 If yes, go to step 620; if no, go to step 630.
  • This ending position is used to mark the position of the current latest exception log in the preset storage space, so as to ensure that the exception log can be accurately derived according to the time sequence.
  • FIG. 7 is a method for storing a drone system log according to another embodiment of the present invention.
  • the method shown in FIG. 7 is executed by a hardware device on the remote controller side to provide a running log related to the remote controller.
  • the method may include the following steps:
  • the remote control end refers to the ground end corresponding to the drone end in the drone system.
  • One end of the remote control includes, but is not limited to, a remote control, and may also have other suitable devices, such as a user's smartphone or tablet computer.
  • the operation log on the remote control side may generally include device status or instruction transmission status related to user interaction.
  • the operation log of the remote control also includes the abnormal log of the remote control when an abnormality occurs. Due to the small amount of data, the abnormal log can be stored in a preset second storage space, which is convenient for timely retrieval or sending to a technician for use.
  • the preset storage space may be a private FLASH of the remote controller.
  • the operation log may be further stored in a mass storage device connected to the remote controller (such as a mobile phone connected to the remote controller).
  • a mass storage device connected to the remote controller (such as a mobile phone connected to the remote controller).
  • Complete running log records or large amounts of data need to be stored in a storage device with a large data capacity to ensure that the storage space can meet the storage requirements for the amount of data.
  • the abnormality log may be sequentially written in the preset second storage space on the remote control end according to the order in which the abnormality log is generated.
  • the preset second storage space has addresses arranged in a certain order. In the process of writing the exception log, the exception log is written in accordance with the sequence, and the subsequent exception log is close to the previous exception log. The first address after the end position is written.
  • the currently generated exception log is written and overwrites the earliest written abnormal log in the preset storage space.
  • FIG. 8 is a specific flowchart of a method for storing an abnormal log disclosed in the foregoing method embodiment.
  • the process of writing the abnormal log in the second storage space may include the following steps:
  • the preset storage space is divided into a logo storage area and a content storage area located at the head.
  • step 820 If yes, go to step 820; if no, go to step 830.
  • the drone system log storage method provided by the embodiments of the present invention and the drone image transmission system used to execute the method can effectively record and store the drone and remote control during the operation of the drone system. Of running log data.
  • the abnormal logs generated under abnormal conditions can be directly saved in the internal memory of the drone or remote control. After the unmanned aerial vehicle is shipped in batches and sold, when an abnormality occurs in the use of the user, the abnormality log can be conveniently exported in the internal memory and sent back to the http server for research and development for positioning.
  • the daily running logs are stored in the large-capacity storage devices of the drone and the remote control (such as the SD card on the drone or the memory card of the smart phone).
  • These large-capacity storage devices can record all operation logs and use them as basic data for further research and development or testing to reproduce detailed problems.
  • each step of the exemplary data transmission control method described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two, in order to clearly Explain the interchangeability of hardware and software.
  • the composition and steps of each example have been described generally in terms of functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution.
  • the computer software may be stored in a computer-readable storage medium.
  • the program When the program is executed, the program may include the processes of the embodiments of the methods described above.
  • the storage medium may be a magnetic disk, an optical disk, a read-only storage memory, or a random storage memory.

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Abstract

一种无人机系统日志的存储方法以及无人机图传系统。所述无人机系统日志的存储方法包括：生成无人机(10)一端的运行日志(510)，所述运行日志包括无人机系统发生异常时产生的异常日志；将所述异常日志存储到预设的第一存储空间中(520)。该方法可以在无人机系统出货以后，及时的将异常日志导出并发送给技术人员进行问题定位。而数据量较大的系统日常运行日志可以保存在无人机(10)或者移动终端(20)的大容量存储设备中，可以在研发或者测试复现时使用。

Description

无人机系统日志的存储方法及无人机图传系统
【相关申请的交叉引用】
本申请要求申请号为201810744508.0，申请日为2018年7月9日申请的中国专利申请的优先权，其全部内容通过引用结合于本文。
【技术领域】
本发明涉及无人机技术领域，尤其涉及一种无人机系统日志的存储方法及无人机图传系统。
【背景技术】
无人机是近年来非常热门，广受欢迎的拍摄载具。基于无人机或者飞行器的高机动性以及灵活的位置移动，可以获得许多正常摄影无法实现的角度。这使得无人机越来越多的应用到航拍或者飞行表演中。
用户通常需要通过专用遥控设备对无人机的飞行进行控制。或者通过移动终端与遥控设备建立通信连接，实时的点播航拍无人机拍摄获得图像。
在无人机系统中，图像传输或者遥控控制等都是基于无线通信进行数据传输的，非常容易受到周边环境的影响。因此，在实际运行过程中，无人机系统现场可能会发生许多无法预料或者难以在实验室或者场外常规测试中复现的技术性问题。
如何准确的记录无人机系统的现场状况，提供基础分析数据，为技术人员定位无人机系统存在的问题或者发生的故障是一个迫切需要解决的问题。
【发明内容】
为了解决上述技术问题，本发明实施例提供一种可以提供运行过程中，完整无人机日志信息的无人机系统日志的存储方法及无人机图传系统。
为解决上述技术问题，本发明实施例提供以下技术方案：一种无人机系 统日志的存储方法。所述存储方法包括：生成无人机一端的运行日志，所述运行日志包括无人机系统发生异常时产生的异常日志；将所述异常日志存储到预设的第一存储空间中。
可选地，所述预设的存储空间为所述无人机的私有FLASH。
可选地，将所述异常日志存储到预设的第一存储空间中，包括：依据所述异常日志生成的次序，在所述预设的第一存储空间中依次写入异常日志。
可选地，所述预设的第一存储空间包括位于头部的标识存储区以及内容存储区，所述依据所述异常日志生成的次序，在所述预设的第一存储空间中依次写入异常日志，包括：
判断待写入的异常日志的长度是否小于所述内容存储区剩余的长度；
若是，将所述待写入的异常日志从上一次写入的异常日志的结尾位置开始写入所述内容存储区中；
若否，将所述待写入的异常日志从最早写入的异常日志的开始位置写入所述内容存储区中以覆盖所述最先写入的异常日志；
将所述待写入的异常日志的结尾位置写入所述标识存储区。
可选地，所述方法还包括：将所述运行日志存储至无人机的大容量存储设备中。
为解决上述技术问题，本发明实施例还提供以下技术方案：一种无人机系统日志的存储方法。所述存储方法包括：生成遥控器一端的运行日志，所述运行日志包括遥控器发生异常时的异常日志；将所述异常日志存储到预设的第二存储空间中。
可选地，所述预设的存储空间为所述遥控器的私有FLASH。
可选地，将所述异常日志存储到预设的第二存储空间中，包括：依据所述异常日志生成的次序，在所述预设的第二存储空间中依次写入异常日志。
可选地，所述预设的第二存储空间包括位于头部的标识存储区以及内容存储区，所述依据所述异常日志生成的次序，在所述预设的第二存储空间中依次写入异常日志，包括：
判断待写入的异常日志的长度是否小于所述内容存储区剩余的长度；
若是，将所述待写入的异常日志从上一次写入的异常日志的结尾位置开 始写入所述内容存储区中；
若否，将所述待写入的异常日志从最早写入的异常日志的开始位置写入所述内容存储区中，以覆盖所述最早写入的异常日志；
将所述待写入的异常日志的结尾位置写入所述标识存储区。
可选地，所述方法还包括：将所述运行日志存储至遥控器的大容量存储设备中。
为解决上述技术问题，本发明实施例还提供以下技术方案：一种无人机图传系统。所述无人机图传系统包括：无人机侧图传模块以及地面侧图传模块；
所述无人机侧图传模块与所述地面侧图传模块之间通过无线网络连接；所述无人机侧图传模块包括至少一个第一存储器；所述第一存储器中设置有预设的第一存储空间，所述预设的第一存储空间用于存储无人机发生异常时产生的异常日志；
所述地面侧图传模块包括至少一个第二存储器，所述第二存储器中设置有预设的第二存储空间，所述预设的第二存储空间用户存储无人机发生异常时产生的异常日志。
可选地，还包括图像采集设备和移动终端设备，所述无人机侧图传模块通过以太网与所述图像采集设备通信连接；所述地面侧图传模块通过USB与所述移动终端设备通信连接。
可选地，所述图像采集设备连接有无人机的大容量存储设备，所述移动终端设备连接有遥控器的大容量存储设备；
所述无人机侧图传模块用于通过所述以太网，将所述无人机一端生成的运行日志传输至所述无人机的大容量存储设备中存储；所述地面侧图传模块用于通过所述USB连接，将所述遥控器一端生成的运行日志传输至所述移动终端的大容量存储设备中存储；
其中，所述无人机一端生成的运行日志包括无人机发生异常时产生的异常日志，所述遥控器一端生成的运行日志包括遥控器发生异常时发生的异常日志。
可选地，所述第一存储器和所述第二存储器为FLASH；所述FLASH中 分配有S个字节的存储地址作为所述预设的存储空间；其中，前N个字节为标识存储区，用于存储异常日志的结尾位置；第N+1至第S个字节为内容存储区，用于存储所述异常日志。
与现有技术相比较，本发明实施例的提供的无人机系统日志的存储方法及无人机图传系统将异常日志保存在图传系统的私有FLASH内。这样令异常日志可以在无人机系统出货以后，及时的将日志导出并发送给技术人员进行问题定位。
而数据量较大的无人机系统的完整运行日志则可以分别保存在无人机或者遥控器的大容量存储设备中，可以在研发或者测试复现时使用。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明实施例的应用环境示意图；
图2为本发明实施例提供的遥控器的结构框图；
图3为本发明实施例提供的无人机系统的结构框图；
图4为本发明实施例提供的第一存储器的存储地址划分示意图；
图5为本发明实施例提供的无人机系统日志的存储方法的方法流程图；
图6为本发明实施例提供的异常日志写入方法的方法流程图；
图7为本发明另一实施例提供的无人机系统日志的存储方法的方法流程图；
图8为本发明另一实施例提供的异常日志写入方法的方法流程图。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一 个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本说明书中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
图1为本发明实施例提供的应用环境。如图1所示，所述应用环境包括无人机10、遥控器20以及无线网络30。
无人机10可以是以任何类型的动力驱动的无人飞行载具，包括但不限于四轴无人机、固定翼飞行器以及直升机模型等。在本实施例中以四轴无人机为例进行陈述。
该无人机10可以根据实际情况的需要，具备相应的体积或者动力，从而提供能够满足使用需要的载重能力、飞行速度以及飞行续航里程等。无人机上还可以添加有一种或者多种功能模块，令无人机能够实现更多的功能。
例如，在一些实施例中，该无人机10至少具备一个用于采集图像信息的图像采集设备以及用于存储图像信息的大容量存储设备。在另一些实施例中，该无人机10还可以提供用于固定安装图像采集模块的固定支架，从而可以使用户根据自身的需要，更换安装在无人机10上的图像采集设备。
遥控器20可以是任何类型，用以操作无人机的用户交互设备。遥控器20可以装配有一种或者多种不同的用户交互设备，用以采集用户指令或者向用户展示或者反馈信息。这些交互设备包括但不限于：按键、显示屏、触摸屏、扬声器以及遥控操作杆。例如，遥控器20可以装配有触控显示屏，通过该触控显示屏接收用户对无人机的遥控指令并通过触控显示屏向用户展示图像信 息。
在一些实施例中，遥控器20还可以与智能终端设备连接或者直接由智能终端设备实现。例如，可以通过在智能终端上安装有与无人机10相匹配的软件应用程序(APP)。用户可以通过该软件应用程序，获取无人机10采集获取的图像信息和/或操作无人机10。
在另一些实施例中，遥控器20还可以是与无人机10配套的专用控制设备，其可以接收来自无人机10的图像信息并通过内置或者外部连接的显示屏(如手机)显示。
图2为本发明实施例提供的遥控器20的结构框图。如图2所示，该遥控器20可以包括：处理器21、存储器22、输入装置23、显示屏24以及通信模块25。
所述处理器21、存储器22、输入装置23、显示屏24以及通信模块25之间通过总线的方式，建立任意两者之间的通信连接。
处理器21为任何类型的单线程或者多线程的，具有一个或者多个处理核心的处理器，作为遥控器20的控制核心，用于获取数据、执行逻辑运算功能以及下发运算处理结果。
存储器22作为一种非易失性计算机可读存储介质，例如至少一个磁盘存储器件、闪存器件、相对于处理器21远程设置的分布式存储设备或者其他非易失性固态存储器件。
存储器22可以具有程序存储区，用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，供处理器21调用以使处理器21执行一个或者多个方法步骤。存储器22还可以具有数据存储区，用以存储处理器21下发输出的运算处理结果。
输入装置23是用于采集用户输入指令的用户交互设备，例如鼠标、键盘、触控面板、操作遥控杆或者其它输入设备。输入装置23接收用户输入的数字或者字符信息，提供给处理器21以使处理器21执行对应的控制指令。
显示屏24是用于以特定的形式，向用户展示相应的数据的显示设备，其可以是任何类型的显示器、例如LED显示器、显像管显示器或者LCD显示器。显示屏24接收到由处理器21输出的显示信息，并相应的转换为图像信息提供给用户。
通信模块25是用于与无人机10建立通信连接，提供物理信道的功能模块。通信模块25可以是任何类型的无线或者有线通信模块，例如WiFi模块或者蓝牙模块等。
无线网络30可以是基于任何类型的数据传输原理，可以建立两个节点之间的数据传输信道的无线通信网络，例如位于不同信号频段的蓝牙网络、WiFi网络、无线蜂窝网络以及多种无线通信网络的结合。
在一些实施例中，所述无线网络30可以是2.4GHz频段的射频传输网络。无人机飞行器10和遥控器20上设置有相应的射频模块，建立相应的通信链路，实现无人机飞行器10与遥控器20之间的数据传输。
为实现无人机10与遥控器20之间的实时图像信息传输，请结合图3所示，该无人机系统中可以整合一飞行器图传系统。该飞行器图传系统可以包括：应用在无人机10一侧的无人机侧图传模块101和相机102以及应用在遥控器20一侧的地面侧图传模块201和手机202。
所述相机102可以为具有合适分辨率的相机、运动相机等。在图3所示的实施例中，仅以相机102为例。
可以理解的是，在其它实施例中，还可以根据实际情况，选用相应用于拍摄视频或者图像的图像采集设备，例如摄像机等，这里不作严格限制。
其中，无人机侧图传模块101可以通过合适的通信方式与无人机的图像采集设备建立通信连接，获取来自图像采集设备的图像。具体的，所述无人机侧图传模块101可以通过以太网与所述图像采集设备建立通信连接。
地面侧图传模块201则与手机202之间建立通信连接，接收来自无人机侧图传模块101发送的图像信息，并提供给手机202。
所述手机202具体可以为任何类型的终端设备，用于实现相关的操作。在图3所示的实施例中，仅以手机202为例。可以理解的是，在其它实施例中，还可以根据实际情况，选用相应的能够向用户展示图像信息的其他移动终端设备，例如平板电脑、手提电脑或者一些智能可穿戴设备。
具体的，所述地面侧图传模块201可以通过USB线与手机202建立通信连接。
所述无人机侧图传模块101与地面侧图传模块201之间可以通过2.4GHz射频通信网络或者其它类型的无线通信网络实现双方之间的数据交互，用以 传输相机拍摄的图像数据等。
随着无人机系统的运行，无人机侧图传模块101可以持续的产生用以记载无人机运行状态的运行日志。同样地，地面侧图传模块201也可以在无人机系统运行过程中，生成记载遥控器运行状态或者数据指令接收情况的运行日志。
该运行日志是指无人机运行的机体状态(如电量消耗、电机转速、电池状态)、无人机运行轨迹(如高度、飞行距离、速度)以及遥控器输入指令等与无人机和遥控器相关的信息。其记载了整个无人机系统运行过程中的所有详细信息，可以提供给研发或者技术人员，作为基础数据使用。
研发或者技术人员通过无人机以及遥控器的运行日志提供的基础信息，可以有效并且准确的还原无人机系统的现场，定位问题并提供可行的解决方案。
在无人机系统的运行过程中，通常包括正常使用状态和异常状态两种。在本实施例中，将处于异常(例如故障、遥控控制失效等)状态下产生的日志则被称为异常日志。一般的，运行日志的数据量非常大(如每秒1Mib)，而异常日志的数据量通常只占据了运行日志中的很小一部分(通常为几十K大小)。
在一些实施例中，所述无人机侧图传模块101与地面侧图传模块201分别可以设置有自身的第一存储器101a和第二存储器201a。该第一存储器101a和第二存储器201a可以分别是无人机侧图传模块101与地面侧图传模块201的私有FLASH(闪存)或者其它合适类型的存储器，分别在无人机侧图传模块101的私有FLASH开辟第一存储空间和在地面侧图传模块201的私有FLASH开辟第二存储空间，所述第一存储空间和所述第二存储空间作为预设的存储空间用以存储相应的异常日志数据或者指令程序。
如图3所示的，在相机102中，通常会设置有用于存储图像数据的一些大容量存储设备，例如SD卡或者TF卡。另一方面，手机202同样也会具有相应的大容量存储设备，例如插入手机202中各种不同类型的可扩展存储卡等。所述在相机102和手机202中的大容量存储设备具有存储空间大的特点，具有很大的存储容量，可以满足大数据量的存储要求。
基于上述运行日志和异常日志在数据量以及数据应用场景上的区别，在 本发明实施例中，所述无人机侧图传模块101可以将异常日志保存写入至第一存储器101a的第一存储空间中，并且将运行日志通过以太网，发送到图像采集设备中的大容量存储设备中进行存储(如SD卡)。所述地面侧图传模块201则可以将产生的异常日志写入自己私有的第二存储器201a的第二存储空间中，并且将数据量大的运行日志通过USB连接的方式，发送到手机202的大容量存储器设备(如的存储卡)中进行存储。
虽然在图3中仅以相机和手机进行举例说明，但本领域技术人员基于以上实施例揭露的发明思想，也可以将所述相机和手机替换、调整或者组合为其它具有设备，只需要能够形成分别与无人机侧和地面侧建立数据连接的大容量存储设备即可。
存储在无人机侧图传模块101和地面侧图传模块201的私有FLASH中的异常日志可以方便的进行导出并通过http服务器等网络形式提供给相应的研发人员或者技术人员进行问题定位。这一导出方式可以方便用户在无人机使用出现问题或者异常时，及时的完成无人机的诊断，为用户提供相应的解决方案。
而存储在大容量存储设备中的运行日志则可以作为长期保存数据。在技术人员进行后续研发或者测试场景搭建，复现无人机详细问题时使用。大容量存储设备可以保证具有重组的空间保存数据量较大的运行日志。
在另一些实施例中，为了便于异常日志可以按照一定的规则和时间次序导出，可以对第一存储器101a和第二存储器102a的开辟的第一存储空间和第二存储空间进行相应的设置，并采用合适的写入规则。
图4为本发明实施例提供的第一存储空间或第二存储空间存储地址划分示意图。如图4所示，该预设的第一或第二存储空间可以划分为标识存储区31以及内容存储区32两个部分。
其中，前N个字节为标识存储区，其用于存储异常日志的结尾位置。剩余的存储空间为内容存储区，用以存储异常日志的具体内容。本领域技术人员可以根据实际需要，将N设置任何合适的整数。具体的，所述N可以设置为4。亦即，保留前四个字节用以记录或者存储所述异常日志的结尾位置P，起到相应的指示作用。
基于图4所示的预设的第一或第二存储空间地址分配示意图，异常日志 可以通过如下方式，依据生成时间的先后顺序，有序的被写入和从第一或第二存储器中导出。
设每次写入的异常日志的长度为L个字节，结尾位置为P，内容存储区的大小为S个字节。
写入过程：首先，计算P+L是否小于S(即内容存储区32的剩余空间是否足够写入或者容纳当前的异常日志)。若是，则在位置P写入日志，然后令P＝P+L。若否，则令P＝0以后，在位置P写入当前的异常日志(亦即在内容存储区的首个地址写入，覆盖在先写入的地址)，然后令P＝P+L。
最后，将结尾位置P的值写入所述标识存储区中。
导出过程：首先，读取标识存储区中的内容，确定当前最新写入的异常日志的结尾位置P。然后，当P＝0时，直接依据从0到S的顺序，导出在内容存储区内的所有异常日志。
当P在0和S之间时，则先依据从位置P到S的顺序，导出内容存储区内的内容，再依据从0到S的顺序，导出剩余的内容，从而提供依据生成时间次序排列的异常日志。
在一个实施例中，第二存储器的存储地址划分与第一存储器的存储地址划分相同。
图5为本发明实施例提供的无人机系统日志的存储方法。图5所示的方法由无人机一端的硬件设备执行，用以提供与无人机相关的运行日志。如图5所示，该方法可以包括如下步骤：
510、生成无人机一端的运行日志。如上述实施例公开的，该运行日志是指详细记录了在不同时间或者时刻下，无人机运行状态信息的数据。该日志真实的记载了无人机的运行过程，可以提供丰富的数据用于定位问题或者复现现场。所述运行日志包括无人机系统发生异常时产生的异常日志。
运行日志具体所要记载的内容或者涉及的参数、项目等可以由技术人员根据实际情况选择设置。在一些实施例中，也可以在使用过程中对运行日志进行调整，改变、增加或者减少其所要记录的信息项目。
520、将所述异常日志存储到预设的第一存储空间中。
所述异常日志是无人机系统发生故障或者其它异常情况下的运行日志。这些运行日志通常都代表了无人机的非正常工作状态。应当理解的，这些异 常日志涉及的数据量较小(如几十k左右)，可以存储到图传系统或者无人机核心控制系统自带的内部存储器(例如无人机的私有FLASH中)中，以便于及时的通过外部网络或者http服务器，传输至研发人员或者技术支持部门，定位无人机存在的问题。
在另一些实施例中，还进一步地将所述运行日志存储至无人机的大容量存储设备中。
可以理解的，无人机系统运行过程的运行日志涉及的数据量较大(如每秒1Mib)，需要存储到具有大容量的存储设备中才能满足数据存储的要求，用以提供丰富的数据。
该无人机中设置的大容量存储设备具体可以根据实际情况所确定，取决于无人机系统所具备或者安设的功能模块。例如，该大容量存储设备可以是相机中用于存储图片的SD卡。
在本实施例中，所述预设的第一存储空间仍然是有限的空间，异常日志处于一个持续不断形成的过程。由此，为了保证异常日志具有次序并能够被使用，可以采用如下所述的具体步骤：
依据所述异常日志生成的次序，在所述预设的存储空间中依次写入异常日志。
预设的存储空间内具有沿一定次序排布的地址。在异常日志写入的过程中，异常日志依据先后顺序，依次的写入，并且在后的异常日志紧贴在上一个异常日志的结尾位置之后的第一个地址写入。
在一些实施例中，为了解决所述预设的第一存储空间有限与异常日志数据量持续产生之间的矛盾，具体可以采用如下的存储方式：
首先，判断待写入的异常日志的长度是否小于所述内容存储区剩余的长度。
若是，则将所述待写入的异常日志从上一次写入的异常日志的结尾位置开始写入所述内容存储区中。
若否，则将所述待写入的异常日志从最早写入的异常日志的开始位置写入所述内容存储区中以覆盖所述最先写入的异常日志。
通过这样的方式，当预设的第一存储空间不足以容纳写入新的异常日志时。这个待写入的异常日志便通过覆盖掉原来存储在预设存储空间中最早写 入的异常日志的方式写入。
具体的，图6为实现上述方法实施例揭露的异常日志存储方法的具体流程图。如图6所示，所述异常日志在第一存储器的写入过程可以包括如下步骤：
610、判断内容存储区剩余的长度是否小于所述待写入的异常日志的长度，所述预设的存储空间划分为位于头部的标识存储区以及内容存储区。
若是，则执行步骤620，若否，则执行步骤630。
620、将所述待写入的异常日志从最先写入的异常日志的位置写入到所述内容存储区中，以覆盖所述最先写入的异常日志。亦即，从内容存储区的头部(第一个地址)开始写入当前的异常日志。
630、将所述待写入的异常日志从上一次写入的异常日志的结尾位置开始写入到所述内容存储区中。
亦即在上一个异常日志的结尾位置P开始写入当前的异常日志。
640、将当前写入的异常日志的结尾位置写入标识存储区。
该结尾位置用于标记当前最新的异常日志在预设的存储空间中的位置，用以确保可以准确的根据时间次序导出异常日志。
图7为本发明另一实施例提供的无人机系统日志的存储方法。图7所示的方法由遥控器端的硬件设备执行，用以提供与遥控器相关的运行日志。如图7所示，该方法可以包括如下步骤：
710、生成遥控器一端的运行日志。
遥控器一端是指在无人机系统中，与无人机端相对应的地面端。该遥控器一端包括但不限于遥控器，还可以具有其它合适的设备，例如用户的智能手机或者平板电脑等。该遥控器端的运行日志通常可以包括与用户交互相关的设备状态或者指令的传输状况。
720、将所述异常日志存储到预设的第二存储空间中。
与上述无人机端类似的，遥控器端的运行日志中也包括了遥控器在发生异常时的异常日志。异常日志由于数据量较小，可以存储在预设的第二存储空间中，便于及时的调取或者发送给技术人员使用。在一些实施例中，所述预设的存储空间可以是所述遥控器的私有FLASH。
在另一些实施例中，进一步地还可以将所述运行日志存储至与遥控器的 大容量存储设备中(如与遥控器连接的手机)。完整的运行日志记录或者包含的数据量较大，需要存储在具有大数据容量的存储设备中，以保证存储空间可以满足数据量的存储要求。
如上所述的，在遥控器端也可以依据所述异常日志生成的次序，在所述预设的第二存储空间中依次写入异常日志。预设的第二存储空间内具有沿一定次序排布的地址，在异常日志写入的过程中，异常日志依据先后顺序，依次的写入，并且在后的异常日志紧贴在上一个异常日志的结尾位置之后的第一个地址写入。
当然，遥控器的私有FLASH所能够提供的第二存储空间仍然是有限的。由此，为了保证持续产生的异常日志能够被写入和记录，可以采用如下所述的具体步骤：
在所述预设的第二存储空间剩余的长度不足以写入当前生成的异常日志时，写入当前生成的异常日志并覆盖所述预设的存储空间内写入次序最早的异常日志。
具体的，图8为实现上述方法实施例揭露的异常日志存储方法的具体流程图。如图8所示，所述异常日志在第二存储空间的写入过程可以包括如下步骤：
810、判断所述内容存储区剩余的长度是否小于待写入的异常日志的长度。所述预设的存储空间划分为位于头部的标识存储区以及内容存储区。
若是，则执行步骤820，若否，则执行步骤830。
820、将所述待写入的异常日志从上一次写入的异常日志的结尾位置开始写入所述内容存储区中。
830、将所述待写入的异常日志从最早写入的异常日志的开始位置写入所述内容存储区中以覆盖所述最早写入的异常日志。
840、将当前写入的异常日志的结尾位置写入标识存储区。该结尾位置用于标记当前最新的异常日志在预设的存储空间中的位置，用以确保可以准确的根据时间次序导出异常日志。
综上所述，本发明实施例提供的无人机系统日志的存储方法和用以执行该方法无人机图传系统可以有效的记录和存储无人机系统运行过程中无人机 和遥控器的运行日志数据。
其中，异常情况下产生的异常日志可以直接保存在无人机或者遥控器的内部存储器中。在无人机批量出货销售以后，当用户使用出现异常时，可以方便的在内部存储器中导出该异常日志并发回至http服务器提供给研发进行定位。
而在日常运行时产生的运行日志则分别保存在无人机和遥控器的大容量存储设备(如无人机上的SD卡或者智能手机的存储卡中)。这些大容量存储设备可以记载所有的运行日志，作为基础数据，提供给无人机进行进一步的研发或者测试复现详细问题时使用。
本领域技术人员应该还可以进一步意识到，结合本文中所公开的实施例描述的示例性的数据传输控制方法的各个步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。
本领域技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。所述的计算机软件可存储于计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体或随机存储记忆体等。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (14)

  1. 一种无人机系统日志的存储方法，其特征在于，包括：
    生成无人机一端的运行日志，所述运行日志包括无人机发生异常时产生的异常日志；
    将所述异常日志存储到预设的第一存储空间中。
  2. 根据权利要求1所述的存储方法，其特征在于，所述预设的第一存储空间为所述无人机的私有FLASH。
  3. 根据权利要求1所述的存储方法，其特征在于，将所述异常日志存储到预设的第一存储空间中，包括：
    依据所述异常日志生成的次序，在所述预设的第一存储空间中依次写入异常日志。
  4. 根据权利要求3所述的存储方法，其特征在于，所述预设的第一存储空间包括位于头部的标识存储区以及内容存储区，所述依据所述异常日志生成的次序，在所述预设的第一存储空间中依次写入异常日志，包括：
    判断待写入的异常日志的长度是否小于所述内容存储区剩余的长度；
    若是，将所述待写入的异常日志从上一次写入的异常日志的结尾位置开始写入所述内容存储区中；
    若否，将所述待写入的异常日志从最早写入的异常日志的开始位置写入所述内容存储区中以覆盖所述最先写入的异常日志；
    将所述待写入的异常日志的结尾位置写入所述标识存储区。
  5. 根据权利要求1所述的存储方法，其特征在于，所述方法还包括：
    将所述运行日志存储至无人机的大容量存储设备中。
  6. 一种无人机系统日志的存储方法，其特征在于，包括：
    生成遥控器一端的运行日志，所述运行日志包括遥控器发生异常时的异 常日志；
    将所述异常日志存储到预设的第二存储空间中。
  7. 根据权利要求6所述的存储方法，其特征在于，所述预设的第二存储空间为所述遥控器的私有FLASH。
  8. 根据权利要求6所述的存储方法，其特征在于，将所述异常日志存储到预设的第二存储空间中，包括：
    依据所述异常日志生成的次序，在所述预设的第二存储空间中依次写入异常日志。
  9. 根据权利要求8所述的存储方法，其特征在于，所述预设的第二存储空间包括位于头部的标识存储区以及内容存储区，所述依据所述异常日志生成的次序，在所述预设的第二存储空间中依次写入异常日志，包括：
    判断待写入的异常日志的长度是否小于所述内容存储区剩余的长度；
    若是，将所述待写入的异常日志从上一次写入的异常日志的结尾位置开始写入所述内容存储区中；
    若否，将所述待写入的异常日志从最早写入的异常日志的开始位置写入所述内容存储区中，以覆盖所述最早写入的异常日志；
    将所述待写入的异常日志的结尾位置写入所述标识存储区。
  10. 根据权利要求6所述的存储方法，其特征在于，所述方法还包括：
    将所述运行日志存储至遥控器的大容量存储设备中。
  11. 一种无人机图传系统，其特征在于，包括：无人机侧图传模块以及地面侧图传模块；
    所述无人机侧图传模块与所述地面侧图传模块之间通过无线网络连接；所述无人机侧图传模块包括至少一个第一存储器；所述第一存储器中设置有预设的第一存储空间，所述预设的第一存储空间用于存储无人机发生异常时 产生的异常日志；
    所述地面侧图传模块包括至少一个第二存储器，所述第二存储器中设置有预设的第二存储空间，所述预设的第二存储空间用于存储遥控器发生异常时产生的异常日志。
  12. 根据权利要求11所述的无人机图传系统，其特征在于，还包括图像采集设备和移动终端设备，所述无人机侧图传模块通过以太网与所述图像采集设备通信连接；所述地面侧图传模块通过USB与所述移动终端设备通信连接。
  13. 根据权利要求12所述的无人机图传系统，其特征在于，所述图像采集设备连接有无人机的大容量存储设备，所述移动终端设备连接有遥控器的大容量存储设备；
    所述无人机侧图传模块用于通过所述以太网，将所述无人机一端生成的运行日志传输至所述无人机的大容量存储设备中存储；
    所述地面侧图传模块用于通过所述USB连接，将所述遥控器一端生成的运行日志传输至所述遥控器的大容量存储设备中存储；
    其中，所述无人机一端生成的运行日志包括无人机发生异常时产生的异常日志，所述遥控器一端生成的运行日志包括遥控器发生异常时产生的异常日志。
  14. 根据权利要求11所述的无人机图传系统，其特征在于，所述第一存储器和所述第二存储器为FLASH；
    所述FLASH中分配有S个字节的存储地址作为所述预设的存储空间；其中，前N个字节为标识存储区，用于存储所述异常日志的结尾位置；第N+1至第S个字节为内容存储区，用于存储所述异常日志。
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