CN104243132B - A kind of method of data synchronization and relevant device - Google Patents
A kind of method of data synchronization and relevant device Download PDFInfo
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- CN104243132B CN104243132B CN201410528681.9A CN201410528681A CN104243132B CN 104243132 B CN104243132 B CN 104243132B CN 201410528681 A CN201410528681 A CN 201410528681A CN 104243132 B CN104243132 B CN 104243132B
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Abstract
The invention provides a kind of method of data synchronization and relevant device, establish the wireless communication link of control terminal and controlled flight end, control terminal establishes the data link at controlled flight end, the control terminal performs the flying quality initial synchronization operation with being controlled flight end, the data that the first kind is configured as in the flying quality are carried out real-time synchronization by the control terminal, the control terminal synchronizes according to preset synchronization rules to the data that Second Type is configured as in the flying quality, the data of Second Type synchronize according to preset synchronization rules, avoid and the data of the first kind while the synchronous occupancy to link bandwidth, reduce the delay that flying quality is shown in control terminal.
Description
Technical field
The present invention relates to field of data transmission, more particularly to a kind of method of data synchronization and relevant device.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and is provided for oneself
The not manned aircraft that presetting apparatus manipulates.Unmanned plane extensive use, because it is without personnel's driving, more endangered so can perform
The task of danger, unmanned air vehicle technique are widely applied to investigate search field.
Unmanned plane can realize the collection of high resolution image, make up satellite remote sensing often because cloud cover is obtained less than shadow
While as shortcoming, solves the problems such as conventional satellite remote sensing revisiting period is long, meets an urgent need not in time.
The information collected can be real-time transmitted to earth station by usual unmanned plane, but because of transmission range and operation
Interference of the parameter to factors such as transmission band occupations, these data can produce delay in the display of earth station, and user can not be real-time
Understand the current operating conditions of unmanned plane, the manipulation to unmanned plane has potential safety hazard.
The content of the invention
In view of this, the embodiments of the invention provide a kind of method of data synchronization and relevant device.
The invention provides a kind of method of data synchronization, methods described includes：
Control terminal establishes the data link at controlled flight end；
The control terminal performs the flying quality initial synchronization operation with being controlled flight end；
The data that the first kind is configured as in the flying quality are carried out real-time synchronization by the control terminal；
The control terminal is entered according to preset synchronization rules to the data that Second Type is configured as in the flying quality
Row is synchronous.
As a kind of preferable scheme, the data of the first kind include but is not limited to the image letter of camera shooting
Breath, GPS signal strength, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current flight speed, current flight
At least one of height；
The data of the Second Type include but is not limited in flight limit for height value, flight limit remote value, voltage alarm at least
It is a kind of；
The preset synchronization rules include but is not limited to carry out data renewal or in idle shape with cycle specified time
Data renewal is carried out during state.
As a kind of preferable scheme, methods described also includes：
Control terminal control command according to corresponding to generating the operation to being controlled flight end；
The control terminal continuously sends the control command with preset time interval to the controlled flight end, to cause
The controlled flight termination receives the control command send feedback information；
The control terminal stops sending according to the feedback information at the controlled flight end.
As a kind of preferable scheme, methods described also includes：
When detecting the control event to the controlled flight end, control signal corresponding to the control event is generated；
With control signal described in segment transmissions in the data link at the controlled flight end.
It is described with being controlled described in segment transmissions in the data link at the controlled flight end as a kind of preferable scheme
Signal includes：Continued in first paragraph link with preset frequency to the relay transmission control signal, until receiving institute
State relay and respond the confirmation signal that the control signal returns；By the relay with preset frequency in second segment link
Continue to send the control signal to the controlled flight end, until the relay receives what the response control signal returned
Confirmation signal.
As a kind of preferable scheme, the flying quality also includes the data of the 3rd type, and methods described also includes：
Data progress one of the control terminal to the 3rd type is subsynchronous, wherein, the packet of the 3rd type
Include but be not limited to model, the model of head at controlled flight end.
As a kind of preferable scheme, methods described also includes：
The flying quality is uploaded to cloud server by the control terminal, to cause control terminal to carry out controlled flight end
During configuration the flying quality is downloaded from the cloud server.
As a kind of preferable scheme, methods described also includes：
The control terminal is preserved the current image information of the controlled flight end collection got；
The control terminal is shown the image information of last moment.
As a kind of preferable scheme, methods described also includes：
The control terminal obtains the course data at the controlled flight end, and the course data includes gps coordinate, controlled flown
One or more in row end attitude data, altitude information, head attitude data；
The course data is sent to the cloud server and preserved by the control terminal.
As a kind of preferable scheme, methods described also includes：
The control terminal is according to the gps coordinate in the course data at the controlled flight end got, preset two
Drawn on dimension map and show the flight path at the controlled flight end；Or
The control terminal according to the gps coordinate and altitude information in the course data at the controlled flight end got,
Drawn on preset three-dimensional map and show the three-dimensional flight path at the controlled flight end.
As a kind of preferable scheme, methods described also includes：
The control terminal obtains the flying quality of user configuration and timing；
The control terminal is when the timing is equal to preset time threshold, if not getting the flying quality newly configured,
It will recently get and the controlled flight end be sent to by the flying quality of user configuration.
Present invention also offers a kind of data synchronization unit, described device includes：
Data link setup unit, for establishing the data link at controlled flight end；
Initial synchronization unit, for performing the flying quality initial synchronization operation with controlled flight end；
First synchronization unit, for the data that the first kind is configured as in the flying quality to be carried out into real-time synchronization；
Second synchronization unit, for according to preset synchronization rules to being configured as Second Type in the flying quality
Data synchronize.
As a kind of preferable scheme, the data of the first kind include but is not limited to the image letter of camera shooting
Breath, GPS signal strength, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current flight speed, current flight
At least one of height；
The data of the Second Type include but is not limited in flight limit for height value, flight limit remote value, voltage alarm at least
It is a kind of；
The preset synchronization rules include but is not limited to carry out data renewal or in idle shape with cycle specified time
Data renewal is carried out during state.
As a kind of preferable scheme, described device also includes：
Order generation unit, for the control command according to corresponding to the operation generation to controlled flight end；
Command sending unit, ordered for continuously sending the control to the controlled flight end with preset time interval
Order, to cause the controlled flight termination to receive the control command send feedback information；
Order feedback unit, for stopping sending according to the feedback information at the controlled flight end.
As a kind of preferable scheme, described device also includes：
Signal generation unit, for when detecting the control event to the controlled flight end, generating the control thing
Control signal corresponding to part；
Signal transmission unit, for control signal described in segment transmissions in the data link at the controlled flight end.
As a kind of preferable scheme, the signal transmission unit is additionally operable to hold with preset frequency in first paragraph link
Continue to relay and send the control signal, until receiving the relay responds the confirmation letter that the control signal returns
Number；The control signal is sent to the controlled flight end so that preset frequency is lasting from the relay in second segment link,
Until the relay, which receives, responds the confirmation signal that the control signal returns.
As a kind of preferable scheme, the flying quality also includes the data of the 3rd type, and described device also includes：
3rd synchronization unit, it is subsynchronous for data progress one of the control terminal to the 3rd type, wherein, it is described
The data of 3rd type include but is not limited to model, the model of head at controlled flight end.
As a kind of preferable scheme, described device also includes：
Data backup unit, for the flying quality to be uploaded into cloud server, to cause control terminal to fly to controlled
When row end is configured the flying quality is downloaded from the cloud server.
As a kind of preferable scheme, described device also includes：
Image information storage unit, for the current image information of the controlled flight end collection got to be carried out
Preserve；
Image information display unit, for the image information of last moment to be shown.
As a kind of preferable scheme, described device also includes：
The course data acquiring unit, for obtaining the course data at the controlled flight end, the course data bag
Include the one or more in gps coordinate, controlled flight end attitude data, altitude information, head attitude data；
Course data backup units, preserved for the course data to be sent into the cloud server.
As a kind of preferable scheme,
Described device also includes：
Two-dimentional airline generation unit, for the gps coordinate in the course data at the controlled flight end got,
Drawn on preset two-dimensional map and show the flight path at the controlled flight end；Or
Three-dimensional airline generation unit, for the gps coordinate in the course data according to the controlled flight end got
And altitude information, drawn on preset three-dimensional map and show the three-dimensional flight path at the controlled flight end.
As a kind of preferable scheme, described device also includes：
Timing unit, for obtaining flying quality and the timing of user configuration；
Dispensing unit,, will if not getting the flying quality newly configured when the timing is equal to preset time threshold
What is got recently is sent to the controlled flight end by the flying quality of user configuration.
Present invention also offers a kind of data synchronous system, the system includes control terminal, controlled flight end, the control
End includes：
Data link setup unit, for establishing the data link at controlled flight end；
Initial synchronization unit, for performing the flying quality initial synchronization operation with controlled flight end；
First synchronization unit, for the data that the first kind is configured as in the flying quality to be carried out into real-time synchronization；
Second synchronization unit, for according to preset synchronization rules to being configured as Second Type in the flying quality
Data synchronize.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
The invention provides a kind of method of data synchronization and relevant device, the channel radio of control terminal and controlled flight end is established
Believe link, control terminal establishes the data link at controlled flight end, at the beginning of the control terminal performs and is controlled the flying quality at flight end
Beginning simultaneously operating, the data that the first kind is configured as in the flying quality are carried out real-time synchronization by the control terminal, described
Control terminal synchronizes according to preset synchronization rules to the data that Second Type is configured as in the flying quality, the second class
The data of type synchronize according to preset synchronization rules, avoid synchronous accounting for link bandwidth simultaneously with the data of the first kind
With the delay that reduction flying quality is shown in control terminal.
Brief description of the drawings
Fig. 1 is a kind of flow chart of embodiment of method of data synchronization of the present invention；
Fig. 2 is the schematic diagram of the signal transmission of method of data synchronization of the present invention；
Fig. 3 is a kind of structural representation of embodiment of data synchronization unit of the present invention；
Fig. 4 is a kind of structural representation of embodiment of data synchronous system of the present invention.
Embodiment
The embodiments of the invention provide a kind of method of data synchronization, the occupancy for reduction to wireless link bandwidth, and
Reduce the delay that flying quality is shown in control terminal.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, it should all belong to the model that the present invention protects
Enclose.
Term " first ", " second ", " the 3rd " " in description and claims of this specification and above-mentioned accompanying drawing
The (if present)s such as four " are for distinguishing similar object, without for describing specific order or precedence.It should manage
The data that solution so uses can exchange in the appropriate case, so that the embodiments described herein can be with except illustrating herein
Or the order beyond the content of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment need not limit
In those steps or unit for clearly listing, but may include not list clearly or for these processes, method, production
The intrinsic other steps of product or equipment or unit.
Fig. 1 and Fig. 2, a kind of embodiment of method of data synchronization of the present invention are refer to, methods described includes：
101st, control terminal establishes the data link at controlled flight end.
Control terminal realizes the manipulation to being controlled flight end, and control terminal here can be the application (English on mobile terminal：
Application, referred to as：APP), it can be unmanned plane to be controlled flight end, and control terminal and controlled flight end are established in controlled flight end
Wireless communication link, realize the communication of control terminal and controlled flight end.
It can be attached between the control terminal and controlled flight end by wireless network, can be on controlled flight end
Set Wireless Internet access module to be connected to network, network is signed in by control terminal, establish the wireless of control terminal and controlled flight end
Communication link.
102nd, the control terminal performs the flying quality initial synchronization operation with being controlled flight end.
When being started working at controlled flight end, control terminal carries out preliminary synchronisation to flying quality, can be synchronously control terminal
Flying quality is configured to controlled flight end, controls controlled flight end to be operated by flying quality, flying quality can be
Control terminal is to being controlled the parameter that is controlled of flight end, or aircraft caused data in the process of running, synchronous behaviour
Data syn-chronization caused by controlled flight end or controlled flight end is synchronized to control as the configuration data of control terminal is caused
End.
103rd, the data that the first kind is configured as in the flying quality are carried out real-time synchronization by the control terminal.
The data of the first kind can be the data of controlled flight end real-time change in operation, the number of these real-time changes
Need to obtain in time to be controlled controlled flight end according to control terminal, real-time synchronization can be that the data of the first kind need
Transmit in time to control terminal, it is impossible to delay situation occur so that control terminal grasps the working condition at controlled flight end in time.
104th, the control terminal according to preset synchronization rules to being configured as the number of Second Type in the flying quality
According to synchronizing.
The data of the Second Type can be that control terminal is to be controlled the data of flight end runtime parameter configuration, Ke Yi
Controlled flight end is configured before starting working, in the data that controlled flight end need not change in real time in the process of running,
The data of these Second Types can carry out configuration operation again when needing to change or configuring.
Optionally, the preset synchronization rules include but is not limited to carry out data renewal or place with cycle specified time
Data renewal is carried out when idle condition, idle condition can be that control terminal is not carried out configuring operation or only existing in image showing
State, carry out data renewal, avoid what the data syn-chronization of the Second Type when being operated was carried out to the data of the first kind
Influence, reduce the occupancy to link bandwidth.
A kind of method of data synchronization provided by the invention, the wireless communication link of control terminal and controlled flight end is established, controlled
End processed performs the flying quality initial synchronization operation with being controlled flight end, and control terminal will be configured as first in the flying quality
The data of type carry out real-time synchronization, and control terminal is according to preset synchronization rules to being configured as the second class in the flying quality
The data of type synchronize, wherein, the data of the first kind can include the number of real-time change during controlled flight end operation
According to the data of the Second Type can include the data of controlled flight end runtime parameter configuration, by control terminal and quilt
The data transmitted between control flight end are transmitted respectively, and real-time synchronization is carried out for the data of the first kind of real-time change,
The data of Second Type for infrequently changing synchronize according to preset synchronization rules, reduce the data pair of Second Type
In the occupancy of wireless communication link, the delay of control terminal data syn-chronization is reduced, lifting control terminal is to being controlled the handling of flight end.
Optionally, it is strong to include but is not limited to the image information of camera shooting, gps signal for the data of the first kind
In degree, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current flight speed, current flight height at least
One kind, the data of the Second Type include but is not limited in flight limit for height value, flight limit remote value, voltage alarm at least one
Kind, the data of the first kind meet needs real-time synchronization, and the data of Second Type meet often to change, specifically may be used
It is actually needed and is configured with basis, is not limited thereto.
In the flight course of controlled flight end, with the change of position, the data of the first kind of itself are sat including GPS
Mark, flying speed, flying height etc. are all changing, and these data need real-time display on the display screen of control terminal, and
Remote threshold voltage alarm of flight limit for height value, flight limit included in the data of Second Type etc., can take off at controlled flight end
Configured, will not generally also be modified before, the data can of these Second Types is passing through when modification is needed
Cross wireless communication link to be transmitted, reach the purpose for reducing and being taken to wireless communication link.
The situation of control command is sent to being controlled flight end for control terminal, the invention provides two kinds of embodiments：
One, control terminal directly sends control command to controlled flight end
During this, it can be connected, be specifically as follows by wireless network between control terminal and controlled flight end, be controlled
Flight end sets Wireless Internet access module, and control terminal is communicatively coupled into wireless network with controlled flight end, directly will control
Instruction sends to controlled flight end and completes control operation.
Control terminal control command according to corresponding to generating the operation to being controlled flight end, user can be in control terminal
Operated on display screen, control terminal control command according to corresponding to the operation generation that user chooses.
The control terminal continuously sends the control command with preset time interval to the controlled flight end, to cause
The controlled flight termination receives the control command send feedback information, and preset time interval can be to be held with certain frequency
Continue to controlled flight and support continuous be transmitted so that control command can be sent to controlled flight end, and controlled flight end is receiving
The feedback information acknowledged receipt of is sent after to the control command to control terminal, notifies control terminal control command to send into time
Work(.
The control terminal stops sending according to the feedback information at the controlled flight end, confirms when receiving controlled flight end
After the feedback information received, control terminal then stops sending the control command, by increasing the feedback mechanism for confirming to receive so that control
The control command at end processed can be accurately sent to controlled flight end, avoided control command and only sent once appearance instruction something lost
Lose, cause control to be performed by controlled flight end.
Two, control terminal sends control command by relay to controlled flight end
Referred to herein as relay can be controlled flight end remote control, the remote control can be realized to being controlled flight end
Flight control, control terminal is attached with remote control by wireless network, the control command of control terminal existed by remote control
Controlled flight end is controlled.
The control terminal control command, process of generation according to corresponding to generating the operation to being controlled flight end above have
Description, therefore not to repeat here.
Optionally, when detecting the control event to the controlled flight end, generate and controlled corresponding to the control event
Signal processed, with control signal described in segment transmissions in the data link at the controlled flight end.
Control event herein can be the operation that user is carried out to control terminal, and the control terminal is according to being controlled flight end
Operation generation corresponding to control command, user can be operated on the display screen of control terminal, and control terminal is selected according to user
Control command corresponding to the operation generation taken.
Optionally, it is described to include with control signal described in segment transmissions in the data link at the controlled flight end：
Continued in first paragraph link with preset frequency to the relay transmission control signal, until receiving the relay response
The confirmation signal that the control signal returns；Continued in second segment link from the relay with preset frequency to the quilt
Control flight end sends the control signal, until the relay, which receives, responds the confirmation signal that the control signal returns.
Specifically, the control terminal continuously sends the control command with preset time interval to relay, so that
The relay control command is forwarded to the controlled flight end, referred to herein as forwarding can with relay will control
Order is forwarded, and relay is not handled the control command in itself, or relay receives the control of control terminal
Order, by the dissection process to control command, the corresponding control language information generated between relay and controlled flight end, make
Relay is obtained using the controlled flight end of this control language information control, is not limited specifically.
The control terminal receives the controlled flight end and sends the feedback information forwarded via the relay, in relay
It can also be continuously to be sent with preset time interval to controlled flight end controlled flight end to be entered during line command is sent,
Until the feedback information that the confirmation for receiving controlled flight end feedback receives, control command is directly transmitted in control terminal and relay
It can also be to stop sending control instruction after control terminal receives relay feedback information so that the transmission energy of two sections of control commands
Access reliable execution.
The control terminal stops sending according to the feedback information at the controlled flight end, introduces feedback mechanism and causes control terminal
Control command reliably received, it is ensured that control command accepts row by controlled flight termination.
Optionally, the data changed at controlled flight end needs are modified rear successfully modified to control terminal feedback,
Now the data of amended Second Type are carried out preservation renewal by control terminal, and the mode of feedback can include sending information,
Other means can be used to realize, do not limited specifically, by carrying out after successfully modified feeding back control terminal to control terminal
Data update, and keep the data of the Second Type of control terminal consistent with the data of the Second Type at controlled flight end.
Optionally, the flying quality also includes the data of the 3rd type, and methods described also includes：
Data progress one of the control terminal to the 3rd type is subsynchronous, wherein, the packet of the 3rd type
Include but be not limited to model, the model of head at controlled flight end, the data of the 3rd type can be changeless parameter, specifically
Set, do not limited according to being actually needed.
Incorporated by reference to Fig. 2, optionally, methods described also includes：
The flying quality is uploaded to cloud server by the control terminal, to cause control terminal to carry out controlled flight end
During configuration the flying quality is downloaded from the cloud server.
Flying quality can be controlled flight end carry out operational factor configuration, and some operational factor frequency of use compared with
Height, it is required for reconfiguring every time, number of operations of the user in control terminal will certainly be increased, control terminal can be directed to frequency of use
Higher flying quality uploads to cloud server, is downloaded when needing flying quality from cloud server, under recycling
The flying quality of load synchronizes configuration to controlled flight end, can not only save the storage area of control terminal, can also mention
Control terminal is configuring flying quality speed faster.
Optionally, methods described also includes：
The control terminal is preserved the current image information of the controlled flight end collection got, the control
End processed is shown the image information of last moment, by being acquired mobile terminal to image to real-time image information
Information enters row buffering, avoids when real-time display because wireless communication link bandwidth causes the situation of image interim card so that user
The image information observed on mobile terminals is more smooth.
Specifically, in order that the image information smoothness that shows of mobile terminal not interim card, lift the good experience of user,
Mobile terminal is preserved the present image information that unmanned plane transmits, and is preserved in the display screen display last moment of itself
Image information, the time difference between last moment and current time can be according to setting be actually needed, by realtime graphic
Information is acquired so that mobile terminal enters row buffering to image information, because wireless communication link band when avoiding real-time display
Width causes the situation of image interim card so that the image information that user observes on mobile terminals is more smooth.
Optionally, methods described also includes：
The control terminal obtains the course data at the controlled flight end, and the course data includes gps coordinate, controlled flown
One or more in row end attitude data, altitude information, head attitude data, when course data can also include other ginsengs
Number, is not limited specifically, and the course data can show two-dimentional course line by gps coordinate according to, or according to gps coordinate and height
Three-dimensional course line is shown, specifically, the control terminal is sat according to the GPS in the course data at the controlled flight end got
Mark, draws on preset two-dimensional map and shows the flight path at the controlled flight end；Or the control terminal is according to obtaining
Gps coordinate and altitude information in the course data at the controlled flight end got, draw simultaneously on preset three-dimensional map
The three-dimensional flight path at the controlled flight end is shown, passes through the used observation quilt of the display of three-dimensional map or two-dimensional map
It is more directly perceived to control flight end, is easy to manipulate.
The course data is stored in the cloud server by the control terminal, facilitates user by the boat at controlled flight end
Line number is according to being preserved.
Specifically, the control terminal generates the boat at controlled flight end according to the gps coordinate of controlled flight end real-time Transmission
Line number evidence specifically includes：
The control terminal marks the gps coordinate of the controlled flight end real-time Transmission received on map, described
The point of two adjacent gps coordinates is connected to form continuous course data by control terminal using straight line so that user can be with
Recognize the specific ship trajectory at controlled flight end.
Optional methods described also includes：
The flying quality of the control terminal configuration and timing；
The control terminal is when the timing is equal to preset time threshold, if not getting the flying quality newly configured,
The control terminal configures the data of the Second Type to the controlled flight end, and specifically, control terminal will be got recently
The controlled flight end is sent to by the flying quality of user configuration.
Optionally, the preset time threshold is 0.1 second or 0.2 second, and certain default time threshold can also use it
His numerical value, meets carryover effects.
The control terminal obtains the data of Second Type and timing, and the data for the Second Type that control terminal obtains can be to use
The configuration data that family is inputted in control terminal, the data that Second Type is got in control terminal carry out timing, if record
Time reaches default time threshold, does not get the data of new Second Type, the Second Type that control terminal will be got
Data be sent to controlled flight end and configured, pass through and postpone to send so that when control terminal receives much in a short time
The data of Second Type, control terminal not to controlled flight end send configuration Second Type data, avoid the generation of maloperation.
Incorporated by reference to Fig. 3, present invention also offers a kind of data synchronization unit, described device includes：
Data link setup unit 301, the data link at controlled flight end is established for control terminal；
Initial synchronization unit 302, for performing the flying quality initial synchronization operation with controlled flight end；
First synchronization unit 303, it is same in real time for the data that the first kind is configured as in the flying quality to be carried out
Step；
Second synchronization unit 304, for according to preset synchronization rules to being configured as the second class in the flying quality
The data of type synchronize.
Optionally, it is strong to include but is not limited to the image information of camera shooting, gps signal for the data of the first kind
In degree, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current flight speed, current flight height at least
It is a kind of；
The data of the Second Type include but is not limited in flight limit for height value, flight limit remote value, voltage alarm at least
It is a kind of；
The preset synchronization rules include but is not limited to carry out data renewal or in idle shape with cycle specified time
Data renewal is carried out during state.
Optionally, described device also includes：
Order generation unit, for the control command according to corresponding to the operation generation to controlled flight end；
Command sending unit, ordered for continuously sending the control to the controlled flight end with preset time interval
Order, to cause the controlled flight termination to receive the control command send feedback information；
Order feedback unit, for stopping sending according to the feedback information at the controlled flight end.
Optionally, described device also includes：
Signal generation unit, for when detecting the control event to the controlled flight end, generating the control thing
Control signal corresponding to part；
Signal transmission unit, for control signal described in segment transmissions in the data link at the controlled flight end.
Optionally, the signal transmission unit is additionally operable in first paragraph link continue to send out to relay with preset frequency
The control signal is sent, until receiving the relay responds the confirmation signal that the control signal returns；In second segment chain
The control signal is sent to the controlled flight end so that preset frequency is lasting from the relay in road, until the relay
Receive and respond the confirmation signal that the control signal returns.
Optionally, the flying quality also includes the data of the 3rd type, and described device also includes：
3rd synchronization unit, it is subsynchronous for data progress one of the control terminal to the 3rd type, wherein, it is described
The data of 3rd type include but is not limited to model, the model of head at controlled flight end.
Optionally, described device also includes：
Data backup unit, for the flying quality to be uploaded into cloud server, to cause control terminal to fly to controlled
When row end is configured the flying quality is downloaded from the cloud server.
Optionally, described device also includes：
Image information storage unit, for the current image information of the controlled flight end collection got to be carried out
Preserve；
Image information display unit, for the image information of last moment to be shown.
Optionally, described device also includes：
The course data acquiring unit, for obtaining the course data at the controlled flight end, the course data bag
Include the one or more in gps coordinate, controlled flight end attitude data, altitude information, head attitude data；
Course data backup units, preserved for the course data to be sent into the cloud server.
Optionally, described device also includes：
Two-dimentional airline generation unit, for the gps coordinate in the course data at the controlled flight end got,
Drawn on preset two-dimensional map and show the flight path at the controlled flight end.
Optionally, described device also includes：
Three-dimensional airline generation unit, for the gps coordinate in the course data according to the controlled flight end got
And altitude information, drawn on preset three-dimensional map and show the three-dimensional flight path at the controlled flight end.
Optionally, described device also includes：
Timing unit, for obtaining flying quality and the timing of user configuration；
Dispensing unit,, will if not getting the flying quality newly configured when the timing is equal to preset time threshold
What is got recently is sent to the controlled flight end by the flying quality of user configuration.
A kind of data synchronization unit provided by the invention, data link setup unit 301 establish control terminal and controlled flight
The wireless communication link at end, initial synchronization unit 302 perform the flying quality initial synchronization operation with controlled flight end, and first is same
The data that the first kind is configured as in the flying quality are carried out real-time synchronization by step unit 303, and the second synchronization unit 304 is pressed
The data that Second Type is configured as in the flying quality are synchronized according to preset synchronization rules, wherein, described first
The data of type, which can include the data of real-time change, the data of the Second Type during controlled flight end operation, can include quilt
The data of flight end runtime parameter configuration are controlled, by being passed respectively to the data transmitted between control terminal and controlled flight end
It is defeated, real-time synchronization is carried out for the data of the first kind of real-time change, the data of the Second Type for infrequently changing are pressed
Synchronized according to preset synchronization rules, reduce occupancy of the data for wireless communication link of Second Type, reduce control terminal
The delay of data syn-chronization, lifting control terminal is to being controlled the handling of flight end.
Fig. 4 is refer to, present invention also offers a kind of data synchronous system, the system includes control terminal 401, controlled flown
Row end 402, the control terminal include：
Data link setup unit 4011, for establishing the data link at controlled flight end 402；
Initial synchronization unit 4012, for performing the flying quality initial synchronization operation with controlled flight end 402；
First synchronization unit 4013, it is same in real time for the data that the first kind is configured as in the flying quality to be carried out
Step；
Second synchronization unit 4014, for according to preset synchronization rules to being configured as the second class in the flying quality
The data of type synchronize.
A kind of data synchronous system provided by the invention, the system include control terminal, controlled flight end, the control terminal
The wireless communication link of control terminal and controlled flight end, initial synchronization unit 4012 are established including data link setup unit 4011
The flying quality initial synchronization operation with controlled flight end is performed, the first synchronization unit 4013 will be configured in the flying quality
Real-time synchronization is carried out for the data of the first kind, the second synchronization unit 4014 is according to preset synchronization rules to the flying quality
In be configured as the data of Second Type and synchronize, wherein, the data of the first kind can include controlled flight end and transport
The data of real-time change during row, the data of the Second Type can include the data of controlled flight end runtime parameter configuration,
By being transmitted respectively to the data transmitted between control terminal and controlled flight end, for the number of the first kind of real-time change
According to real-time synchronization is carried out, the data of the Second Type for infrequently changing synchronize according to preset synchronization rules, reduce
The data of Second Type reduce the delay of control terminal data syn-chronization, lifting control terminal 401 is right for the occupancy of wireless communication link
It is controlled the handling of flight end 402.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Division, only a kind of division of logic function, can there is other dividing mode, such as multiple units or component when actually realizing
Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or
The mutual coupling discussed or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
To instruct the hardware of correlation to complete by program, the program can be stored in a computer-readable recording medium, storage
Medium can include：Read-only storage (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
Can be with one of ordinary skill in the art will appreciate that realizing that all or part of step in above-described embodiment method is
The hardware of correlation is instructed to complete by program, described program can be stored in a kind of computer-readable recording medium, on
It can be read-only storage to state the storage medium mentioned, disk or CD etc..
A kind of method of data synchronization provided by the present invention is described in detail above, for the general skill of this area
Art personnel, according to the thought of the embodiment of the present invention, there will be changes in specific embodiments and applications, to sum up institute
State, this specification content should not be construed as limiting the invention.
Claims (23)
1. a kind of method of data synchronization, it is characterised in that methods described includes：
Control terminal establishes the data link at controlled flight end；
The control terminal performs the flying quality initial synchronization operation with being controlled flight end；
The data that the first kind is configured as in the flying quality are carried out real-time synchronization by the control terminal；
The control terminal carries out same according to preset synchronization rules to the data that Second Type is configured as in the flying quality
Step；
Wherein, the data of the first kind are the data of controlled flight end real-time change in operation；Second class
The data of type are the data that the control terminal is the controlled flight end runtime parameter configuration.
2. according to the method for claim 1, it is characterised in that the data of the first kind include but is not limited to camera
The image information of shooting, GPS signal strength, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current flight
At least one of speed, current flight height；
The data of the Second Type include but is not limited at least one of flight limit for height value, flight limit remote value, voltage alarm；
When the preset synchronization rules include but is not limited to the progress data renewal of cycle specified time or in idle condition
Carry out data renewal.
3. according to the method for claim 1, it is characterised in that methods described also includes：
Control terminal control command according to corresponding to generating the operation to being controlled flight end；
The control terminal continuously sends the control command with preset time interval to the controlled flight end, described to cause
Controlled flight termination receives the control command send feedback information；
The control terminal stops sending according to the feedback information at the controlled flight end.
4. the method as described in claim 1, it is characterised in that methods described also includes：
When detecting the control event to the controlled flight end, control signal corresponding to the control event is generated；
With control signal described in segment transmissions in the data link at the controlled flight end.
5. method as claimed in claim 4, it is characterised in that described with being segmented in the data link at the controlled flight end
The control signal is transmitted to specifically include：
Continued in first paragraph link with preset frequency to the relay transmission control signal, until receiving the relaying
End responds the confirmation signal that the control signal returns；In second segment link from the relay with preset frequency continue to
The controlled flight end sends the control signal, until the relay, which receives, responds the confirmation letter that the control signal returns
Number.
6. the method as any one of Claims 1-4, it is characterised in that the flying quality also includes the 3rd type
Data, methods described also includes：
The control terminal data of the 3rd type are carried out it is one subsynchronous, wherein, the data of the 3rd type include but
It is not limited to model, the model of head at controlled flight end.
7. according to the method for claim 1, it is characterised in that methods described also includes：
The flying quality is uploaded to cloud server by the control terminal, to cause control terminal to configure controlled flight end
When from the cloud server download the flying quality.
8. according to the method for claim 1, it is characterised in that methods described also includes：
The control terminal is preserved the current image information of the controlled flight end collection got；
The control terminal is shown the image information of last moment.
9. according to the method for claim 1, it is characterised in that methods described also includes：
The control terminal obtains the course data at the controlled flight end, and the course data includes gps coordinate, controlled flight end
One or more in attitude data, altitude information, head attitude data；
The course data is sent to cloud server and preserved by the control terminal.
10. according to the method for claim 9, it is characterised in that methods described also includes：
The control terminal according to the gps coordinate in the course data at the controlled flight end got, it is preset two-dimensionally
Drawn on figure and show the flight path at the controlled flight end；Or
The control terminal is according to the gps coordinate and altitude information in the course data at the controlled flight end got, pre-
Drawn on the three-dimensional map put and show the three-dimensional flight path at the controlled flight end.
11. according to the method for claim 1, it is characterised in that methods described also includes：
The control terminal obtains the flying quality of user configuration and timing；
The control terminal, will most if not getting the flying quality newly configured when the timing is equal to preset time threshold
What is closely got is sent to the controlled flight end by the flying quality of user configuration.
12. a kind of data synchronization unit, it is characterised in that described device includes：
Data link setup unit, for establishing the data link at controlled flight end；
Initial synchronization unit, for performing the flying quality initial synchronization operation with controlled flight end；
First synchronization unit, for the data that the first kind is configured as in the flying quality to be carried out into real-time synchronization；
Second synchronization unit, for according to preset synchronization rules to being configured as the data of Second Type in the flying quality
Synchronize；
Wherein, the data of the first kind are the data of controlled flight end real-time change in operation；Second class
The data of type are the data that control terminal is the controlled flight end runtime parameter configuration.
13. device according to claim 12, it is characterised in that the data of the first kind include but is not limited to image
The image information of head shooting, GPS signal strength, battery electric quantity, control signal intensity, current GPS coordinate, attitude angle, current fly
At least one of scanning frequency degree, current flight height；
The data of the Second Type include but is not limited at least one of flight limit for height value, flight limit remote value, voltage alarm；
When the preset synchronization rules include but is not limited to the progress data renewal of cycle specified time or in idle condition
Carry out data renewal.
14. device according to claim 12, it is characterised in that described device also includes：
Order generation unit, for the control command according to corresponding to the operation generation to controlled flight end；
Command sending unit, for continuously sending the control command to the controlled flight end with preset time interval, with
So that the controlled flight termination receives the control command send feedback information；
Order feedback unit, for stopping sending according to the feedback information at the controlled flight end.
15. device as claimed in claim 12, it is characterised in that described device also includes：
Signal generation unit, for when detecting the control event to the controlled flight end, generating the control event pair
The control signal answered；
Signal transmission unit, for control signal described in segment transmissions in the data link at the controlled flight end.
16. device as claimed in claim 15, it is characterised in that the signal transmission unit is additionally operable in first paragraph link
Continue to send the control signal to relay with preset frequency, until receiving the relay responds the control signal
The confirmation signal of return；Continue to send to the controlled flight end with preset frequency from the relay in second segment link
The control signal, until the relay, which receives, responds the confirmation signal that the control signal returns.
17. the device as any one of claim 12 to 15, it is characterised in that the flying quality also includes the 3rd class
The data of type, described device also include：
3rd synchronization unit, it is subsynchronous for data progress one of the control terminal to the 3rd type, wherein, the described 3rd
The data of type include but is not limited to model, the model of head at controlled flight end.
18. device according to claim 12, it is characterised in that described device also includes：
Data backup unit, for the flying quality to be uploaded into cloud server, to cause control terminal to being controlled flight end
When being configured the flying quality is downloaded from the cloud server.
19. device according to claim 12, it is characterised in that described device also includes：
Image information storage unit, for the current image information of the controlled flight end collection got to be protected
Deposit；
Image information display unit, for the image information of last moment to be shown.
20. device according to claim 12, it is characterised in that described device also includes：
Course data acquiring unit, for obtaining the course data at the controlled flight end, the course data is sat including GPS
One or more in mark, controlled flight end attitude data, altitude information, head attitude data；
Course data backup units, preserved for the course data to be sent into cloud server.
21. device according to claim 20, it is characterised in that described device also includes：
Two-dimentional airline generation unit, for the gps coordinate in the course data according to the controlled flight end got, pre-
Drawn on the two-dimensional map put and show the flight path at the controlled flight end；Or
Three-dimensional airline generation unit, for the gps coordinate and height in the course data according to the controlled flight end got
Degrees of data, drawn on preset three-dimensional map and show the three-dimensional flight path at the controlled flight end.
22. device according to claim 12, it is characterised in that described device also includes：
Timing unit, for obtaining flying quality and the timing of user configuration；
Dispensing unit, for when the timing is equal to preset time threshold, if not getting the flying quality newly configured, inciting somebody to action
What is got recently is sent to the controlled flight end by the flying quality of user configuration.
23. a kind of data synchronous system, it is characterised in that the system includes control terminal, controlled flight end, the control terminal bag
Include：
Data link setup unit, for establishing the data link at controlled flight end；
Initial synchronization unit, for performing the flying quality initial synchronization operation with controlled flight end；
First synchronization unit, for the data that the first kind is configured as in the flying quality to be carried out into real-time synchronization；
Second synchronization unit, for according to preset synchronization rules to being configured as the data of Second Type in the flying quality
Synchronize；
Wherein, the data of the first kind are the data of controlled flight end real-time change in operation；Second class
The data of type are the data that the control terminal is the controlled flight end runtime parameter configuration.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410528681.9A CN104243132B (en) | 2014-10-08 | 2014-10-08 | A kind of method of data synchronization and relevant device |
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|---|---|---|---|
| CN201410528681.9A CN104243132B (en) | 2014-10-08 | 2014-10-08 | A kind of method of data synchronization and relevant device |
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| CN104243132A CN104243132A (en) | 2014-12-24 |
| CN104243132B true CN104243132B (en) | 2018-03-23 |
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| CN105278362B (en) * | 2015-01-16 | 2019-10-15 | 深圳一电航空技术有限公司 | The control method of unmanned Reconnaissance system, apparatus and system |
| CN104615145A (en) * | 2015-02-03 | 2015-05-13 | 深圳市华海技术有限公司 | UAV (unmanned aerial vehicle), and UAV control system and method |
| CN107431613B (en) | 2015-04-20 | 2021-02-05 | 深圳市大疆创新科技有限公司 | System and method for supporting application development of movable objects |
| CN104836704A (en) * | 2015-05-13 | 2015-08-12 | 许金兰 | Detection device provided with remote helicopter remote communication domain organism |
| CN105100439A (en) * | 2015-06-18 | 2015-11-25 | 广州飞米电子科技有限公司 | Operation control method and device |
| CN106254183B (en) * | 2016-09-05 | 2020-03-20 | 天津远翥科技有限公司 | Control method and device based on aircraft and aircraft |
| CN106227235A (en) * | 2016-09-05 | 2016-12-14 | 重庆零度智控智能科技有限公司 | Flying vehicles control method, device and user terminal |
| CN106357808B (en) * | 2016-10-25 | 2019-09-24 | Oppo广东移动通信有限公司 | A kind of method of data synchronization and device |
| WO2018086138A1 (en) * | 2016-11-14 | 2018-05-17 | 深圳市大疆创新科技有限公司 | Airway planning method, control end, aerial vehicle, and airway planning system |
| WO2018105576A1 (en) | 2016-12-05 | 2018-06-14 | Kddi株式会社 | Flying device, control device, communication control method, and control method |
| CN106814750A (en) * | 2017-02-14 | 2017-06-09 | 北京小米移动软件有限公司 | UAV flight control method and device |
| CN106931944A (en) * | 2017-03-21 | 2017-07-07 | 苏州光之翼智能科技有限公司 | A kind of unmanned plane real-time three-dimensional geographical mapping system |
| WO2019023907A1 (en) * | 2017-07-31 | 2019-02-07 | 深圳市大疆创新科技有限公司 | Out-of-synchronization processing method, intermediate communication apparatus, and communication system |
| WO2019023906A1 (en) * | 2017-07-31 | 2019-02-07 | 深圳市大疆创新科技有限公司 | Synchronization method, device, and system |
| CN108008431A (en) * | 2017-11-28 | 2018-05-08 | 佛山市安尔康姆航空科技有限公司 | A kind of unmanned vehicle GPS location recording method |
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| WO2021163881A1 (en) * | 2020-02-18 | 2021-08-26 | 深圳市大疆创新科技有限公司 | Data processing method and system, device, and readable storage medium |
| WO2021217416A1 (en) * | 2020-04-28 | 2021-11-04 | 深圳市大疆创新科技有限公司 | Movable platform control method and apparatus, movable platform, and storage medium |
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