CN115562353B - Security adjustment and interruption control method and system for automatic inspection of security unmanned aerial vehicle - Google Patents
Security adjustment and interruption control method and system for automatic inspection of security unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a safety regulation and interrupt control method and system for automatic inspection of a security unmanned aerial vehicle, comprising the following steps: the control center controls the security unmanned aerial vehicle A to establish pairing with the security unmanned aerial vehicle B; the control center sends the pairing information to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B; the control center sends a control instruction A to the security unmanned aerial vehicle A and sends the control instruction A to the security unmanned aerial vehicle B; after the security unmanned aerial vehicle B receives the control instruction A, the security unmanned aerial vehicle B forwards the control instruction A to the security unmanned aerial vehicle A; after the security unmanned aerial vehicle A receives a control instruction A sent by a control center, the security unmanned aerial vehicle A sends feedback information A to the control center; after the security unmanned aerial vehicle A receives a control instruction A sent by the security unmanned aerial vehicle B, the security unmanned aerial vehicle A sends feedback information A to the security unmanned aerial vehicle B; after the security unmanned aerial vehicle B receives the feedback information A, the security unmanned aerial vehicle B sends the feedback information A to the control center.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method and a system for controlling safety adjustment and interruption of automatic inspection of a security unmanned aerial vehicle.
Background
The security unmanned aerial vehicle is widely applied to the fields of security and public security. For example, some high-end cells have begun to employ security unmanned aerial vehicles for intra-cell patrol; in addition, security unmanned aerial vehicles are also beginning to be applied to the security management of the neighborhood.
At present, in the use process of the security unmanned aerial vehicle, one of the problems encountered by users is as follows: the patrol type security unmanned aerial vehicle runs according to a fixed route, so the security unmanned aerial vehicle is controlled by a control center instead of being manually controlled by related personnel. Although the security unmanned aerial vehicle can not meet the obstacle in the fixed route advancing process most of the time, the internal environment of the community is changed frequently, so that the flight parameters of the security unmanned aerial vehicle sometimes need to be adjusted in real time, the adjustment needs to be realized by a control center in a command sending mode, and once related commands can not be sent to the related unmanned aerial vehicle in time, the unmanned aerial vehicle can possibly avoid the obstacle untimely, and the unmanned aerial vehicle is damaged. Therefore, how to ensure that the command is sent to the unmanned aerial vehicle in time and prevent unnecessary damage of the unmanned aerial vehicle is a technical problem at present.
Disclosure of Invention
In order to achieve the above purpose, the present invention provides a method for controlling the safety adjustment and interruption of the automatic inspection of a security unmanned aerial vehicle, which is characterized in that the method comprises:
the control center controls the security unmanned aerial vehicle A to establish pairing with the security unmanned aerial vehicle B;
the control center sends the pairing information to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B;
the control center sends a control instruction A to the security unmanned aerial vehicle A and sends the control instruction A to the security unmanned aerial vehicle B, wherein the control instruction A is used for controlling the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle B receives the control instruction A, the security unmanned aerial vehicle B forwards the control instruction A to the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle A receives a control instruction A sent by a control center, the security unmanned aerial vehicle A sends feedback information A to the control center;
after the security unmanned aerial vehicle A receives a control instruction A sent by the security unmanned aerial vehicle B, the security unmanned aerial vehicle A sends feedback information A to the security unmanned aerial vehicle B;
after the security unmanned aerial vehicle B receives the feedback information A, the security unmanned aerial vehicle B sends the feedback information A to the control center.
In a preferred embodiment, the method further comprises:
if the control center only receives feedback information A sent by the security unmanned aerial vehicle B, the control center sends a flight stopping instruction A to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the flight stopping instruction A is used for the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle B receives the flight stopping instruction A sent by the control center, the security unmanned aerial vehicle B forwards the flight stopping instruction A to the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle A receives the flight stopping instruction A, the security unmanned aerial vehicle A stops the power device and falls to the ground.
In a preferred embodiment, the method further comprises:
if the control center only receives feedback information A sent by the security unmanned aerial vehicle A, the control center sends a flight stopping instruction B to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the flight stopping instruction B is used for the security unmanned aerial vehicle B;
after the security unmanned aerial vehicle A receives the flight stopping instruction B sent by the control center, the security unmanned aerial vehicle A forwards the flight stopping instruction B to the security unmanned aerial vehicle B;
after the security unmanned aerial vehicle B receives the flight stopping instruction B, the security unmanned aerial vehicle B stops the power device and falls to the ground.
In a preferred embodiment, the method further comprises:
if the control center receives feedback information A sent by the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, the control center does not send the flight stopping instruction A and the flight stopping instruction B.
In a preferred embodiment, the method further comprises:
if the control center does not receive the feedback information A sent by the security unmanned aerial vehicle A or the feedback information A sent by the security unmanned aerial vehicle B, the control center sends a flight stopping instruction A and a flight stopping instruction B to the security unmanned aerial vehicle C;
after the security unmanned aerial vehicle C receives the flight stopping instruction A and the flight stopping instruction B sent by the control center, the security unmanned aerial vehicle C forwards the flight stopping instruction A to the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle A receives the flight stopping instruction A, the security unmanned aerial vehicle A stops a power device and falls to the ground;
after the security unmanned aerial vehicle C receives the flight stopping instruction A and the flight stopping instruction B sent by the control center, the security unmanned aerial vehicle C forwards the flight stopping instruction B to the security unmanned aerial vehicle B;
after the security unmanned aerial vehicle B receives the flight stopping instruction B, the security unmanned aerial vehicle B stops the power device and falls to the ground.
In a preferred embodiment, the method further comprises:
if the control center sends a flight stopping instruction A to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, the control center updates pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the updated pairing reserves the security unmanned aerial vehicle B and replaces the security unmanned aerial vehicle A with the security unmanned aerial vehicle D;
after the pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B is updated, the control center sends pairing information to the security unmanned aerial vehicle B and the security unmanned aerial vehicle D.
In a preferred embodiment, the method further comprises:
if the control center sends a flight stopping instruction B to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, the control center updates pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the updated pairing reserves the security unmanned aerial vehicle A and replaces the security unmanned aerial vehicle B with the security unmanned aerial vehicle E;
after the pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B is updated, the control center sends pairing information to the security unmanned aerial vehicle A and the security unmanned aerial vehicle E.
In a preferred embodiment, the method further comprises:
if the control center sends the flight stopping instruction A and the flight stopping instruction B to the security unmanned aerial vehicle C, the control center deletes the pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B.
The invention provides a security adjustment and interrupt control system for automatic inspection of a security unmanned aerial vehicle, which is configured to execute the method.
Compared with the prior art, the invention has the following advantages that in the use process of the patrol unmanned aerial vehicle, the control center is required to control the flight parameters of the unmanned aerial vehicle in real time. Under the technical limit at present, can't guarantee that control center in time will adjust the command of flight parameter and send corresponding unmanned aerial vehicle, at this moment often lead to control center to unmanned aerial vehicle's control failure, and then unmanned aerial vehicle will fly according to predetermined orbit under the condition of lacking control command to cause unmanned aerial vehicle damage. How to solve the technical problem is a difficult problem in the prior art. One potential solution might be that the control center periodically sends a certain beacon signal to the security unmanned aerial vehicle, and once the security unmanned aerial vehicle cannot receive the beacon signal, the security unmanned aerial vehicle determines that the security unmanned aerial vehicle has lost control of the control center, so that the security unmanned aerial vehicle can automatically stop flying. Although the technical problem that the invention put forward can be solved to this scheme, because the security protection unmanned aerial vehicle needs to receive certain beacon signal regularly, consequently this scheme has increased security protection unmanned aerial vehicle's power consumption obviously, in addition, because control center needs to be kept sending the signal to the security protection unmanned aerial vehicle, this scheme obviously can't embody patrol type security protection unmanned aerial vehicle and control simple and convenient characteristic. The related scheme of the invention can solve the technical problems and prevent other new technical problems.
Drawings
FIG. 1 is a schematic diagram of an organization architecture of one embodiment of the invention.
Fig. 2 is a signal transmission schematic diagram of an embodiment of the present invention.
FIG. 3 is a method flow diagram of one embodiment of the present invention.
Fig. 4 is a method flow diagram of another embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
As described in the background art, in the use process of the patrol unmanned aerial vehicle, the control center is still required to control the flight parameters of the unmanned aerial vehicle in real time. For example, in one use case, as the leaves of the trees fall off in winter in northern China, the unmanned aerial vehicle can design a route close to branches of the branches to travel when patrol in winter, and as the leaves are lack to shield, the flying height of the unmanned aerial vehicle is slightly higher than the height of the trees, and related images under the trees can be collected; however, when the same unmanned aerial vehicle is in summer, the unmanned aerial vehicle must be far away from branches of the tree due to the interference of the leaves, and the relative position relationship between the unmanned aerial vehicle and the tree is different from that between the unmanned aerial vehicle and the tree in winter due to the shielding of the leaves; therefore, the control center needs to be able to adjust the flight parameters of the unmanned aerial vehicle in real time, otherwise the unmanned aerial vehicle may be damaged due to the interference of the trees. In another use case, due to holidays and important activities, articles such as billboards, various banners, balloons, banners and the like may be added on the preset travel route of the unmanned aerial vehicle, and the articles also seriously affect the flight safety of the unmanned aerial vehicle, so that a control center is required to be capable of adjusting the flight parameters of the unmanned aerial vehicle in real time at the moment. Under the technical limit at present, can't guarantee that control center in time will adjust the command of flight parameter and send corresponding unmanned aerial vehicle, at this moment often lead to control center to unmanned aerial vehicle's control failure, and then unmanned aerial vehicle will fly according to predetermined orbit under the condition of lacking control command to cause unmanned aerial vehicle damage. How to solve the technical problem is a difficult problem in the prior art. In the invention, "adjusting" refers to adjusting flight parameters of the unmanned aerial vehicle, and "interrupting" refers to the situation that a control center malfunctions in control of the unmanned aerial vehicle.
Example 1
FIG. 1 is a schematic diagram of an organization architecture of one embodiment of the invention. As shown in the figure, the organization according to the present invention has a plurality of security unmanned aerial vehicles and at least one control center, and it should be understood by those skilled in the art that, for a large cell or a large area, a plurality of control centers may be arranged as required, where each control center controls a plurality of security unmanned aerial vehicles. It will be appreciated by those skilled in the art that although only five security drones are shown, the number of security drones may be increased as desired. As shown, each security unmanned aerial vehicle is respectively in communication connection with the control center.
Example 2
Fig. 2 is a signal transmission schematic diagram of an embodiment of the present invention. In order to ensure that the control center does not lose control of the security drone, at least two channels (which may be frequency division multiplexed) for transmitting messages need to be designed, one for transmitting control commands and the other for transmitting feedback information. The channel for transmitting the control command is a channel required by any remote control system, and the channel for transmitting the feedback information is mainly used for the control center to judge whether the security unmanned aerial vehicle loses control, for example, if the security unmanned aerial vehicle can timely send the feedback information to the control center, the control center can judge that the security unmanned aerial vehicle does not lose control yet (namely, the control center can control the flight parameters of the security unmanned aerial vehicle in real time), and if the security unmanned aerial vehicle cannot timely send the feedback information to the control center, the control center can judge that the security unmanned aerial vehicle has lost control. It should be noted that, the reason why the security unmanned aerial vehicle loses control may be that a channel for transmitting a control command is problematic, resulting in transmission failure, or that a channel for transmitting feedback information is problematic, resulting in transmission failure. If the security unmanned aerial vehicle is controlled in the manner of fig. 2, once the security unmanned aerial vehicle loses control, the security unmanned aerial vehicle can only continue to fly according to a predetermined patrol route, and the operation may cause damage to the unmanned aerial vehicle. The potential solution may be that the control center periodically transmits a certain beacon signal to the security unmanned aerial vehicle, and once the security unmanned aerial vehicle cannot receive the beacon signal, the security unmanned aerial vehicle determines that the security unmanned aerial vehicle has lost control of the control center, so that the security unmanned aerial vehicle can automatically stop flying. Although the technical problem of the invention can be solved, because the security unmanned aerial vehicle needs to regularly receive a certain beacon signal, the scheme obviously increases the power consumption of the security unmanned aerial vehicle, and in addition, because the control center needs to continuously send signals to the security unmanned aerial vehicle, the scheme obviously cannot embody the characteristic that the patrol type security unmanned aerial vehicle is simple and convenient to control (the patrol type security unmanned aerial vehicle is mainly characterized in that the control of the control center is not needed most of the time, and only the control of the control center is needed under very special conditions, so the patrol type security unmanned aerial vehicle does not require the control center to send any information to the security unmanned aerial vehicle in real time, and the potential scheme obviously breaks the characteristic that the control center is not required to send any information to the security unmanned aerial vehicle in real time).
Example 3
In order to solve the foregoing technical problems and not to cause new technical problems, the present invention proposes the following. FIG. 3 is a flow chart of a method of one embodiment of the present invention, as shown, comprising the steps of:
step 31: the control center controls the security unmanned aerial vehicle A to establish pairing with the security unmanned aerial vehicle B; in a specific example, the initial pairing of the security unmanned aerial vehicle can be carried out before the security unmanned aerial vehicle is lifted off, and at this time, the security unmanned aerial vehicle is located near the control center, so that the problem that pairing information cannot be sent to the security unmanned aerial vehicle does not exist. In one specific example, the two parties to pair may be randomly selected, e.g., security unmanned aerial vehicle a and security unmanned aerial vehicle B may be randomly selected among the plurality of security unmanned aerial vehicles, and then the control center pairs the two security unmanned aerial vehicles. Of course, it should be understood by those skilled in the art that in the system of the present invention, the total number of the preferable lift-off security unmanned aerial vehicles is an even number, such as 4, 6, 8, 10, etc., and if the total number of the security unmanned aerial vehicles is an odd number, such as 5, 7, etc., one lift-off unmanned aerial vehicle can be reduced to be left as a spare, so as to ensure that the total number of the lift-off security unmanned aerial vehicles is an even number; a security unmanned aerial vehicle can also be lifted off as an unpaired unmanned aerial vehicle, the unpaired unmanned aerial vehicle operating in the manner described in example 2; one security unmanned aerial vehicle can be programmed into other paired unmanned aerial vehicles, so that the paired unmanned aerial vehicles consist of three security unmanned aerial vehicles, but the scheme of the three security unmanned aerial vehicles leads to the transmission efficiency, so that the situation should be searched as much as possible;
step 32: the control center sends the pairing information to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B; in a specific example, the pairing information may include a pairing indicator to inform the security unmanned aerial vehicle a and the security unmanned aerial vehicle B that the information is information for pairing the security unmanned aerial vehicle a and the security unmanned aerial vehicle B; the pairing information can additionally comprise identity identifiers of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, so that the security unmanned aerial vehicle A and the security unmanned aerial vehicle B can forward various subsequent messages;
step 33: the control center sends a control instruction A to the security unmanned aerial vehicle A and sends the control instruction A to the security unmanned aerial vehicle B, wherein the control instruction A is used for controlling the security unmanned aerial vehicle A; in one particular example, control instruction a may include various specific commands to speed up, slow down, turn, tilt, raise or lower the altitude, and in one particular example, control instruction a may include a series of complex commands to speed up and raise the altitude, slow down and lower the altitude, turn and raise the altitude, and so on; in one particular example, control instruction a may include commands with chronological order, such as first upshift-then downshift-then steering-then elevating the altitude;
step 34: after the security unmanned aerial vehicle B receives the control instruction A, the security unmanned aerial vehicle B forwards the control instruction A to the security unmanned aerial vehicle A; in a specific example, while forwarding the control instruction a, the security unmanned aerial vehicle B may also send the identity identifier of the security unmanned aerial vehicle B to the security unmanned aerial vehicle a;
step 35: after the security unmanned aerial vehicle A receives a control instruction A sent by a control center, the security unmanned aerial vehicle A sends feedback information A to the control center; in a specific example, the feedback information a indicates that the security unmanned aerial vehicle a successfully receives the feedback information a;
step 36: after the security unmanned aerial vehicle A receives a control instruction A sent by the security unmanned aerial vehicle B, the security unmanned aerial vehicle A sends feedback information A to the security unmanned aerial vehicle B;
step 37: after the security unmanned aerial vehicle B receives the feedback information A, the security unmanned aerial vehicle B sends the feedback information A to the control center. In a specific example, the security unmanned aerial vehicle B may additionally notify the control center that the feedback information a is feedback information from the security unmanned aerial vehicle a forwarded by the security unmanned aerial vehicle B. It should be understood by those skilled in the art that based on the reciprocity of the system, the control center simultaneously sends a control instruction B to the security unmanned aerial vehicle a, and sends the control instruction B to the security unmanned aerial vehicle B, where the control instruction B is used to control the security unmanned aerial vehicle B; after the security unmanned aerial vehicle B receives the control instruction B, the security unmanned aerial vehicle B sends feedback information B to a control center; after the security unmanned aerial vehicle A receives the control instruction B sent by the control center, the security unmanned aerial vehicle A forwards the control instruction B to the security unmanned aerial vehicle B; after the security unmanned aerial vehicle B receives the control instruction B sent by the control center, the security unmanned aerial vehicle B sends feedback information B to the control center.
Example 4
Fig. 4 is a method flow diagram of another embodiment of the present invention. As shown, after sending control command a to security unmanned aerial vehicle a and sending control command a to security unmanned aerial vehicle B, the control center may have the following processing manner:
case 41: if the control center only receives the feedback information A sent by the security unmanned aerial vehicle B, the control center sends a flight stopping instruction A to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B; it should be understood by those skilled in the art that the control center receiving only the feedback information a transmitted by the security unmanned aerial vehicle B means that the control center receives the feedback information a transmitted by the security unmanned aerial vehicle B, but the control center does not receive the feedback information a transmitted by the security unmanned aerial vehicle a;
case 42: if the control center only receives the feedback information A sent by the security unmanned aerial vehicle A, the control center sends a flight stopping instruction B to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B;
case 43: if the control center receives feedback information A sent by the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, the control center does not send a flight stopping instruction A and a flight stopping instruction B;
case 44: if the control center does not receive the feedback information A sent by the security unmanned aerial vehicle A, the control center does not receive the feedback information A sent by the security unmanned aerial vehicle B.
Example 5
Preferably, the method further comprises:
if the control center only receives feedback information A sent by the security unmanned aerial vehicle B, the control center sends a flight stopping instruction A to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the flight stopping instruction A is used for the security unmanned aerial vehicle A; if the control center only receives the feedback information A sent by the security unmanned aerial vehicle B, the control center can prejudge that the control center loses control over the security unmanned aerial vehicle A, and therefore, the control center can send a flight stopping instruction;
after the security unmanned aerial vehicle B receives the flight stopping instruction A sent by the control center, the security unmanned aerial vehicle B forwards the flight stopping instruction A to the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle A receives the flight stopping instruction A, the security unmanned aerial vehicle A stops the power device and falls to the ground. Alternatively, the security drone a may be configured to: after receiving the flight stopping instruction A, hovering and waiting for the recovery of the staff.
Preferably, the method further comprises:
if the control center only receives feedback information A sent by the security unmanned aerial vehicle A, the control center sends a flight stopping instruction B to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the flight stopping instruction B is used for the security unmanned aerial vehicle B; after the security unmanned aerial vehicle A receives the flight stopping instruction B sent by the control center, the security unmanned aerial vehicle A forwards the flight stopping instruction B to the security unmanned aerial vehicle B; after the security unmanned aerial vehicle B receives the flight stopping instruction B, the security unmanned aerial vehicle B stops the power device and falls to the ground.
Preferably, the method further comprises: if the control center receives feedback information A sent by the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, the control center does not send the flight stopping instruction A and the flight stopping instruction B.
Preferably, the method further comprises:
if the control center does not receive the feedback information A sent by the security unmanned aerial vehicle A or the feedback information A sent by the security unmanned aerial vehicle B, the control center sends a flight stopping instruction A and a flight stopping instruction B to the security unmanned aerial vehicle C; in a specific example, the security unmanned aerial vehicle C may be a security unmanned aerial vehicle that has been paired with another security unmanned aerial vehicle, e.g., security unmanned aerial vehicle C may be paired with security unmanned aerial vehicle F; only under the special condition that the control center does not receive the feedback information A sent by the security unmanned aerial vehicle A or the feedback information A sent by the security unmanned aerial vehicle B, the security unmanned aerial vehicle is used for forwarding information to the security unmanned aerial vehicles A and B; in this case, the control center does not send the flight stopping instruction a or the flight stopping instruction B to the security unmanned aerial vehicles a and B any more, so as to reduce mutual interference of information sent by the control center;
after the security unmanned aerial vehicle C receives the flight stopping instruction A and the flight stopping instruction B sent by the control center, the security unmanned aerial vehicle C forwards the flight stopping instruction A to the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle A receives the flight stopping instruction A, the security unmanned aerial vehicle A stops a power device and falls to the ground;
after the security unmanned aerial vehicle C receives the flight stopping instruction A and the flight stopping instruction B sent by the control center, the security unmanned aerial vehicle C forwards the flight stopping instruction B to the security unmanned aerial vehicle B;
after the security unmanned aerial vehicle B receives the flight stopping instruction B, the security unmanned aerial vehicle B stops the power device and falls to the ground.
Preferably, the method further comprises:
if the control center sends a flight stopping instruction A to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, the control center updates pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the updated pairing reserves the security unmanned aerial vehicle B and replaces the security unmanned aerial vehicle A with the security unmanned aerial vehicle D; in one specific example, the security unmanned aerial vehicle D may be a standby security unmanned aerial vehicle, and in one specific example, the security unmanned aerial vehicle D may also be a security unmanned aerial vehicle that has been previously shut down, but has been currently restored to control with the control center; in a specific example, after the security unmanned aerial vehicle is stopped, the control center can try to continuously send certain safer control instructions to the stopped security unmanned aerial vehicle, and as long as the stopped security unmanned aerial vehicle successfully sends feedback information to the control center, the stopped security unmanned aerial vehicle can be considered to have recovered control with the control center;
after the pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B is updated, the control center sends pairing information to the security unmanned aerial vehicle B and the security unmanned aerial vehicle D.
Preferably, the method further comprises: if the control center sends a flight stopping instruction B to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, the control center updates pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the updated pairing reserves the security unmanned aerial vehicle A and replaces the security unmanned aerial vehicle B with the security unmanned aerial vehicle E; after the pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B is updated, the control center sends pairing information to the security unmanned aerial vehicle A and the security unmanned aerial vehicle E.
Preferably, the method further comprises: if the control center sends the flight stopping instruction A and the flight stopping instruction B to the security unmanned aerial vehicle C, the control center deletes the pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The method for controlling the safety adjustment and interruption of the automatic inspection of the security unmanned aerial vehicle is characterized by comprising the following steps:
the control center controls the security unmanned aerial vehicle A to establish pairing with the security unmanned aerial vehicle B;
the control center sends pairing information to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B;
the control center sends a control instruction A to the security unmanned aerial vehicle A and sends a control instruction A to the security unmanned aerial vehicle B, wherein the control instruction A is used for controlling the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle B receives the control instruction A, the security unmanned aerial vehicle B forwards the control instruction A to the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle A receives a control instruction A sent by a control center, the security unmanned aerial vehicle A sends feedback information A to the control center;
after the security unmanned aerial vehicle A receives a control instruction A sent by the security unmanned aerial vehicle B, the security unmanned aerial vehicle A sends feedback information A to the security unmanned aerial vehicle B;
and after the security unmanned aerial vehicle B receives the feedback information A, the security unmanned aerial vehicle B sends the feedback information A to the control center.
2. The method of claim 1, wherein the method further comprises:
if the control center only receives feedback information A sent by the security unmanned aerial vehicle B, the control center sends a flight stopping instruction A to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the flight stopping instruction A is used for the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle B receives a flight stopping instruction A sent by a control center, the security unmanned aerial vehicle B forwards the flight stopping instruction A to the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle A receives the flying stopping instruction A, the security unmanned aerial vehicle A stops a power device and falls to the ground.
3. The method of claim 2, wherein the method further comprises:
if the control center only receives feedback information A sent by the security unmanned aerial vehicle A, the control center sends a flight stopping instruction B to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the flight stopping instruction B is used for the security unmanned aerial vehicle B;
after the security unmanned aerial vehicle A receives a flight stopping instruction B sent by a control center, the security unmanned aerial vehicle A forwards the flight stopping instruction B to the security unmanned aerial vehicle B;
after the security unmanned aerial vehicle B receives the flying stopping instruction B, the security unmanned aerial vehicle B stops a power device and falls to the ground.
4. A method as claimed in claim 3, wherein the method further comprises:
if the control center receives feedback information A sent by the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, the control center does not send the flight stopping instruction A and the flight stopping instruction B.
5. The method of claim 4, wherein the method further comprises:
if the control center does not receive the feedback information A sent by the security unmanned aerial vehicle A or the feedback information A sent by the security unmanned aerial vehicle B, the control center sends a flight stopping instruction A and a flight stopping instruction B to the security unmanned aerial vehicle C;
after the security unmanned aerial vehicle C receives a flight stopping instruction A and a flight stopping instruction B sent by a control center, the security unmanned aerial vehicle C forwards the flight stopping instruction A to the security unmanned aerial vehicle A;
after the security unmanned aerial vehicle A receives the flying stopping instruction A, the security unmanned aerial vehicle A stops a power device and falls to the ground;
after the security unmanned aerial vehicle C receives a flight stopping instruction A and a flight stopping instruction B sent by a control center, the security unmanned aerial vehicle C forwards the flight stopping instruction B to the security unmanned aerial vehicle B;
after the security unmanned aerial vehicle B receives the flying stopping instruction B, the security unmanned aerial vehicle B stops a power device and falls to the ground.
6. The method of claim 5, wherein the method further comprises:
if the control center sends a flight stopping instruction A to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, the control center updates pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the updated pairing reserves the security unmanned aerial vehicle B and replaces the security unmanned aerial vehicle A with the security unmanned aerial vehicle D;
after the pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B is updated, the control center sends pairing information to the security unmanned aerial vehicle B and the security unmanned aerial vehicle D.
7. The method of claim 5, wherein the method further comprises:
if the control center sends a flight stopping instruction B to the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, the control center updates pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B, wherein the updated pairing reserves the security unmanned aerial vehicle A and replaces the security unmanned aerial vehicle B with the security unmanned aerial vehicle E;
after the pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B is updated, the control center sends pairing information to the security unmanned aerial vehicle A and the security unmanned aerial vehicle E.
8. The method of claim 5, wherein the method further comprises:
if the control center sends the flight stopping instruction A and the flight stopping instruction B to the security unmanned aerial vehicle C, the control center deletes the pairing of the security unmanned aerial vehicle A and the security unmanned aerial vehicle B.
9. A security adjustment and interrupt control system for automatic inspection of a security unmanned aerial vehicle, characterized in that the system is configured to perform the method according to any of claims 1-8.
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