Hot backup method and hot backup system for unmanned aerial vehicle system

Abstract

The invention relates to the technical field of unmanned aerial vehicle safety, and discloses an unmanned aerial vehicle system hot backup method and system, and the method comprises the steps: a backup instruction generation module receives report signals of a plurality of parts in an unmanned aerial vehicle main system, and carries out the logic processing of a fault signal if at least one fault signal exists in the report signals, and generates a backup instruction; the system backup module switches a flight control unit and a sensor unit of the main system to a backup flight control unit and a backup sensor unit of the backup system according to the backup instruction; and the backup flight control unit generates an emergency control instruction based on the real-time data of the backup sensor unit, and sends the emergency control instruction to the power unit of the main system, so that the unmanned aerial vehicle performs emergency landing. According to the embodiment of the invention, through the hot backup design of the backup system on the flight control core component, the backup takeover can be triggered when any component has a fault, the crash of the unmanned aerial vehicle caused by the fault is prevented, and the overall fault tolerance rate of the system and the safety degree of the unmanned aerial vehicle can be remarkably improved.

Description

Technical Field

[0001] The present disclosure relates to the field of drone safety technology, and in particular to a drone system hot backup method and hot backup system. Background Art

[0002] With the development of science and technology, drones have become an important aviation tool. The emergence of drones not only greatly shortens our time and space, but also provides convenient and fast auxiliary functions for our life and work.

[0003] Drones can crash in extreme flight environments or when they experience sudden, high-risk malfunctions. Therefore, improving the safety of drones in these conditions and preventing them from crashing has become a pressing issue. Summary of the Invention

[0004] In view of this, the present disclosure provides a hot backup method and hot backup system for a drone system to solve the problem of how to improve the safety of the drone when facing extreme flight environments or sudden high-risk failures of the drone itself, so as to prevent the drone from crashing.

[0005] On the one hand, the present disclosure provides a hot backup method for an unmanned aerial vehicle system, which is applied to a hot backup system. The hot backup system includes a backup instruction generation module and a system backup module. The method includes: the backup instruction generation module receives reporting signals from multiple components in the main system of the unmanned aerial vehicle, and if there is at least one fault signal in the reporting signal, performs logical processing on the fault signal to generate a backup instruction; the system backup module switches the flight control unit and sensor unit of the main system to the backup flight control unit and backup sensor unit of the backup system according to the backup instruction; the backup flight control unit generates an emergency control instruction based on the real-time data of the backup sensor unit, and sends the emergency control instruction to the power unit of the main system, so that the unmanned aerial vehicle performs an emergency landing.

[0006] On the other hand, the present disclosure also provides a hot backup system, which includes: a backup instruction generation module and a system backup module, wherein: the backup instruction generation module is used to receive reporting signals from multiple components in the main system of the drone, and if there is at least one fault signal in the reporting signal, the fault signal is logically processed to generate a backup instruction; the system backup module is used to switch the flight control unit and sensor unit of the main system to the backup flight control unit and backup sensor unit of the backup system according to the backup instruction; the backup flight control unit is used to generate an emergency control instruction based on the real-time data of the backup sensor unit, and send the emergency control instruction to the power unit of the main system to make the drone perform an emergency landing.

[0007] On the other hand, the present disclosure also provides a computer device, including: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the above-mentioned drone system hot backup method by executing the computer instructions.

[0008] On the other hand, the present disclosure further provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to enable a computer to implement the above-mentioned drone system hot backup method.

[0009] On the other hand, the present disclosure further provides a computer program product, including computer instructions, which are used to enable a computer to execute the above-mentioned drone system hot backup method.

[0010] Through the hot backup method and hot backup system of the drone system of the above-mentioned embodiment of the present invention, the hot backup design of the flight control core components by the backup system ensures that the backup takeover can be triggered when any component fails, preventing the drone from crashing due to failure, which can significantly improve the overall fault tolerance of the system and the safety of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the related technologies, the following briefly introduces the drawings required for use in the specific embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0012] Figure 1a An exemplary schematic diagram of the architecture of a hot backup system applied to a hot backup method for a drone system according to an embodiment of the present disclosure is shown.

[0013] Figure 1b This is a flow chart of a hot backup method for a drone system provided by an embodiment of the present disclosure.

[0014] Figure 2 A schematic diagram of the architecture of a CPLD device for a hot backup method for an unmanned aerial vehicle system provided by an embodiment of the present disclosure is shown.

[0015] Figure 3 A schematic diagram of a specific architecture applied to a hot backup method for a drone system provided by an embodiment of the present disclosure is shown.

[0016] Figure 4 A schematic structural diagram of a hot backup system provided by an embodiment of the present disclosure is shown.

[0017] Figure 5A structural diagram of another hot backup system provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0018] With the rapid development of drone technology, drones have been widely used in a variety of fields, including agricultural plant protection, logistics and transportation, power inspection, emergency rescue, and urban management. The advent of drones has not only significantly shortened distances in space and time, but also provided a highly efficient and convenient operation model for various industries, effectively improving work efficiency and reducing labor costs. Drone systems typically consist of multiple core functional components, including a flight control unit, sensor unit, positioning unit, power unit, and image processing unit. These components face significantly increased risks in complex environments or during high-intensity missions. For example, the flight control unit may experience program crashes or hardware failures; the sensor unit may malfunction due to external interference, damage, or data anomalies; and the power unit is subject to risks such as overload and seizure. Failures such as these can result in loss of control, a crash, or even damage to the drone.

[0019] To solve the above problems, a hot backup method for a drone system is provided in various embodiments of the present disclosure, which is applied to a hot backup system. The hot backup system includes a backup instruction generation module and a system backup module. The method includes: the backup instruction generation module receives reporting signals from multiple components in the drone main system. If there is at least one fault signal in the reporting signal, the fault signal is logically processed to generate a backup instruction; the system backup module switches the flight control unit and sensor unit of the main system to the backup flight control unit and backup sensor unit of the backup system according to the backup instruction; the backup flight control unit generates an emergency control instruction based on the real-time data of the backup sensor unit, and sends the emergency control instruction to the power unit of the main system, so that the drone performs an emergency landing.

[0020] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present disclosure.

[0021] Please refer to Figure 1a , Figure 1a The following is an exemplary schematic diagram showing the architecture of a hot backup system used in a hot backup method for a drone system according to an embodiment of the present disclosure. Figure 1a As shown, the hot backup system includes: a backup instruction generation module and a system backup module.

[0022] In this embodiment, the hot backup system can be used to always be in a monitoring state when the drone system is operating normally, and to take over control in a timely manner when a failure occurs in the drone main system.

[0023] The backup command generation module in the hot backup system collects signals reported by multiple components in the drone's main system and performs logical analysis and processing on these signals to generate backup commands. The system backup module receives backup commands from the backup command generation module and controls the drone's system switching based on these commands, completing the actual backup control operation.

[0024] Further references Figure 1b , Figure 1b The following is a flow chart of a hot backup method for a drone system provided by an embodiment of the present disclosure. The flow of the method may include the following steps:

[0025] In step S101, a backup instruction generation module receives reporting signals from multiple components in the main system of the drone. If there is at least one fault signal in the reporting signals, the module performs logical processing on the fault signal and generates a backup instruction.

[0026] In this embodiment, the backup instruction generation module can receive the reporting signal of each component in the drone main system through the hardware circuit, and determine whether there is a fault signal based on the reporting signal of each component. If a fault signal is detected, it is determined that there is a faulty component in the drone main system, and a backup instruction is generated.

[0027] The primary system of a drone can refer to the main structure of the drone, integrating all the key components required for the drone to fly and execute missions. Correspondingly, the backup system of a drone can refer to the redundant safety system that enables the drone to maintain basic flight capabilities.

[0028] In step S102 , the system backup module switches the flight control unit and the sensor unit of the main system to the backup flight control unit and the backup sensor unit of the backup system according to the backup instruction.

[0029] In this embodiment, the flight control unit may be the core control unit of the UAV system, responsible for the flight attitude control, trajectory planning, etc. For example, the flight control unit may include but is not limited to: a single-chip microcomputer STM32.

[0030] The sensor unit can be the perception module of the UAV system, responsible for collecting flight status and environmental parameters in real time, and can provide accurate input data for the flight control unit.

[0031] Exemplarily, the sensors in the sensor unit of the main system may include but are not limited to: a barometer, a magnetometer, an ultrasonic sensor, an accelerometer, an optical flow sensor or a gyroscope; the sensors in the sensor unit of the backup system may include but are not limited to: a barometer, a magnetometer, an accelerometer or a gyroscope.

[0032] Here, the flight control unit of the backup system only needs to enable the drone to have basic flight functions; the sensors in the sensor unit of the backup system only need to meet the environmental perception of the drone during basic flight, which can reduce the redundancy of the drone system.

[0033] For example, the basic flight functions of a drone may include but are not limited to: deceleration, steering, landing, etc.

[0034] In step S103, the backup flight control unit generates an emergency control instruction based on the real-time data of the backup sensor unit, and sends the emergency control instruction to the power unit of the main system to make the UAV perform an emergency landing.

[0035] In this embodiment, the emergency control instruction may refer to a control command specifically used for abnormal situations calculated by the backup flight control unit based on real-time data.

[0036] For example, emergency control instructions may include but are not limited to the following: stabilizing the drone's attitude, reducing flight speed and altitude, and achieving a safe landing at a preset location.

[0037] The power unit may refer to the actuator of the UAV, and the power unit may include but is not limited to: a motor, a propeller, etc.

[0038] Here, the backup flight control unit may send the emergency control instruction to the power unit via a control bus.

[0039] Through the hot backup method and hot backup system of the drone system of the above-mentioned embodiment of the present disclosure, the hot backup design of the flight control core components by the backup system ensures that the backup takeover can be triggered when any component fails, preventing the drone from crashing due to failure, which can significantly improve the overall fault tolerance of the system and the safety of the drone. An incomplete backup strategy is adopted to only back up the flight control unit and the sensor unit, which not only ensures the effectiveness of the emergency function, but also avoids redundant backup of other non-critical components, thereby optimizing the system weight, energy consumption and manufacturing costs. Even in complex environments, the backup system can still perform basic actions such as landing through simplified and reliable perception and control, minimizing the risk of loss and improving the environmental adaptability of the drone.

[0040] In a possible implementation of step S101, the backup instruction generation module receives reporting signals from multiple components in the main system of the drone, including:

[0041] The backup instruction generation module receives in real time reporting signals from multiple components in the main system of the drone, where the components in the main system include at least one of a flight control unit, a sensor unit, a positioning unit, an image and video processing unit, a power unit, and a wireless communication unit;

[0042] The method also includes: the backup instruction generation module determines the component status by the level status of the reporting signal; if the reporting signal is low level, it is determined that the component corresponding to the reporting signal is in a normal state; if the reporting signal is high level, it is determined that the component corresponding to the reporting signal is in a fault state.

[0043] In this embodiment, the positioning unit can be a module for real-time positioning of the spatial position of the drone, the image and video processing unit can be a module for collecting and processing images and / or video streams taken by the drone, and the wireless communication unit can be a module for realizing data communication functions between the drone and a ground station or other equipment.

[0044] Here, the backup instruction generation module receives the reporting signals of each core module related to flight safety in the drone main system in real time, and can trigger the emergency mechanism as soon as an abnormality is detected in the core module, which can significantly reduce the risk of the drone crashing due to single point failure and enhance the overall fault tolerance of the system.

[0045] Furthermore, the backup instruction generation module detects the level status of each reported signal received in real time. If the level status is low, it is judged that the component to which the signal belongs is in a normal state; if the level status is high, it is judged that the component to which the signal belongs is in a fault state.

[0046] Through the hot backup method and hot backup system of the drone system of the above-mentioned embodiment of the present disclosure, the backup instruction generation module can receive and detect the reporting signals from multiple core components in real time, and judge the status of the components by the signal level, thereby ensuring that the system can respond to the failure of the drone core module and quickly initiate an emergency response. By adopting a level judgment mechanism, the fault status judgment process can be simplified, complex signal processing and multiple calculations can be avoided, the system response time can be reduced, and the complexity of the hardware design can be reduced. The work of the backup instruction generation module is based on the status reporting of multiple components, and multiple core modules can be monitored in parallel, so that the system can efficiently perform real-time data collection and fault judgment, further improving the overall performance and safety of the drone.

[0047] In a possible implementation of step S101, the backup instruction generation module includes a CPLD device. If at least one fault signal is present in the reported signal, the module performs logical processing on the fault signal to generate a backup instruction, including:

[0048] The backup instruction generation module inputs the reporting signal of each component into the corresponding NOT gate in the CPLD device for inversion, and inputs the output signals of multiple NOT gates into the NAND gate in the CPLD device again;

[0049] The backup instruction generation module generates a high-level signal after passing through multiple NOT gates and NAND gates if there is a high-level signal in the reporting signals of multiple components, and sends the high-level signal as a backup instruction to the system backup module;

[0050] The backup instruction generation module generates a low-level signal after passing through multiple NOT gates and NAND gates if the reporting signals of multiple components are all low-level signals, and ignores the low-level signal as an invalid signal.

[0051] In this embodiment, a complex programmable logic device (CPLD) may be a digital integrated circuit whose logic functions can be constructed by the user according to his or her needs.

[0052] In this embodiment, the CPLD may include a plurality of NOT gates and a NAND gate, wherein each NOT gate corresponds to a reporting signal of a component.

[0053] For example, please refer to Figure 2 , Figure 2 A schematic diagram of the architecture of a CPLD device for a hot backup method for a drone system provided by an embodiment of the present disclosure is shown, wherein:

[0054] Multiple components in the main system correspond one-to-one with multiple NOT gates. Specifically, the NOT gates are NOT gates with inverting points. The outputs of the NOT gates with inverting points serve as inputs to the NAND gates, whose outputs serve as the backup system switching signals. The NAND gates are also NAND gates with inverting points.

[0055] For example, the truth table of the logic processing in the CPLD device may be shown in Table 1 below:

[0056]

[0057] Table 1

[0058] The power unit fault information refers to the reporting signal of the power unit. The rest are similar and will not be described in detail here.

[0059] When the reporting signals of the six components are all 0 (low level), after passing through the corresponding six NOT gates with inverting points, the output value is still 6 0s. After the 6 0 input values are set with inverting points of the NAND gates, the output backup system switching signal is 0, indicating that there is no faulty component among the six components and there is no need to switch the backup system.

[0060] Similarly, when the reporting signals of the six components are 1 (high level), after passing through six NOT gates with inverting points and NAND gates with inverting points, the output backup system switching signal is 1, indicating that there is a faulty component among the six components and backup system switching is required.

[0061] Through the hot backup method and hot backup system of the drone system disclosed in the above-mentioned embodiment of the present invention, the backup instruction generation module uses CPLD devices to perform hardware-level logic processing, without relying on software judgment, to achieve high-speed parallel detection of multiple reporting signals, significantly improving the emergency response speed of the drone. The use of hardware level judgment (low level = normal, high level = fault) reduces the system's sensitivity to external interference, reduces the risk of misjudgment, and further improves the reliability and anti-interference capability of the drone's hot backup. The CPLD device has programmable capabilities and can quickly adjust the fault identification logic according to different drone models or mission requirements, such as increasing or decreasing the number of detection components or modifying the logical judgment rules, significantly improving the adaptability and scalability of the system.

[0062] In a possible implementation of the above embodiment, the system backup module monitors the attitude control data of the drone in real time when the drone is in a normal state.

[0063] In this embodiment, the attitude control data of the UAV may include but is not limited to: pitch angle information, acceleration information, angular velocity information, etc.

[0064] In one possible implementation, the system backup module can continuously sample the attitude control data received in real time, establish an attitude data buffer, record the current flight attitude of the drone according to a preset sampling period, and form a real-time updated data stream.

[0065] Furthermore, the system backup module can utilize the continuity and stability of attitude data to monitor data trends in real time. For example, monitoring data trends can include, but are not limited to, monitoring whether the drone's attitude angle deviation changes dramatically, monitoring whether attitude control commands fluctuate abnormally, and monitoring whether the drone loses stability during flight.

[0066] Here, when the system backup module does not receive a backup command, it remains in a read-only monitoring state, not interfering with primary system control. However, it continuously records and updates flight attitude data, preparing data for a possible backup switchover. When the system backup module receives a backup command, it immediately switches to active mode, using the recorded attitude data as transition parameters and activating the backup flight control unit to take over flight control, ensuring a smooth transition and preventing aircraft instability.

[0067] Through the hot backup method and hot backup system of the drone system of the above-mentioned embodiment of the present disclosure, the system backup module monitors the attitude control data in real time, and can grasp the flight status of the drone at all times, greatly improving the controllability when switching to the backup system. By caching and updating the flight attitude data in real time, the system backup module can directly use the latest flight status parameters when switching between the main and backup systems without reinitialization, thereby improving the takeover speed of the backup flight control unit and the smooth transition effect of the attitude control. Under normal conditions, the system backup module maintains non-interventional monitoring, effectively avoiding data conflicts between the main system and the backup system, while ensuring that the backup system has full control over the main system data, ensuring that the link remains valid.

[0068] In a possible implementation of step S103, the system backup module sends an emergency control command to the power unit in the main system through the backup flight control unit to make the drone make an emergency landing to avoid danger, including:

[0069] The system backup module enables the backup flight control unit to read the attitude control data, determines the emergency control instruction according to the attitude control data and the sensor data of the backup sensor unit, and sends the emergency control instruction to the power unit in the main system.

[0070] In this embodiment, after receiving the backup instruction, the system backup module immediately activates the backup flight control unit and starts reading the cached attitude control data to ensure that the current actual flight attitude of the UAV is obtained; the backup flight control unit calls the data of the backup sensor unit in real time to form a complete real-time flight perception; the backup flight control unit executes the emergency decision-making algorithm based on the above attitude data and backup sensor data, comprehensively judges the current flight environment and status of the UAV, and generates corresponding emergency control instructions.

[0071] Exemplarily, the emergency control instructions may include, but are not limited to, attitude balance instructions, deceleration instructions, and landing instructions.

[0072] Here, the priority of the emergency control instruction of the backup flight control unit is higher than the control instruction of the flight control unit in the main system.

[0073] Through the hot backup method and hot backup system of the drone system of the above-mentioned embodiment of the present invention, the generation of emergency control instructions is based on the dual judgment basis of attitude control data + backup sensor data, ensuring that relatively accurate flight status can be obtained in any state, thereby improving emergency reliability.

[0074] In a specific embodiment, please refer to Figure 3 , Figure 3 A schematic diagram showing a specific architecture of a hot backup method for a drone system provided by an embodiment of the present disclosure is shown, wherein:

[0075] The specific architecture includes multiple components of the main system (image and video processing unit, flight control unit, positioning unit, sensor unit, power unit and wireless communication unit), backup system (backup flight control unit and backup sensor unit) and CPLD.

[0076] Here, multiple components of the main system send reporting signals to the CPLD to report faults. The CPLD performs logical processing on the reporting signals, determines the backup system switching signal, and switches the drone from the main system to the backup system.

[0077] The positioning unit may include, but is not limited to, a Global Navigation Satellite System (GNSS) and Real-Time Kinematic (RTK). The sensors in the sensor unit may include, but are not limited to, a barometer, a magnetometer, an ultrasonic sensor, an accelerometer, an optical flow sensor, or a gyroscope. The sensors in the backup system's sensor unit may include, but are not limited to, a barometer, a magnetometer, an accelerometer, or a gyroscope.

[0078] In one embodiment, a hot backup system 400 is provided, which corresponds to the hot backup method of the drone system in the above embodiment. Figure 4 As shown, the system includes a backup instruction generation module 401 and a system backup module 402, wherein each functional module is described in detail as follows:

[0079] The backup instruction generation module 401 is used to receive reporting signals from multiple components in the main system of the drone, and if there is at least one fault signal in the reported signals, perform logical processing on the fault signal and generate a backup instruction;

[0080] The system backup module 402 is used to switch the flight control unit and the sensor unit of the main system to the backup flight control unit and the backup sensor unit of the backup system according to the backup instruction;

[0081] The backup flight control unit is used to generate emergency control instructions based on the real-time data of the backup sensor unit, and send the emergency control instructions to the power unit of the main system to make the UAV perform an emergency landing.

[0082] In one embodiment, the backup instruction generation module 401 is configured to receive, in real time, reporting signals from multiple components in the main system of the drone, where the components in the main system include at least one of a flight control unit, a sensor unit, a positioning unit, an image and video processing unit, a power unit, and a wireless communication unit;

[0083] The backup instruction generation module 401 is also used to judge the component status by the level status of the reporting signal; if the reporting signal is low level, it is determined that the component corresponding to the reporting signal is in a normal state; if the reporting signal is high level, it is determined that the component corresponding to the reporting signal is in a fault state.

[0084] In one embodiment, the backup instruction generation module 402 includes a CPLD device, and the backup instruction generation module 401 is configured to input the reporting signal of each component into the corresponding NOT gate in the CPLD device for inversion, and input the output signals of the multiple NOT gates into the NAND gate in the CPLD device again;

[0085] The backup instruction generation module 401 is used to generate a high-level signal after passing through multiple NOT gates and NAND gates if there is a high-level signal in the reporting signals of multiple components, and send the high-level signal as a backup instruction to the system backup module;

[0086] The backup instruction generating module 401 is used to generate a low-level signal after passing through multiple NOT gates and NAND gates if all the reporting signals of multiple components are low-level signals, and ignore the low-level signal as an invalid signal.

[0087] In one embodiment, the system backup module 402 is configured to monitor the attitude control data of the drone in real time when the drone is in a normal state.

[0088] In one embodiment, the system backup module 402 is used to enable the backup flight control unit to read attitude control data, determine emergency control instructions based on the attitude control data and sensor data of the backup sensor unit, and send emergency control instructions to the power unit in the main system; wherein, the priority of the emergency control instructions of the backup flight control unit is higher than the control instructions of the flight control unit in the main system.

[0089] It should be noted that: the hot backup system provided in the above embodiment is only illustrated by the division of the above program modules when implementing the corresponding hot backup method of the drone system. In actual application, the above processing can be assigned to different program modules as needed, that is, the internal structure of the above system can be divided into different program modules to complete all or part of the above-described processing. In addition, the system provided in the above embodiment is similar to the corresponding Figure 1b The embodiments of the method shown belong to the same concept, and their specific implementation processes are detailed in the method embodiments, which will not be repeated here.

[0090] The present disclosure also provides a computer device having the above Figure 4 Hot standby system shown.

[0091] See also Figure 5 , Figure 5 FIG. 1 shows a schematic diagram of the structure of another hot backup system provided by an embodiment of the present disclosure, such as Figure 5 As shown, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in the memory or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0092] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0093] The memory 20 stores instructions that can be executed by at least one processor 10, so as to enable at least one processor 10 to execute the method shown in the above embodiment.

[0094] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0095] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0096] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 5 The bus connection is taken as an example.

[0097] The input device 30 can receive input digital or character information and generate key signal input related to user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touch pad, an indicator stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 can include a display device, an auxiliary lighting device (e.g., an LED), and a tactile feedback device (e.g., a vibration motor). The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display, and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0098] The computer device further includes a communication interface for the computer device to communicate with other devices or a communication network.

[0099] The embodiments of the present disclosure also provide a computer-readable storage medium. The above-mentioned method according to the embodiments of the present disclosure can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0100] A portion of the present disclosure may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present disclosure through the operation of the computer. Those skilled in the art should understand that the form in which the computer program instruction exists in a computer-readable medium includes but is not limited to a source file, an executable file, an installation package file, etc. Accordingly, the way in which the computer program instruction is executed by the computer includes but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium that can be accessed by the computer.

[0101] Although the embodiments of the present disclosure have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A hot backup method for an unmanned aerial vehicle system, characterized in that: Applied to a hot backup system, the hot backup system includes a backup instruction generation module and a system backup module, and the method includes: The backup instruction generation module receives reporting signals from multiple components in the main system of the drone, and if there is at least one fault signal in the reporting signals, performs logical processing on the fault signal and generates a backup instruction; The system backup module switches the flight control unit and the sensor unit of the main system to the backup flight control unit and the backup sensor unit of the backup system according to the backup instruction; The backup flight control unit generates an emergency control instruction based on the real-time data of the backup sensor unit, and sends the emergency control instruction to the power unit of the main system, so that the UAV performs an emergency landing.

2. The method according to claim 1, characterized in that The backup instruction generation module receives reporting signals from multiple components in the drone main system, including: The backup instruction generation module receives in real time reporting signals from multiple components in the main system of the drone, wherein the components in the main system include at least one of a flight control unit, a sensor unit, a positioning unit, an image and video processing unit, a power unit, and a wireless communication unit; The method further includes: the backup instruction generation module determines the component status by the level status of the reporting signal; if the reporting signal is at a low level, it is determined that the component corresponding to the reporting signal is in a normal state; if the reporting signal is at a high level, it is determined that the component corresponding to the reporting signal is in a fault state.

3. The method according to claim 2, characterized in that The backup instruction generation module includes a CPLD device. If there is at least one fault signal in the reported signal, the fault signal is logically processed to generate a backup instruction, including: The backup instruction generation module inputs the reporting signal of each component into the corresponding NOT gate in the CPLD device for inversion, and inputs the output signals of multiple NOT gates into the NAND gate in the CPLD device again; The backup instruction generating module generates a high-level signal after passing through the multiple NOT gates and the NAND gate if there is a high-level signal in the reporting signals of the multiple components, and sends the high-level signal as a backup instruction to the system backup module; The backup instruction generation module generates a low-level signal after passing through the multiple NOT gates and the NAND gate if all the reporting signals of the multiple components are low-level signals, and ignores the low-level signal as an invalid signal.

4. The method according to claim 1, wherein The system backup module monitors the attitude control data of the UAV in real time when the UAV is in a normal state.

5. The method according to claim 4, characterized in that The system backup module sends an emergency control command to the power unit in the main system through the backup flight control unit to make the drone make an emergency landing to avoid danger, including: The system backup module enables the backup flight control unit to read attitude control data, determines an emergency control instruction based on the attitude control data and the sensor data of the backup sensor unit, and sends the emergency control instruction to the power unit in the main system; wherein, the priority of the emergency control instruction of the backup flight control unit is higher than the control instruction of the flight control unit in the main system.

6. A hot backup system, characterized in that: The hot backup system includes: a backup instruction generation module and a system backup module, wherein: A backup instruction generation module is configured to receive reporting signals from multiple components in the main system of the drone, and if at least one fault signal is present in the reporting signals, perform logic processing on the fault signal to generate a backup instruction; The system backup module is used to switch the flight control unit and the sensor unit of the main system to the backup flight control unit and the backup sensor unit of the backup system according to the backup instruction; The backup flight control unit is used to generate an emergency control instruction based on the real-time data of the backup sensor unit, and send the emergency control instruction to the power unit of the main system to make the UAV perform an emergency landing.

7. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the hot backup method of the unmanned aerial vehicle system according to any one of claims 1 to 5 by executing the computer instructions.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the hot backup method for a drone system according to any one of claims 1 to 5.

9. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions are used to enable a computer to execute the hot backup method of the unmanned aerial vehicle system according to any one of claims 1 to 5.

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