WO2021217416A1 - Movable platform control method and apparatus, movable platform, and storage medium - Google Patents

Movable platform control method and apparatus, movable platform, and storage medium Download PDF

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Publication number
WO2021217416A1
WO2021217416A1 PCT/CN2020/087493 CN2020087493W WO2021217416A1 WO 2021217416 A1 WO2021217416 A1 WO 2021217416A1 CN 2020087493 W CN2020087493 W CN 2020087493W WO 2021217416 A1 WO2021217416 A1 WO 2021217416A1
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WO
WIPO (PCT)
Prior art keywords
control device
control
control instruction
target
feedback information
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PCT/CN2020/087493
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French (fr)
Chinese (zh)
Inventor
曾文琪
王焱
张志鹏
马宁
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080028848.9A priority Critical patent/CN114096463A/en
Priority to PCT/CN2020/087493 priority patent/WO2021217416A1/en
Publication of WO2021217416A1 publication Critical patent/WO2021217416A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms

Definitions

  • the present invention relates to the field of communication technology, in particular to a control method and device of a movable platform, a movable platform and a storage medium.
  • multiple control devices can be configured for the mobile platform, so that the user can control the mobile platform through different control devices, which can improve the user’s understanding of the mobile platform.
  • Control the experience For example, when the movable platform is a drone, the drone can be equipped with remote control equipment and flying glasses, and the remote control device and flying glasses are connected to the drone through different communication links, and the drone uses broadcast The collected image data is sent to the remote control device and flying glasses. After receiving the image data, the remote control and flying glasses will send feedback information to the drone to indicate whether the image data is successfully received.
  • the drone will retransmit the image data, that is, rebroadcast the image data. In some application scenarios, it may cause the drone to retransmit the image data unnecessarily frequently. It can be seen that the use of the current transmission feedback mechanism reduces the efficiency of UAV data transmission, which is not conducive to the low power consumption design of UAV.
  • the embodiments of the present invention provide a control method and device for a movable platform, a movable platform, and a storage medium, which can effectively avoid unnecessary data retransmission, thereby improving the efficiency of data transmission by the movable platform.
  • the first aspect of the embodiments of the present invention provides a method for controlling a movable platform, where the movable platform establishes a communication connection with a first control device and a second control device respectively, and the method includes:
  • Determining a target working mode when the movable platform performs image data transmission where the target working mode is the first working mode or the second working mode;
  • the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information
  • the target operating mode is the second operating mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
  • a second aspect of the embodiments of the present invention provides a control device for a movable platform, the movable platform has a communication connection with a first control device and a second control device respectively, and the device includes a memory and a processor;
  • the memory is used to store program code
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • Determining a target working mode when the movable platform performs image data transmission where the target working mode is the first working mode or the second working mode;
  • the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information
  • the target operating mode is the second operating mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
  • a third aspect of the embodiments of the present invention provides a movable platform, which includes:
  • a power system installed on the fuselage and used to provide power for the movable platform
  • the movable platform after determining the target working mode of the movable platform for image data transmission, can send the image data to the first control device and the second control device, so that the first control device can be received
  • the first feedback information sent, and the second feedback information sent by the second control device make it possible to determine whether to retransmit the image data based on the first feedback information when the target working mode is the first working mode.
  • the working mode is the second working mode, it can be determined whether to retransmit the image data based on the first feedback information or the second feedback information, which realizes that the movable platform can adopt different retransmission feedback mechanisms based on different modes. Effectively avoid unnecessary data retransmissions, thereby improving the efficiency of data transmission on the mobile platform, which is conducive to the low-power design of the mobile platform.
  • Figure 1 is a schematic diagram of a control system for a movable platform provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for controlling a movable platform provided by an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of image data transmission on a mobile platform provided by an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of a method for controlling a movable platform provided by an embodiment of the present invention
  • FIG. 5 is a schematic flowchart of a mobile platform receiving control instructions according to an embodiment of the present invention.
  • Fig. 6 is a schematic block diagram of a movable platform provided by an embodiment of the present invention.
  • the movable platform can be equipped with one or more control devices.
  • the movable platform can be equipped with a first control device and a second control device.
  • the first control device and The second control device can respectively establish a communication connection with the movable platform.
  • the mobile platform can send control data and image data to the first control device and the second control device in a broadcast manner, and the first control device and the second control device each receive the mobile platform's Downlink broadcast data.
  • the first control device and the second control device can respectively establish a communication connection with the mobile platform through a wireless link, and the mobile platform can be an unmanned aerial vehicle (UAV), a car, Or an intelligent robot, etc.
  • the first control device and the second control device can be two control devices of the same type, such as both glasses (Glass, GLS) devices, or both remote control devices, etc., or the first control device and The second control device may also be two different control devices.
  • the first control device may be a glasses device
  • the second control device is a remote control device.
  • the remote control device may be, for example, a remote control (RC).
  • the glasses device may be, for example, glasses based on the First Person View (FPV).
  • FPV First Person View
  • the first control device and the second control device are different devices as an example for detailed description.
  • the first control device is a glasses device
  • the second control device is a remote control device.
  • the communication connection between the first control device and the movable platform is a first communication link
  • the communication connection between the second control device and the movable platform is a second communication link.
  • the communication service carried by the first communication link and the communication service carried by the second communication link are different, so the first communication link
  • the second control device has a poor receiving effect on the downlink data of the mobile platform.
  • the transmission quality of the downlink data is to ensure the complete reception of the downlink data by the second control device, which affects the reception quality of the downlink data by the first control device.
  • the downlink data may be image data, for example.
  • the movable platform is a drone
  • the first control device is FPV glasses
  • the second control device is a remote control. When the drone is not in front of the operator of the remote control, the receiving performance of the remote control is poor.
  • the drone In order to ensure that both the FPV glasses and the remote control can correctly receive the image data sent by the drone, it is necessary to reduce the image data to a level that the remote control can correctly receive, which will affect the experience of the FPV glasses operator. In addition, if the feedback information sent by either the remote control or the FPV glasses indicates that the image data has not been successfully received, the drone needs to rebroadcast the image data. In some application scenarios, it may cause the drone to retransmit the image data unnecessarily frequently. It can be seen that the use of the current transmission feedback mechanism reduces the efficiency of UAV data transmission, which is not conducive to the low power consumption design of UAV.
  • this application proposes a control method for a mobile platform, which can broadcast image data on the mobile platform, and receives the first feedback information sent by the first control device based on the image data, and the second control device is based on After the second feedback information is sent by the image data, it is determined whether to retransmit the image data according to the selected target working mode and based on the first feedback information or the second feedback information.
  • the target working mode when the movable platform performs image transmission may be the first working mode or the second working mode.
  • the first working mode is a priority mode of the first control device
  • the second working mode is the first working mode. From the coordinated control mode of the first control device and the second control device, it can be understood that when the first control device is a glasses device and the second control device is a remote control device, the first working mode is the glasses priority mode, and the The second working mode is the dual-channel image transmission mode.
  • the user can select and switch between the glasses priority mode and the dual-channel image transmission mode according to the scene.
  • the users who use the remote control device to control the movable platform and use the glasses device to experience the operating angle of the movable platform are the same.
  • the user can choose the glasses priority mode as the target working mode of the movable platform, and when the user using the remote control device and the user using the glasses device are different users, the user can choose the dual-channel image transmission mode as the movable platform.
  • the target working mode of the platform is not limited to the glasses priority mode.
  • the mobile platform determines the target operating mode for image transmission, it can receive the target operating mode selection instruction from the first control device, or select the target operating mode selection instruction from the second control device, or it can be in After the first control device selects the target operating mode, the first control device sends the selected target operating mode to the second control device, and after the second control device confirms the selected target operating mode, the second control device The control equipment is sent to the movable platform.
  • the first control device and the second control device also establish a wireless communication connection. As shown in FIG.
  • the second control device can maintain time synchronization with the first control device based on the communication connection, or frequency Synchronization, or synchronization of time and frequency, after the synchronization of the first control device and the second control device is completed, if the movable platform only determines the target working mode according to the working mode sent by the second control device, then if the user is in After the first control device selects the target working mode, it needs to first send the target working mode to the second control device.
  • the second control device confirms the target working mode selected by the first control device, and after the confirmation is passed, the The target working mode is sent to the movable platform.
  • the movable platform may receive the data sent by the first control device (ie glasses device) after sending the downlink data.
  • the first feedback information and the second feedback information sent by the second control device ie, the remote control device
  • the first feedback information and the second feedback information include a return signal for indicating whether the downlink data is received
  • the return signal includes: a return acknowledgment signal (Acknowledge Character, ACK) used to indicate that the downlink data is received, or an error return non-acknowledgement signal (Negative Acknowledge Character, NACK) used to indicate that the downlink data is not received.
  • the mobile platform In the glasses priority mode, if the downlink data is image data, the mobile platform will use the second feedback message sent by the remote control device to indicate whether the image data is received as an ACK signal and send it based on the glasses device.
  • Obtain the return signal in the first feedback information to control the retransmission of the image data that is, in the glasses priority mode, when the mobile platform broadcasts the image data downstream, regardless of whether the return signal in the feedback information of the remote control device is the ACK signal/NACK signal.
  • the mobile platform thinks that the remote control device returns an ACK signal confirming the receipt of the image data, and controls the retransmission of the image data based on the return signal in the first feedback message sent by the glasses device. If the return signal of is an ACK signal, the image data is not retransmitted, and if the return signal in the first feedback information is a NACK signal, the image data is controlled to be retransmitted.
  • the mobile platform determines whether to retransmit the control data based on the return signal in the third feedback information sent by the first control device or the second control device, respectively, that is If the movable platform receives an ACK signal in the third feedback information sent by the first control device or the second control device based on the control data, it determines not to retransmit the control data and receives the first control device Or the second control device determines to retransmit the control data if the return signal in the third feedback information sent based on the control data is a NACK signal.
  • the mobile platform when the mobile platform retransmits the control data, N retransmissions can be attempted until the received return signal is an ACK signal, where N is greater than or equal to 1, and the N may be 3, for example. Or 5, etc., the control data may be, for example, a control instruction for controlling the frequency point switching between the first control device and the second control device, or a control instruction for requesting connection or disconnection. If the mobile platform determines that the target operating mode is the second operating mode (ie, dual-channel image transmission mode), the mobile platform broadcasts the downlink data and receives the first feedback information and the second feedback information, regardless of the downlink data.
  • the target operating mode is the second operating mode (ie, dual-channel image transmission mode)
  • the mobile platform broadcasts the downlink data and receives the first feedback information and the second feedback information, regardless of the downlink data.
  • the data is control data or image data, which is retransmitted based on the return signal in the first feedback information or the second feedback information, that is, as long as the return signal of the first feedback information or the second feedback information received by the movable platform exists
  • the NACK signal controls the downlink data to be retransmitted.
  • the mobile platform when it controls the image data to be retransmitted, it may request retransmission based on the key frame included in the feedback information, and the key frame may be, for example, an internal picture frame (ie, an I frame).
  • the movable platform may also receive control instructions sent by the first control device and the second control device, and control the operation of the movable platform according to the received control instructions, wherein the first control device
  • the control instruction sent is the first control instruction
  • the control instruction sent by the second control device is the second control instruction.
  • the movable platform can determine the target control instruction for controlling the movable platform according to the first control instruction and the second control. Yes, the target control instruction is the first control instruction or the second control instruction.
  • the connection state between the second control device and the movable platform may be determined first. If the connection state is a synchronized state, then Determine the transmission frequency of the second control command.
  • the transmission frequency is greater than or equal to the preset transmission frequency threshold, it means that the transmission delay of the second control command is low, and the second control command is used as the target control command; If the connection state between the second control device and the movable platform is in a synchronized state, and the transmission frequency of the second control instruction is less than the preset transmission frequency, the second control instruction can be inserted into the first control instruction, Use the inserted control instruction as the target control instruction, or insert the first control instruction into the second control instruction to obtain the target control instruction, where the preset transmission frequency may be, for example, 10 Hz, 15 Hz, etc. .
  • the movable platform if the connection state between the second control device and the movable platform is out of synchronization, the movable platform cannot receive the second control instruction sent by the second control device, and the movable platform determines The delay of receiving the first control instruction is relatively short, and the first control instruction can be directly used as the target control instruction, so that the movable platform can control the movable platform based on the control instruction with a lower delay.
  • FIG. 2 is a schematic flowchart of a method for controlling a movable platform according to an embodiment of the present invention.
  • the movable platform has a communication connection with a first control device and a second control device respectively, as shown in FIG. 2 ,
  • the method may include:
  • S201 Determine a target working mode when the movable platform performs image data transmission, where the target working mode is a first working mode or a second working mode.
  • the user can select the target work mode through the first control device, and send the selected target work mode to the movable platform, or the user can also perform the target work mode through the second control device. Select and send the selected target working mode to the movable platform.
  • the target working mode may be the first working mode prioritized by the first control device, or the two-way controlled by the first control device and the second control device. Cooperative mode (or dual-channel image transmission mode).
  • the movable platform may also determine whether the first user corresponding to the first control device and the second user corresponding to the second control device are the same user, so as to determine whether to perform the operation on the movable platform.
  • the target working mode during image transmission where, when the first user and the second user are the same user, the movable platform can use the first working mode as the target working mode, and the first user and the second user are When there are different users, the mobile platform uses the second working mode as the target working mode.
  • the movable platform when it determines the target operating mode for image transmission, it may receive a selection instruction for the target operating mode, so that the movable platform may determine when the movable platform performs image data transmission according to the selection instruction.
  • the target working mode of the target working mode wherein the selection instruction may be a user selecting and sending the target working mode through the first control device, or may be the user controlling the target working mode through the second control device
  • the working mode is selected and sent; or, after the user selects the target working mode through the first control device, the first control device sends the selection instruction to the second control device Later, sent by the second control device.
  • the mobile platform when it determines the target operating mode for image transmission, it may first determine the first priority when the first control device performs mode selection, and the first priority when the second control device performs mode selection. Two priorities, so that the first operating mode selected by the first control device and the second operating mode selected by the second control device can be acquired, if the first priority is higher than the second priority, The first working mode is taken as the target working mode; and if the first priority is lower than the second priority, the second working mode is taken as the target working mode.
  • S202 Send the image data, and receive first feedback information sent by the first control device and second feedback information sent by the second control device.
  • the mobile platform can send the image data by broadcasting, and after the first control device and the second control device receive the image data, they can send to the mobile platform to indicate whether to receive the image data. If the feedback information of the image data is successful, the mobile platform can receive the first feedback information sent by the first control device and the second feedback information sent by the second control device, so that the mobile platform can be based on the corresponding target The working mode, as well as the received first feedback information and second feedback information, determine whether to retransmit the image data, that is, step S203 and step S204 are performed instead. In an embodiment, the first feedback information is used to indicate whether the first control device successfully receives the image data, and the second feedback information is used to indicate whether the second control device successfully receives the image data data.
  • the first feedback information and the second feedback information include a return signal used to indicate whether the control device successfully receives the image data.
  • the return signal may be an ACK signal or a NACK signal. It indicates that the control device has received the image data, and the NACK signal is used to indicate that the control device has not received the image data.
  • S203 If the target operating mode is the first operating mode, determine whether to resend the image data according to the first feedback information.
  • S204 If the target operating mode is the second operating mode, determine whether to resend the image data according to the first feedback information or the second feedback information.
  • step S203 and step S204 if the movable platform determines that the target working mode is the first working mode prioritized by the first control device, the movable platform can directly after receiving the second feedback information sent by the second control device Process the return signal in the second feedback information as an ACK signal, and determine whether to retransmit the image data based on the first feedback information.
  • the return signal in the first feedback information is an ACK signal, It is determined not to retransmit the image data, and if the return signal in the first feedback information is a NACK signal, it is determined to retransmit the image data.
  • the key frame request can be obtained from the first feedback information, and the key frame data of the image data can be retransmitted based on the key frame request, where the image data is The original image is encoded and sent to the first control device and the second control device.
  • the key frame data is the necessary frame for the control device to restore the image data to obtain the original image after receiving the image data. Therefore, the movable platform During retransmission, only the key frame can be retransmitted. Based on the retransmitted key frame and the image parameters in the previously sent image data, the control device can restore the corresponding original image.
  • the key frame for example, It can be an I frame, etc.
  • the movable platform needs to be based on the first feedback information sent by the first control device, or based on the The second feedback information sent by the second control device determines whether to retransmit the image data.
  • the return signal in the first feedback information received by the movable platform is an ACK signal
  • the return signal in the second feedback information is also an ACK signal
  • the return signal in the first feedback information is a NACK signal
  • the movable platform needs to re-broadcast the image data
  • the second feedback information is If the return signal of is a NACK signal, it means that the second control device has not received the image data, and the movable platform also needs to retransmit the image data.
  • the movable platform can also retransmit the image data according to the first feedback information or the first 2. The key frame request in the feedback information, and when the image data is retransmitted, only the key frame is retransmitted.
  • the first control device is a glasses device and the second control device is a remote control device
  • the target working mode of the movable platform can be selected first. Based on the user's selection, the movable platform can determine the target working mode.
  • the target working mode can be the glasses priority mode or the dual-channel image transmission mode. In the glasses priority mode, after sending the image data to the glasses device and the remote control device, the movable platform can receive the feedback information sent by the glasses device and the feedback information sent by the remote control device.
  • the movable platform determines that the glasses device and the remote control device have successfully received the image data, and if it can When the mobile platform receives the NACK signal from the glasses device, it determines that the image data needs to be retransmitted. When the mobile platform retransmits the image data, it can obtain the key frame request from the glasses device and retransmit the key frame data .
  • the movable platform can only receive the ACK signal in the feedback information of the glasses device, and the feedback of the remote control device
  • the return signal in the information is an ACK signal
  • the glasses device and the remote control device have successfully received the image data, and the image data is not retransmitted
  • the return signal in the feedback information received from the glasses device is the NACK signal
  • the return signal in the received feedback information of the remote control device is a NACK signal
  • the key frame request can be obtained from the glasses device or the remote control device, and the key frame data can be retransmitted.
  • the movable platform after determining the target working mode of the movable platform for image data transmission, can send the image data to the first control device and the second control device, so that the first control device can be received
  • the first feedback information sent and the second feedback information sent by the second control device enable the mobile platform to determine whether to retransmit the image data based on the first feedback information if the target operating mode is the first operating mode
  • the target working mode is the second working mode
  • it can be determined whether to retransmit the image data based on the first feedback information or the second feedback information, so that the movable platform can take different retransmission feedback based on different modes
  • the mechanism can effectively avoid unnecessary data retransmission, thereby improving the efficiency of data transmission on the mobile platform.
  • FIG. 4 is a schematic flowchart of a method for controlling a movable platform according to an embodiment of the present invention.
  • the movable platform has a communication connection with a first control device and a second control device respectively, as shown in FIG. 4 ,
  • the method may include:
  • S401 Determine a target working mode when the movable platform performs image data transmission, where the target working mode is a first working mode or a second working mode.
  • S402 Send the image data, and receive first feedback information sent by the first control device and second feedback information sent by the second control device.
  • step S401 and step S402 can refer to the specific implementation manners of step S201 and step S202 in the above-mentioned embodiment, which will not be repeated here.
  • S404 If the target operating mode is the second operating mode, determine whether to resend the image data according to the first feedback information or the second feedback information.
  • step S403 and step S404 if the movable platform determines that the target working mode is the first working mode, since the movable platform receives the second feedback information sent by the second control device, no matter what the second feedback information is
  • the return signal of is an ACK signal or a NACK signal, and the mobile platform uses the return signal in the second feedback information as an ACK signal, that is, the mobile platform is between the mobile platform and the second control device by default In any state of the communication link, the second control device has successfully received the image data.
  • the movable platform determines whether to retransmit the image data based on the first control device sent A feedback information is determined, that is, the movable platform only responds to the image transmission request sent by the first control device, where the movable platform only responds to the image transmission request sent by the first control device includes: responding to the first feedback information The key frame request in.
  • the movable platform determines whether to resend the image data according to the first feedback information, if the first feedback information indicates that the image data is not successfully received, that is, the return signal in the first feedback information is NACK signal, the movable platform retransmits the image data, wherein when the movable platform retransmits the image data, it retransmits the key frame data based on the key frame request included in the first feedback information , Where the key frame includes I-frames, etc.
  • the movable platform determines that the target working mode is the second working mode, the movable platform needs to ensure that both the first control device and the second control device actually receive image data. Therefore, the movable platform Refer to the feedback information sent by the first control device or the second control device respectively, and when the first feedback information sent by the first control device or the second feedback information sent by the second control device indicates that the image data is not received, That is, the retransmission of the image data is performed, that is, when the return signal of the first feedback information or the second feedback information has a NACK signal, the image data is retransmitted, and only in the first control When the return signal in the first feedback information sent by the device and the second feedback information sent by the second control device are both ACK signals, the image data is not retransmitted.
  • the movable platform determines whether to retransmit the image data according to the first feedback information or the second feedback information when the first feedback information or the second feedback information indicates that the image data is not successfully received , Resending the image data, wherein resending the image data according to the first feedback information or the second feedback information includes, according to the key frame request included in the first feedback information or the second feedback information, and The key frame data is retransmitted. It can be understood that when the target operating mode is the second operating mode, the movable platform transmits the image data sent by the first control device or the second control device, respectively. Request a response.
  • the mobile platform can also send control data to the first control device and the second control device.
  • the control data can be used to indicate, for example, The first control device or the second control device performs frequency point switching, performs connection or disconnection data, and after the mobile platform sends the control data, it can also receive the first control device or the second control device based on the The third feedback information of the control data feedback, where the third feedback information is used to indicate whether the first control device or the second control device successfully receives the control data sent by the movable platform, and the first control device or the second control device
  • the return signal in the third feedback information is an ACK signal
  • the first control device or the second control device does not successfully receive the control data
  • the third feedback information The return signal in is the NACK signal.
  • the mobile platform After the mobile platform receives the third feedback information, it can control the mobile platform to control the mobile platform based on whether the first control device or the second control device successfully receives the control data indicated by the third feedback information.
  • the control data is retransmitted.
  • the movable platform does not retransmit the control data unless the third feedback information indicates that the first control device and the second control device have successfully received the control data. pass.
  • S405 Receive a first control instruction sent by the first control device and a second control instruction sent by the second control device.
  • the mobile platform in addition to the downlink broadcast sending of image data and control data to the first control device and the second control device, can also receive control sent by the first control device and the second control device respectively.
  • the control instruction can control the operation of the movable platform.
  • the control instruction can be, for example, a flight control command, etc.
  • the flight control command can be, for example, a left turn control command. Or the control command to turn right, or the control command to land, take off, etc.
  • the source of the first control instruction received by the movable platform from the first control device and the second control instruction received from the second control device is the same, that is, the first control instruction and the second control instruction
  • the control commands in are the same. It can be understood that the source of the first control command and the second control command are the same means that the first control command and the second control command are generated in the same control device. Instructions, wherein the first control instruction and the second control instruction are both generated by the first control device, or the first control instruction and the second control instruction are both generated by the second control device.
  • the first control instruction and the second control instruction are both generated by the second control device, and the first control instruction is that after the second control device and the first control device are synchronized, the second control device passes through the first control device. If the control device sends the first control instruction to the movable platform, that is, the second control device forwards the first control instruction to the first control device, and then the first control device sends the first control instruction to the movable platform.
  • the first control device is FPV glasses
  • the second control device is a remote control. The remote control can forward the control instructions produced by it to the glasses, and the glasses can send them to the drone.
  • the FPV glasses themselves can send When the control command frequency is low, or no control command is issued, make full use of the communication link between the FPV glasses and the drone.
  • the drone does not correctly receive the control command sent by the remote control, it can be used as a backup to ensure Safe operation of drones.
  • the source of the first control instruction received by the movable platform from the first control device and the second control instruction received from the second control device may also be different.
  • the movable platform can determine the target control instruction for controlling the movable platform according to the received first control instruction and second control instruction, that is, step S406 is performed instead.
  • S406 Determine a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction.
  • step S406 and step S407 when the mobile platform determines the target control instruction according to the first control instruction and the second control instruction, it may first determine the first transmission delay of the first control instruction, and the second control instruction. The second transmission delay of the control instruction; if the movable platform determines that the first transmission delay is less than or equal to the second transmission delay, the first control instruction is used as the target control instruction; and if the The movable platform determines that the first transmission delay is greater than the second transmission delay, and then uses the second control instruction as the target control instruction.
  • the movable platform determines the target control instruction for controlling the movable platform according to the first control instruction and the second control instruction, it may also first determine the relationship between the movable platform and the movable platform. According to the connection state between the second control devices, the target control instruction for controlling the movable platform can be determined according to the connection state, the first control instruction and the second control instruction.
  • the transmission frequency of the second control instruction can be set to a preset transmission frequency threshold.
  • the comparison is performed so that the movable platform can determine the target control instruction based on the comparison result.
  • the preset transmission frequency threshold is the lowest frequency set by the movable platform for the transmission of control instructions.
  • the higher the transmission frequency the shorter the delay for the movable platform to receive the corresponding control instructions, and the The faster the mobile platform responds to the control command. Therefore, when the transmission frequency of the second control command is greater than or equal to the preset transmission frequency threshold, the movable platform can consider the second control command to be transmitted.
  • the control instruction is a control instruction with a short delay, therefore, the second control instruction is used as the target control instruction; and when the second transmission delay is less than the transmission delay threshold, the movable platform Considering that the delay of the second control instruction is relatively long, the target control instruction may be generated according to the first control instruction and the second control instruction, and the preset transmission frequency threshold may be, for example, 10 Hz or 15 Hz.
  • the mobile platform when the mobile platform generates the target control instruction according to the first control instruction and the second control instruction, it can insert the second control instruction into the first control instruction, or insert the second control instruction into the first control instruction.
  • the first control instruction is inserted into the second control instruction to obtain the target control instruction.
  • the mobile platform can adopt the strategy of low-latency priority and backup high-latency links as the auxiliary strategy to insert control instructions, which can improve the system reliability of the mobile platform.
  • the mobile platform can start from the first A control instruction and a second control instruction determine an instruction with a smaller transmission delay.
  • the movable platform will The second control instruction is inserted into the first control instruction to obtain the target control instruction; and if the transmission delay corresponding to the first control instruction is greater than the transmission delay corresponding to the second control instruction, the movable platform will The first control instruction is inserted into the second control instruction to obtain the target control instruction, and the second control instruction is inserted into the first control instruction on the movable platform, or the first control instruction is inserted into the first control instruction. 2.
  • Control instruction when the target control instruction is obtained.
  • the control instruction can be inserted according to a certain time interval parameter (TIME_INTVAL).
  • TIME_INTVAL time interval parameter
  • the mobile platform when the mobile platform generates the target control instruction according to the first control instruction and the second control instruction, it can also directly take the second control instruction as the standard, and insert the first control instruction into The strategy of the second control instruction.
  • the movable platform may use the first control instruction as the The target control instruction, so that the movable platform can switch the selection of the target control instruction of the movable platform based on the synchronization and out-of-synchronization state of the communication link between the first control device and the second control device and the movable platform, respectively, It effectively guarantees the low delay characteristic of the target control command determined by the movable platform.
  • the mobile platform when the mobile platform determines that the connection state with the second control device is a disconnected state, it may first determine the duration of the disconnection, so that the disconnected state can be The duration is compared with the preset duration threshold (TIME_TH1), and if the duration is greater than the preset duration threshold, the first control instruction is used as the target control instruction; and the duration is less than the duration threshold , The second control instruction is used as the target control instruction, where the duration threshold may be, for example, 200 milliseconds, or 300 milliseconds, etc. Further, after determining the target control instruction, the movable platform can respond to the target Control instructions, and control the operation of the movable platform based on the target control instructions.
  • TIME_TH1 preset duration threshold
  • the movable platform can respond to the target Control instructions, and control the operation of the movable platform based on the target control instructions.
  • a communication connection is established between the first control device and the second control device, and the first control instruction is that after the second control device and the first control device are synchronized, the second control device
  • the synchronization includes: time synchronization and/or frequency synchronization.
  • the movable platform is a drone
  • the first control device is a glasses device
  • the second control device is a remote control device
  • the first control instruction and the The second control instruction is a flight control command sent by the first control device and the second control device respectively.
  • the drone After the drone receives the flight control command sent by the remote control device, it can detect whether the remote control device is Synchronization status, if yes, check whether the frequency of the remote control sending the flight control command exceeds the threshold frequency, and if yes, respond to the flight control command sent by the remote control device, and if it is detected that the frequency of the remote control sending the flight control command is not If the threshold frequency is exceeded, the drone will fuse the flight control command sent by the glasses device and the flight control command sent by the remote control device to obtain the target flight control command, and control the drone based on the target flight control command.
  • the drone can determine whether to maintain synchronization with the glasses device, and if the drone is determined to be synchronized with the glasses device If synchronization is maintained, the UAV can respond to the flight control command sent by the glasses device, and the UAV determines that the state between the UAV and the glasses device is also out of synchronization, then the UAV can obtain the out-of-control processing strategy for the unmanned
  • the out-of-control processing strategy can be, for example, the strategy of controlling the UAV to return to the original route or landing on the spot.
  • the movable platform after determining the target working mode, can send the image data to the first control device and the second control device, and receive the first feedback information used to feed back whether the image data is received And second feedback information, so that the movable platform can control the retransmission of image data according to the first feedback information in the first working mode, and control the retransmission of image data according to the second feedback information in the second working mode.
  • the mobile platform can adopt different data retransmission strategies in different scenarios, which can effectively reduce the number of unnecessary data retransmissions on the mobile platform, and effectively increase the data processing pressure of the mobile platform.
  • the mobile platform can also determine the target control instruction for controlling the mobile platform based on the received first control instruction sent by the first control device and the second control instruction sent by the second control device.
  • the target control instruction controls the movable platform, so that when the movable platform receives the control instruction in the uplink, it can preferentially select the link with a shorter delay, which can reduce the response time of the movable platform to the control instruction, thereby improving the movable platform.
  • FIG. 6 is a movable platform 60 provided by an embodiment of the present invention.
  • the movable platform 60 includes a processor 601 and a local storage device 602.
  • the processor 601 and the local storage device 602 can be connected to each other through a bus.
  • the movable platform establishes a communication connection with the first control device and the second control device.
  • the local storage device 602 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), Or a portable read-only memory (compact disc read-only memory, CD-ROM), and the local storage device 602 is used to store related instructions and data.
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • CD-ROM compact disc read-only memory
  • the processor 601 may be one or more central processing units (CPU).
  • CPU central processing units
  • the CPU may be a single-core CPU or a multi-core CPU.
  • the processor 601 in the mobile platform 60 is configured to read the program code stored in the local storage device 602, and perform the following operations:
  • Determining a target working mode when the movable platform performs image data transmission where the target working mode is the first working mode or the second working mode;
  • the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information
  • the target operating mode is the second operating mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
  • the processor 601 when the program code is executed, the processor 601 is further configured to execute:
  • the control data is retransmitted.
  • the processor 601 when the program code is executed, the processor 601 is further configured to execute:
  • the target working mode is the first working mode, responding to the image data transmission request sent by the first control device;
  • the processor 601 when the program code is executed, when the processor 601 determines whether to resend the image data according to the first feedback information, it is specifically configured to execute:
  • the image data is resent.
  • the processor 601 when the program code is executed, when the processor 601 determines whether to resend the image data according to the first feedback information, it is specifically configured to execute:
  • the key frame data is retransmitted.
  • the processor 601 when the program code is executed, the processor 601 is specifically configured to execute:
  • the image data is resent.
  • the processor 601 when the program code is executed, when the processor 601 determines whether to resend the image data according to the first feedback information or the second feedback information, it is specifically configured to execute:
  • the key frame data is retransmitted.
  • the processor 601 when the program code is executed, the processor 601 is further configured to execute:
  • the processor 601 when the program code is executed, the processor 601 is specifically configured to execute the target control instruction for controlling the movable platform according to the first control instruction and the second control instruction. :
  • first transmission delay is less than or equal to the second transmission delay, use the first control command as the target control command;
  • the second control command is used as the target control command.
  • the processor 601 when the program code is executed, the processor 601 is specifically configured to execute the target control instruction for controlling the movable platform according to the first control instruction and the second control instruction. :
  • a target control instruction for controlling the movable platform is determined.
  • the processor 601 determines the target control instruction for controlling the movable platform according to the connection state, the first control instruction, and the second control instruction.
  • connection status is a normal connection, comparing the transmission frequency of the second control command with a preset transmission frequency threshold;
  • the target control instruction is generated according to the first control instruction and the second control instruction.
  • the processor 601 when the program code is executed, when the processor 601 generates the target control instruction according to the first control instruction and the second control instruction, it is specifically configured to execute:
  • the processor 601 determines the target control instruction for controlling the movable platform according to the connection state, the first control instruction, and the second control instruction.
  • the second control instruction is used as the target control instruction.
  • a communication connection is established between the first control device and the second control device, and the first control instruction is after the second control device and the first control device are synchronized, Sent by the second control device to the movable platform through the first control device.
  • the synchronization includes: time synchronization and/or frequency synchronization.
  • the processor 601 when the program code is executed, the processor 601 is specifically configured to execute:
  • a target working mode of the movable platform during image data transmission is determined.
  • the selection instruction is selected and sent by the user through the first control device of the target working mode
  • the selection instruction is selected and sent by the user through the second control device of the target working mode
  • the selection instruction is that after the user selects the target working mode through the first control device, the first control device sends the selection instruction to the second control device, and then the first control device sends the selection instruction to the second control device. Two sent by the control device.
  • the processor 601 when the program code is executed, when the processor 601 determines the target working mode of the movable platform for image data transmission according to the selection instruction, it is specifically configured to execute:
  • the first operating mode is used as the target operating mode; if the first priority is lower than the second priority, then the first priority is lower than the second priority.
  • the second working mode is used as the target working mode.
  • the processor 601 when the program code is executed, the processor 601 is specifically configured to execute:
  • the movable platform provided by the embodiment of the present invention can execute the control method of the movable platform as shown in FIG. 2 or FIG. 4 provided in the foregoing embodiment, and the execution mode and beneficial effects are similar, and will not be repeated here.

Abstract

A movable platform control method and apparatus, a movable platform, and a storage medium. The method comprises: determining a target operation mode of the movable platform when image data is transmitted, the target operation mode being a first operation mode or a second operation mode (S201); sending the image data, and receiving first feedback information sent by the first control device and second feedback information sent by the second control device (S202); if the target operation mode is the first operation mode, determining, according to the first feedback information, whether to resend the image data (S203); and if the target operation mode is the second operation mode, determining, according to the first feedback information or the second feedback information, whether to resend the image data (S204). The method can effectively avoid unnecessary data retransmission, and thus the efficiency of performing data transmission by the movable platform can be improved.

Description

可移动平台的控制方法、装置、可移动平台及存储介质Control method, device, movable platform and storage medium of movable platform
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或该专利披露。The content disclosed in this patent document contains copyrighted material. The copyright belongs to the copyright owner. The copyright owner does not object to anyone copying the patent document or the patent disclosure in the official records and archives of the Patent and Trademark Office.
技术领域Technical field
本发明涉及通信技术领域，尤其涉及一种可移动平台的控制方法、装置、可移动平台及存储介质。The present invention relates to the field of communication technology, in particular to a control method and device of a movable platform, a movable platform and a storage medium.
背景技术Background technique
随着用户消费的不断升级，为了进一步提升用户的消费体验，可为可移动平台配置多台控制设备，以使用户可通过不同的控制设备控制可移动平台，从而可提升用户对可移动平台的控制体验。如在可移动平台为无人机时，可为无人机分别配置遥控设备和飞行眼镜，而遥控设备和飞行眼镜分别通过不同的通信链路和无人机建立连接，无人机则采用广播的方式将采集到的图像数据发送给遥控设备和飞行眼镜，遥控器和飞行眼镜在接收到图像数据后，将向无人机发送反馈信息，以指示是否成功接收图像数据，如果遥控器和飞行眼镜中任意一方发送的反馈信息指示没有成功接收该图像数据，则无人机将对图像数据进行重传，也即重新广播该图像数据。在一些应用场景下，可能导致无人机不必要的频繁重传该图像数据。由此可见，采用当前的传输反馈机制，降低了无人机进行数据传输的效率，不利于无人机的低功耗设计。With the continuous upgrade of user consumption, in order to further enhance the user’s consumption experience, multiple control devices can be configured for the mobile platform, so that the user can control the mobile platform through different control devices, which can improve the user’s understanding of the mobile platform. Control the experience. For example, when the movable platform is a drone, the drone can be equipped with remote control equipment and flying glasses, and the remote control device and flying glasses are connected to the drone through different communication links, and the drone uses broadcast The collected image data is sent to the remote control device and flying glasses. After receiving the image data, the remote control and flying glasses will send feedback information to the drone to indicate whether the image data is successfully received. If the feedback information sent by either party of the glasses indicates that the image data has not been successfully received, the drone will retransmit the image data, that is, rebroadcast the image data. In some application scenarios, it may cause the drone to retransmit the image data unnecessarily frequently. It can be seen that the use of the current transmission feedback mechanism reduces the efficiency of UAV data transmission, which is not conducive to the low power consumption design of UAV.
发明内容Summary of the invention
有鉴于此，本发明实施例提供一种可移动平台的控制方法、装置、可移动平台及存储介质，可有效避免不必要的数据重传，从而可提升可移动平台进行数据传输的效率。In view of this, the embodiments of the present invention provide a control method and device for a movable platform, a movable platform, and a storage medium, which can effectively avoid unnecessary data retransmission, thereby improving the efficiency of data transmission by the movable platform.
本发明实施例第一方面提供了一种可移动平台的控制方法，所述可移动平 台分别与第一控制设备以及第二控制设备建立有通信连接，该方法包括：The first aspect of the embodiments of the present invention provides a method for controlling a movable platform, where the movable platform establishes a communication connection with a first control device and a second control device respectively, and the method includes:
确定所述可移动平台进行图像数据传输时的目标工作模式，所述目标工作模式为第一工作模式或第二工作模式；Determining a target working mode when the movable platform performs image data transmission, where the target working mode is the first working mode or the second working mode;
发送所述图像数据，并接收所述第一控制设备发送的第一反馈信息，以及所述第二控制设备发送的第二反馈信息，所述第一反馈信息用于指示所述第一控制设备是否成功接收所述图像数据，所述第二反馈信息用于指示所述第二控制设备是否成功接收所述图像数据；Sending the image data and receiving the first feedback information sent by the first control device and the second feedback information sent by the second control device, where the first feedback information is used to instruct the first control device Whether the image data is successfully received, and the second feedback information is used to indicate whether the second control device successfully receives the image data;
若所述目标工作模式为所述第一工作模式，则根据所述第一反馈信息确定是否重新发送所述图像数据；If the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information;
若所述目标工作模式为所述第二工作模式，则根据所述第一反馈信息或所述第二反馈信息确定是否重新发送所述图像数据。If the target operating mode is the second operating mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
本发明实施例第二方面提供了一种可移动平台的控制装置，所述可移动平台分别与第一控制设备以及第二控制设备建立有通信连接，所述装置包括存储器、处理器；A second aspect of the embodiments of the present invention provides a control device for a movable platform, the movable platform has a communication connection with a first control device and a second control device respectively, and the device includes a memory and a processor;
所述存储器用于存储程序代码；The memory is used to store program code;
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：The processor calls the program code, and when the program code is executed, is used to perform the following operations:
确定所述可移动平台进行图像数据传输时的目标工作模式，所述目标工作模式为第一工作模式或第二工作模式；Determining a target working mode when the movable platform performs image data transmission, where the target working mode is the first working mode or the second working mode;
发送所述图像数据，并接收所述第一控制设备发送的第一反馈信息，以及所述第二控制设备发送的第二反馈信息，所述第一反馈信息用于指示所述第一控制设备是否成功接收所述图像数据，所述第二反馈信息用于指示所述第二控制设备是否成功接收所述图像数据；Sending the image data and receiving the first feedback information sent by the first control device and the second feedback information sent by the second control device, where the first feedback information is used to instruct the first control device Whether the image data is successfully received, and the second feedback information is used to indicate whether the second control device successfully receives the image data;
若所述目标工作模式为所述第一工作模式，则根据所述第一反馈信息确定是否重新发送所述图像数据；If the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information;
若所述目标工作模式为所述第二工作模式，则根据所述第一反馈信息或所述第二反馈信息确定是否重新发送所述图像数据。If the target operating mode is the second operating mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
本发明实施例第三方面提供了一种可移动平台，该可移动平台包括：A third aspect of the embodiments of the present invention provides a movable platform, which includes:
机身；body;
动力系统，安装在所述机身，用于为所述可移动平台提供动力；A power system installed on the fuselage and used to provide power for the movable platform;
以及如第二方面所述的控制装置。And the control device as described in the second aspect.
在本发明实施例中，可移动平台在确定可移动平台进行图像数据传输时的目标工作模式后，可将图像数据发送到第一控制设备和第二控制设备，从而可接收该第一控制设备发送的第一反馈信息，以及第二控制设备发送的第二反馈信息，使得在目标工作模式为第一工作模式时，可基于该第一反馈信息确定是否对该图像数据进行重传，在目标工作模式为第二工作模式时，可基于该第一反馈信息或该第二反馈信息确定是否对该图像数据进行重传，实现了可移动平台可基于不同模式采取不同的重传反馈机制，可有效避免不必要的数据重传，从而可提升可移动平台进行数据传输的效率，有利于可移动平台的低功耗设计。In the embodiment of the present invention, after determining the target working mode of the movable platform for image data transmission, the movable platform can send the image data to the first control device and the second control device, so that the first control device can be received The first feedback information sent, and the second feedback information sent by the second control device, make it possible to determine whether to retransmit the image data based on the first feedback information when the target working mode is the first working mode. When the working mode is the second working mode, it can be determined whether to retransmit the image data based on the first feedback information or the second feedback information, which realizes that the movable platform can adopt different retransmission feedback mechanisms based on different modes. Effectively avoid unnecessary data retransmissions, thereby improving the efficiency of data transmission on the mobile platform, which is conducive to the low-power design of the mobile platform.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.
图1是本发明实施例提供的一种可移动平台的控制系统的示意图；Figure 1 is a schematic diagram of a control system for a movable platform provided by an embodiment of the present invention;
图2为本发明实施例提供的一种可移动平台的控制方法的示意流程图；2 is a schematic flowchart of a method for controlling a movable platform provided by an embodiment of the present invention;
图3为本发明实施例提供的一种可移动平台进行图像数据传输的示意流程图；FIG. 3 is a schematic flowchart of image data transmission on a mobile platform provided by an embodiment of the present invention;
图4为本发明实施例提供的一种可移动平台的控制方法的示意流程图；4 is a schematic flowchart of a method for controlling a movable platform provided by an embodiment of the present invention;
图5为本发明实施例提供的一种可移动平台接收控制指令的示意流程图；FIG. 5 is a schematic flowchart of a mobile platform receiving control instructions according to an embodiment of the present invention;
图6是本发明实施例提供的一种可移动平台的示意性框图。Fig. 6 is a schematic block diagram of a movable platform provided by an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有付出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
为了提升用户对可移动平台进行控制的控制体验，可为可移动平台配备一个或多个控制设备，如可为可移动平台分别配备第一控制设备和第二控制设备，该第一控制设备和第二控制设备可分别和可移动平台建立通信连接。在一个实施例中，可移动平台可采用广播的方式将控制数据和图像数据发送到该第一控制设备和第二控制设备，该第一控制设备和该第二控制设备各自接收可移动平台的下行广播数据。其中，所述第一控制设备和所述第二控制设备可分别和所述可移动平台通过无线链路建立通信连接，该可移动平台可以是无人机(Unmanned Aerial Vehicle，UAV)，汽车，或者智能机器人等，该第一控制设备和第二控制可以是两个相同类型的控制设备，如都是眼镜(Glass，GLS)设备，或都是遥控设备等，或者，该第一控制设备和该第二控制设备也可以是两个不同的控制设备，如第一控制设备可以是眼镜设备，而第二控制设备是遥控设备，该遥控设备例如可以是遥控器(Remote Control，RC)，该眼镜设备例如可以是基于第一人称主视角(First Person View，FPV)的眼镜，在本发明后续实施例的描述中，以该第一控制设备和第二控制设备为不同设备为例进行详细说明，在后续实施例说明中，具体以该第一控制设备为眼镜设备，该第二控制设备为遥控设备。In order to enhance the user's control experience of controlling the movable platform, the movable platform can be equipped with one or more control devices. For example, the movable platform can be equipped with a first control device and a second control device. The first control device and The second control device can respectively establish a communication connection with the movable platform. In one embodiment, the mobile platform can send control data and image data to the first control device and the second control device in a broadcast manner, and the first control device and the second control device each receive the mobile platform's Downlink broadcast data. Wherein, the first control device and the second control device can respectively establish a communication connection with the mobile platform through a wireless link, and the mobile platform can be an unmanned aerial vehicle (UAV), a car, Or an intelligent robot, etc., the first control device and the second control device can be two control devices of the same type, such as both glasses (Glass, GLS) devices, or both remote control devices, etc., or the first control device and The second control device may also be two different control devices. For example, the first control device may be a glasses device, and the second control device is a remote control device. The remote control device may be, for example, a remote control (RC). The glasses device may be, for example, glasses based on the First Person View (FPV). In the description of the subsequent embodiments of the present invention, the first control device and the second control device are different devices as an example for detailed description. In the description of the following embodiments, specifically, the first control device is a glasses device, and the second control device is a remote control device.
在一个实施例中，第一控制设备和可移动平台之间的通信连接为第一通信链路，第二控制设备和该可移动平台之间的通信连接为第二通信链路，在所述第一控制设备和所述第二控制设备为不同的控制设备时，该第一通信链路所承载的通信业务和该第二通信链路所承载的通信业务是不同的，所以第一通信链路和该第二通信链路在进行数据传输时，存在不对称的问题。示例的，第二控制设备对可移动平台的下行数据的接收效果较差，可移动平台在将下行数据进行广播时，由于第二控制设备可能无法接收到完整的下行数据，可移动平台需要降低下行数据的传输质量，以保证该第二控制设备对下行数据的完整接收，这样就影响了第一控制设备对下行数据的接收质量，其中，该下行数据例如可以是图像数据。具体来说，可移动平台为无人机，第一控制设备为FPV眼镜，第二控制设备为遥控器，当无人机不处于遥控器操作员的前方时，遥控器的接收性能较差，为了保证FPV眼镜和遥控器都能够正确接收无人机发送的图像数据，需要将图像数据降低到遥控器可以正确接收的水平，从而会影响了FPV 眼镜操作员的体验。此外，如果遥控器和FPV眼镜中任意一方发送的反馈信息指示没有成功接收该图像数据，则无人机需要重新广播该图像数据。在一些应用场景下，可能导致无人机不必要的频繁重传该图像数据。由此可见，采用当前的传输反馈机制，降低了无人机进行数据传输的效率，不利于无人机的低功耗设计。In one embodiment, the communication connection between the first control device and the movable platform is a first communication link, and the communication connection between the second control device and the movable platform is a second communication link. When the first control device and the second control device are different control devices, the communication service carried by the first communication link and the communication service carried by the second communication link are different, so the first communication link There is a problem of asymmetry during data transmission between the road and the second communication link. For example, the second control device has a poor receiving effect on the downlink data of the mobile platform. When the mobile platform broadcasts the downlink data, because the second control device may not be able to receive the complete downlink data, the mobile platform needs to reduce The transmission quality of the downlink data is to ensure the complete reception of the downlink data by the second control device, which affects the reception quality of the downlink data by the first control device. The downlink data may be image data, for example. Specifically, the movable platform is a drone, the first control device is FPV glasses, and the second control device is a remote control. When the drone is not in front of the operator of the remote control, the receiving performance of the remote control is poor. In order to ensure that both the FPV glasses and the remote control can correctly receive the image data sent by the drone, it is necessary to reduce the image data to a level that the remote control can correctly receive, which will affect the experience of the FPV glasses operator. In addition, if the feedback information sent by either the remote control or the FPV glasses indicates that the image data has not been successfully received, the drone needs to rebroadcast the image data. In some application scenarios, it may cause the drone to retransmit the image data unnecessarily frequently. It can be seen that the use of the current transmission feedback mechanism reduces the efficiency of UAV data transmission, which is not conducive to the low power consumption design of UAV.
基于此，本申请提出了一种可移动平台的控制方法，可在可移动平台下行广播图像数据，并接收到第一控制设备基于该图像数据发送的第一反馈信息，以及第二控制设备基于该图像数据发送的第二反馈信息后，根据选定的目标工作模式，并基于该第一反馈信息或者第二反馈信息，确定是否对该图像数据进行重传。Based on this, this application proposes a control method for a mobile platform, which can broadcast image data on the mobile platform, and receives the first feedback information sent by the first control device based on the image data, and the second control device is based on After the second feedback information is sent by the image data, it is determined whether to retransmit the image data according to the selected target working mode and based on the first feedback information or the second feedback information.
在一个实施例中，可移动平台进行图像传输时的目标工作模式可以是第一工作模式或第二工作模式，该第一工作模式是第一控制设备优先的模式，该第二工作模式是该由第一控制设备和该第二控制设备协同的控制模式，可以理解的是，在第一控制设备为眼镜设备，第二控制设备为遥控设备时，该第一工作模式为眼镜优先模式，该第二工作模式为双路图传模式。用户可根据场景对该眼镜优先模式和双路图传模式进行选择以及切换，一般来说，在使用遥控设备对可移动平台进行操控，以及使用眼镜设备体验可移动平台的运行视角的用户为同一用户时，该用户可选择眼镜优先模式作为该可移动平台的目标工作模式，而在使用遥控设备的用户和使用眼镜设备的用户为不同用户时，则可选择双路图传模式作为该可移动平台的目标工作模式。In one embodiment, the target working mode when the movable platform performs image transmission may be the first working mode or the second working mode. The first working mode is a priority mode of the first control device, and the second working mode is the first working mode. From the coordinated control mode of the first control device and the second control device, it can be understood that when the first control device is a glasses device and the second control device is a remote control device, the first working mode is the glasses priority mode, and the The second working mode is the dual-channel image transmission mode. The user can select and switch between the glasses priority mode and the dual-channel image transmission mode according to the scene. Generally speaking, the users who use the remote control device to control the movable platform and use the glasses device to experience the operating angle of the movable platform are the same. When the user, the user can choose the glasses priority mode as the target working mode of the movable platform, and when the user using the remote control device and the user using the glasses device are different users, the user can choose the dual-channel image transmission mode as the movable platform. The target working mode of the platform.
可移动平台在确定进行图像传输的目标工作模式时，可从第一控制设备接收目标工作模式的选择指令，也可从第二控制设备选择对目标工作模式的选择指令，或者，该可以是在第一控制设备选择该目标工作模式后，该第一控制设备将选择的目标工作模式发送给第二控制设备，并在该第二控制设备对选择的目标工作模式进行确认后，由该第二控制设备发送给该可移动平台的。在一个实施例中，该第一控制设备和第二控制设备也建立有无线通信连接，如图1所示，第二控制设备可基于该通信连接和该第一控制设备保持时间同步，或者频率同步，或时间和频率的同步，在该第一控制设备和该第二控制设备同步完成后，若该可移动平台只根据该第二控制设备发送的工作模式确定目标工作模 式，那么如果用户在第一控制设备选择目标工作模式后，需要先将该目标工作模式发送给第二控制设备，在第二控制设备对该第一控制设备选择的目标工作模式进行确认，并在确认通过后，将该目标工作模式发送给可移动平台。When the mobile platform determines the target operating mode for image transmission, it can receive the target operating mode selection instruction from the first control device, or select the target operating mode selection instruction from the second control device, or it can be in After the first control device selects the target operating mode, the first control device sends the selected target operating mode to the second control device, and after the second control device confirms the selected target operating mode, the second control device The control equipment is sent to the movable platform. In one embodiment, the first control device and the second control device also establish a wireless communication connection. As shown in FIG. 1, the second control device can maintain time synchronization with the first control device based on the communication connection, or frequency Synchronization, or synchronization of time and frequency, after the synchronization of the first control device and the second control device is completed, if the movable platform only determines the target working mode according to the working mode sent by the second control device, then if the user is in After the first control device selects the target working mode, it needs to first send the target working mode to the second control device. The second control device confirms the target working mode selected by the first control device, and after the confirmation is passed, the The target working mode is sent to the movable platform.
在一个实施例中，若可移动平台确定目标工作模式为第一工作模式(即眼镜优先模式)，该可移动平台可在发送该下行数据后，接收第一控制设备(即眼镜设备)发送的第一反馈信息，以及第二控制设备(即遥控设备)发送的第二反馈信息，其中，该第一反馈信息以及该第二反馈信息包括用于指示是否接收到该下行数据的返回信号，该返回信号包括：用于指示确定接收到该下行数据的返回确认信号(Acknowledge Character，ACK)，或者用于指示未接收到该下行数据的错误返回不确认信号(Negative Acknowledge Character，NACK)。在眼镜优先模式下，若该下行数据为图像数据，可移动平台则将遥控设备发送的第二反馈信息中用于指示是否接收到该图像数据的返回信号都作为ACK信号，并基于眼镜设备发送得到第一反馈信息中的返回信号控制对图像数据的重传，即在眼镜优先模式下，可移动平台在下行广播图像数据时，无论遥控设备反馈信息中的返回信号是ACK信号/NACK信号，可移动平台都认为该遥控设备返回的是确认接收到该图像数据的ACK信号，并基于眼镜设备发送的第一反馈信息中的返回信号控制对图像数据的重传，若该第一反馈信息中的返回信号为ACK信号，则不重传该图像数据，而如果该第一反馈信息中的返回信号为NACK信号，则控制重传该图像数据。In one embodiment, if the movable platform determines that the target working mode is the first working mode (ie glasses priority mode), the movable platform may receive the data sent by the first control device (ie glasses device) after sending the downlink data. The first feedback information and the second feedback information sent by the second control device (ie, the remote control device), where the first feedback information and the second feedback information include a return signal for indicating whether the downlink data is received, and the The return signal includes: a return acknowledgment signal (Acknowledge Character, ACK) used to indicate that the downlink data is received, or an error return non-acknowledgement signal (Negative Acknowledge Character, NACK) used to indicate that the downlink data is not received. In the glasses priority mode, if the downlink data is image data, the mobile platform will use the second feedback message sent by the remote control device to indicate whether the image data is received as an ACK signal and send it based on the glasses device. Obtain the return signal in the first feedback information to control the retransmission of the image data, that is, in the glasses priority mode, when the mobile platform broadcasts the image data downstream, regardless of whether the return signal in the feedback information of the remote control device is the ACK signal/NACK signal, The mobile platform thinks that the remote control device returns an ACK signal confirming the receipt of the image data, and controls the retransmission of the image data based on the return signal in the first feedback message sent by the glasses device. If the return signal of is an ACK signal, the image data is not retransmitted, and if the return signal in the first feedback information is a NACK signal, the image data is controlled to be retransmitted.
在一个实施例中，若该下行数据为控制数据，可移动平台则分别基于该第一控制设备或第二控制设备发送的第三反馈信息中的返回信号，确定是否重传该控制数据，即如果该可移动平台接收到第一控制设备或第二控制设备基于控制数据发送的第三反馈信息中的返回信号为ACK信号，则确定不重传该控制数据，而接收到该第一控制设备或第二控制设备基于控制数据发送的第三反馈信息中的返回信号为NACK信号，则确定重传该控制数据。在一个实施例中，在可移动平台对控制数据进行重传时，可尝试N次重传，直至接收到的返回信号均为ACK信号为止，其中，N大于等于1，该N例如可以是3或者5等，该控制数据例如可以是用于控制第一控制设备和该第二控制设备进行频点切换的控制指令或者请求连接或断开连接的控制指令等。若可移动平台确定该目 标工作模式为第二工作模式(即双路图传模式)，该可移动平台在广播该下行数据，并接收到第一反馈信息和第二反馈信息后，无论该下行数据为控制数据或者图像数据，基于该第一反馈信息或该第二反馈信息中的返回信号进行重传，即只要可移动平台接收到的第一反馈信息或第二反馈信息的返回信号中存在NACK信号，则控制下行数据进行重传。其中，可移动平台在控制图像数据进行重传时，可基于反馈信息中包括的关键帧请求进行重传，该关键帧例如可以是内部画面帧(即I帧)等。In one embodiment, if the downlink data is control data, the mobile platform determines whether to retransmit the control data based on the return signal in the third feedback information sent by the first control device or the second control device, respectively, that is If the movable platform receives an ACK signal in the third feedback information sent by the first control device or the second control device based on the control data, it determines not to retransmit the control data and receives the first control device Or the second control device determines to retransmit the control data if the return signal in the third feedback information sent based on the control data is a NACK signal. In one embodiment, when the mobile platform retransmits the control data, N retransmissions can be attempted until the received return signal is an ACK signal, where N is greater than or equal to 1, and the N may be 3, for example. Or 5, etc., the control data may be, for example, a control instruction for controlling the frequency point switching between the first control device and the second control device, or a control instruction for requesting connection or disconnection. If the mobile platform determines that the target operating mode is the second operating mode (ie, dual-channel image transmission mode), the mobile platform broadcasts the downlink data and receives the first feedback information and the second feedback information, regardless of the downlink data. The data is control data or image data, which is retransmitted based on the return signal in the first feedback information or the second feedback information, that is, as long as the return signal of the first feedback information or the second feedback information received by the movable platform exists The NACK signal controls the downlink data to be retransmitted. Wherein, when the mobile platform controls the image data to be retransmitted, it may request retransmission based on the key frame included in the feedback information, and the key frame may be, for example, an internal picture frame (ie, an I frame).
在一个实施例中，可移动平台还可接收第一控制设备和该第二控制设备发送的控制指令，并根据接收到的控制指令对该可移动平台的运行进行控制，其中，第一控制设备发送的控制指令为第一控制指令，第二控制设备发送的控制指令为第二控制指令。在一个实施例中，可移动平台在接收到第一控制指令和第二控制指令后，可根据该第一控制指令和该第二控制确定出对可移动平台进行控制的目标控制指令，可选的，该目标控制指令是该第一控制指令或该第二控制指令。In an embodiment, the movable platform may also receive control instructions sent by the first control device and the second control device, and control the operation of the movable platform according to the received control instructions, wherein the first control device The control instruction sent is the first control instruction, and the control instruction sent by the second control device is the second control instruction. In one embodiment, after receiving the first control instruction and the second control instruction, the movable platform can determine the target control instruction for controlling the movable platform according to the first control instruction and the second control. Yes, the target control instruction is the first control instruction or the second control instruction.
在可移动平台从该第一控制指令和该第二控制指令中确定出目标控制指令时，可先确定第二控制设备和可移动平台之间的连接状态，若该连接状态为同步状态，则确定该第二控制指令的传输频率，若该传输频率大于或等于预设传输频率阈值，则说明传输该第二控制指令的时延较低，则将该第二控制指令作为该目标控制指令；若所述第二控制设备和可移动平台之间的连接状态为同步状态时，该第二控制指令的传输频率小于该预设传输频率，则可将该第二控制指令插入第一控制指令，将插入后的控制指令作为该目标控制指令，或者，也可将第一控制指令插入该第二控制指令得到目标控制指令，其中，该预设传输频率例如可以是10赫兹(Hz)，15Hz等。在一个实施例中，若第二控制设备和可移动平台之间的连接状态为失步状态，则可移动平台无法接收到该第二控制设备发送的第二控制指令，则该可移动平台确定接收到第一控制指令的延时较短，并可直接将该第一控制指令作为目标控制指令，使得可移动平台可基于较低延时的控制指令对可移动平台进行控制。When the movable platform determines the target control instruction from the first control instruction and the second control instruction, the connection state between the second control device and the movable platform may be determined first. If the connection state is a synchronized state, then Determine the transmission frequency of the second control command. If the transmission frequency is greater than or equal to the preset transmission frequency threshold, it means that the transmission delay of the second control command is low, and the second control command is used as the target control command; If the connection state between the second control device and the movable platform is in a synchronized state, and the transmission frequency of the second control instruction is less than the preset transmission frequency, the second control instruction can be inserted into the first control instruction, Use the inserted control instruction as the target control instruction, or insert the first control instruction into the second control instruction to obtain the target control instruction, where the preset transmission frequency may be, for example, 10 Hz, 15 Hz, etc. . In one embodiment, if the connection state between the second control device and the movable platform is out of synchronization, the movable platform cannot receive the second control instruction sent by the second control device, and the movable platform determines The delay of receiving the first control instruction is relatively short, and the first control instruction can be directly used as the target control instruction, so that the movable platform can control the movable platform based on the control instruction with a lower delay.
请参见图2，是本发明实施例提供的一种可移动平台的控制方法的示意流 程图，该可移动平台分别与第一控制设备和第二控制设备建立有通信连接，如图2所示，该方法可包括：Refer to FIG. 2, which is a schematic flowchart of a method for controlling a movable platform according to an embodiment of the present invention. The movable platform has a communication connection with a first control device and a second control device respectively, as shown in FIG. 2 , The method may include:
S201，确定所述可移动平台进行图像数据传输时的目标工作模式，所述目标工作模式为第一工作模式或第二工作模式。S201: Determine a target working mode when the movable platform performs image data transmission, where the target working mode is a first working mode or a second working mode.
在一个实施例中，用户可通过第一控制设备对目标工作模式进行选择，并将选择的目标工作模式发送给所述可移动平台，或者，用户也可通过第二控制设备对目标工作模式进行选择，并将选择的目标工作模式发送给可移动平台，该目标工作模式可以是以第一控制设备优先的第一工作模式，或者是由第一控制设备和第二控制设备协同控制的双路协同模式(或双路图传模式)。在一个实施例中，所述可移动平台还可通过判断该第一控制设备对应的第一用户和该第二控制设备对应的第二用户是否为同一用户，以确定出对该可移动平台进行图像传输时的目标工作模式，其中，在该第一用户和该第二用户为同一用户时间，可移动平台可将第一工作模式作为目标工作模式，在该第一用户和该第二用户为不同用户时，该可移动平台则将该第二工作模式作为该目标工作模式。In one embodiment, the user can select the target work mode through the first control device, and send the selected target work mode to the movable platform, or the user can also perform the target work mode through the second control device. Select and send the selected target working mode to the movable platform. The target working mode may be the first working mode prioritized by the first control device, or the two-way controlled by the first control device and the second control device. Cooperative mode (or dual-channel image transmission mode). In one embodiment, the movable platform may also determine whether the first user corresponding to the first control device and the second user corresponding to the second control device are the same user, so as to determine whether to perform the operation on the movable platform. The target working mode during image transmission, where, when the first user and the second user are the same user, the movable platform can use the first working mode as the target working mode, and the first user and the second user are When there are different users, the mobile platform uses the second working mode as the target working mode.
在一个实施例中，可移动平台在确定进行图像传输时的目标工作模式时，可接收针对该目标工作模式的选择指令，从而可根据所述选择指令确定所述可移动平台进行图像数据传输时的目标工作模式，其中，所述选择指令可以是用户通过所述第一控制设备对所述目标工作模式进行选择并发送的，还可以是所述用户通过所述第二控制设备对所述目标工作模式进行选择并发送的；或者，还可以是所述用户通过所述第一控制设备对所述目标工作模式进行选择后，所述第一控制设备将所述选择指令发送给第二控制设备后，由所述第二控制设备发送的。此外，可移动平台在确定进行图像传输时的目标工作模式时，还可先确定所述第一控制设备进行模式选择时的第一优先级，以及所述第二控制设备进行模式选择时的第二优先级，从而可获取所述第一控制设备选取的第一工作模式，以及所述第二控制设备选取的第二工作模式，若所述第一优先级高于所述第二优先级，则将所述第一工作模式作为所述目标工作模式；而如果所述第一优先级低于所述第二优先级，则将所述第二工作模式作为所述目标工作模式。In one embodiment, when the movable platform determines the target operating mode for image transmission, it may receive a selection instruction for the target operating mode, so that the movable platform may determine when the movable platform performs image data transmission according to the selection instruction. The target working mode of the target working mode, wherein the selection instruction may be a user selecting and sending the target working mode through the first control device, or may be the user controlling the target working mode through the second control device The working mode is selected and sent; or, after the user selects the target working mode through the first control device, the first control device sends the selection instruction to the second control device Later, sent by the second control device. In addition, when the mobile platform determines the target operating mode for image transmission, it may first determine the first priority when the first control device performs mode selection, and the first priority when the second control device performs mode selection. Two priorities, so that the first operating mode selected by the first control device and the second operating mode selected by the second control device can be acquired, if the first priority is higher than the second priority, The first working mode is taken as the target working mode; and if the first priority is lower than the second priority, the second working mode is taken as the target working mode.
S202，发送所述图像数据，并接收所述第一控制设备发送的第一反馈信息，以及所述第二控制设备发送的第二反馈信息。S202: Send the image data, and receive first feedback information sent by the first control device and second feedback information sent by the second control device.
在一个实施例中，可移动平台可采用广播的方式发送所述图像数据，而在第一控制设备和该第二控制设备接收该图像数据后，可向该可移动平台发送用于指示是否接收成功该图像数据的反馈信息，即可移动平台可接收由该第一控制设备发送的第一反馈信息，以及由该第二控制设备发送的第二反馈信息，从而可移动平台可根据对应的目标工作模式，以及接收到的第一反馈信息和第二反馈信息，确定是否对图像数据进行重传，即转而执行步骤S203和步骤S204。在一个实施例中，所述第一反馈信息用于指示所述第一控制设备是否成功接收所述图像数据，所述第二反馈信息用于指示所述第二控制设备是否成功接收所述图像数据。In one embodiment, the mobile platform can send the image data by broadcasting, and after the first control device and the second control device receive the image data, they can send to the mobile platform to indicate whether to receive the image data. If the feedback information of the image data is successful, the mobile platform can receive the first feedback information sent by the first control device and the second feedback information sent by the second control device, so that the mobile platform can be based on the corresponding target The working mode, as well as the received first feedback information and second feedback information, determine whether to retransmit the image data, that is, step S203 and step S204 are performed instead. In an embodiment, the first feedback information is used to indicate whether the first control device successfully receives the image data, and the second feedback information is used to indicate whether the second control device successfully receives the image data data.
在一个实施例中，所述第一反馈信息和该第二反馈信息中包括用于指示控制设备是否成功接收该图像数据的返回信号，该返回信号可以是ACK信号或者NACK信号，其中，ACK用于指示控制设备接收到了该图像数据，而NACK信号用于指示该控制设备未接收到图像数据。在一个实施例中，所述步骤S201和步骤S202没有具体的先后执行顺序，可先执行步骤S201，再执行步骤S202，或者也可先执行步骤S202，再执行步骤S201，或者也可同时执行步骤S201和步骤S202。In an embodiment, the first feedback information and the second feedback information include a return signal used to indicate whether the control device successfully receives the image data. The return signal may be an ACK signal or a NACK signal. It indicates that the control device has received the image data, and the NACK signal is used to indicate that the control device has not received the image data. In one embodiment, there is no specific execution order of step S201 and step S202. Step S201 can be executed first, and then step S202 can be executed, or step S202 can be executed first, and then step S201 can be executed, or steps can be executed at the same time. S201 and step S202.
S203，若所述目标工作模式为所述第一工作模式，则根据所述第一反馈信息确定是否重新发送所述图像数据。S203: If the target operating mode is the first operating mode, determine whether to resend the image data according to the first feedback information.
S204，若所述目标工作模式为所述第二工作模式，则根据所述第一反馈信息或所述第二反馈信息确定是否重新发送所述图像数据。S204: If the target operating mode is the second operating mode, determine whether to resend the image data according to the first feedback information or the second feedback information.
在步骤S203和步骤S204中，若可移动平台确定目标工作模式为以第一控制设备优先的第一工作模式，则可移动平台在接收到第二控制设备发送的第二反馈信息后，可直接将该第二反馈信息中的返回信号作为ACK信号处理，并基于该第一反馈信息确定是否对该图像数据进行重传，在具体实现中，若第一反馈信息中的返回信号为ACK信号，则确定不对该图像数据进行重传，而如果该第一反馈信息中的返回信号为NACK信号，则确定对该图像数据进行重传。在可移动平台对该图像数据进行重传时，可从该第一反馈信息中获取关键帧请求，并基于该关键帧请求对该图像数据的关键帧数据进行重传，其中，图像数据是对原图像进行编码处理后发送到该第一控制设备和第二控制设备的， 关键帧数据是控制设备在接收到图像数据后，对图像数据进行恢复得到原图像的必须帧，所以，可移动平台在进行重传时，可仅将对该关键帧进行重传，控制设备基于重传的关键帧和之前发送的图像数据中的图像参数，则可恢复得到对应的原图像，所述关键帧例如可以是I帧等。In step S203 and step S204, if the movable platform determines that the target working mode is the first working mode prioritized by the first control device, the movable platform can directly after receiving the second feedback information sent by the second control device Process the return signal in the second feedback information as an ACK signal, and determine whether to retransmit the image data based on the first feedback information. In a specific implementation, if the return signal in the first feedback information is an ACK signal, It is determined not to retransmit the image data, and if the return signal in the first feedback information is a NACK signal, it is determined to retransmit the image data. When the mobile platform retransmits the image data, the key frame request can be obtained from the first feedback information, and the key frame data of the image data can be retransmitted based on the key frame request, where the image data is The original image is encoded and sent to the first control device and the second control device. The key frame data is the necessary frame for the control device to restore the image data to obtain the original image after receiving the image data. Therefore, the movable platform During retransmission, only the key frame can be retransmitted. Based on the retransmitted key frame and the image parameters in the previously sent image data, the control device can restore the corresponding original image. The key frame, for example, It can be an I frame, etc.
在一个实施例中，若该目标控制模式为第一控制设备和第二控制设备共同协作的第二工作模式，可移动平台则需要根据该第一控制设备发送的第一反馈信息，或者根据该第二控制设备发送的第二反馈信息，确定是否重传该图像数据。在具体实现中，如果可移动平台接收到的第一反馈信息中的返回信号为ACK信号，且该第二反馈信息中的返回信号也为ACK信号，则说明该第一控制设备和第二控制设备均已成功接收到可移动平台发送的图像数据，则不对图像数据进行重传。而如果第一反馈信息中的返回信号为NACK信号，则说明该第一控制设备未接收到该图像数据，该可移动平台则需要对该图像数据重新进行广播；或者，如果第二反馈信息中的返回信号为NACK信号，则说明该第二控制设备未接收到该图像数据，则可移动平台也需要对该图像数据进行重传，其中，该可移动平台可根据该第一反馈信息或第二反馈信息中的关键帧请求，并在对图像数据进行重传时，只对关键帧进行重传。In one embodiment, if the target control mode is the second working mode in which the first control device and the second control device work together, the movable platform needs to be based on the first feedback information sent by the first control device, or based on the The second feedback information sent by the second control device determines whether to retransmit the image data. In a specific implementation, if the return signal in the first feedback information received by the movable platform is an ACK signal, and the return signal in the second feedback information is also an ACK signal, it indicates that the first control device and the second control device If the device has successfully received the image data sent by the mobile platform, the image data will not be retransmitted. And if the return signal in the first feedback information is a NACK signal, it means that the first control device has not received the image data, and the movable platform needs to re-broadcast the image data; or, if the second feedback information is If the return signal of is a NACK signal, it means that the second control device has not received the image data, and the movable platform also needs to retransmit the image data. The movable platform can also retransmit the image data according to the first feedback information or the first 2. The key frame request in the feedback information, and when the image data is retransmitted, only the key frame is retransmitted.
在一个实施例中，若第一控制设备为眼镜设备，第二控制设备为遥控设备，可参见如图3所示的可移动平台确定是否对下行广播的图像数据进行重传的流程图，用户可先对可移动平台的目标工作模式进行选择，基于用户选择，可移动平台可确定出目标工作模式，该目标工作模式可以是眼镜优先模式，或者双路图传模式。在眼镜优先模式下，可移动平台在将图像数据发送到眼镜设备和遥控设备后，可接收眼镜设备发送的反馈信息和遥控设备发送的反馈信息，可移动平台若接收到眼镜设备发送的反馈信息中的返回信号为ACK信号，而无论接收到遥控设备发送的反馈信息中的返回信号为ACK信号或NACK信号，则该可移动平台均确定眼镜设备和遥控设备对图像数据接收成功，而如果可移动平台接收到眼镜设备发送的信号为NACK信号，则确定需要对图像数据进行重传，在可移动平台对该图像数据进行重传时，可从眼镜设备获取关键帧请求，并重传关键帧数据。In one embodiment, if the first control device is a glasses device and the second control device is a remote control device, you can refer to the flowchart shown in FIG. 3 for determining whether to retransmit the image data of the downlink broadcast. The target working mode of the movable platform can be selected first. Based on the user's selection, the movable platform can determine the target working mode. The target working mode can be the glasses priority mode or the dual-channel image transmission mode. In the glasses priority mode, after sending the image data to the glasses device and the remote control device, the movable platform can receive the feedback information sent by the glasses device and the feedback information sent by the remote control device. If the movable platform receives the feedback information sent by the glasses device The return signal in the remote control device is an ACK signal, and regardless of whether the return signal in the feedback information sent by the remote control device is an ACK signal or a NACK signal, the movable platform determines that the glasses device and the remote control device have successfully received the image data, and if it can When the mobile platform receives the NACK signal from the glasses device, it determines that the image data needs to be retransmitted. When the mobile platform retransmits the image data, it can obtain the key frame request from the glasses device and retransmit the key frame data .
在一个实施例中，若用户选择的可移动平台的目标工作模式为双路图传模 式，该可移动平台只有在接收到眼镜设备的反馈信息中的返回信号为ACK信号，且遥控设备的反馈信息中的返回信号为ACK信号的情况下，确定眼镜设备和遥控设备对图像数据接收成功，并不对该图像数据进行重传，而在接收到眼镜设备的反馈信息中的返回信号为NACK信号，或者，接收到的遥控设备的反馈信息中的返回信号为NACK信号的情况下，确定对该图像数据进行重传。在可移动平台对该图像数据进行重传时，可从眼镜设备或遥控设备中获取关键帧请求，并重传关键帧数据。In one embodiment, if the target working mode of the movable platform selected by the user is the dual-channel image transmission mode, the movable platform can only receive the ACK signal in the feedback information of the glasses device, and the feedback of the remote control device When the return signal in the information is an ACK signal, it is determined that the glasses device and the remote control device have successfully received the image data, and the image data is not retransmitted, and the return signal in the feedback information received from the glasses device is the NACK signal, Or, if the return signal in the received feedback information of the remote control device is a NACK signal, it is determined to retransmit the image data. When the mobile platform retransmits the image data, the key frame request can be obtained from the glasses device or the remote control device, and the key frame data can be retransmitted.
在本发明实施例中，可移动平台在确定可移动平台进行图像数据传输时的目标工作模式后，可将图像数据发送到第一控制设备和第二控制设备，从而可接收该第一控制设备发送的第一反馈信息，以及第二控制设备发送的第二反馈信息，使得可移动平台若目标工作模式为第一工作模式时，可基于该第一反馈信息确定是否对该图像数据进行重传，在目标工作模式为第二工作模式时，可基于该第一反馈信息或该第二反馈信息确定是否对该图像数据进行重传，实现了可移动平台可基于不同模式采取不同的重传反馈机制，可有效避免不必要的数据重传，从而可提升可移动平台进行数据传输的效率。In the embodiment of the present invention, after determining the target working mode of the movable platform for image data transmission, the movable platform can send the image data to the first control device and the second control device, so that the first control device can be received The first feedback information sent and the second feedback information sent by the second control device enable the mobile platform to determine whether to retransmit the image data based on the first feedback information if the target operating mode is the first operating mode When the target working mode is the second working mode, it can be determined whether to retransmit the image data based on the first feedback information or the second feedback information, so that the movable platform can take different retransmission feedback based on different modes The mechanism can effectively avoid unnecessary data retransmission, thereby improving the efficiency of data transmission on the mobile platform.
请参见图4，是本发明实施例提供的一种可移动平台的控制方法的示意流程图，该可移动平台分别与第一控制设备和第二控制设备建立有通信连接，如图4所示，该方法可包括：Refer to FIG. 4, which is a schematic flowchart of a method for controlling a movable platform according to an embodiment of the present invention. The movable platform has a communication connection with a first control device and a second control device respectively, as shown in FIG. 4 , The method may include:
S401，确定所述可移动平台进行图像数据传输时的目标工作模式，所述目标工作模式为第一工作模式或第二工作模式。S401: Determine a target working mode when the movable platform performs image data transmission, where the target working mode is a first working mode or a second working mode.
S402，发送所述图像数据，并接收所述第一控制设备发送的第一反馈信息，以及所述第二控制设备发送的第二反馈信息。S402: Send the image data, and receive first feedback information sent by the first control device and second feedback information sent by the second control device.
在一个实施例中，步骤S401和步骤S402的具体实施方式可参见上述实施例中步骤S201和步骤S202的具体实施方式，在此不再赘述。In an embodiment, the specific implementation manners of step S401 and step S402 can refer to the specific implementation manners of step S201 and step S202 in the above-mentioned embodiment, which will not be repeated here.
S403，若所述目标工作模式为所述第一工作模式，则根据所述第一反馈信息确定是否重新发送所述图像数据。S403: If the target operating mode is the first operating mode, determine whether to resend the image data according to the first feedback information.
S404，若所述目标工作模式为所述第二工作模式，则根据所述第一反馈信息或所述第二反馈信息确定是否重新发送所述图像数据。S404: If the target operating mode is the second operating mode, determine whether to resend the image data according to the first feedback information or the second feedback information.
在步骤S403和步骤S404中，若可移动平台确定目标工作模式为该第一工作模式时，由于可移动平台在接收到第二控制设备发送的第二反馈信息后，无论该第二反馈信息中的返回信号为ACK信号或者NACK信号，该可移动平台都将该第二反馈信息中的返回信号作为ACK信号，也就是说，可移动平台默认在该可移动平台与该第二控制设备之间的通信链路处于任何状态下，该第二控制设备都成功接收了图像数据，因此在第一工作模式下，该可移动平台在确定是否重传图像数据是基于该第一控制设备发送的第一反馈信息确定的，即该可移动平台只响应该第一控制设备发送的图像传输请求，其中，该可移动平台只响应该第一控制设备发送的图像传输请求包括：响应该第一反馈信息中的关键帧请求。在一个实施例中，可移动平台在根据该第一反馈信息确定是否重新发送该图像数据时，如果该第一反馈信息指示没有成功接收到图像数据，即该第一反馈信息中的返回信号为NACK信号，则该可移动平台则重新发送该图像数据，其中，该可移动平台在重新发送该图像数据时，是基于该第一反馈信息中包括的关键帧请求，对关键帧数据进行重新发送的，其中，该关键帧包括I帧等。In step S403 and step S404, if the movable platform determines that the target working mode is the first working mode, since the movable platform receives the second feedback information sent by the second control device, no matter what the second feedback information is The return signal of is an ACK signal or a NACK signal, and the mobile platform uses the return signal in the second feedback information as an ACK signal, that is, the mobile platform is between the mobile platform and the second control device by default In any state of the communication link, the second control device has successfully received the image data. Therefore, in the first working mode, the movable platform determines whether to retransmit the image data based on the first control device sent A feedback information is determined, that is, the movable platform only responds to the image transmission request sent by the first control device, where the movable platform only responds to the image transmission request sent by the first control device includes: responding to the first feedback information The key frame request in. In one embodiment, when the movable platform determines whether to resend the image data according to the first feedback information, if the first feedback information indicates that the image data is not successfully received, that is, the return signal in the first feedback information is NACK signal, the movable platform retransmits the image data, wherein when the movable platform retransmits the image data, it retransmits the key frame data based on the key frame request included in the first feedback information , Where the key frame includes I-frames, etc.
在一个实施例中，可移动平台如果确定目标工作模式为第二工作模式，可移动平台需要保证将该第一控制设备和第二控制设备均是真实接收到图像数据的，所以，可移动平台将分别参考第一控制设备或第二控制设备发送的反馈信息，并在该第一控制设备发送的第一反馈信息或者第二控制设备发送的第二反馈信息指示未接收到该图像数据时，即执行对图像数据的重传，即该可移动平台在该第一反馈信息或者第二反馈信息中的返回信号存在NACK信号时，则对该图像数据进行重传，而只有在该第一控制设备发送的第一反馈信息和第二控制设备发送的第二反馈信息中的返回信号均为ACK信号时，才不对图像数据进行重传。在一个实施例中，该可移动平台根据该第一反馈信息或第二反馈信息确定是否重传该图像数据是在：该第一反馈信息或第二反馈信息指示未成功接收到该图像数据时，重新对该图像数据进行发送的，其中，根据该第一反馈信息或第二反馈信息对图像数据进行重新发送包括，根据该第一反馈信息或第二反馈信息包括的关键帧请求，并将关键帧数据进行重新发送，可以理解的是，在所述目标工作模式为所述第二工作模式时，可移动平台分别对所述第 一控制设备或所述第二控制设备发送的图像数据传输请求进行响应。In one embodiment, if the movable platform determines that the target working mode is the second working mode, the movable platform needs to ensure that both the first control device and the second control device actually receive image data. Therefore, the movable platform Refer to the feedback information sent by the first control device or the second control device respectively, and when the first feedback information sent by the first control device or the second feedback information sent by the second control device indicates that the image data is not received, That is, the retransmission of the image data is performed, that is, when the return signal of the first feedback information or the second feedback information has a NACK signal, the image data is retransmitted, and only in the first control When the return signal in the first feedback information sent by the device and the second feedback information sent by the second control device are both ACK signals, the image data is not retransmitted. In one embodiment, the movable platform determines whether to retransmit the image data according to the first feedback information or the second feedback information when the first feedback information or the second feedback information indicates that the image data is not successfully received , Resending the image data, wherein resending the image data according to the first feedback information or the second feedback information includes, according to the key frame request included in the first feedback information or the second feedback information, and The key frame data is retransmitted. It can be understood that when the target operating mode is the second operating mode, the movable platform transmits the image data sent by the first control device or the second control device, respectively. Request a response.
在一个实施例中，该可移动平台在下行数据传输时，除了可广播发送图像数据外，还可发送控制数据到第一控制设备和第二控制设备中，该控制数据例如可以是用于指示该第一控制设备或第二控制设备进行频点切换，执行连接或者断开连接的数据，在该可移动平台发送该控制数据后，还可接收该第一控制设备或者第二控制设备基于该控制数据反馈的第三反馈信息，其中，该第三反馈信息用于指示该第一控制设备或第二控制设备是否成功接收到该可移动平台发送的控制数据，在该第一控制设备或第二控制设备成功接收到该控制数据时，该第三反馈信息中的返回信号为ACK信号，而在该第一控制设备或第二控制设备没有成功接收到该控制数据时，该第三反馈信息中的返回信号则为NACK信号。在该可移动平台接收到该第三反馈信息后，则可基于该第三反馈信息指示的该第一控制设备或该第二控制设备是否成功接收到该控制数据，控制该可移动平台对该控制数据进行重传，在一个实施例中，该可移动平台只有在该第三反馈信息指示该第一控制设备和第二控制设备均成功接收到该控制数据时，才不对该控制数据进行重传。In one embodiment, during downlink data transmission, in addition to broadcasting image data, the mobile platform can also send control data to the first control device and the second control device. The control data can be used to indicate, for example, The first control device or the second control device performs frequency point switching, performs connection or disconnection data, and after the mobile platform sends the control data, it can also receive the first control device or the second control device based on the The third feedback information of the control data feedback, where the third feedback information is used to indicate whether the first control device or the second control device successfully receives the control data sent by the movable platform, and the first control device or the second control device When the second control device successfully receives the control data, the return signal in the third feedback information is an ACK signal, and when the first control device or the second control device does not successfully receive the control data, the third feedback information The return signal in is the NACK signal. After the mobile platform receives the third feedback information, it can control the mobile platform to control the mobile platform based on whether the first control device or the second control device successfully receives the control data indicated by the third feedback information. The control data is retransmitted. In one embodiment, the movable platform does not retransmit the control data unless the third feedback information indicates that the first control device and the second control device have successfully received the control data. pass.
S405，接收所述第一控制设备发送的第一控制指令，以及所述第二控制设备发送的第二控制指令。S405: Receive a first control instruction sent by the first control device and a second control instruction sent by the second control device.
在一个实施例中，可移动平台除了可将图像数据和控制数据下行广播发送到第一控制设备和第二控制设备之外，还可接收第一控制设备和第二控制设备分别上行发送的控制指令，该控制指令可控制该可移动平台的运行，在该可移动平台为无人机时，该控制指令例如可以是飞行控制命令等，该飞行控制命令例如可以是向左转的控制命令，或者向右转的控制命令，或者降落，起飞的控制命令等。In one embodiment, in addition to the downlink broadcast sending of image data and control data to the first control device and the second control device, the mobile platform can also receive control sent by the first control device and the second control device respectively. Instruction, the control instruction can control the operation of the movable platform. When the movable platform is a drone, the control instruction can be, for example, a flight control command, etc. The flight control command can be, for example, a left turn control command. Or the control command to turn right, or the control command to land, take off, etc.
在一个实施例中，可移动平台从第一控制设备接收到的第一控制指令和从第二控制设备接收到的第二控制指令的来源相同，即该第一控制指令和该第二控制指令中的控制命令是相同的，可以理解的是，该第一控制指令和第二控制指令的来源相同是指，该第一控制指令和该第二控制指令是在同一控制设备中生成的相同的指令，其中，该第一控制指令和该第二控制指令都是由该第一控制设备生成的，或者，该第一控制指令和该第二控制指令都是由第二控制设备 生成的。示例的，该第一控制指令和该第二控制指令都是由第二控制设备生成的，第一控制指令是第二控制设备和第一控制设备保持同步后，由第二控制设备通过第一控制设备发送给可移动平台的，也即，第二控制设备将第一控制指令先转发给第一控制设备，再由第一控制设备发送给可移动平台。具体来说，第一控制设备是FPV眼镜，第二控制设备是遥控器，遥控器可以将其生产的控制指令转发给眼镜，由眼镜发送给无人机，如此，可以在FPV眼镜自身发出的控制指令频率较低，或者没有发出控制指令的情况下，充分利用FPV眼镜和无人机之间的通信链路，在无人机没有正确接收遥控器发送的控制指令时，可以作为备份以确保无人机的安全运行。In one embodiment, the source of the first control instruction received by the movable platform from the first control device and the second control instruction received from the second control device is the same, that is, the first control instruction and the second control instruction The control commands in are the same. It can be understood that the source of the first control command and the second control command are the same means that the first control command and the second control command are generated in the same control device. Instructions, wherein the first control instruction and the second control instruction are both generated by the first control device, or the first control instruction and the second control instruction are both generated by the second control device. For example, the first control instruction and the second control instruction are both generated by the second control device, and the first control instruction is that after the second control device and the first control device are synchronized, the second control device passes through the first control device. If the control device sends the first control instruction to the movable platform, that is, the second control device forwards the first control instruction to the first control device, and then the first control device sends the first control instruction to the movable platform. Specifically, the first control device is FPV glasses, and the second control device is a remote control. The remote control can forward the control instructions produced by it to the glasses, and the glasses can send them to the drone. In this way, the FPV glasses themselves can send When the control command frequency is low, or no control command is issued, make full use of the communication link between the FPV glasses and the drone. When the drone does not correctly receive the control command sent by the remote control, it can be used as a backup to ensure Safe operation of drones.
在其他实施例中，可移动平台从第一控制设备接收到的第一控制指令和从第二控制设备接收到的第二控制指令的来源也可以不相同。In other embodiments, the source of the first control instruction received by the movable platform from the first control device and the second control instruction received from the second control device may also be different.
在一个实施例中，可移动平台可根据接收到的第一控制指令和第二控制指令，确定出对该可移动平台进行控制的目标控制指令，即转而执行步骤S406。In one embodiment, the movable platform can determine the target control instruction for controlling the movable platform according to the received first control instruction and second control instruction, that is, step S406 is performed instead.
S406，根据所述第一控制指令和所述第二控制指令确定对所述可移动平台进行控制的目标控制指令。S406: Determine a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction.
S407，响应所述目标控制指令。S407: Respond to the target control instruction.
在步骤S406和步骤S407中，可移动平台在根据该第一控制指令和第二控制指令确定目标控制指令时，可先确定所述第一控制指令的第一传输时延，以及所述第二控制指令的第二传输时延；若可移动平台确定所述第一传输时延小于或等于所述第二传输时延，则将所述第一控制指令作为所述目标控制指令；而如果该可移动平台确定所述第一传输时延大于所述第二传输时延，则将所述第二控制指令作为所述目标控制指令。在一个实施例中，可移动平台在根据所述第一控制指令和所述第二控制指令确定对所述可移动平台进行控制的目标控制指令时，还可先确定所述可移动平台与所述第二控制设备之间的连接状态，从而可根据所述连接状态、所述第一控制指令和所述第二控制指令，确定对所述可移动平台进行控制的目标控制指令。In step S406 and step S407, when the mobile platform determines the target control instruction according to the first control instruction and the second control instruction, it may first determine the first transmission delay of the first control instruction, and the second control instruction. The second transmission delay of the control instruction; if the movable platform determines that the first transmission delay is less than or equal to the second transmission delay, the first control instruction is used as the target control instruction; and if the The movable platform determines that the first transmission delay is greater than the second transmission delay, and then uses the second control instruction as the target control instruction. In one embodiment, when the movable platform determines the target control instruction for controlling the movable platform according to the first control instruction and the second control instruction, it may also first determine the relationship between the movable platform and the movable platform. According to the connection state between the second control devices, the target control instruction for controlling the movable platform can be determined according to the connection state, the first control instruction and the second control instruction.
在一个实施例中，所述可移动平台在根据所述连接状态、所述第一控制指令和所述第二控制指令，确定对所述可移动平台进行控制的目标控制指令时，若所述可移动平台确定所述可移动平台和所述第二控制设备之间的连接状态 为正常连接的状态(即同步状态)，则可将所述第二控制指令的传输频率和预设传输频率阈值进行对比，从而可移动平台可基于该对比结果确定出目标控制指令。其中，该预设传输频率阈值是可移动平台设置的用于进行控制指令传输的最低频率，可以理解的是，传输频率越高，可移动平台接收对应控制指令的延时越短，则该可移动平台对该控制指令的响应速度也就越快，所以，可移动平台在所述第二控制指令的传输频率大于或等于所述预设传输频率阈值时，则可移动平台可认为该第二控制指令为延时较短的控制指令，因此，将所述第二控制指令作为所述目标控制指令；而在所述第二传输时延小于所述传输时延阈值时，所述可移动平台认为第二控制指令的延时较长，则可根据所述第一控制指令和所述第二控制指令生成所述目标控制指令，所述预设传输频率阈值例如可以是10Hz或者15Hz等。In one embodiment, when the movable platform determines the target control instruction for controlling the movable platform according to the connection state, the first control instruction and the second control instruction, if the The movable platform determines that the connection state between the movable platform and the second control device is a normal connection state (that is, a synchronized state), then the transmission frequency of the second control instruction can be set to a preset transmission frequency threshold. The comparison is performed so that the movable platform can determine the target control instruction based on the comparison result. Among them, the preset transmission frequency threshold is the lowest frequency set by the movable platform for the transmission of control instructions. It can be understood that the higher the transmission frequency, the shorter the delay for the movable platform to receive the corresponding control instructions, and the The faster the mobile platform responds to the control command. Therefore, when the transmission frequency of the second control command is greater than or equal to the preset transmission frequency threshold, the movable platform can consider the second control command to be transmitted. The control instruction is a control instruction with a short delay, therefore, the second control instruction is used as the target control instruction; and when the second transmission delay is less than the transmission delay threshold, the movable platform Considering that the delay of the second control instruction is relatively long, the target control instruction may be generated according to the first control instruction and the second control instruction, and the preset transmission frequency threshold may be, for example, 10 Hz or 15 Hz.
在一个实施例中，可移动平台在根据所述第一控制指令和所述第二控制指令生成所述目标控制指令时，可将所述第二控制指令插入所述第一控制指令，或者将所述第一控制指令插入所述第二控制指令，得到所述目标控制指令。在具体实现中，可移动平台可采用低延时优先，备份高延时链路为辅助的策略进行控制指令的插入，可提升可移动平台的系统可靠性，其中，可移动平台可先从所述第一控制指令和第二控制指令中确定出传输时延较小的指令，若第一控制指令对应的传输时延小于或等于第二控制指令对应的传输时延，则所述可移动平台将所述第二控制指令插入所述第一控制指令中，得到目标控制指令；而如果该第一控制指令对应的传输时延大于第二控制指令对应的传输时延，则所述可移动平台将所述第一控制指令插入所述第二控制指令中，得到目标控制指令，在可移动平台将所述第二控制指令插入所述第一控制指令，或者将所述第一控制指令插入所述第二控制指令，得到所述目标控制指令时。在一个实施例中，可以按照一定的时间间隔参数(TIME_INTVAL)进行控制指令插入。在一个实施例中，可移动平台在根据所述第一控制指令和所述第二控制指令生成所述目标控制指令时，还可直接以第二控制指令为准，采取将第一控制指令插入第二控制指令的策略。In one embodiment, when the mobile platform generates the target control instruction according to the first control instruction and the second control instruction, it can insert the second control instruction into the first control instruction, or insert the second control instruction into the first control instruction. The first control instruction is inserted into the second control instruction to obtain the target control instruction. In specific implementation, the mobile platform can adopt the strategy of low-latency priority and backup high-latency links as the auxiliary strategy to insert control instructions, which can improve the system reliability of the mobile platform. Among them, the mobile platform can start from the first A control instruction and a second control instruction determine an instruction with a smaller transmission delay. If the transmission delay corresponding to the first control instruction is less than or equal to the transmission delay corresponding to the second control instruction, the movable platform will The second control instruction is inserted into the first control instruction to obtain the target control instruction; and if the transmission delay corresponding to the first control instruction is greater than the transmission delay corresponding to the second control instruction, the movable platform will The first control instruction is inserted into the second control instruction to obtain the target control instruction, and the second control instruction is inserted into the first control instruction on the movable platform, or the first control instruction is inserted into the first control instruction. 2. Control instruction, when the target control instruction is obtained. In one embodiment, the control instruction can be inserted according to a certain time interval parameter (TIME_INTVAL). In one embodiment, when the mobile platform generates the target control instruction according to the first control instruction and the second control instruction, it can also directly take the second control instruction as the standard, and insert the first control instruction into The strategy of the second control instruction.
在一个实施例中，若可移动平台确定第二控制设备和该可移动平台之间的连接状态为断开连接的状态(即失步状态)，可移动平台可将该第一控制指令 作为该目标控制指令，使得可移动平台可基于该第一控制设备与第二控制设备分别与可移动平台之间的通信链路的同失步状态，切换对该可移动平台的目标控制指令的选择，有效保证了可移动平台确定的目标控制指令的延时较低的特性。在一个实施例中，可移动平台在确定与第二控制设备之间的连接状态为断开连接的状态时，还可先确定所述断开连接的持续时长，从而可将该断开连接的持续时长和预设的时长阈值(TIME_TH1)进行对比，如果该持续时长大于预设的时长阈值，则将所述第一控制指令作为所述目标控制指令；而在该持续时长小于所述时长阈值，则将所述第二控制指令作为所述目标控制指令，其中，该时长阈值例如可以是200毫秒，或者300毫秒等，进一步的，可移动平台在确定出目标控制指令后，可响应该目标控制指令，并基于该目标控制指令控制可移动平台的运行。可选的，该第一控制设备和第二控制设备之间建立有通信连接，所述第一控制指令是所述第二控制设备和所述第一控制设备保持同步后，由所述第二控制设备通过所述第一控制设备发送给所述可移动平台的，所述同步包括：时间同步和/或频率同步。In one embodiment, if the movable platform determines that the connection state between the second control device and the movable platform is a disconnected state (that is, the out-of-synchronization state), the movable platform may use the first control instruction as the The target control instruction, so that the movable platform can switch the selection of the target control instruction of the movable platform based on the synchronization and out-of-synchronization state of the communication link between the first control device and the second control device and the movable platform, respectively, It effectively guarantees the low delay characteristic of the target control command determined by the movable platform. In one embodiment, when the mobile platform determines that the connection state with the second control device is a disconnected state, it may first determine the duration of the disconnection, so that the disconnected state can be The duration is compared with the preset duration threshold (TIME_TH1), and if the duration is greater than the preset duration threshold, the first control instruction is used as the target control instruction; and the duration is less than the duration threshold , The second control instruction is used as the target control instruction, where the duration threshold may be, for example, 200 milliseconds, or 300 milliseconds, etc. Further, after determining the target control instruction, the movable platform can respond to the target Control instructions, and control the operation of the movable platform based on the target control instructions. Optionally, a communication connection is established between the first control device and the second control device, and the first control instruction is that after the second control device and the first control device are synchronized, the second control device When the control device sends to the movable platform through the first control device, the synchronization includes: time synchronization and/or frequency synchronization.
如图5所示，在一个实施例中，所述可移动平台为无人机，所述第一控制设备为眼镜设备，所述第二控制设备为遥控设备，所述第一控制指令和所述第二控制指令是所述第一控制设备和所述第二控制设备分别发送的飞控命令，所述无人机在接收到遥控设备发送的飞控命令后，可检测与遥控设备是否为同步状态，若是，则检测遥控器发送该飞控命令的频率是否超过门限频率，并在是时，响应该遥控设备发送的飞控命令，而若检测到遥控器发送该飞控命令的频率没有超过门限频率，则无人机将基于眼镜设备发送的飞控命令和遥控设备发送的飞控命令进行融合，得到目标飞控命令，并基于该目标飞控命令对无人机进行控制。在一个实施例中，若无人机确定遥控设备和该无人机之间的状态为失步状态，则该无人机可确定是否与眼镜设备保持同步，若该无人机确定与眼镜设备保持同步，则该无人机可响应眼镜设备发送的飞控命令，而无人机确定与眼镜设备之间的状态也为失步状态，则该无人机可获取失控处理策略对该无人机进行控制，该失控处理策略例如可以是控制无人机原路返回，或者原地降落等策略。As shown in Figure 5, in one embodiment, the movable platform is a drone, the first control device is a glasses device, the second control device is a remote control device, and the first control instruction and the The second control instruction is a flight control command sent by the first control device and the second control device respectively. After the drone receives the flight control command sent by the remote control device, it can detect whether the remote control device is Synchronization status, if yes, check whether the frequency of the remote control sending the flight control command exceeds the threshold frequency, and if yes, respond to the flight control command sent by the remote control device, and if it is detected that the frequency of the remote control sending the flight control command is not If the threshold frequency is exceeded, the drone will fuse the flight control command sent by the glasses device and the flight control command sent by the remote control device to obtain the target flight control command, and control the drone based on the target flight control command. In one embodiment, if the drone determines that the state between the remote control device and the drone is out of synchronization, the drone can determine whether to maintain synchronization with the glasses device, and if the drone is determined to be synchronized with the glasses device If synchronization is maintained, the UAV can respond to the flight control command sent by the glasses device, and the UAV determines that the state between the UAV and the glasses device is also out of synchronization, then the UAV can obtain the out-of-control processing strategy for the unmanned The out-of-control processing strategy can be, for example, the strategy of controlling the UAV to return to the original route or landing on the spot.
在本发明实施例中，可移动平台在确定目标工作模式后，可将图像数据发 送到第一控制设备和第二控制设备中，并接收用于反馈是否接收到该图像数据的第一反馈信息和第二反馈信息，从而使得可移动平台可在第一工作模式时，根据该第一反馈信息控制图像数据的重发，在第二工作模式时，根据该第二反馈信息控制图像数据的重发，使得可移动平台可在不同的场景下，采取不同的数据重传策略，可有效减少该可移动平台的不必要的数据重传次数，有效提升了可移动平台的数据处理压力。此外，可移动平台还可根据接收到的第一控制设备上行发送的第一控制指令，和第二控制设备上行发送的第二控制指令，确定对可移动平台进行控制的目标控制指令，并基于该目标控制指令对可移动平台进行控制，使得可移动平台在上行接收控制指令时，可优先选择延时较短的链路，可减少可移动平台对控制指令的响应时间，从而可提升可移动平台执行控制指令的效率。In the embodiment of the present invention, after determining the target working mode, the movable platform can send the image data to the first control device and the second control device, and receive the first feedback information used to feed back whether the image data is received And second feedback information, so that the movable platform can control the retransmission of image data according to the first feedback information in the first working mode, and control the retransmission of image data according to the second feedback information in the second working mode. The mobile platform can adopt different data retransmission strategies in different scenarios, which can effectively reduce the number of unnecessary data retransmissions on the mobile platform, and effectively increase the data processing pressure of the mobile platform. In addition, the mobile platform can also determine the target control instruction for controlling the mobile platform based on the received first control instruction sent by the first control device and the second control instruction sent by the second control device. The target control instruction controls the movable platform, so that when the movable platform receives the control instruction in the uplink, it can preferentially select the link with a shorter delay, which can reduce the response time of the movable platform to the control instruction, thereby improving the movable platform. The efficiency of the platform to execute control instructions.
请参见图6，图6是本发明实施例提供的一种可移动平台60，该可移动平台60包括处理器601和本地存储装置602，该处理器601和本地存储装置602可通过总线相互连接。另外，该可移动平台和第一控制设备和第二控制设备建立有通信连接。Please refer to FIG. 6, which is a movable platform 60 provided by an embodiment of the present invention. The movable platform 60 includes a processor 601 and a local storage device 602. The processor 601 and the local storage device 602 can be connected to each other through a bus. . In addition, the movable platform establishes a communication connection with the first control device and the second control device.
本地存储装置602包括但不限于随机存储记忆体(random access memory，RAM)、只读存储器(read-only memory，ROM)、可擦除可编程只读存储器(erasable programmable read only memory，EPROM)、或便携式只读存储器(compact disc read-only memory，CD-ROM)，本地存储装置602用于存储相关指令及数据。The local storage device 602 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), Or a portable read-only memory (compact disc read-only memory, CD-ROM), and the local storage device 602 is used to store related instructions and data.
处理器601可以是一个或多个中央处理器(central processing unit，CPU)，在处理器601是一个CPU的情况下，该CPU可以是单核CPU，也可以是多核CPU。The processor 601 may be one or more central processing units (CPU). In the case where the processor 601 is a CPU, the CPU may be a single-core CPU or a multi-core CPU.
该可移动平台60中的处理器601用于读取本地存储装置602中存储的程序代码，执行以下操作：The processor 601 in the mobile platform 60 is configured to read the program code stored in the local storage device 602, and perform the following operations:
确定所述可移动平台进行图像数据传输时的目标工作模式，所述目标工作模式为第一工作模式或第二工作模式；Determining a target working mode when the movable platform performs image data transmission, where the target working mode is the first working mode or the second working mode;
发送所述图像数据，并接收所述第一控制设备发送的第一反馈信息，以及 所述第二控制设备发送的第二反馈信息，所述第一反馈信息用于指示所述第一控制设备是否成功接收所述图像数据，所述第二反馈信息用于指示所述第二控制设备是否成功接收所述图像数据；Sending the image data and receiving the first feedback information sent by the first control device and the second feedback information sent by the second control device, where the first feedback information is used to instruct the first control device Whether the image data is successfully received, and the second feedback information is used to indicate whether the second control device successfully receives the image data;
若所述目标工作模式为所述第一工作模式，则根据所述第一反馈信息确定是否重新发送所述图像数据；If the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information;
若所述目标工作模式为所述第二工作模式，则根据所述第一反馈信息或所述第二反馈信息确定是否重新发送所述图像数据。If the target operating mode is the second operating mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
在一个实施例中，当程序代码被执行时，处理器601还用于执行：In an embodiment, when the program code is executed, the processor 601 is further configured to execute:
接收第三反馈信息，所述第三反馈信息用于指示所述第一控制设备或所述第二控制设备是否成功接收所述可移动平台发送的控制数据；Receiving third feedback information, where the third feedback information is used to indicate whether the first control device or the second control device successfully receives the control data sent by the movable platform;
若所述第三反馈信息指示所述第一控制设备或所述第二控制设备未成功接收所述控制数据，则重新发送所述控制数据。If the third feedback information indicates that the first control device or the second control device has not successfully received the control data, the control data is retransmitted.
在一个实施例中，当程序代码被执行时，处理器601还用于执行：In an embodiment, when the program code is executed, the processor 601 is further configured to execute:
若所述目标工作模式为所述第一工作模式，则响应所述第一控制设备发送的图像数据传输请求；If the target working mode is the first working mode, responding to the image data transmission request sent by the first control device;
若所述目标工作模式为所述第二工作模式，则分别响应所述第一控制设备和所述第二控制设备发送的图像数据传输请求。If the target operating mode is the second operating mode, respond to the image data transmission request sent by the first control device and the second control device respectively.
在一个实施例中，当程序代码被执行时，处理器601在根据所述第一反馈信息确定是否重新发送所述图像数据时，具体用于执行：In an embodiment, when the program code is executed, when the processor 601 determines whether to resend the image data according to the first feedback information, it is specifically configured to execute:
若所述第一反馈信息指示未成功接收到所述图像数据，则重新发送所述图像数据。If the first feedback information indicates that the image data is not successfully received, the image data is resent.
在一个实施例中，当程序代码被执行时，处理器601在根据所述第一反馈信息确定是否重新发送所述图像数据时，具体用于执行：In an embodiment, when the program code is executed, when the processor 601 determines whether to resend the image data according to the first feedback information, it is specifically configured to execute:
若所述第一反馈信息包括关键帧请求，则重新发送关键帧数据。If the first feedback information includes a key frame request, the key frame data is retransmitted.
在一个实施例中，当程序代码被执行时，处理器601在根据所述第一反馈信息或所述第二反馈信息确定是否重新发送所述图像数据时，具体用于执行：In an embodiment, when the program code is executed, the processor 601 is specifically configured to execute:
若所述第一反馈信息或所述第二反馈信息指示未成功接收到所述图像数据，则重新发送所述图像数据。If the first feedback information or the second feedback information indicates that the image data is not successfully received, the image data is resent.
在一个实施例中，当程序代码被执行时，处理器601在根据所述第一反馈 信息或所述第二反馈信息确定是否重新发送所述图像数据时，具体用于执行：In one embodiment, when the program code is executed, when the processor 601 determines whether to resend the image data according to the first feedback information or the second feedback information, it is specifically configured to execute:
若所述第一反馈信息或第二反馈信息包括关键帧请求，则重新发送关键帧数据。If the first feedback information or the second feedback information includes a key frame request, the key frame data is retransmitted.
在一个实施例中，当程序代码被执行时，处理器601还用于执行：In an embodiment, when the program code is executed, the processor 601 is further configured to execute:
接收所述第一控制设备发送的第一控制指令，以及所述第二控制设备发送的第二控制指令；Receiving a first control instruction sent by the first control device and a second control instruction sent by the second control device;
根据所述第一控制指令和所述第二控制指令确定对所述可移动平台进行控制的目标控制指令；Determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction;
响应所述目标控制指令。Respond to the target control instruction.
在一个实施例中，当程序代码被执行时，处理器601在根据所述第一控制指令和所述第二控制指令确定对所述可移动平台进行控制的目标控制指令时，具体用于执行：In one embodiment, when the program code is executed, the processor 601 is specifically configured to execute the target control instruction for controlling the movable platform according to the first control instruction and the second control instruction. :
确定所述第一控制指令的第一传输时延，以及所述第二控制指令的第二传输时延；Determining the first transmission delay of the first control command and the second transmission delay of the second control command;
若所述第一传输时延小于或等于所述第二传输时延，则将所述第一控制指令作为所述目标控制指令；If the first transmission delay is less than or equal to the second transmission delay, use the first control command as the target control command;
若所述第一传输时延大于所述第二传输时延，则将所述第二控制指令作为所述目标控制指令。If the first transmission delay is greater than the second transmission delay, the second control command is used as the target control command.
在一个实施例中，当程序代码被执行时，处理器601在根据所述第一控制指令和所述第二控制指令确定对所述可移动平台进行控制的目标控制指令时，具体用于执行：In one embodiment, when the program code is executed, the processor 601 is specifically configured to execute the target control instruction for controlling the movable platform according to the first control instruction and the second control instruction. :
确定所述可移动平台与所述第二控制设备之间的连接状态；Determining the connection state between the movable platform and the second control device;
根据所述连接状态、所述第一控制指令和所述第二控制指令，确定对所述可移动平台进行控制的目标控制指令。According to the connection state, the first control instruction and the second control instruction, a target control instruction for controlling the movable platform is determined.
在一个实施例中，当程序代码被执行时，处理器601在根据所述连接状态、所述第一控制指令和所述第二控制指令，确定对所述可移动平台进行控制的目标控制指令时，具体用于执行：In one embodiment, when the program code is executed, the processor 601 determines the target control instruction for controlling the movable platform according to the connection state, the first control instruction, and the second control instruction. When, specifically used to execute:
若所述连接状态为正常连接，则将所述第二控制指令的传输频率和预设传输频率阈值进行对比；If the connection status is a normal connection, comparing the transmission frequency of the second control command with a preset transmission frequency threshold;
若所述第二控制指令的传输频率大于或等于所述预设传输频率阈值，则将所述第二控制指令作为所述目标控制指令；If the transmission frequency of the second control instruction is greater than or equal to the preset transmission frequency threshold, use the second control instruction as the target control instruction;
若所述第二传输时延小于所述传输时延阈值，则根据所述第一控制指令和所述第二控制指令生成所述目标控制指令。If the second transmission delay is less than the transmission delay threshold, the target control instruction is generated according to the first control instruction and the second control instruction.
在一个实施例中，当程序代码被执行时，处理器601在根据所述第一控制指令和所述第二控制指令生成所述目标控制指令时，具体用于执行：In one embodiment, when the program code is executed, when the processor 601 generates the target control instruction according to the first control instruction and the second control instruction, it is specifically configured to execute:
将所述第二控制指令插入所述第一控制指令，或者将所述第一控制指令插入所述第二控制指令，得到所述目标控制指令。Insert the second control instruction into the first control instruction, or insert the first control instruction into the second control instruction to obtain the target control instruction.
在一个实施例中，当程序代码被执行时，处理器601在根据所述连接状态、所述第一控制指令和所述第二控制指令，确定对所述可移动平台进行控制的目标控制指令时，具体用于执行：In one embodiment, when the program code is executed, the processor 601 determines the target control instruction for controlling the movable platform according to the connection state, the first control instruction, and the second control instruction. When, specifically used to execute:
若所述连接状态为断开连接，则确定所述断开连接的持续时长；If the connection status is disconnected, determine the duration of the disconnection;
若所述持续时长大于预设的时长阈值，则将所述第一控制指令作为所述目标控制指令；If the duration is greater than a preset duration threshold, use the first control instruction as the target control instruction;
若所述持续时长小于所述时长阈值，则将所述第二控制指令作为所述目标控制指令。If the duration is less than the duration threshold, the second control instruction is used as the target control instruction.
在一个实施例中，所述第一控制设备和所述第二控制设备之间建立有通信连接，所述第一控制指令是所述第二控制设备和所述第一控制设备保持同步后，由所述第二控制设备通过所述第一控制设备发送给所述可移动平台的。In one embodiment, a communication connection is established between the first control device and the second control device, and the first control instruction is after the second control device and the first control device are synchronized, Sent by the second control device to the movable platform through the first control device.
在一个实施例中，所述同步包括：时间同步和/或频率同步。In an embodiment, the synchronization includes: time synchronization and/or frequency synchronization.
在一个实施例中，当程序代码被执行时，处理器601在确定所述可移动平台进行图像数据传输时的目标工作模式时，具体用于执行：In one embodiment, when the program code is executed, the processor 601 is specifically configured to execute:
接收针对所述目标工作模式的选择指令；Receiving a selection instruction for the target working mode;
根据所述选择指令确定所述可移动平台进行图像数据传输时的目标工作模式。According to the selection instruction, a target working mode of the movable platform during image data transmission is determined.
在一个实施例中，所述选择指令是用户通过所述第一控制设备对所述目标工作模式进行选择并发送的；In an embodiment, the selection instruction is selected and sent by the user through the first control device of the target working mode;
或者，所述选择指令是所述用户通过所述第二控制设备对所述目标工作模式进行选择并发送的；Or, the selection instruction is selected and sent by the user through the second control device of the target working mode;
或者，所述选择指令是所述用户通过所述第一控制设备对所述目标工作模式进行选择后，所述第一控制设备将所述选择指令发送给第二控制设备后，由所述第二控制设备发送的。Alternatively, the selection instruction is that after the user selects the target working mode through the first control device, the first control device sends the selection instruction to the second control device, and then the first control device sends the selection instruction to the second control device. Two sent by the control device.
在一个实施例中，当程序代码被执行时，处理器601在根据所述选择指令确定所述可移动平台进行图像数据传输时的目标工作模式时，具体用于执行：In one embodiment, when the program code is executed, when the processor 601 determines the target working mode of the movable platform for image data transmission according to the selection instruction, it is specifically configured to execute:
确定所述第一控制设备进行模式选择时的第一优先级，以及所述第二控制设备进行模式选择时的第二优先级；Determining the first priority when the first control device performs mode selection, and the second priority when the second control device performs mode selection;
获取所述第一控制设备选取的第一工作模式，以及所述第二控制设备选取的第二工作模式；Acquiring the first working mode selected by the first control device and the second working mode selected by the second control device;
若所述第一优先级高于所述第二优先级，则将所述第一工作模式作为所述目标工作模式；若所述第一优先级低于所述第二优先级，则将所述第二工作模式作为所述目标工作模式。If the first priority is higher than the second priority, then the first operating mode is used as the target operating mode; if the first priority is lower than the second priority, then the first priority is lower than the second priority. The second working mode is used as the target working mode.
在一个实施例中，当程序代码被执行时，处理器601在确定所述可移动平台进行图像数据传输时的目标工作模式时，具体用于执行：In one embodiment, when the program code is executed, the processor 601 is specifically configured to execute:
确定所述第一控制设备对应的第一用户和所述第二控制设备对应的第二用户是否为同一用户；Determining whether the first user corresponding to the first control device and the second user corresponding to the second control device are the same user;
若是，则将所述第二工作模式作为所述目标工作模式；If yes, use the second working mode as the target working mode;
若否，则将所述第一工作模式作为所述目标工作模式。If not, use the first working mode as the target working mode.
本发明实施例提供的可移动平台能够执行前述实施例提供的如图2或者图4所示的可移动平台的控制方法，其执行方式和有益效果类似，在这里不再赘述。The movable platform provided by the embodiment of the present invention can execute the control method of the movable platform as shown in FIG. 2 or FIG. 4 provided in the foregoing embodiment, and the execution mode and beneficial effects are similar, and will not be repeated here.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention. Scope.

Claims (41)

  1. 一种可移动平台的控制方法，其特征在于，所述可移动平台分别与第一控制设备以及第二控制设备建立有通信连接，所述方法包括：A method for controlling a movable platform, wherein the movable platform has a communication connection with a first control device and a second control device respectively, and the method includes:
    确定所述可移动平台进行图像数据传输时的目标工作模式，所述目标工作模式为第一工作模式或第二工作模式；Determining a target working mode when the movable platform performs image data transmission, where the target working mode is the first working mode or the second working mode;
    发送所述图像数据，并接收所述第一控制设备发送的第一反馈信息，以及所述第二控制设备发送的第二反馈信息，所述第一反馈信息用于指示所述第一控制设备是否成功接收所述图像数据，所述第二反馈信息用于指示所述第二控制设备是否成功接收所述图像数据；Sending the image data and receiving the first feedback information sent by the first control device and the second feedback information sent by the second control device, where the first feedback information is used to instruct the first control device Whether the image data is successfully received, and the second feedback information is used to indicate whether the second control device successfully receives the image data;
    若所述目标工作模式为所述第一工作模式，则根据所述第一反馈信息确定是否重新发送所述图像数据；If the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information;
    若所述目标工作模式为所述第二工作模式，则根据所述第一反馈信息或所述第二反馈信息确定是否重新发送所述图像数据。If the target operating mode is the second operating mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, wherein the method further comprises:
    接收第三反馈信息，所述第三反馈信息用于指示所述第一控制设备或所述第二控制设备是否成功接收所述可移动平台发送的控制数据；Receiving third feedback information, where the third feedback information is used to indicate whether the first control device or the second control device successfully receives the control data sent by the movable platform;
    若所述第三反馈信息指示所述第一控制设备或所述第二控制设备未成功接收所述控制数据，则重新发送所述控制数据。If the third feedback information indicates that the first control device or the second control device has not successfully received the control data, the control data is retransmitted.
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, wherein the method further comprises:
    若所述目标工作模式为所述第一工作模式，则响应所述第一控制设备发送的图像数据传输请求；If the target working mode is the first working mode, responding to the image data transmission request sent by the first control device;
    若所述目标工作模式为所述第二工作模式，则分别响应所述第一控制设备或所述第二控制设备发送的图像数据传输请求。If the target operating mode is the second operating mode, respond to the image data transmission request sent by the first control device or the second control device respectively.
  4. 根据权利要求1所述的方法，其特征在于，所述根据所述第一反馈信息确定是否重新发送所述图像数据，包括：The method according to claim 1, wherein the determining whether to resend the image data according to the first feedback information comprises:
    若所述第一反馈信息指示未成功接收到所述图像数据，则重新发送所述图像数据。If the first feedback information indicates that the image data is not successfully received, the image data is resent.
  5. 根据权利要求4所述的方法，其特征在于，所述根据所述第一反馈信息确定是否重新发送所述图像数据，包括：The method according to claim 4, wherein the determining whether to resend the image data according to the first feedback information comprises:
    若所述第一反馈信息包括关键帧请求，则重新发送关键帧数据。If the first feedback information includes a key frame request, the key frame data is retransmitted.
  6. 根据权利要求1所述的方法，其特征在于，所述根据所述第一反馈信息或所述第二反馈信息确定是否重新发送所述图像数据，包括：The method according to claim 1, wherein the determining whether to resend the image data according to the first feedback information or the second feedback information comprises:
    若所述第一反馈信息或所述第二反馈信息指示未成功接收到所述图像数据，则重新发送所述图像数据。If the first feedback information or the second feedback information indicates that the image data is not successfully received, the image data is resent.
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述第一反馈信息或所述第二反馈信息确定是否重新发送所述图像数据，包括：The method according to claim 6, wherein the determining whether to resend the image data according to the first feedback information or the second feedback information comprises:
    若所述第一反馈信息或第二反馈信息包括关键帧请求，则重新发送关键帧数据。If the first feedback information or the second feedback information includes a key frame request, the key frame data is retransmitted.
  8. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, wherein the method further comprises:
    接收所述第一控制设备发送的第一控制指令，以及所述第二控制设备发送的第二控制指令；Receiving a first control instruction sent by the first control device and a second control instruction sent by the second control device;
    根据所述第一控制指令和所述第二控制指令确定对所述可移动平台进行控制的目标控制指令；Determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction;
    响应所述目标控制指令。Respond to the target control instruction.
  9. 根据权利要求8所述的方法，其特征在于，所述根据所述第一控制指令和所述第二控制指令确定对所述可移动平台进行控制的目标控制指令，包括：The method according to claim 8, wherein the determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction comprises:
    确定所述第一控制指令的第一传输时延，以及所述第二控制指令的第二传输时延；Determining the first transmission delay of the first control command and the second transmission delay of the second control command;
    若所述第一传输时延小于或等于所述第二传输时延，则将所述第一控制指 令作为所述目标控制指令；If the first transmission delay is less than or equal to the second transmission delay, use the first control instruction as the target control instruction;
    若所述第一传输时延大于所述第二传输时延，则将所述第二控制指令作为所述目标控制指令。If the first transmission delay is greater than the second transmission delay, the second control command is used as the target control command.
  10. 根据权利要求8所述的方法，其特征在于，所述根据所述第一控制指令和所述第二控制指令确定对所述可移动平台进行控制的目标控制指令，包括：The method according to claim 8, wherein the determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction comprises:
    确定所述可移动平台与所述第二控制设备之间的连接状态；Determining the connection state between the movable platform and the second control device;
    根据所述连接状态、所述第一控制指令和所述第二控制指令，确定对所述可移动平台进行控制的目标控制指令。According to the connection state, the first control instruction and the second control instruction, a target control instruction for controlling the movable platform is determined.
  11. 根据权利要求10所述的方法，其特征在于，所述根据所述连接状态、所述第一控制指令和所述第二控制指令，确定对所述可移动平台进行控制的目标控制指令，包括：The method according to claim 10, wherein the determining a target control instruction for controlling the movable platform according to the connection state, the first control instruction and the second control instruction comprises :
    若所述连接状态为正常连接，则将所述第二控制指令的传输频率和预设传输频率阈值进行对比；If the connection status is a normal connection, comparing the transmission frequency of the second control command with a preset transmission frequency threshold;
    若所述第二控制指令的传输频率大于或等于所述预设传输频率阈值，则将所述第二控制指令作为所述目标控制指令；If the transmission frequency of the second control instruction is greater than or equal to the preset transmission frequency threshold, use the second control instruction as the target control instruction;
    若所述第二传输时延小于所述传输时延阈值，则根据所述第一控制指令和所述第二控制指令生成所述目标控制指令。If the second transmission delay is less than the transmission delay threshold, the target control instruction is generated according to the first control instruction and the second control instruction.
  12. 根据权利要求11所述的方法，其特征在于，所述根据所述第一控制指令和所述第二控制指令生成所述目标控制指令，包括：The method according to claim 11, wherein said generating said target control instruction according to said first control instruction and said second control instruction comprises:
    将所述第二控制指令插入所述第一控制指令，或者将所述第一控制指令插入所述第二控制指令，得到所述目标控制指令。Insert the second control instruction into the first control instruction, or insert the first control instruction into the second control instruction to obtain the target control instruction.
  13. 根据权利要求10所述的方法，其特征在于，所述根据所述连接状态、所述第一控制指令和所述第二控制指令，确定对所述可移动平台进行控制的目标控制指令，包括：The method according to claim 10, wherein the determining a target control instruction for controlling the movable platform according to the connection state, the first control instruction and the second control instruction comprises :
    若所述连接状态为断开连接，则确定所述断开连接的持续时长；If the connection status is disconnected, determine the duration of the disconnection;
    若所述持续时长大于预设的时长阈值，则将所述第一控制指令作为所述目标控制指令；If the duration is greater than a preset duration threshold, use the first control instruction as the target control instruction;
    若所述持续时长小于所述时长阈值，则将所述第二控制指令作为所述目标控制指令。If the duration is less than the duration threshold, the second control instruction is used as the target control instruction.
  14. 根据权利要求8～13任一项所述的方法，其特征在于，所述第一控制设备和所述第二控制设备之间建立有通信连接，所述第一控制指令是所述第二控制设备和所述第一控制设备保持同步后，由所述第二控制设备通过所述第一控制设备发送给所述可移动平台的。The method according to any one of claims 8 to 13, wherein a communication connection is established between the first control device and the second control device, and the first control instruction is the second control After the device and the first control device are synchronized, they are sent to the movable platform by the second control device through the first control device.
  15. 根据权利要求14所述的方法，其特征在于，所述同步包括：时间同步和/或频率同步。The method according to claim 14, wherein the synchronization comprises: time synchronization and/or frequency synchronization.
  16. 根据权利要求1所述的方法，其特征在于，所述确定所述可移动平台进行图像数据传输时的目标工作模式，包括：The method according to claim 1, wherein the determining a target working mode when the movable platform performs image data transmission comprises:
    接收针对所述目标工作模式的选择指令；Receiving a selection instruction for the target working mode;
    根据所述选择指令确定所述可移动平台进行图像数据传输时的目标工作模式。According to the selection instruction, a target working mode of the movable platform during image data transmission is determined.
  17. 根据权利要求16所述的方法，其特征在于，所述选择指令是用户通过所述第一控制设备对所述目标工作模式进行选择并发送的；The method according to claim 16, wherein the selection instruction is selected and sent by the user through the first control device of the target working mode;
    或者，所述选择指令是所述用户通过所述第二控制设备对所述目标工作模式进行选择并发送的；Or, the selection instruction is selected and sent by the user through the second control device of the target working mode;
    或者，所述选择指令是所述用户通过所述第一控制设备对所述目标工作模式进行选择后，所述第一控制设备将所述选择指令发送给第二控制设备后，由所述第二控制设备发送的。Alternatively, the selection instruction is that after the user selects the target working mode through the first control device, the first control device sends the selection instruction to the second control device, and then the first control device sends the selection instruction to the second control device. Two sent by the control device.
  18. 根据权利要求16所述的方法，其特征在于，所述根据所述选择指令确定所述可移动平台进行图像数据传输时的目标工作模式，包括：The method according to claim 16, wherein the determining a target operating mode when the movable platform performs image data transmission according to the selection instruction comprises:
    确定所述第一控制设备进行模式选择时的第一优先级，以及所述第二控制设备进行模式选择时的第二优先级；Determining the first priority when the first control device performs mode selection, and the second priority when the second control device performs mode selection;
    获取所述第一控制设备选取的第一工作模式，以及所述第二控制设备选取的第二工作模式；Acquiring the first working mode selected by the first control device and the second working mode selected by the second control device;
    若所述第一优先级高于所述第二优先级，则将所述第一工作模式作为所述目标工作模式；若所述第一优先级低于所述第二优先级，则将所述第二工作模式作为所述目标工作模式。If the first priority is higher than the second priority, then the first operating mode is used as the target operating mode; if the first priority is lower than the second priority, then the first priority is lower than the second priority. The second working mode is used as the target working mode.
  19. 根据权利要求1所述的方法，其特征在于，所述确定所述可移动平台进行图像数据传输时的目标工作模式，包括：The method according to claim 1, wherein the determining a target working mode when the movable platform performs image data transmission comprises:
    确定所述第一控制设备对应的第一用户和所述第二控制设备对应的第二用户是否为同一用户；Determining whether the first user corresponding to the first control device and the second user corresponding to the second control device are the same user;
    若是，则将所述第二工作模式作为所述目标工作模式；If yes, use the second working mode as the target working mode;
    若否，则将所述第一工作模式作为所述目标工作模式。If not, use the first working mode as the target working mode.
  20. 一种可移动平台的控制装置，其特征在于，所述可移动平台分别与第一控制设备以及第二控制设备建立有通信连接，所述装置包括存储器、处理器；A control device for a movable platform, wherein the movable platform has a communication connection with a first control device and a second control device respectively, and the device includes a memory and a processor;
    所述存储器用于存储程序代码；The memory is used to store program code;
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：The processor calls the program code, and when the program code is executed, is used to perform the following operations:
    确定所述可移动平台进行图像数据传输时的目标工作模式，所述目标工作模式为第一工作模式或第二工作模式；Determining a target working mode when the movable platform performs image data transmission, where the target working mode is the first working mode or the second working mode;
    发送所述图像数据，并接收所述第一控制设备发送的第一反馈信息，以及所述第二控制设备发送的第二反馈信息，所述第一反馈信息用于指示所述第一控制设备是否成功接收所述图像数据，所述第二反馈信息用于指示所述第二控制设备是否成功接收所述图像数据；Sending the image data and receiving the first feedback information sent by the first control device and the second feedback information sent by the second control device, where the first feedback information is used to instruct the first control device Whether the image data is successfully received, and the second feedback information is used to indicate whether the second control device successfully receives the image data;
    若所述目标工作模式为所述第一工作模式，则根据所述第一反馈信息确定是否重新发送所述图像数据；If the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information;
    若所述目标工作模式为所述第二工作模式，则根据所述第一反馈信息或所 述第二反馈信息确定是否重新发送所述图像数据。If the target operating mode is the second operating mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
  21. 根据权利要求20所述的装置，其特征在于，所述装置还包括：The device according to claim 20, wherein the device further comprises:
    接收第三反馈信息，所述第三反馈信息用于指示所述第一控制设备或所述第二控制设备是否成功接收所述可移动平台发送的控制数据；Receiving third feedback information, where the third feedback information is used to indicate whether the first control device or the second control device successfully receives the control data sent by the movable platform;
    若所述第三反馈信息指示所述第一控制设备或所述第二控制设备未成功接收所述控制数据，则重新发送所述控制数据。If the third feedback information indicates that the first control device or the second control device has not successfully received the control data, the control data is retransmitted.
  22. 根据权利要求20所述的装置，其特征在于，所述装置还包括：The device according to claim 20, wherein the device further comprises:
    若所述目标工作模式为所述第一工作模式，则响应所述第一控制设备发送的图像数据传输请求；If the target working mode is the first working mode, responding to the image data transmission request sent by the first control device;
    若所述目标工作模式为所述第二工作模式，则分别响应所述第一控制设备和所述第二控制设备发送的图像数据传输请求。If the target operating mode is the second operating mode, respond to the image data transmission request sent by the first control device and the second control device respectively.
  23. 根据权利要求20所述的装置，其特征在于，所述根据所述第一反馈信息确定是否重新发送所述图像数据，包括：The apparatus according to claim 20, wherein the determining whether to resend the image data according to the first feedback information comprises:
    若所述第一反馈信息指示未成功接收到所述图像数据，则重新发送所述图像数据。If the first feedback information indicates that the image data is not successfully received, the image data is resent.
  24. 根据权利要求23所述的装置，其特征在于，所述根据所述第一反馈信息确定是否重新发送所述图像数据，包括：The apparatus according to claim 23, wherein the determining whether to resend the image data according to the first feedback information comprises:
    若所述第一反馈信息包括关键帧请求，则重新发送关键帧数据。If the first feedback information includes a key frame request, the key frame data is retransmitted.
  25. 根据权利要求20所述的装置，其特征在于，所述根据所述第一反馈信息或所述第二反馈信息确定是否重新发送所述图像数据，包括：The apparatus according to claim 20, wherein the determining whether to resend the image data according to the first feedback information or the second feedback information comprises:
    若所述第一反馈信息或所述第二反馈信息指示未成功接收到所述图像数据，则重新发送所述图像数据。If the first feedback information or the second feedback information indicates that the image data is not successfully received, the image data is resent.
  26. 根据权利要求25所述的装置，其特征在于，所述根据所述第一反馈 信息或所述第二反馈信息确定是否重新发送所述图像数据，包括：The apparatus according to claim 25, wherein the determining whether to resend the image data according to the first feedback information or the second feedback information comprises:
    若所述第一反馈信息或第二反馈信息包括关键帧请求，则重新发送关键帧数据。If the first feedback information or the second feedback information includes a key frame request, the key frame data is retransmitted.
  27. 根据权利要求20所述的装置，其特征在于，所述装置还包括：The device according to claim 20, wherein the device further comprises:
    接收所述第一控制设备发送的第一控制指令，以及所述第二控制设备发送的第二控制指令；Receiving a first control instruction sent by the first control device and a second control instruction sent by the second control device;
    根据所述第一控制指令和所述第二控制指令确定对所述可移动平台进行控制的目标控制指令；Determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction;
    响应所述目标控制指令。Respond to the target control instruction.
  28. 根据权利要求27所述的装置，其特征在于，所述根据所述第一控制指令和所述第二控制指令确定对所述可移动平台进行控制的目标控制指令，包括：The device according to claim 27, wherein the determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction comprises:
    确定所述第一控制指令的第一传输时延，以及所述第二控制指令的第二传输时延；Determining the first transmission delay of the first control command and the second transmission delay of the second control command;
    若所述第一传输时延小于或等于所述第二传输时延，则将所述第一控制指令作为所述目标控制指令；If the first transmission delay is less than or equal to the second transmission delay, use the first control command as the target control command;
    若所述第一传输时延大于所述第二传输时延，则将所述第二控制指令作为所述目标控制指令。If the first transmission delay is greater than the second transmission delay, the second control command is used as the target control command.
  29. 根据权利要求27所述的装置，其特征在于，所述根据所述第一控制指令和所述第二控制指令确定对所述可移动平台进行控制的目标控制指令，包括：The device according to claim 27, wherein the determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction comprises:
    确定所述可移动平台与所述第二控制设备之间的连接状态；Determining the connection state between the movable platform and the second control device;
    根据所述连接状态、所述第一控制指令和所述第二控制指令，确定对所述可移动平台进行控制的目标控制指令。According to the connection state, the first control instruction and the second control instruction, a target control instruction for controlling the movable platform is determined.
  30. 根据权利要求29所述的装置，其特征在于，所述根据所述连接状态、 所述第一控制指令和所述第二控制指令，确定对所述可移动平台进行控制的目标控制指令，包括：The device according to claim 29, wherein the determining a target control instruction for controlling the movable platform according to the connection state, the first control instruction and the second control instruction comprises :
    若所述连接状态为正常连接，则将所述第二控制指令的传输频率和预设传输频率阈值进行对比；If the connection status is a normal connection, comparing the transmission frequency of the second control command with a preset transmission frequency threshold;
    若所述第二控制指令的传输频率大于或等于所述预设传输频率阈值，则将所述第二控制指令作为所述目标控制指令；If the transmission frequency of the second control instruction is greater than or equal to the preset transmission frequency threshold, use the second control instruction as the target control instruction;
    若所述第二传输时延小于所述传输时延阈值，则根据所述第一控制指令和所述第二控制指令生成所述目标控制指令。If the second transmission delay is less than the transmission delay threshold, the target control instruction is generated according to the first control instruction and the second control instruction.
  31. 根据权利要求30所述的装置，其特征在于，所述根据所述第一控制指令和所述第二控制指令生成所述目标控制指令，包括：The device according to claim 30, wherein said generating said target control instruction according to said first control instruction and said second control instruction comprises:
    将所述第二控制指令插入所述第一控制指令，或者将所述第一控制指令插入所述第二控制指令，得到所述目标控制指令。Insert the second control instruction into the first control instruction, or insert the first control instruction into the second control instruction to obtain the target control instruction.
  32. 根据权利要求29所述的装置，其特征在于，所述根据所述连接状态、所述第一控制指令和所述第二控制指令，确定对所述可移动平台进行控制的目标控制指令，包括：The device according to claim 29, wherein the determining a target control instruction for controlling the movable platform according to the connection state, the first control instruction and the second control instruction comprises :
    若所述连接状态为断开连接，则确定所述断开连接的持续时长；If the connection status is disconnected, determine the duration of the disconnection;
    若所述持续时长大于预设的时长阈值，则将所述第一控制指令作为所述目标控制指令；If the duration is greater than a preset duration threshold, use the first control instruction as the target control instruction;
    若所述持续时长小于所述时长阈值，则将所述第二控制指令作为所述目标控制指令。If the duration is less than the duration threshold, the second control instruction is used as the target control instruction.
  33. 根据权利要求27～32任一项所述的装置，其特征在于，所述第一控制设备和所述第二控制设备之间建立有通信连接，所述第一控制指令是所述第二控制设备和所述第一控制设备保持同步后，由所述第二控制设备通过所述第一控制设备发送给所述可移动平台的。The apparatus according to any one of claims 27 to 32, wherein a communication connection is established between the first control device and the second control device, and the first control instruction is the second control After the device and the first control device are synchronized, they are sent to the movable platform by the second control device through the first control device.
  34. 根据权利要求33所述的装置，其特征在于，所述同步包括：时间同 步和/或频率同步。The device according to claim 33, wherein the synchronization comprises: time synchronization and/or frequency synchronization.
  35. 根据权利要求20所述的装置，其特征在于，所述确定所述可移动平台进行图像数据传输时的目标工作模式，包括：The device according to claim 20, wherein said determining a target working mode when said movable platform performs image data transmission comprises:
    接收针对所述目标工作模式的选择指令；Receiving a selection instruction for the target working mode;
    根据所述选择指令确定所述可移动平台进行图像数据传输时的目标工作模式。According to the selection instruction, a target working mode of the movable platform during image data transmission is determined.
  36. 根据权利要求35所述的装置，其特征在于，所述选择指令是用户通过所述第一控制设备对所述目标工作模式进行选择并发送的；The device according to claim 35, wherein the selection instruction is selected and sent by the user through the first control device to the target working mode;
    或者，所述选择指令是所述用户通过所述第二控制设备对所述目标工作模式进行选择并发送的；Or, the selection instruction is selected and sent by the user through the second control device of the target working mode;
    或者，所述选择指令是所述用户通过所述第一控制设备对所述目标工作模式进行选择后，所述第一控制设备将所述选择指令发送给第二控制设备后，由所述第二控制设备发送的。Alternatively, the selection instruction is that after the user selects the target operating mode through the first control device, the first control device sends the selection instruction to the second control device, and then the first control device sends the selection instruction to the second control device. Two sent by the control device.
  37. 根据权利要求35所述的装置，其特征在于，所述根据所述选择指令确定所述可移动平台进行图像数据传输时的目标工作模式，包括：The device according to claim 35, wherein the determining a target operating mode of the movable platform for image data transmission according to the selection instruction comprises:
    确定所述第一控制设备进行模式选择时的第一优先级，以及所述第二控制设备进行模式选择时的第二优先级；Determining the first priority when the first control device performs mode selection, and the second priority when the second control device performs mode selection;
    获取所述第一控制设备选取的第一工作模式，以及所述第二控制设备选取的第二工作模式；Acquiring the first working mode selected by the first control device and the second working mode selected by the second control device;
    若所述第一优先级高于所述第二优先级，则将所述第一工作模式作为所述目标工作模式；若所述第一优先级低于所述第二优先级，则将所述第二工作模式作为所述目标工作模式。If the first priority is higher than the second priority, then the first operating mode is used as the target operating mode; if the first priority is lower than the second priority, then the first priority is lower than the second priority. The second working mode is used as the target working mode.
  38. 根据权利要求20所述的装置，其特征在于，所述确定所述可移动平台进行图像数据传输时的目标工作模式，包括：The apparatus according to claim 20, wherein said determining a target working mode when said movable platform performs image data transmission comprises:
    确定所述第一控制设备对应的第一用户和所述第二控制设备对应的第二 用户是否为同一用户；Determining whether the first user corresponding to the first control device and the second user corresponding to the second control device are the same user;
    若是，则将所述第二控制模式作为所述目标工作模式；If yes, use the second control mode as the target operating mode;
    若否，则将所述第一控制模式作为所述目标工作模式。If not, use the first control mode as the target operating mode.
  39. 一种可移动平台，其特征在于，包括：A movable platform, characterized in that it comprises:
    机身；body;
    动力系统，安装在所述机身，用于为所述可移动平台提供动力；A power system installed on the fuselage and used to provide power for the movable platform;
    以及如权利要求20～38中任一项所述的控制装置。And the control device according to any one of claims 20 to 38.
  40. 根据权利要求39所述的可移动平台，其特征在于，所述可移动平台至少包括如下的一种：无人机、汽车和智能机器人。The movable platform according to claim 39, wherein the movable platform includes at least one of the following: unmanned aerial vehicle, automobile, and intelligent robot.
  41. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有程序指令，当所述程序指令在处理器上运行时，实现权利要求1-19任一所述的方法。A computer-readable storage medium, wherein program instructions are stored in the computer-readable storage medium, and when the program instructions run on a processor, the method according to any one of claims 1-19 is implemented.
PCT/CN2020/087493 2020-04-28 2020-04-28 Movable platform control method and apparatus, movable platform, and storage medium WO2021217416A1 (en)

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