WO2020248285A1

WO2020248285A1 - Mobile platform control system and method, terminal device, and remote control device

Info

Publication number: WO2020248285A1
Application number: PCT/CN2019/091411
Authority: WO
Inventors: 戚华飞; 刘怀宇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-06-14
Filing date: 2019-06-14
Publication date: 2020-12-17
Also published as: CN111615720A

Abstract

Embodiments of the present application provide a mobile platform control system and method, a terminal device, and a remote control device. The mobile platform control system comprises: at least one terminal device, a mobile platform, and at least one remote control device. The mobile platform control system is configured to: receive mobile association data of a mobile platform by means of a wireless communication link between the mobile platform control system and the mobile platform; and receive remote control data from a remote control device by means of a communication connection between a terminal device and the remote control device corresponding to the terminal device and send the remote control data to the mobile platform by means of the wireless communication link between the terminal device and the mobile platform, the remote control device corresponding to the terminal device being selected from at least one remote control device.

Description

Mobile platform control system, method, terminal equipment and remote control equipment

Technical field

This application belongs to the field of control technology, and in particular, relates to a mobile platform control system, method, terminal device and remote control device.

Background technique

Mobile platforms such as Unmanned Aerial Vehicles (UAV) are widely used in aerial photography, urban management, agriculture, geology, meteorology, disaster relief and other fields.

Among the remote control methods of the mobile platform, there is a remote control method that enhances the user's real experience, that is, the remote control of the mobile platform controls the mobile platform according to the data collected by the mobile platform. For example, the remote controller of the mobile platform sees the first-person view (FPV) collected by the mobile platform through the terminal device that communicates with the mobile platform, so as to see the current flight process of the mobile platform from the perspective of the mobile platform The environment around the mobile platform is remotely controlled.

When using this remote control method to remotely control a mobile platform, at least the following problems exist: the remote control device needs to send remote control data to the mobile platform through a communication link with the mobile platform. Correspondingly, the remote control equipment needs to be equipped with components required for communication with the mobile platform, resulting in high cost of the remote control equipment.

Summary of the invention

The embodiments of the present application provide a mobile platform control system, method, terminal device, and remote control device.

In the first aspect, an embodiment of the present application provides a mobile platform control system. The mobile platform control system includes: at least one terminal device, a mobile platform, and at least one remote control device, and the system is configured as:

Receiving mobile associated data of the mobile platform through the wireless communication link between the terminal device and the mobile platform;

Receiving remote control data from the remote control device through the communication connection between the terminal device and the remote control device corresponding to the terminal device;

And, sending the remote control data to the mobile platform through the wireless communication link between the terminal device and the mobile platform, and the remote control device corresponding to the terminal device is selected from the at least one remote control device .

In the second aspect, embodiments of the present application provide a mobile platform control method, and the mobile platform control method includes:

In a third aspect, the embodiments of the present application provide a mobile platform control method, which includes: a terminal device receives mobile associated data of the mobile platform from the mobile platform through a wireless communication link with the mobile platform ；

The terminal device receives remote control data from the remote control device through the communication connection with the remote control device;

The terminal device sends the remote control data to the mobile platform through the wireless communication link with the mobile platform.

In a fourth aspect, embodiments of the present application provide a mobile platform control method, and the mobile platform control method includes:

Remote control equipment collects remote control data;

The remote control device sends the remote control data to the terminal device through the communication connection with the terminal device, wherein the terminal device transmits the remote control data to the UAV through the wireless communication link after receiving the remote control data. The remote control data is sent to the drone.

The technical solutions provided by the embodiments of the application include the following beneficial effects:

1) When the remote control device does not need to establish a communication connection with the mobile platform, the remote control data is sent to the mobile platform to remotely control the mobile platform. Therefore, in the case that the remote control device does not need to be equipped with devices such as radio frequency circuits and antennas required to communicate with the mobile platform, the mobile platform can be remotely controlled to save the cost of the remote control device.

2) Trigger the remote control device to collect remote control data and send the remote control data to the mobile platform in each remote control data transmission time slot. Thus, the remote control data is transmitted to the mobile platform with an ultra-low delay, so that the remote controller can remotely control the mobile platform with an ultra-low delay.

3) In the trainer mode, the remote control data of any remote control device does not need to be forwarded to the mobile platform through other remote control devices, which reduces the transmission delay of remote control data. There is no need to establish a communication connection between any two remote control devices. Any two remote control devices are connected together through a transmission line to reduce the complexity of remote control users using the remote control device.

The above description is only an overview of the technical solution of this application. In order to understand the technical means of this application more clearly, it can be implemented in accordance with the content of the specification, and to make the above and other purposes, features and advantages of this application more obvious and understandable. , The following specifically cite the specific implementation of this application.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Figure 1 schematically shows a schematic diagram of the principle of low-latency transmission of remote control data;

Figure 2 schematically shows a timing diagram of collecting remote control data;

FIG. 3 schematically shows a structural diagram of a mobile platform control system provided by an embodiment of the present application;

FIG. 4 schematically shows another structural diagram of a mobile platform control system provided by an embodiment of the present application;

FIG. 5 schematically shows a flowchart of a mobile platform control method provided by an embodiment of the present application;

FIG. 6 schematically shows a flowchart of a mobile platform control method provided by an embodiment of the present application;

FIG. 7 schematically shows a flowchart of a mobile platform control method provided by an embodiment of the present application;

FIG. 8 schematically shows a structural diagram of flying glasses that can be used as a terminal device;

FIG. 9 schematically shows a structural diagram of a remote control that can be used as a remote control device;

FIG. 10 schematically shows a schematic structural diagram of a terminal device that can implement the mobile platform control method provided by an embodiment of the present application;

FIG. 11 schematically shows a structural diagram of a remote control device that can implement the mobile platform control method provided by the embodiments of the present application.

Specific embodiment

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of this application.

The mobile platform control system provided by the embodiment of the present application includes: at least one terminal device, a mobile platform, and at least one remote control device.

In this application, the mobile platform control system is configured to: receive the mobile associated data of the mobile platform through the wireless communication link between the terminal device and the mobile platform; through the communication connection between the terminal device and the remote control device corresponding to the terminal device The remote control data is received from the remote control device corresponding to the terminal device; and the remote control data is sent to the mobile platform through the wireless communication link between the terminal device and the mobile platform, and the remote control device corresponding to the terminal device is selected from at least one remote control device.

In the present application, the operations that the mobile platform control system is configured to complete can be completed by one or more modules in one or more devices in the mobile platform control system. For example, it is completed by one or more modules in one or more terminal devices in the mobile platform control system.

In this application, when the number of terminal devices in the mobile platform control system is multiple, each terminal device separately establishes a communication connection with the mobile platform.

In this application, when the number of terminal devices and the number of remote control devices in the mobile platform control system are both multiple, each terminal device may correspond to one or more remote control devices in all remote control devices.

Correspondingly, when one terminal device corresponds to multiple remote control devices in all remote control devices, there is a communication connection between the terminal device and each of the multiple remote control devices. For each remote control device of the multiple remote control devices, when the remote control device is used to remotely control the mobile platform, the terminal device sends remote control data generated on the remote control device to the mobile platform to remotely control the mobile platform.

In some embodiments, the mobile platform control system is configured to: send a remote control data collection instruction to the remote control device to trigger the remote control device to collect remote control data; receive the remote control data collected by the remote control device from the remote control device; pass between the terminal device and the mobile platform The wireless communication link sends the remote control data collected by the remote control device to the mobile platform.

In this application, the terminal device can communicate with the mobile platform through a wireless communication technology dedicated to communicating with the mobile platform. Correspondingly, the wireless communication link between the terminal device and the mobile platform may be a wireless communication link defined in a wireless communication technology dedicated to communicating with the mobile platform.

In this application, the communication connection between the terminal device and the remote control device may be a wired communication connection.

For example, the terminal device communicates with the remote control device through USB technology. The communication connection between the terminal device and the remote control device is the USB connection defined in the USB technology.

In this application, when the remote control device does not need to establish a wireless communication link with the mobile platform, the remote control data is sent to the mobile platform to remotely control the mobile platform. Therefore, the mobile platform can be remotely controlled without the need to configure the devices required for communication with the mobile platform in the remote control device, thereby saving the cost of the remote control device.

For example, a device that communicates with the mobile platform communicates with the mobile platform through a wireless communication technology dedicated to communicating with the mobile platform. The equipment that communicates with the mobile platform is equipped with radio frequency circuits, antennas and other devices required for communication using the wireless communication technology. The remote control device does not need to be equipped with radio frequency circuits, antennas and other devices required for communication using the wireless communication technology, saving the cost of the remote control device.

In this application, when the number of terminal devices in the mobile platform control system is multiple, each terminal device establishes a wireless communication link with the mobile platform.

For example, all terminal devices in the mobile platform control system include: terminal device 1, terminal device 2, and all remote control devices in the mobile platform control system include: remote control device 1, remote control device 2, remote control device 3, and remote control device 4. The terminal device 1 and the remote control device 1 have a communication connection, and the terminal device 1 and the remote control device 2 have a communication connection. The terminal device 2 and the remote control device 3 have a communication connection, and the terminal device 2 and the remote control device 4 have a communication connection.

The remote control device corresponding to the terminal device 1 includes: a remote control device 1 and a remote control device 2. The remote control device corresponding to the terminal device 2 includes: a remote control device 3 and a remote control device 4.

When the remote control of the mobile platform uses the remote control device 1 or the remote control device 2 to remotely control the mobile platform, the terminal device 1 sends the remote control data generated on the remote control device 1 or the remote control data generated on the remote control device 2 to the mobile platform. Remotely control the mobile platform.

When the remote controller of the mobile platform uses the remote control device 3 or the remote control device 4 to remotely control the mobile platform, the terminal device 2 sends the remote control data generated on the remote control device 3 or the remote control data generated on the remote control device 4 to the mobile platform. Remotely control the mobile platform.

In this application, when the number of terminal devices and the number of remote control devices in the mobile platform control system are both multiple, multiple terminal devices in all terminal devices may correspond to the same remote control device. For example, multiple remote controllers of a mobile platform use the same remote control device to remotely control the mobile platform in turn. The terminal device used by each remote controller receives the mobile related data from the mobile platform and displays the mobile related data.

Correspondingly, when multiple terminal devices in all terminal devices correspond to the same remote control device, when the remote control device is used to remotely control the mobile platform, the remote control device sends the remote control data generated on the remote control device to the mobile platform The terminal equipment used by the current remote controller, and the terminal equipment used by the current remote controller of the mobile platform sends remote control data generated on the remote controller to the mobile platform to remotely control the mobile platform.

For example, all terminal devices include: terminal device 1, terminal device 2, terminal device 3, and terminal device 4. All remote control devices include: remote control device 1, remote control device 2.

The terminal device 1 and the remote control device 1 have a communication connection, and the terminal device 2 and the remote control device 1 have a communication connection. There is a communication connection between the terminal device 3 and the remote control device 2, and there is a communication connection between the terminal device 4 and the remote control device 2.

The remote control device corresponding to terminal device 1 and the remote control device corresponding to terminal device 2 are both remote control device 1. The remote control device corresponding to the terminal device 3 and the remote control device corresponding to the terminal device 4 are both the remote control device 2.

When the current remote controller of the mobile platform uses the remote control device 1 to remotely control the mobile platform, the remote control device 1 sends the remote control data generated on the remote control device 1 to the terminal device 1 or terminal device 2 used by the current remote controller of the mobile platform. The terminal device 1 or the terminal device 2 used by the current remote controller of the mobile platform sends the remote control data generated on the remote control device 1 to the mobile platform to remotely control the mobile platform.

When the current remote controller of the mobile platform uses the remote control device 2 to remotely control the mobile platform, the remote control device 2 sends the remote control data generated on the remote control device 2 to the terminal device 3 or terminal device 4 used by the current remote controller of the mobile platform. The terminal device 3 or the terminal device 4 used by the current remote controller of the mobile platform sends the remote control data generated on the remote control device 2 to the mobile platform to remotely control the mobile platform.

In this application, the mobile-related data of the mobile platform includes: data collected by the relevant sensors on the mobile platform during the movement of the mobile platform.

For example, the mobile platform is a drone, and the mobile related data of the drone includes but is not limited to: flight speed, flight height, flight direction, flight environment images, etc. The flight environment image can describe the surrounding environment of the UAV during the current flight.

In some embodiments, the remote control data includes at least the lever amount and function instructions of the remote control device. The lever amount can be a vector, and the lever amount can include the value of the lever amount. For example, the value indicates the offset or deviation of the current position of the joystick on the remote control device relative to the origin of the joystick when it is not operated. Shift direction.

In this application, the remote controller of the mobile platform can perform remote control operations on the remote control device, and generate remote control commands through the remote control operations.

For example, remote control devices include: joysticks and buttons. The remote control operation performed by the remote control of the mobile platform on the remote control device may include the operation of the joystick and the pressing operation of the button by the remote control of the mobile platform. The operation of the joystick by the remote control of the mobile platform can generate the amount of stick. The remote control of the mobile platform generates a function instruction for the button pressing operation.

In some embodiments, the operation period of the remote control operation performed on the remote control device includes a plurality of remote control data transmission time slots. The remote control data sent to the mobile platform through the wireless communication link between the terminal device and the mobile platform is generated based on the remote control operation performed on the remote control device. Receive remote control data collected by the remote control device from the remote control device, and send the remote control data collected by the remote control device to the mobile platform through the wireless communication link between the terminal device and the mobile platform. Multiple remote control data transmission time slots or multiple remote control data can be used Part of the remote control data transmission time slot in the transmission time slot is completed.

In each remote control data transmission time slot associated with the operation of receiving the remote control data collected by the remote control device from the remote control device and sending the remote control data collected by the remote control device to the mobile platform through the wireless communication link between the terminal device and the mobile platform , Can send remote control data collection instructions to the remote control device to trigger the remote control device to collect remote control data.

In some embodiments, the remote control data sent to the mobile platform through the wireless communication link between the terminal device and the mobile platform can be divided and transmitted in each transmission time slot, that is, in each remote control data transmission time slot, A part of the remote control data sent to the mobile platform through the wireless communication link between the terminal equipment and the mobile platform is received from the remote control device, and a part of the remote control data is sent to the mobile platform.

In some embodiments, the operation interval of the remote control data is much longer than the remote control data transmission time slot. The operation interval of remote control data can be understood as the length of the remote control operation for generating remote control data. For example, the duration of the remote control data transmission time slot is 5 ms, and the duration of the remote control operation performed on the remote control device corresponding to the terminal device by the remote controller of the mobile platform is also a few seconds. The operation interval of remote control data is much longer than the remote control data transmission time slot.

In this application, a time slot can be understood as a time period. The remote control data transmission time slot may be a time slot used to send remote control data to the mobile platform.

In the present application, the duration of the remote control data transmission time slot is much shorter than the duration of the remote control operation that can generate remote control data performed by the remote controller of the mobile platform on the remote control device.

For example, the length of the remote control data transmission time slot can be set to the millisecond level. For example, the time length of the remote control data transmission time slot is 5ms, and the remote control operation performed by the remote controller of the mobile platform on the corresponding remote control device of the terminal device is also the shortest. A few seconds, that is, the operating time period of the remote control operation performed on the remote control device corresponding to the terminal device by the remote control of the mobile platform is also a few seconds at least.

Correspondingly, the operation time period of the remote control operation performed by the remote controller of the mobile platform on the remote control device corresponding to the terminal device includes: multiple remote control data transmission time slots.

The remote controller of the mobile platform performs remote control operations on the remote control device corresponding to the terminal device, and can trigger the corresponding terminal device in each of the multiple remote control data transmission time slots in the operation time period of the remote control operation. The remote control device collects remote control data, and in each remote control data transmission time slot, the remote control data collected by the remote control device corresponding to the terminal device is received from the remote control device corresponding to the terminal device and the remote control device corresponding to the terminal device is sent to the mobile platform.

In this application, it is possible to trigger the remote control device corresponding to the terminal device to collect remote control data, and to receive the remote control device corresponding to the terminal device from the remote control device corresponding to the terminal device in each of the multiple remote control data transmission time slots. The collected remote control data, the remote control device corresponding to the terminal device is sent to the mobile platform and other operations.

Thus, the remote control data is transmitted to the mobile platform with an ultra-low delay, and the remote controller of the mobile platform controls the mobile platform with an ultra-low delay.

The following explains the principle of low-latency transmission of remote control data:

First, give an example of the high-delay transmission of remote control data: when the remote control of the mobile platform needs to send the collected remote control data after collecting the remote control data during a remote control operation, if the device used to send the remote control data When other data is being sent to the mobile platform, it is necessary to wait for the completion of other data transmission before the collected remote control data can be transmitted. The resulting remote control data can reach the mobile platform after a high delay. Correspondingly, the mobile platform can respond to remote control operations only after a high delay.

In addition, during the remote control process, the remote controller of the mobile platform often makes multiple remote control operations continuously in a short time. At this time, the delay will be further increased. For example, when the remote controller of the mobile platform is currently performing a remote control operation, because The remote control data is transmitted with a high delay, and it is possible that the mobile platform is still responding to the remote control operation before the current remote control operation.

In this application, for each remote control operation performed by the remote controller of the mobile platform, there is no need to wait for high-delay transmission after collecting remote control data in any remote control data transmission time slot during the operation period of the remote control operation. , Send the collected remote control data to the mobile platform directly in the remote control data transmission time slot. Correspondingly, the mobile platform can respond to the remote control operation in time based on the remote control data after receiving the remote control data each time.

In this application, through the above-mentioned low-latency transmission of remote control data, the delay of remote control data reaching the mobile platform is only the sum of the time from the remote control device to the terminal device and the time from the terminal device to the mobile platform, which is inevitable. The delay.

Please refer to Figure 1, which shows a schematic diagram of the principle of low-latency transmission of remote control data.

The remote controller of the mobile platform performed a remote control operation A on a remote control device during a remote control process. During the remote control process, a terminal device communicating with the remote control device sends the remote control data generated on the remote control device to the mobile platform.

The way the remote controller transmits remote control data with low latency during the operation period of the remote control operation before the remote operation A or the remote controller transmits the remote control data with low latency during the operation period of the remote operation after the remote operation A The method of remote control data can refer to the method of transmitting remote control data with low delay during the operation period of the remote control operation A described below.

The duration of the remote control operation A is at the second level, and the duration of the remote control data transmission time slot is very short, for example, 5 ms. The duration of the remote control data transmission time slot is much shorter than the duration of the remote control operation A. Accordingly, the operation time period of the remote control operation A It will include multiple remote control data transmission time slots associated with the terminal device. The operation time period of the remote control operation A includes: remote control data transmission time slots A1-AN associated with the terminal device.

A1 represents the first remote control data transmission time slot of all remote control data transmission time slots included in the operation time period of the remote control operation A, and A2 represents the first remote control data transmission time slot of all remote control data transmission time slots included in the operation time period of the remote control operation A Two remote control data transmission time slots, A3 represents the third remote control data transmission time slot among all remote control data transmission time slots included in the operation time period of the remote control operation A, and AN represents all remote control data transmission time slots included in the operation time period of the remote control operation A The Nth remote control data transmission time slot in the remote control data transmission time slot.

The time slot between any two adjacent remote control data transmission time slots may be time slots used to transmit other types of data. For example, the time slot between A1 and A2 is a time slot for transmitting mobile-related data collected by the mobile platform. The time slot between A2 and A3 is the time slot for transmitting mobile related data collected by the mobile platform.

It should be understood that the positions of A1, A2, A3, and AN at the start time and the end time of the time axis t are all exemplary. For example, in the actual remote control process, A1 is not the first time slot in the operation period of remote control operation A, and the start time of A1 is also not the start time of the operation period of remote control operation A. AN is not the last time slot in the operation period of remote control operation A, and the end time of AN is not the end time of the operation period of remote control operation A.

In the present application, in the remote control data segment of the remote control operation A, each remote control data transmission time slot in A1-AN collects remote control data and sends the remote control data to the mobile platform.

The remote control data collected in each remote control data transmission time slot in A1-AN does not need to wait for high-delay transmission conditions, and the collected remote control data is directly sent to the mobile platform in the remote control data transmission time slot. Correspondingly, the mobile platform can respond to the remote control operation in time based on the remote control data after receiving the remote control data each time.

Please refer to FIG. 2, which shows a timing diagram of collecting remote control data.

In Figure 2, multiple pulses are shown, which can be generated by the crystal oscillator on the remote control device. The remote control data acquisition process can be triggered by the falling edge of the pulse. Each time the falling edge of a pulse is reached, the remote data acquisition circuit on the remote control device can be triggered to collect a rod amount. The lever amount can be a vector, and the lever amount can include the value of the lever amount. For example, the value indicates the offset or deviation of the current position of the joystick on the remote control device relative to the origin of the joystick when it is not operated. Shift direction. The type of the value of the rod amount may be a current value, a voltage value, etc. The type of the value of the rod amount is specifically determined according to the type of output data output by the collection circuit, and is not limited in this application.

The duration of the pulse can be much shorter than the duration of the remote control data transmission time slot. Correspondingly, each remote control data transmission time slot will include multiple pulses. In each remote control data transmission time slot, for example, each time is 5ms. In the remote control data transmission time slot, multiple rod amounts can be collected. Then, in the remote control data transmission time slot, the collected pole set is sent to the mobile platform through the communication connection between the terminal device and the corresponding remote control device of the terminal device and the wireless communication link between the terminal device and the mobile platform.

The duration of the remote control data transmission time slot is much shorter than the duration of the remote operation performed by the remote controller of the mobile platform, and the pulse duration is much smaller than the duration of the remote operation performed by the remote controller of the mobile platform, based on the remote operation performed by the remote controller of the mobile platform. The collection process of the generated remote control data is equivalent to dividing the remote control operations performed by the remote controller of the mobile platform into many small operations that are continuous in time sequence, and each collection of the rod amount generated based on the small operations is collected. In addition, it is ensured that in the remote control data transmission time slot, through the communication connection between the terminal device and the remote control device corresponding to the terminal device, and the wireless communication link between the terminal device and the mobile platform, the collected pole set is sent to the mobile Platform, there is no need to wait for high-delay transmission conditions.

In some embodiments, the mobile associated data of the mobile platform includes: first-person perspective images collected by the mobile platform. The first-person perspective image can be received and the first-person perspective image can be displayed. The remote controller of the mobile platform can remotely control the mobile platform according to the first-person perspective image, so as to remotely control the mobile platform from the perspective of the mobile platform.

In some embodiments, each of the at least one terminal device includes a smart wearable device. Smart wearable devices include smart glasses. Smart glasses are used to display images collected by the mobile platform in real time.

For example, each terminal device is smart glasses. There is a communication connection between the smart glasses and the mobile platform. There is a wireless communication link between the smart glasses and the remote control device. The smart glasses can receive mobile associated data from the mobile platform through a wireless communication link with the mobile platform and display the received mobile associated data. The smart glasses receive remote control data from the remote control device through the communication connection between the remote control devices and send the remote control data to the mobile platform through the wireless communication link with the mobile platform.

When the remote controller of the mobile platform wears the smart glasses, the remote controller of the mobile platform can understand the flight status of the mobile platform according to the movement related data displayed by the smart glasses. Then, the remote controler of the mobile platform can perform remote control operations on the remote control device corresponding to the smart glasses. The remote control device sends the remote control data generated based on the remote control operation of the remote control to the smart glasses through the communication connection with the smart glasses. The smart glasses send remote control data to the mobile platform through the wireless communication link with the mobile platform. Thus, in the case that the smart glasses do not need to establish a communication connection with the mobile platform, the mobile platform is remotely controlled.

In some embodiments, each terminal device corresponds to a remote control device, and the remote control device corresponding to each terminal device is different from the remote control devices corresponding to other terminal devices.

Please refer to FIG. 3, which shows a schematic structural diagram of a mobile platform control system provided by an embodiment of the present application.

In Figure 3, a terminal device, a mobile platform, and a remote control device are shown. The remote control device corresponding to the terminal device is the remote control device.

There is a wireless communication link 301 between the terminal device and the mobile platform, and there is a communication connection 302 between the terminal device and the remote control device. The terminal equipment includes a processor, a memory, and a display screen. For example, the terminal device may be a mobile terminal, a notebook computer, etc. The remote control device includes a processor, a memory, and a remote control component that can be operated by a remote controller of the mobile platform. The remote control components may include but are not limited to: joysticks and buttons.

The terminal device can communicate with the mobile platform through a wireless communication technology dedicated to communicating with the mobile platform. Correspondingly, the wireless communication link 301 between the terminal device and the mobile platform may be a wireless communication link defined in a wireless communication technology dedicated to communication with the mobile platform.

The communication connection 302 between the terminal device and the remote control device may be a wired communication connection.

The following example illustrates the process of remotely controlling a mobile platform using the mobile platform control system:

Take the example of forwarding remote control data to the mobile platform through the terminal device:

The terminal equipment is smart glasses. The remote controller of the mobile platform wears the smart glasses. The mobile platform collects first-person perspective images through the image sensor of the mobile platform during flight. The smart glasses receive the first-person perspective image from the mobile platform through the wireless communication link 301 and display the first-person perspective image. The remote controller of the mobile platform sees the first-person view image through the smart glasses. The remote controller of the mobile platform performs remote control operations on the remote control device. The remote control device sends the remote control data generated based on the remote control operation of the remote controller of the mobile platform to the first smart glasses through the communication connection 302. The smart glasses send remote control data to the mobile platform through the wireless communication link 301 to remotely control the mobile platform.

Please refer to FIG. 4, which shows another structural schematic diagram of a mobile platform control system provided by an embodiment of the present application.

In FIG. 4, the first terminal device, the first remote control device, the mobile platform, the second terminal device, the second remote control device, and the communication connection relationship between the devices are shown. Those skilled in the art can understand that this embodiment is only an exemplary description, and more terminals can be configured for the control of the mobile platform, such as a third terminal, a third remote control device; a fourth terminal, a fourth remote control device, etc. .

Each terminal device corresponds to a remote control device, and the remote control device corresponding to each terminal device is different from the remote control devices corresponding to other terminal devices. The first terminal device corresponds to the first remote control device, and the second terminal device corresponds to the second remote control device.

The terminal device may be a wearable device, for example, flying glasses with a display function. On the one hand, the flying glasses receive aerial video images from the mobile platform through the communication image transmission link, and display the video images to the user wearing the glasses through the display device of the glasses. On the other hand, the user controls the posture and actions of the mobile platform through the remote control.

In an alternative solution, terminal devices, such as flight glasses with display functions, and remote controllers communicate with the mobile platform through separate communication links. Among them, the flying glasses mainly communicate with the mobile platform through the image transmission link, and the remote control communicates with the mobile platform through the control link. This solution has certain shortcomings. For example, the stability of the control link communication is poor. When the mobile platform flies to a long distance, it may be out of control; while establishing a high-quality communication link between the mobile platform and the remote control separately Means higher costs.

In another alternative solution, terminal devices, such as flight glasses with display functions, share a communication link with the remote controller to communicate with the mobile platform. Among them, the flying glasses mainly communicate with the mobile platform through the image transmission link, and the remote control also communicates with the mobile platform through the image transmission link. As an optional embodiment, the remote controller and the flight glasses are connected through a wired connection, and the control signal is transmitted to the image transmission transmitter of the flight glasses in a wired manner, and is transmitted upstream to the mobile platform via the image transmission transmitter. The advantage of this scheme is that a set of transmitting equipment can be used to realize the transmission of control signals and image transmission signals, and the image transmission signals have very good stability, and the effectiveness of the control signals can still be guaranteed in a long distance range. Optionally, the remote control and the flight glasses can also be connected in a wireless manner. The remote control sends the control signal generated by the user operating the remote control to the terminal device through the wireless module, and the terminal device forwards the control signal to the mobile platform. , Terminal equipment and remote control can be separated, the use of the two is more flexible.

Both the first remote control device and the second remote control device include a processor, a memory, a remote control component that can be operated by a remote controller of the mobile platform, and a connection component that is wired or wirelessly connected to the terminal device. The remote control components may include but are not limited to: joysticks and buttons. Both the first terminal device and the second terminal device include a processor, a memory, and a display screen.

There is a wireless communication link 401 between the first terminal device and the mobile platform, and there is a communication connection 402 between the first terminal device and the first remote control device. There is a wireless communication link 403 between the second terminal device and the mobile platform, and a communication connection 404 between the second terminal device and the second remote control device.

The first terminal device is configured to: receive the mobile related data of the mobile platform from the mobile platform via the wireless communication link 401 and display the mobile related data; receive from the first remote control device via the communication connection 402 and perform remote control operations on the first remote control device. The generated remote control data and the remote control data generated by the remote control operation on the first remote control device are sent to the mobile platform through the wireless communication link 401.

The second terminal device is configured to: receive the mobile related data of the mobile platform from the mobile platform via the wireless communication link 403 and display the mobile related data; receive from the second remote control device via the communication connection 404 and perform remote control operations on the second remote control device. The generated remote control data and the remote control data generated by the remote control operation on the second remote control device are sent to the mobile platform through the wireless communication link 403.

In this application, the first remote control device and the second remote control device can take turns to remotely control the mobile platform. In the process that the first remote control device and the second remote control device control the mobile platform in turn, the remote control data of any remote control device does not need to be forwarded to the mobile platform through other remote control devices, reducing the transmission delay of remote control data, and the first remote control device and The second remote control device does not need to establish a communication connection, and accordingly, there is no need to connect the first remote control device and the second remote control device through a transmission line, which reduces the complexity of using the remote control device by the remote controller.

For example, the first remote control device is used by a trainer who demonstrates the remote control method of the mobile platform, and the second remote control device is used by students who learn the remote control method of the mobile platform. The instructor and the student remote control the mobile platform in turn can be called the coaching mode. In the trainer mode, the remote control data generated by the remote control operation on the first remote control device does not need to be forwarded to the mobile platform through the second remote control device, and the remote control data generated by the remote control operation on the second remote control device does not need to pass through the first remote control device Forward to the mobile platform, thereby reducing the transmission delay of remote control data. Correspondingly, there is no need to connect the first remote control device used by the instructor and the second remote control device used by the student through a transmission line, which reduces the complexity of the remote controller using the remote control device.

The first terminal device is the first smart glasses, and the second terminal device is the second smart glasses. The coach wears the first smart glasses, and the trainees wear the second smart glasses. The instructor uses the first smart glasses and the first remote control device to remotely control the mobile platform, and the students use the second smart glasses and the second remote control device to remotely control the mobile platform.

The mobile platform collects first-person perspective images through the image sensor of the mobile platform during flight.

The first smart glasses receive the first-person perspective image from the mobile platform through the wireless communication link 401 and display the first-person perspective image. The second smart glasses receive the first-person perspective image from the mobile platform through the wireless communication link 403 and display the first-person perspective image.

First, the instructor uses the first smart glasses and the first remote control device to remotely control the mobile platform to demonstrate the remote control method of the mobile platform to the students. The coach can see the first-person view image through the first smart glasses he wears. The coach performs remote control operations on the first remote control device. The first remote control device sends remote control data generated based on the remote control operation of the coach to the first smart glasses through the communication connection 402. The first smart glasses send remote control data to the mobile platform through the wireless communication link 401 to remotely control the mobile platform.

During the time period when the instructor uses the first smart glasses and the first remote control device to remotely control the mobile platform, the students can see the flight process of the mobile platform through the first-person view image displayed by the second smart glasses during this period. Then, the student can use the second smart glasses and the second remote control device to remote control the mobile platform, and learn the remote control mode of the mobile platform demonstrated by the coach.

The students perform remote control operations on the second remote control device. The second remote control device sends remote control data generated based on the remote control operation of the student to the second smart glasses through the communication connection 404. The second smart glasses send the remote control data generated based on the remote control operation of the student to the mobile platform through the wireless communication link 403 to remotely control the mobile platform.

Please refer to FIG. 5, which shows a flowchart of a mobile platform control method provided by an embodiment of the present application. The mobile platform control method provided in the embodiments of the present application is applicable to a situation where at least one terminal device and at least one remote control device are used to remotely control the mobile platform. The method includes the following steps:

Step 501: Receive mobile associated data of the mobile platform through the wireless communication link between the terminal device and the mobile platform.

In this application, one or more modules on one or more of the at least one terminal device may receive the mobile associated data of the mobile platform through the wireless communication link between the terminal device and the mobile platform.

In this application, when the number of terminal devices is multiple, each terminal device establishes a wireless communication link with the mobile platform.

In this application, when the number of terminal devices and the number of remote control devices are both multiple, each terminal device may correspond to one or more remote control devices among all remote control devices.

Correspondingly, when one terminal device corresponds to multiple remote control devices in all remote control devices, there is a communication connection between the terminal device and each of the multiple remote control devices. For each remote control device of the plurality of remote control devices, when the remote control device is used to remotely control the mobile platform, the terminal device can send remote control data generated on the remote control device to the mobile platform to remotely control the mobile platform.

In some embodiments, the mobile associated data of the mobile platform includes: first-person perspective images collected by the mobile platform. The terminal device can receive the first-person perspective image and display the first-person perspective image. The remote controller of the mobile platform can remotely control the mobile platform according to the first-person perspective image, so as to remotely control the mobile platform from the perspective of the mobile platform.

Step 502: Receive remote control data from the remote control device through the communication connection between the terminal device and the remote control device corresponding to the terminal device, and send the remote control data to the mobile platform through the wireless communication link between the terminal device and the mobile platform.

In this application, one or more modules on one or more of the at least one terminal device can receive remote control data from the remote control device through the communication connection between the terminal device and the remote control device corresponding to the terminal device, and through The wireless communication link between the terminal device and the mobile platform sends remote control data to the mobile platform.

In some embodiments, each terminal device in the at least one terminal device corresponds to a remote control device, and the remote control device corresponding to each terminal device is different from the remote control device corresponding to other terminal devices.

In some embodiments, the remote control data sent to the mobile platform through the wireless communication link between the terminal device and the mobile platform can be divided and transmitted in each transmission time slot, that is, in each remote control data transmission time slot, Receive a part of the remote control data sent to the mobile platform through the wireless communication link between the terminal equipment and the mobile platform from the remote control device, and send part of the remote control data to the mobile through the wireless communication link between the terminal equipment and the mobile platform platform.

Please refer to FIG. 6, which shows a flowchart of a mobile platform control method provided by an embodiment of the present application. Each step can be executed by a terminal device, and the method includes the following steps:

Step 601: The terminal device receives the mobile associated data of the mobile platform through the wireless communication link between the terminal device and the mobile platform.

In this application, there is a wireless communication link between the terminal device and the mobile platform. The terminal device can receive the mobile associated data of the mobile platform from the mobile platform through the wireless communication link with the mobile platform, and can also display the mobile associated data.

In this application, the mobile associated data of the mobile platform includes: first-person perspective images collected by the mobile platform. The terminal device can receive the first-person perspective image and display the first-person perspective image. The remote controller of the mobile platform can see the first-person view image displayed through the terminal device. The remote controller of the mobile platform can remotely control the mobile platform according to the first-person perspective image, so as to remotely control the mobile platform from the perspective of the mobile platform.

In this application, the terminal device may be smart glasses. The remote controller of the mobile platform can wear smart glasses, and the smart glasses receive the mobile associated data of the mobile platform from the mobile platform through the wireless communication link with the mobile platform and display the mobile associated data.

Step 602: The terminal device receives remote control data from the remote control device through the communication connection with the remote control device and sends the remote control data to the mobile platform through the wireless communication link with the mobile platform.

In this application, the communication connection between the terminal device and the remote control device may be a wired communication connection. For example, the communication connection between the terminal device and the remote control device is a USB connection defined in the USB technology. The terminal device can receive remote control data from the remote control device through the USB connection with the remote control device.

In this application, the remote controller of the mobile platform can perform remote control operations on the remote control device, and remote control data can be generated through remote control operations.

For example, remote control equipment includes: joystick. The remote control operation performed on the remote control device by the remote control of the mobile platform may be the operation performed on the joystick by the remote control of the mobile platform.

In this application, after the terminal device receives remote control data from the remote control device through the wireless communication link with the mobile platform, the terminal device can send the remote control data to the mobile platform through the wireless communication link with the mobile platform to Remotely control the mobile platform.

For example, the terminal device is smart glasses. The remote controller of a mobile platform wears a smart glasses, the smart glasses have a communication connection with the mobile platform, and the smart glasses have a communication connection with a remote control device used by the remote controller. In step 601, the smart glasses have received the first-person view image from the mobile platform through the wireless communication link with the mobile platform and display the first-person view image. The remote controller of the mobile platform performs remote control operations on the remote control device. The smart glasses send remote control data generated based on the remote control operation of the remote controller to the smart glasses through the communication connection with the remote control device, and the smart glasses send the remote control data through the communication connection with the mobile platform To the mobile platform.

In some embodiments, the terminal device receiving remote control data from the remote control device through the communication connection with the remote control device includes: the terminal device sends a remote control data collection instruction to the remote control device to trigger the remote control device to collect remote control data; receiving remote control from the remote control device The remote control data collected by the device; and the terminal device sending remote control data to the mobile platform through the wireless communication link with the mobile platform includes: remote control collected by the terminal device through the wireless communication link between the terminal device and the mobile platform The data is sent to the mobile platform.

In some embodiments, the terminal device may correspond to one or more remote control devices. When a terminal device corresponds to multiple remote control devices, there is a communication connection between the terminal device and each of the multiple remote control devices. For each remote control device of the multiple remote control devices, when the remote control device is used to remotely control the mobile platform, the terminal device sends remote control data generated on the remote control device to the mobile platform to remotely control the mobile platform.

In some embodiments, the remote control data sent to the mobile platform through the wireless communication link between the terminal device and the mobile platform can be divided into multiple remote control data transmission time slots for transmission in each transmission time slot, that is, can be In each of the multiple remote control data transmission time slots, a part of the remote control data sent from the remote control device to the mobile platform through the wireless communication link between the terminal device and the mobile platform is received from the remote control device, and through the terminal The wireless communication link between the device and the mobile platform sends part of the remote control data to the mobile platform.

In some embodiments, the operation interval of the remote control data is much longer than the remote control data transmission time slot. The operation interval of remote control data can be understood as the length of the remote control operation for generating remote control data.

For example, the duration of the remote control data transmission time slot is 5 ms, and the duration of the remote control operation performed on the remote control device corresponding to the terminal device by the remote controller of the mobile platform is also a few seconds. The operation interval of remote control data is much longer than the duration of the remote control data transmission time slot. The terminal device completes operations such as triggering the remote control device to collect remote control data, receive the remote control data from the remote control device, and send the remote control data to the mobile platform in each of the multiple remote control data transmission time slots. Thus, the remote control data is transmitted to the mobile platform with an ultra-low delay, so that the remote controller of the mobile platform can remotely control the mobile platform with an ultra-low delay.

Please refer to FIG. 7, which shows a flowchart of a mobile platform control method provided by an embodiment of the present application. Each step can be performed by a remote control device, and the method includes the following steps:

Step 701: The remote control device collects remote control data.

In this application, the remote control device can detect the remote control operation of the remote control of the mobile platform during the process of collecting remote control data. When the remote control device detects the remote control operation of the remote control person of the mobile platform, the remote control device may generate remote control data in response to the remote control operation of the remote control person of the mobile platform.

For example, remote control equipment includes: joystick. The remote control operation of the remote controller of the mobile platform may be the operation of the joystick by the remote controller of the mobile platform. The remote controller of the mobile platform can move the joystick in the up, down, left, and right directions. When the remote control device detects that the remote controller of the drone performs a mobile joystick operation, the remote control device generates remote control data. The remote control data includes the lever amount.

Step 702: The remote control device sends remote control data to the terminal device through the communication connection with the terminal device.

In this application, there is a communication connection between the remote control device and the terminal device, and there is a communication connection between the terminal device and the mobile platform.

In this application, the communication connection between the remote control device and the terminal device may be a wired communication connection.

For example, the communication connection between the remote control device and the terminal device is a USB connection defined in the USB technology.

In this application, the remote control device can send the collected remote control data to the terminal device through the communication connection with the terminal device. After the terminal device receives remote control data from the remote control device through the communication connection with the remote control device, the terminal device can send the remote control data to the mobile platform through the wireless communication link with the mobile platform to remotely control the mobile platform.

In some embodiments, the remote control device executes steps 701-702 in response to receiving a remote control data collection instruction sent by the terminal device through the communication connection with the terminal device.

In some embodiments, the operation period of the remote control operation performed on the remote control device includes a plurality of remote control data transmission time slots. The remote control data collected by the remote control device is generated based on the remote control operation performed on the remote control device.

The remote control device collects remote control data, sends the remote control data to the terminal device, and sends the remote control data collected by the remote control device to the mobile platform through the wireless communication link between the terminal device and the mobile platform. Multiple remote control data transmission time slots or multiple Part of the remote control data transmission time slot in the remote control data transmission time slot is completed.

Collect remote control data with the remote control device, send the remote control data to the terminal device, and send the remote control data collected by the remote control device to each remote control data transmission time slot associated with the mobile platform through the wireless communication link between the terminal device and the mobile platform Inside, the remote control device can receive the remote control data collection instruction at a time in the remote control data transmission time slot, and collect the remote control data in response to the remote control data collection instruction.

In some embodiments, the remote control data collected by the remote control device sent to the mobile platform through the wireless communication link between the terminal device and the mobile platform can be divided into each of the multiple remote control data transmission time slots. transmission. A part of the remote control data sent to the mobile platform through the wireless communication link between the terminal equipment and the mobile platform can be collected in each of the multiple remote control data transmission time slots, and a part of the remote control data can be collected. Send to the terminal device, and then the terminal device sends a part of the remote control data to the mobile platform through the wireless communication link between the terminal device and the mobile platform.

In each of the multiple remote control data transmission time slots, the remote control device can respond to receiving remote control data from the terminal device through the communication connection with the terminal device at a certain time within the remote control data transmission time slot To collect instructions, perform step 701 to step 702 in the remote control data transmission time slot.

In an alternative embodiment, as shown in FIG. 8, the flying glasses body 800 and the flying glasses headband 801 as in the above-mentioned embodiment. The flight glasses headband 801 is assembled with the flight glasses body 800 through the docking assembly 803. Placing the battery assembly in the second headband body 802 can improve the weight of the video glasses headband 801, make the weight distribution of the whole machine more balanced, and improve the user's wearing experience. An antenna assembly is added to the first headband body 801 of the video glasses headband 801, so that the video glasses headband has a wider radiation range and more accurate somatosensory remote control. Specifically, the antenna assembly includes an antenna 841 provided in the first headband body 1 and/or the second headband body 2. In this embodiment, an antenna assembly is added to the video glasses headband. The antenna assembly can be arranged in the first headband body 1 or the second headband body 2 so that the video glasses headband The radiation range of the antenna is wider, and the radiation performance of the antenna 841 is improved.

In an optional embodiment, as shown in FIG. 9, the remote controller may include an antenna, a joystick, a wired/wireless communication interface, and the like. On the one hand, the remote controller can communicate with the mobile platform through the antenna to control the mobile platform; on the other hand, the remote controller can transmit the remote control commands of the remote controller to the flying glasses as shown in Fig. 8 through the wired/wireless interface. Use the image transmitter of the flying glasses to transmit remote control commands.

The embodiment of the present application also provides a terminal device. The terminal device includes a processor and a memory. The memory stores operating instructions. The processor operates the instructions to: through the wireless communication link with the mobile platform, The mobile platform receives the mobile associated data of the mobile platform; receives remote control data from the remote control device through the communication connection with the remote control device; and sends the remote control data through the wireless communication link with the mobile platform To the mobile platform.

In some embodiments, the processor operating the instruction is further used to: send a remote control data collection instruction to the remote control device to trigger the remote control device to collect remote control data; and receive the remote control data collected by the remote control device from the remote control device Remote control data; the remote control data collected by the remote control device is sent to the mobile platform through the wireless communication link between the terminal device and the mobile platform.

In some embodiments, the operation period of the remote control operation performed on the remote control device includes a plurality of remote control data transmission time slots.

In some embodiments, the remote control data is divided and transmitted in each of the multiple remote control data transmission time slots.

In some embodiments, the remote control data includes at least the lever amount and function instructions of the remote control device.

In some embodiments, the operation interval of the remote control data is much longer than the remote control data transmission time slot.

In some embodiments, the terminal device corresponds to one or more remote control devices.

In some embodiments, the mobile associated data of the mobile platform includes: first-person perspective images collected by the mobile platform.

In some embodiments, the terminal device includes a smart wearable device.

In some embodiments, the smart wearable device includes smart glasses.

In some embodiments, smart glasses are used to display images collected by the mobile platform in real time.

In some embodiments, the mobile platform may be an unmanned aerial vehicle, a ground remote-controlled robot, or an unmanned vehicle.

Please refer to FIG. 10, which shows a schematic structural diagram of a terminal device that can implement the mobile platform control method provided in the embodiments of the present application.

The terminal device includes a processor 1010, a computer program product or computer readable medium in the form of a memory 1020, and a display screen 1030. The memory 1020 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.

The memory 1020 has a storage space for executing program codes of any method steps in the above-mentioned mobile platform control method. For example, the storage space for the program code may include various program codes respectively used to implement various steps in the above method. These program codes can be read out from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are usually portable or fixed storage units. The storage unit may have storage segments, storage spaces, etc., arranged similarly to the memory 1020. The program code can be compressed in an appropriate form, for example. Generally, the storage unit includes computer-readable codes, that is, codes that can be read by, for example, a processor such as 1010. These codes, when run by a terminal device, cause the terminal device to execute the above-described mobile platform control method. Various steps.

An embodiment of the present application also provides a remote control device. The remote control device includes a processor and a memory. The memory stores operating instructions. The processor operates the instructions to perform remote control associated operations. The remote control associated operations include:

Collect remote control data;

The remote control data is sent to the terminal device through the communication connection with the terminal device, wherein the terminal device sends the remote control data to the mobile platform through the wireless communication link with the mobile platform after receiving the remote control data. platform.

In some embodiments, the processor operating the instructions is also used to:

In response to receiving the remote control data collection instruction sent by the terminal device through the communication connection with the terminal device, the remote control association operation is performed.

In some embodiments, the remote control data is divided and transmitted in each of the plurality of remote control data transmission time slots.

Please refer to FIG. 11, which shows a schematic structural diagram of a remote control device that can implement the mobile platform control method provided in the embodiments of the present application.

The remote control device includes a processor 1110, a computer program product or computer readable medium in the form of a memory 1120, a joystick 1130, and a button 1140. The memory 1120 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.

The memory 1120 has a storage space for executing program codes of any method steps in the above-mentioned mobile platform control method. For example, the storage space for the program code may include various program codes respectively used to implement various steps in the above method. These program codes can be read out from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are usually portable or fixed storage units. The storage unit may have storage segments, storage spaces, etc., arranged similarly to the memory 1120. The program code can be compressed in an appropriate form, for example. Generally, the storage unit includes computer-readable codes, that is, codes that can be read by, for example, a processor such as 1110. These codes, when run by a remote control device, cause the remote control device to execute the steps in the mobile platform control method described above. Various steps.

Each component embodiment of the present application may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the terminal devices or remote control devices according to the embodiments of the present application. This application can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present application may be stored on a computer-readable medium, or may have the form of one or more signals. Such signals can be downloaded from Internet websites, or provided on carrier signals, or provided in any other form.

The “one embodiment”, “an embodiment” or “one or more embodiments” referred to herein means that a specific feature, structure, or characteristic described in combination with the embodiment is included in at least one embodiment of the present application. In addition, please note that the word examples "in one embodiment" herein do not necessarily all refer to the same embodiment.

In the instructions provided here, a lot of specific details are explained. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and technologies are not shown in detail, so as not to obscure the understanding of this specification.

In the claims, any reference signs placed between parentheses should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of multiple such elements. The application can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims enumerating several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application 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 are modified, or some of the technical features are equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

A mobile platform control system, characterized by comprising: at least one terminal device, a mobile platform, and at least one remote control device, and the system is configured as:

Receiving mobile associated data of the mobile platform through the wireless communication link between the terminal device and the mobile platform;

Receiving remote control data from the remote control device through the communication connection between the terminal device and the remote control device corresponding to the terminal device;

And, sending the remote control data to the mobile platform through the wireless communication link between the terminal device and the mobile platform, and the remote control device corresponding to the terminal device is selected from the at least one remote control device .
The system of claim 1, wherein the system is configured to:

Sending a remote control data collection instruction to the remote control device to trigger the remote control device to collect remote control data;

Receiving remote control data collected by the remote control device from the remote control device;

The remote control data collected by the remote control device is sent to the mobile platform through the wireless communication link between the terminal device and the mobile platform.
The system according to claim 2, wherein the operation time period of the remote control operation performed on the remote control device includes a plurality of remote control data transmission time slots.
The system according to claim 3, wherein the remote control data is divided and transmitted in each of the plurality of remote control data transmission time slots.
The system according to claim 3, wherein the remote control data includes at least a lever amount and function instructions of the remote control device.
The system according to claim 3, wherein the operation interval of the remote control data is much longer than the remote control data transmission time slot.
The system according to claim 1, wherein each terminal device corresponds to a remote control device, and the remote control device corresponding to each terminal device is different from the remote control device corresponding to other terminal devices.
The system according to claim 1, wherein the mobile associated data of the mobile platform comprises: first-person perspective images collected by the mobile platform.
The system according to claim 1, wherein each of the at least one terminal device comprises a smart wearable device.
The system according to claim 9, wherein the smart wearable device comprises smart glasses.
The system according to claim 10, wherein the smart glasses are used to display images collected by the mobile platform in real time.
The system according to claim 10, wherein the mobile platform is one of the following: an unmanned aerial vehicle, a ground remote control robot, and an unmanned vehicle.
A mobile platform control method, characterized in that it comprises: at least one terminal device, a mobile platform, and at least one remote control device, and the method comprises:

Receiving mobile associated data of the mobile platform through the wireless communication link between the terminal device and the mobile platform;

Receiving remote control data from the remote control device through the communication connection between the terminal device and the remote control device corresponding to the terminal device;

And, sending the remote control data to the mobile platform through the wireless communication link between the terminal device and the mobile platform, and the remote control device corresponding to the terminal device is selected from the at least one remote control device .
The method according to claim 13, wherein: receiving remote control data from the remote control device through the communication connection between the terminal device and the remote control device corresponding to the terminal device comprises:

Sending a remote control data collection instruction to the remote control device to trigger the remote control device to collect remote control data;

Receiving remote control data collected by the remote control device from the remote control device; and

Sending the remote control data to the mobile platform through the wireless communication link between the terminal device and the mobile platform includes:

The remote control data collected by the remote control device is sent to the mobile platform through the wireless communication link between the terminal device and the mobile platform.
The method according to claim 14, wherein the operation time period of the remote control operation performed on the remote control device comprises: multiple remote control data transmission time slots.
The method according to claim 15, wherein the remote control data is divided and transmitted in each of the plurality of remote control data transmission time slots.
The method according to claim 15, wherein the remote control data includes a lever amount and function instructions of the remote control device.
The method according to claim 15, wherein the operation interval of the remote control data is much longer than the remote control data transmission time slot.
The method according to claim 13, wherein each terminal device corresponds to a remote control device, and the remote control device corresponding to each terminal device is different from the remote control device corresponding to other terminal devices.
The method according to claim 13, wherein the movement-related data of the mobile platform comprises: first-person perspective images collected by the mobile platform.
The method according to claim 13, wherein each of the at least one terminal device comprises a smart wearable device.
The method of claim 21, wherein the smart wearable device comprises smart glasses.
The method according to claim 22, wherein the smart glasses are used to display the images collected by the mobile platform in real time.
A terminal device, characterized in that the terminal device includes a processor and a memory, the memory stores operation instructions, and the processor operates the instructions for:

Receiving the mobile associated data of the mobile platform from the mobile platform through the wireless communication link with the mobile platform;

Receiving remote control data from the remote control device through the communication connection with the remote control device;

The remote control data is sent to the mobile platform through the wireless communication link with the mobile platform.
The terminal device according to claim 24, wherein the processor operating the instruction is further used for:

Sending a remote control data collection instruction to the remote control device to trigger the remote control device to collect remote control data;

Receiving remote control data collected by the remote control device from the remote control device;

The remote control data collected by the remote control device is sent to the mobile platform through the wireless communication link between the terminal device and the mobile platform.
The terminal device according to claim 25, wherein the operation time period of the remote control operation performed on the remote control device includes a plurality of remote control data transmission time slots.
The terminal device according to claim 26, wherein the remote control data is divided and transmitted in each of the plurality of remote control data transmission time slots.
The terminal device according to claim 26, wherein the remote control data includes at least a lever amount and function instructions of the remote control device.
The terminal device according to claim 26, wherein the operation interval of the remote control data is much longer than the remote control data transmission time slot.
The terminal device according to claim 24, wherein the terminal device corresponds to one or more remote control devices.
The terminal device according to claim 24, wherein the movement-related data of the mobile platform comprises: first-person perspective images collected by the mobile platform.
The terminal device according to claim 24, wherein the terminal device comprises a smart wearable device.
The terminal device according to claim 32, wherein the smart wearable device comprises smart glasses.
The terminal device according to claim 33, wherein the smart glasses are used to display images collected by the mobile platform in real time.
The terminal device according to claim 33, wherein the mobile platform is one of the following: an unmanned aerial vehicle, a ground remote control robot, and an unmanned vehicle.
A mobile platform control method, characterized in that the method includes:

The terminal device receives the mobile associated data of the mobile platform from the mobile platform through the wireless communication link with the mobile platform;

The terminal device receives remote control data from the remote control device through the communication connection with the remote control device;

The terminal device sends the remote control data to the mobile platform through the wireless communication link with the mobile platform.
The method according to claim 36, wherein the terminal device receives remote control data from the remote control device through a communication connection with the remote control device comprises: the terminal device sends remote control data collection to the remote control device Instructions to trigger the remote control device to collect remote control data; receive from the remote control device the remote control data collected by the remote control device; and

The terminal device sending the remote control data to the mobile platform via the wireless communication link with the mobile platform includes: the terminal device via the wireless communication link between the terminal device and the mobile platform The remote control data collected by the remote control device is sent to the mobile platform.
The method according to claim 37, wherein the operation time period of the remote control operation performed on the remote control device includes a plurality of remote control data transmission time slots.
The method according to claim 38, wherein the remote control data is divided and transmitted in each of the plurality of remote control data transmission time slots.
The method according to claim 38, wherein the remote control data includes at least a lever amount and function instructions of the remote control device.
The method of claim 38, wherein the operation interval of the remote control data is much longer than the remote control data transmission time slot.
The method according to claim 36, wherein the terminal device corresponds to one or more remote control devices.
The method according to claim 36, wherein the movement-related data of the mobile platform comprises: first-person perspective images collected by the mobile platform.
The method according to claim 36, wherein the terminal device comprises a smart wearable device.
The method of claim 44, wherein the smart wearable device comprises smart glasses.
The method according to claim 45, wherein the smart glasses are used to display images collected by the mobile platform in real time.
The method according to claim 45, wherein the mobile platform is one of the following: an unmanned aerial vehicle, a ground remote control robot, and an unmanned vehicle.
A remote control device, characterized in that the remote control device includes a processor and a memory, the memory stores operation instructions, and the processor operates the instructions for:

Perform remote control associated operations, which include:

Collect remote control data;

The remote control data is sent to the terminal device through the communication connection with the terminal device, wherein the terminal device transmits the remote control data through the wireless communication link with the mobile platform after receiving the remote control data. The data is sent to the mobile platform.
The remote control device according to claim 48, wherein the processor operates the instruction and is further used for:

In response to receiving the remote control data collection instruction sent by the terminal device through the communication connection with the terminal device, the remote control association operation is performed.
The remote control device according to claim 49, wherein the operation time period of the remote control operation performed on the remote control device includes a plurality of remote control data transmission time slots.
The remote control device according to claim 50, wherein the remote control data is divided and transmitted in each of the plurality of remote control data transmission time slots.
A mobile platform control method, characterized in that the method includes:

The remote control device performs remote control associated operations, which include:

Collect remote control data;

The remote control data is sent to the terminal device through the communication connection with the terminal device, wherein the terminal device transmits the remote control data through the wireless communication link with the mobile platform after receiving the remote control data. The data is sent to the mobile platform.
The method according to claim 52, wherein the remote control device performing the remote control associated operation comprises:

The remote control device performs a remote control associated operation in response to receiving the remote control data collection instruction sent by the terminal device through the communication connection with the terminal device.
The method according to claim 53, wherein the operation period of the remote control operation performed on the remote control device comprises: multiple remote control data transmission time slots.
The method according to claim 54, wherein the remote control data is divided and transmitted in each of a plurality of remote control data transmission time slots.