CN105187384A - Flying control method, flying control device and electronic device - Google Patents
Flying control method, flying control device and electronic device Download PDFInfo
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- CN105187384A CN105187384A CN201510477903.3A CN201510477903A CN105187384A CN 105187384 A CN105187384 A CN 105187384A CN 201510477903 A CN201510477903 A CN 201510477903A CN 105187384 A CN105187384 A CN 105187384A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/163—In-band adaptation of TCP data exchange; In-band control procedures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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Abstract
The invention discloses a flying control method, a flying control device and an electronic device. The method may comprise the following steps of: detecting a message transmitted by a control terminal through a long communication connection built with the control terminal; reading a header field of the message, when the header field is composed of predefined character strings with predetermined number of bytes, judging that the message is a flying control message, wherein the flying control message further contains a message length field located behind the header field; and receiving the flying control message according to the message length field to execute corresponding flying control operations. Through the technical scheme of the invention, header of the flying control message can be lightened, occupancy of resources is reduced, and implementation of efficient and frequent communication operations between the control terminal and a controlled unmanned aerial vehicle is facilitated.
Description
Technical field
The disclosure relates to communication technique field, particularly relates to flight control method and device, electronic equipment.
Background technology
At present, unmanned plane be widely used in taking photo by plane, the multiple fields such as detection.When carrying out flight to unmanned plane and controlling, the agreement such as tcp/ip, netbeui, ipx/spx based on http in correlation technique, is often adopted to realize.When adopting above-mentioned agreement to carry out flight control, advantage is that protocol format is fixed, maturation.
But above-mentioned agreement creates, although have certain versatility based on specific network environment itself, but the header information generated is too much, flying to seem too heavy under control scene, will the consumption of excess resource be caused, to be unfavorable for flying under control scene fast, communication requirement frequently.
Summary of the invention
The disclosure provides flight control method and device, electronic equipment, to solve the deficiency in correlation technique.
According to the first aspect of disclosure embodiment, a kind of flight control method is provided, comprises:
By being connected with the communication chief that control terminal is set up, the message that described control terminal sends detected;
Read the header fields of described message, when described header fields is made up of the predefine character string of predetermined word joint number, judge that described message controls message as flight; Wherein, described flight controls also to comprise the message length field be positioned at after described header fields in message;
According to described message length field, receive described flight and control message, to perform control operation of flying accordingly.
Optionally, described flight control message also comprises: command id field; Described method also comprises:
Extract the command id information comprised in described command id field, and determine the flight control command that predefined and described command id information is corresponding;
Perform described flight control command, realize flying accordingly control operation.
Optionally, described flight control message also comprises: details data field, comprises the preset data relevant to the executable operations of described flight control command in described details data field; The described flight control command of described execution, comprising:
According to described preset data, perform described flight control command.
Optionally,
When described flight control command is for making the recipient of described flight control message maintain corresponding state of flight, described preset data is the preset state parameter of described control terminal;
When the local program of described flight control command for the described recipient that upgrades, described preset data is AKU data.
Optionally, described flight controls message and also comprises: destination object field, comprises the identification information that described flight controls the transmission destination object of message in described destination object field; Described method also comprises:
Extract the identification information comprised in described destination object field;
When described identification information corresponds to the recipient of described flight control message, flight described in normal process controls message; Otherwise, abandon described flight and control message.
Optionally, described destination object field is positioned at described header fields rear, and is next to described header fields.
Optionally, described flight control message also comprises: check field; Described method also comprises:
Extract the check information comprised in described check field;
According to described check information, message is controlled to described flight and carries out forward error correction verification.
Optionally, also comprise:
Return to described control terminal the described flight received and control message, to be received described flight control message by described control terminal and after verification succeeds, to be confirmed that described flight controls message and sends successfully.
According to the second aspect of disclosure embodiment, a kind of flight control assemblies is provided, comprises:
Detecting unit, by being connected with the communication chief that control terminal is set up, detects the message that described control terminal sends;
Identifying unit, reads the header fields of described message, when described header fields is made up of the predefine character string of predetermined word joint number, judges that described message controls message as flight; Wherein, described flight controls also to comprise the message length field be positioned at after described header fields in message;
Receiving element, according to described message length field, receives described flight and controls message, to perform control operation of flying accordingly.
Optionally, described flight control message also comprises: command id field; Described device also comprises:
Extraction unit, extracts the command id information comprised in described command id field, and determines the flight control command that predefined and described command id information is corresponding;
Performance element, performs described flight control command, realizes flying accordingly control operation.
Optionally, described flight control message also comprises: details data field, comprises the preset data relevant to the executable operations of described flight control command in described details data field; Wherein, described performance element comprises:
Perform subelement, according to described preset data, perform described flight control command.
Optionally,
When described flight control command is for making the recipient of described flight control message maintain corresponding state of flight, described preset data is the preset state parameter of described control terminal;
When the local program of described flight control command for the described recipient that upgrades, described preset data is AKU data.
Optionally, described flight controls message and also comprises: destination object field, comprises the identification information that described flight controls the transmission destination object of message in described destination object field; Described device also comprises:
Marker extraction unit, extracts the identification information comprised in described destination object field;
Message process unit, when described identification information corresponds to the recipient of described flight control message, flight described in normal process controls message; Otherwise, abandon described flight and control message.
Optionally, described destination object field is positioned at described header fields rear, and is next to described header fields.
Optionally, described flight control message also comprises: check field; Described device also comprises:
Information extraction unit, extracts the check information comprised in described check field;
Message checking unit, according to described check information, controls message to described flight and carries out forward error correction verification.
Optionally, also comprise:
Return unit, return to described control terminal the described flight received and control message, to be received described flight control message by described control terminal and after verification succeeds, to be confirmed that described flight controls message and sends successfully.
According to the third aspect of disclosure embodiment, a kind of electronic equipment is provided, comprises:
Processor;
For the memory of storage of processor executable instruction;
Wherein, described processor is configured to:
By being connected with the communication chief that control terminal is set up, the message that described control terminal sends detected;
Read the header fields of described message, when described header fields is made up of the predefine character string of predetermined word joint number, judge that described message controls message as flight; Wherein, described flight controls also to comprise the message length field be positioned at after described header fields in message;
According to described message length field, receive described flight and control message, to perform control operation of flying accordingly.
The technical scheme that embodiment of the present disclosure provides can comprise following beneficial effect:
From above-described embodiment, the disclosure controls the structure of message by reconstruct flight, make only to comprise predefine character string in its header fields, while guaranteeing accurately to identify flight control message and judge, achieve the lightweight to header fields, significantly reducing flight and controlling the resource occupation amount of message, thus meet to fly under control scene fast, communication requirement frequently.
Should be understood that, it is only exemplary and explanatory that above general description and details hereinafter describe, and can not limit the disclosure.
Accompanying drawing explanation
Accompanying drawing to be herein merged in specification and to form the part of this specification, shows and meets embodiment of the present disclosure, and is used from specification one and explains principle of the present disclosure.
Figure 1A is the message format schematic diagram of the ICP/IP protocol in correlation technique.
Figure 1B is the form schematic diagram of the IP head of ICP/IP protocol message in correlation technique.
Fig. 1 C is the form schematic diagram of the TCP head of ICP/IP protocol message in correlation technique.
Fig. 2 is the flow chart of a kind of flight control method according to an exemplary embodiment.
Fig. 3 is the flow chart of the another kind of flight control method according to an exemplary embodiment.
Fig. 4 is that a kind of flight the according to an exemplary embodiment controls the structural representation of message.
Fig. 5 is the structural representation of the another kind flight control message according to an exemplary embodiment.
Fig. 6-11 is block diagrams of a kind of flight control assemblies according to an exemplary embodiment.
Figure 12 is a kind of structural representation for the device controlled that flies according to an exemplary embodiment.
Embodiment
Here will be described exemplary embodiment in detail, its sample table shows in the accompanying drawings.When description below relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawing represents same or analogous key element.Execution mode described in following exemplary embodiment does not represent all execution modes consistent with the disclosure.On the contrary, they only with as in appended claims describe in detail, the example of apparatus and method that aspects more of the present disclosure are consistent.
As the description of background technology part, when adopting the existing protocol based on http to carry out flight control operation in correlation technique, there is many defects; Be described in detail for ICP/IP protocol below.
1, message structure
Figure 1A is the message format schematic diagram of the ICP/IP protocol in correlation technique, as shown in Figure 1A, ICP/IP protocol message comprises: Ethernet (Ethernet) frame head, IP head, TCP head, upper layer data, FCS (FrameCheckSequence, Frame Check Sequence) etc.
Wherein, the structure of IP head as shown in Figure 1B.As shown in Figure 1B, IP head not only comprises predefined fix informations such as " marks ", also comprises the variable information that " source address ", " destination address " etc. are determined according to actual conditions.Meanwhile, the length of only the shortest in IP head field " mark " just reaches 3 bytes, and the volume of whole IP head is larger.
Similarly, Fig. 1 C shows the structure of TCP head.As shown in Figure 1 C, TCP head comprises the variable information that a lot of such as " source port number ", " destination slogan " etc. are determined according to actual conditions equally.Meanwhile, the length of only the shortest in TCP head field " head length " just reaches 4 bytes, and the volume of whole TCP head is larger.
Therefore, when adopting ICP/IP protocol to carry out flight control operation, due to header information too much, bulky, cause whole message very heavy, need to take pole multiple resource, cannot to meet in control procedure of flying fast, communication need frequently.
2, communication pattern
Http is a consensus standard carrying out between client and service end asking Yu replying.Such as using the side in control terminal and unmanned plane as client, the opposing party as service end, so service end request of processing client and initiating, and after receiving the response of client, namely disconnects.Therefore, based on the above-mentioned existing protocol of http standard, each communication process all needs to re-establish connection, and based on the frequent communication need in flight control procedure, the process repeatedly connected is extreme consumption of natural resource obviously.
Therefore, the message structure that the disclosure is controlled by adjustment flight, to solve the above-mentioned technical problem existed in correlation technique.
Fig. 2 is the flow chart of a kind of flight control method according to an exemplary embodiment, and as shown in Figure 2, the method is used for, in unmanned plane, can comprising the following steps.
In step 202., by being connected with the communication chief that control terminal is set up, the message that described control terminal sends is detected.
In the present embodiment, be only described for " unmanned plane ", equipment such as in fact similar " unmanned vehicles ", " unmanned boat ", all can be applied in embodiment of the present disclosure, the disclosure does not limit this.
In the present embodiment, the communication chief set up between unmanned plane with control terminal is connected, be different from the short connection based on http agreement in correlation technique, this communication chief is connected to after foundation can long term maintenance, thus avoids a large amount of consumption causing resource because frequently setting up and disconnecting.
In step 204, read the header fields of described message, when described header fields is made up of the predefine character string of predetermined word joint number, judge that described message controls message as flight; Wherein, described flight controls also to comprise the message length field be positioned at after described header fields in message.
In the present embodiment, predefine character string is only comprised in header fields, and there is no the variable information that in TCP/IP message, IP head, TCP head etc. comprise, thus in header fields of the present disclosure, can guarantee that this predefine character string has on the basis of reliable discrimination degree, compress the volume of header fields as much as possible, such as can be compressed to a byte, thus greatly simplifie message structure of the present disclosure, reduce message volume, make the frequent communication requirement that this light-weighted message can be fitted in flight control procedure.
In step 206, according to described message length field, receive described flight and control message, to perform control operation of flying accordingly.
From above-described embodiment, the disclosure controls the structure of message by reconstruct flight, make only to comprise predefine character string in its header fields, while guaranteeing accurately to identify flight control message and judge, achieve the lightweight to header fields, significantly reducing flight and controlling the resource occupation amount of message, thus meet to fly under control scene fast, communication requirement frequently.
Fig. 3 is the flow chart of the another kind of flight control method according to an exemplary embodiment, and as shown in Figure 3, the method can comprise the following steps:
In step 302, between unmanned plane with control terminal, set up communication chief to be connected.
In the present embodiment, by setting up, communication is long to be connected, unmanned plane and control terminal are when only performing a connection establishment operation, message transmissions operation can be completed repeatedly, without the need to all re-establishing connection when each message transmissions, contribute to saving the communication resource, promoting communication efficiency, contribute to the frequent communication requirement being applicable to fly in control operation process.
In step 304, the demand for control that control terminal inputs according to user, is connected by the communication chief set up, and sends corresponding flight control message to unmanned plane.
Within step 306, when unmanned plane (flight of this unmanned plane controls module, lower with) detects the message that control terminal sends, the header field that reading receives.
In the present embodiment, header fields is positioned at whole message foremost, by reading this header fields, can identify type of message.Such as in embodiment of the present disclosure, in header fields, comprise the predefine character string of predetermined word joint number; Wherein, because the character string in this header fields adopts predefine form to form completely, do not comprise any variable information, as long as thus other messages or irrelevant information can be different from.
Therefore, message structure is as shown in Figure 4 and Figure 5 known, and this header fields even can be compressed to the information only comprising a byte, and the predefine character string comprised in such as this byte is " 0xAA "; So, when unmanned plane receives character string " 10101010 ", can determine that this character string belongs to the flight control message of control terminal transmission.
In step 308, when determining that the header fields read belongs to the flight control message of control terminal transmission, unmanned plane continues other fields at read head field rear.In one exemplary embodiment, assuming that header fields rear and then destination object field, in this destination object field, comprise the identification information that this flight controls the transmission destination object of message; Wherein, when identification information is the predefine identification information of this unmanned plane, this flight of normal process controls message, otherwise directly abandons.
In this embodiment, be the identification information that unmanned plane setting is corresponding in advance, be equivalent to the identification id of this unmanned plane; For example, message structure is as shown in Figure 4 and Figure 5 known, as long as this identification information can make this unmanned plane have uniqueness, and " temporarily " uniqueness even in certain hour or distance range, then the data length of this destination object field can be very short, even only needs a byte.
In this embodiment, by to the reading of destination object field with compare, whether the working control object that can identify this flight control message is current unmanned plane, thus when destination object non-present unmanned plane, directly abandon this message, without the need to receiving follow-up message content and resolve, thus contribute to saving resource.
Wherein, when destination object field is next to header fields, can avoid to greatest extent receiving and resolve the follow-up irrelevant information of this message, thus saving resource to greatest extent.Certainly, this destination object field also can be positioned at other optional positions that flight controls message, and the disclosure does not limit this.
In the step 310, unmanned plane reads message length field, and according to the message length information read, controls message carry out complete reception to flight.
In step 312, unmanned plane reading order identification field, and by extracting the command id information comprised in this command id field, determine the predefined flight control command corresponding with this command id information, thus by performing this flight control command, realize flying accordingly control operation.
In this embodiment, the corresponding relation between pre-configured command id and flight control command, and this corresponding relation is stored in unmanned plane with the form of such as list.Then, only need to send the less command id of data volume between control terminal and unmanned plane, unmanned plane can be made to pass through to consult the corresponding relation of pre-stored, determine the flight control command that data volume is larger.
In a step 314, unmanned plane reads details data field, comprises the preset data relevant to the executable operations of flight control command in this details data field; Then, corresponding flight control command is performed according to this preset data.
In this embodiment, the preset data comprised in details data field, with the command id information match in command id field.
In an illustrative embodiments, when control command of flying is for making the recipient of flight control message maintain corresponding state of flight, this preset data is the preset state parameter of this control terminal.In this embodiment, for example, when control command of flying is for " making a return voyage ", preset data can be " geographical location information " this preset state parameter of control terminal, make unmanned plane using this geographical location information as air objective ground, operation of making a return voyage can be completed; Similarly, for other flight control command, preset data also may be the preset state parameter of other correspondences.
In another illustrative embodiments, when fly the local program of control command for the recipient that upgrades time, preset data is AKU data.In this embodiment, flight control command can also have nothing to do with the state of flight of unmanned plane, and for completing the operations such as such as software upgrading.The details data field size controlled in message due to flight is limited, thus when AKU is larger, can cut according to the data of this field size to this AKU, being then sent to unmanned plane by cutting the small data packets obtained one by one, realizing software upgrading.
It should be noted that:
For above-mentioned destination object field, message length field, command id field and details data field, any-mode can be adopted each other to carry out arranging and combining; Ratio as shown in Figure 4, the order of " destination object field---message length field---command id field---details data field " is adopted to arrange, or as shown in Figure 5, adopt the order of " destination object field---command id field---message length field---details data field " to arrange.
In step 316, unmanned plane reads check field, extracts the check information comprised in this check field, and carries out forward error correction verification according to this check information to flight control message.
In this embodiment, by controlling the forward error correction verification of message to flight, the mistake existed in message can either be found, this mistake can also be corrected to a certain extent, guarantee that the corresponding flight of correct execution controls object.
Based on above-described embodiment, as illustrated in figures 4-5, header fields, destination object field, message length field and command id field that flight controls in message can only comprise a byte respectively, and check field (i.e. " check digit ") may also be only two bytes, TCP/IP message structure shown in comparison diagram 1A-1C and length, flight of the present disclosure controls message and obviously possesses little, the light-weighted characteristics and advantages of volume, can greatly save the communication resource taken.
In step 318, unmanned plane, after receiving flight control message, can return this identical flight to control terminal and control message.
In step 320, control terminal, after receiving the message that unmanned plane returns, can verify this message, if by verification, show that this message sends successfully, if do not pass through, judges that this message sends unsuccessfully, and triggers message retransmission mechanism.In addition, if control terminal is in predetermined time period, do not receive the message that unmanned plane returns, then think that result in this message due to reasons such as packet losses sends unsuccessfully, and trigger message retransmission mechanism.
Corresponding with the embodiment of aforesaid flight control method, the disclosure additionally provides the embodiment of flight control assemblies.
Fig. 6 is a kind of flight control assemblies block diagram according to an exemplary embodiment.With reference to Fig. 6, this device comprises detecting unit 61, identifying unit 62 and receiving element 63.
Wherein, detecting unit 61, is configured to, by being connected with the communication chief that control terminal is set up, the message that described control terminal sends be detected;
Identifying unit 62, is configured to the header fields reading described message, when described header fields is made up of the predefine character string of predetermined word joint number, judges that described message controls message as flight; Wherein, described flight controls also to comprise the message length field be positioned at after described header fields in message;
Receiving element 63, is configured to according to described message length field, receives described flight and controls message, to perform control operation of flying accordingly.
As shown in Figure 7, Fig. 7 is the block diagram of the another kind of flight control assemblies according to an exemplary embodiment, and this embodiment is on aforementioned basis embodiment illustrated in fig. 6, and flight controls message and also comprises: command id field; Described device can also comprise: extraction unit 64 and performance element 65.
Wherein, extraction unit 64, is configured to extract the command id information comprised in described command id field, and determines the flight control command that predefined and described command id information is corresponding;
Performance element 65, is configured to perform described flight control command, realizes flying accordingly control operation.
As shown in Figure 8, Fig. 8 is the block diagram of the another kind of flight control assemblies according to an exemplary embodiment, this embodiment is on aforementioned basis embodiment illustrated in fig. 7, flight controls message and also comprises: details data field, comprises the preset data relevant to the executable operations of described flight control command in described details data field; Wherein, described performance element 65 can comprise: perform subelement 651.
Wherein, perform subelement 651, be configured to according to described preset data, perform described flight control command.
Optionally,
When described flight control command is for making the recipient of described flight control message maintain corresponding state of flight, described preset data is the preset state parameter of described control terminal;
When the local program of described flight control command for the described recipient that upgrades, described preset data is AKU data.
As shown in Figure 9, Fig. 9 is the block diagram of the another kind of flight control assemblies according to an exemplary embodiment, this embodiment is on aforementioned basis embodiment illustrated in fig. 6, flight controls message and also comprises: destination object field, comprises the identification information that described flight controls the transmission destination object of message in described destination object field; Described device can also comprise: marker extraction unit 66 and message process unit 67.
Wherein, marker extraction unit 66, is configured to extract the identification information comprised in described destination object field;
Message process unit 67, be configured to when described identification information corresponds to the recipient of described flight control message, flight described in normal process controls message; Otherwise, abandon described flight and control message.
Optionally, described destination address field (DAF) is positioned at described header fields rear, and is next to described header fields.
It should be noted that, the marker extraction unit 66 in the device embodiment shown in above-mentioned Fig. 9 and the structure of message process unit 67 also can be included in the device embodiment of earlier figures 7 or Fig. 8, do not limit this disclosure.
As shown in Figure 10, Figure 10 is the block diagram of the another kind of flight control assemblies according to an exemplary embodiment, and this embodiment is on aforementioned basis embodiment illustrated in fig. 6, and described flight controls message and also comprises: check field; Described device can also comprise: information extraction unit 68 and message checking unit 69.
Wherein, information extraction unit 68, is configured to extract the check information comprised in described check field;
Message checking unit 69, is configured to according to described check information, controls message carry out forward error correction verification to described flight.
It should be noted that, the information extraction unit 68 in the device embodiment shown in above-mentioned Figure 10 and the structure of message checking unit 69 also can be included in the device embodiment of earlier figures 7-9, do not limit this disclosure.
As shown in figure 11, Figure 11 is the block diagram of the another kind of flight control assemblies according to an exemplary embodiment, and this embodiment is on aforementioned basis embodiment illustrated in fig. 6, and this device can also comprise: return unit 70.
Return unit 70, be configured to return to described control terminal the described flight received and control message, to be received described flight control message by described control terminal and after verification succeeds, to be confirmed that described flight controls message and sends successfully.
It should be noted that, the structure returning unit 70 in the device embodiment shown in above-mentioned Figure 11 also can be included in the device embodiment of earlier figures 7-10, does not limit this disclosure.
About the device in above-described embodiment, wherein the concrete mode of modules executable operations has been described in detail in about the embodiment of the method, will not elaborate explanation herein.
For device embodiment, because it corresponds essentially to embodiment of the method, so relevant part illustrates see the part of embodiment of the method.Device embodiment described above is only schematic, the wherein said unit illustrated as separating component or can may not be and physically separates, parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of module wherein can be selected according to the actual needs to realize the object of disclosure scheme.Those of ordinary skill in the art, when not paying creative work, are namely appreciated that and implement.
Accordingly, the disclosure also provides a kind of flight control assemblies, comprising: processor; For the memory of storage of processor executable instruction; Wherein, described processor is configured to: by being connected with the communication chief that control terminal is set up, the message that described control terminal sends detected; Read the header fields of described message, when described header fields is made up of the predefine character string of predetermined word joint number, judge that described message controls message as flight; Wherein, described flight controls also to comprise the message length field be positioned at after described header fields in message; According to described message length field, receive described flight and control message, to perform control operation of flying accordingly.
Accordingly, the disclosure also provides a kind of terminal, described terminal includes memory, and one or more than one program, one of them or more than one program are stored in memory, and be configured to perform described more than one or one program package containing the instruction for carrying out following operation by more than one or one processor: by being connected with the communication chief that control terminal is set up, the message that described control terminal sends detected; Read the header fields of described message, when described header fields is made up of the predefine character string of predetermined word joint number, judge that described message controls message as flight; Wherein, described flight controls also to comprise the message length field be positioned at after described header fields in message; According to described message length field, receive described flight and control message, to perform control operation of flying accordingly.
Figure 12 is a kind of block diagram for the device 1200 controlled that flies according to an exemplary embodiment.Such as, device 1200 can be unmanned plane, unmanned vehicle, unmanned boat, mobile phone, computer, digital broadcast terminal, messaging devices, game console, flat-panel devices, Medical Devices, body-building equipment, personal digital assistant etc.
With reference to Figure 12, device 1200 can comprise following one or more assembly: processing components 1202, memory 1204, power supply module 1206, multimedia groupware 1208, audio-frequency assembly 1210, the interface 1212 of I/O (I/O), sensor cluster 1214, and communications component 1216.
The integrated operation of the usual control device 1200 of processing components 1202, such as with display, call, data communication, camera operation and record operate the operation be associated.Processing components 1202 can comprise one or more processor 1220 to perform instruction, to complete all or part of step of above-mentioned method.In addition, processing components 1202 can comprise one or more module, and what be convenient between processing components 1202 and other assemblies is mutual.Such as, processing components 1202 can comprise multi-media module, mutual with what facilitate between multimedia groupware 12012 and processing components 1202.
Memory 1204 is configured to store various types of data to be supported in the operation of device 1200.The example of these data comprises for any application program of operation on device 1200 or the instruction of method, contact data, telephone book data, message, picture, video etc.Memory 1204 can be realized by the volatibility of any type or non-volatile memory device or their combination, as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or CD.
The various assemblies that power supply module 1206 is device 1200 provide electric power.Power supply module 1206 can comprise power-supply management system, one or more power supply, and other and the assembly generating, manage and distribute electric power for device 1200 and be associated.
Multimedia groupware 1208 is included in the screen providing an output interface between described device 1200 and user.In certain embodiments, screen can comprise liquid crystal display (LCD) and touch panel (TP).If screen comprises touch panel, screen may be implemented as touch-screen, to receive the input signal from user.Touch panel comprises one or more touch sensor with the gesture on sensing touch, slip and touch panel.Described touch sensor can the border of not only sensing touch or sliding action, but also detects the duration relevant to described touch or slide and pressure.In certain embodiments, multimedia groupware 1208 comprises a front-facing camera and/or post-positioned pick-up head.When device 1200 is in operator scheme, during as screening-mode or video mode, front-facing camera and/or post-positioned pick-up head can receive outside multi-medium data.Each front-facing camera and post-positioned pick-up head can be fixing optical lens systems or have focal length and optical zoom ability.
Audio-frequency assembly 1210 is configured to export and/or input audio signal.Such as, audio-frequency assembly 1210 comprises a microphone (MIC), and when device 1200 is in operator scheme, during as call model, logging mode and speech recognition mode, microphone is configured to receive external audio signal.The audio signal received can be stored in memory 1204 further or be sent via communications component 1216.In certain embodiments, audio-frequency assembly 1210 also comprises a loud speaker, for output audio signal.
I/O interface 1212 is for providing interface between processing components 1202 and peripheral interface module, and above-mentioned peripheral interface module can be keyboard, some striking wheel, button etc.These buttons can include but not limited to: home button, volume button, start button and locking press button.
Sensor cluster 1214 comprises one or more transducer, for providing the state estimation of various aspects for device 1200.Such as, sensor cluster 1214 can detect the opening/closing state of device 1200, the relative positioning of assembly, such as described assembly is display and the keypad of device 1200, the position of all right checkout gear 1200 of sensor cluster 1214 or device 1200 assemblies changes, the presence or absence that user contacts with device 1200, the variations in temperature of device 1200 orientation or acceleration/deceleration and device 1200.Sensor cluster 1214 can comprise proximity transducer, be configured to without any physical contact time detect near the existence of object.Sensor cluster 1214 can also comprise optical sensor, as CMOS or ccd image sensor, for using in imaging applications.In certain embodiments, this sensor cluster 1214 can also comprise acceleration transducer, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communications component 1216 is configured to the communication being convenient to wired or wireless mode between device 1200 and other equipment.Device 1200 can access the wireless network based on communication standard, as WiFi, 2G or 3G, or their combination.In one exemplary embodiment, communications component 1216 receives from the broadcast singal of external broadcasting management system or broadcast related information via broadcast channel.In one exemplary embodiment, described communications component 1216 also comprises near-field communication (NFC) module, to promote junction service.Such as, can based on radio-frequency (RF) identification (RFID) technology in NFC module, Infrared Data Association (IrDA) technology, ultra broadband (UWB) technology, bluetooth (BT) technology and other technologies realize.
In the exemplary embodiment, device 1200 can be realized, for performing said method by one or more application specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components.
In the exemplary embodiment, additionally provide a kind of non-transitory computer-readable recording medium comprising instruction, such as, comprise the memory 1204 of instruction, above-mentioned instruction can perform said method by the processor 1220 of device 1200.Such as, described non-transitory computer-readable recording medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and optical data storage devices etc.
Those skilled in the art, at consideration specification and after putting into practice disclosed herein disclosing, will easily expect other embodiment of the present disclosure.The application is intended to contain any modification of the present disclosure, purposes or adaptations, and these modification, purposes or adaptations are followed general principle of the present disclosure and comprised the undocumented common practise in the art of the disclosure or conventional techniques means.Specification and embodiment are only regarded as exemplary, and true scope of the present disclosure and spirit are pointed out by claim below.
Should be understood that, the disclosure is not limited to precision architecture described above and illustrated in the accompanying drawings, and can carry out various amendment and change not departing from its scope.The scope of the present disclosure is only limited by appended claim.
Claims (17)
1. a flight control method, is characterized in that, comprising:
By being connected with the communication chief that control terminal is set up, the message that described control terminal sends detected;
Read the header fields of described message, when described header fields is made up of the predefine character string of predetermined word joint number, judge that described message controls message as flight; Wherein, described flight controls also to comprise the message length field be positioned at after described header fields in message;
According to described message length field, receive described flight and control message, to perform control operation of flying accordingly.
2. method according to claim 1, is characterized in that, described flight controls message and also comprises: command id field; Described method also comprises:
Extract the command id information comprised in described command id field, and determine the flight control command that predefined and described command id information is corresponding;
Perform described flight control command, realize flying accordingly control operation.
3. method according to claim 2, is characterized in that, described flight controls message and also comprises: details data field, comprises the preset data relevant to the executable operations of described flight control command in described details data field; The described flight control command of described execution, comprising:
According to described preset data, perform described flight control command.
4. method according to claim 3, is characterized in that,
When described flight control command is for making the recipient of described flight control message maintain corresponding state of flight, described preset data is the preset state parameter of described control terminal;
When the local program of described flight control command for the described recipient that upgrades, described preset data is AKU data.
5. method according to claim 1, is characterized in that, described flight controls message and also comprises: destination object field, comprises the identification information that described flight controls the transmission destination object of message in described destination object field; Described method also comprises:
Extract the identification information comprised in described destination object field;
When described identification information corresponds to the recipient of described flight control message, flight described in normal process controls message; Otherwise, abandon described flight and control message.
6. method according to claim 5, is characterized in that, described destination object field is positioned at described header fields rear, and is next to described header fields.
7. method according to claim 1, is characterized in that, described flight controls message and also comprises: check field; Described method also comprises:
Extract the check information comprised in described check field;
According to described check information, message is controlled to described flight and carries out forward error correction verification.
8. method according to claim 1, is characterized in that, also comprises:
Return to described control terminal the described flight received and control message, to be received described flight control message by described control terminal and after verification succeeds, to be confirmed that described flight controls message and sends successfully.
9. a flight control assemblies, is characterized in that, comprising:
Detecting unit, by being connected with the communication chief that control terminal is set up, detects the message that described control terminal sends;
Identifying unit, reads the header fields of described message, when described header fields is made up of the predefine character string of predetermined word joint number, judges that described message controls message as flight; Wherein, described flight controls also to comprise the message length field be positioned at after described header fields in message;
Receiving element, according to described message length field, receives described flight and controls message, to perform control operation of flying accordingly.
10. device according to claim 9, is characterized in that, described flight controls message and also comprises: command id field; Described device also comprises:
Extraction unit, extracts the command id information comprised in described command id field, and determines the flight control command that predefined and described command id information is corresponding;
Performance element, performs described flight control command, realizes flying accordingly control operation.
11. devices according to claim 10, is characterized in that, described flight controls message and also comprises: details data field, comprises the preset data relevant to the executable operations of described flight control command in described details data field; Wherein, described performance element comprises:
Perform subelement, according to described preset data, perform described flight control command.
12. devices according to claim 11, is characterized in that,
When described flight control command is for making the recipient of described flight control message maintain corresponding state of flight, described preset data is the preset state parameter of described control terminal;
When the local program of described flight control command for the described recipient that upgrades, described preset data is AKU data.
13. devices according to claim 9, is characterized in that, described flight controls message and also comprises: destination object field, comprise the identification information that described flight controls the transmission destination object of message in described destination object field; Described device also comprises:
Marker extraction unit, extracts the identification information comprised in described destination object field;
Message process unit, when described identification information corresponds to the recipient of described flight control message, flight described in normal process controls message; Otherwise, abandon described flight and control message.
14. devices according to claim 13, is characterized in that, described destination address field (DAF) is positioned at described header fields rear, and is next to described header fields.
15. devices according to claim 9, is characterized in that, described flight controls message and also comprises: check field; Described device also comprises:
Information extraction unit, extracts the check information comprised in described check field;
Message checking unit, according to described check information, controls message to described flight and carries out forward error correction verification.
16. devices according to claim 9, is characterized in that, also comprise:
Return unit, return to described control terminal the described flight received and control message, to be received described flight control message by described control terminal and after verification succeeds, to be confirmed that described flight controls message and sends successfully.
17. 1 kinds of electronic equipments, is characterized in that, comprising:
Processor;
For the memory of storage of processor executable instruction;
Wherein, described processor is configured to:
By being connected with the communication chief that control terminal is set up, the message that described control terminal sends detected;
Read the header fields of described message, when described header fields is made up of the predefine character string of predetermined word joint number, judge that described message controls message as flight; Wherein, described flight controls also to comprise the message length field be positioned at after described header fields in message;
According to described message length field, receive described flight and control message, to perform control operation of flying accordingly.
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