CN111316184A

CN111316184A - Mobile device and control method

Info

Publication number: CN111316184A
Application number: CN201980005506.2A
Authority: CN
Inventors: 郭厚锦; 吴易霖
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-05-13
Filing date: 2019-05-13
Publication date: 2020-06-19
Also published as: WO2020227899A1

Abstract

The application discloses a mobile device and a control method. The mobile device comprises a body, a detection device, a local area network unit and a main control module. The detection device is arranged on the machine body and used for generating a detection signal. The local area network unit is arranged on the machine body and comprises a plurality of processors and network equipment connected with the processors, and the local area network unit is connected with the detection device and used for receiving and processing the detection signals and generating local area network signals. The main control module is arranged on the machine body, is in communication connection with the local area network unit, and is used for receiving the local area network signal and generating a control signal according to the local area network signal.

Description

Mobile device and control method

Technical Field

The application relates to the technical field of mobile platforms, in particular to mobile equipment and a control method.

Background

Mobile devices, such as unmanned aerial vehicles, robots, mobile dollies, mobile ships or underwater mobile devices, play an important role in many fields such as industry, agriculture, civilian use, movie and television, search and rescue, police use, military use and the like due to the advantages of flexible movement and the like, and are applicable to complex environments. With the development of the technology, the complexity of the algorithm is higher and higher, and the amount of data processed by the calculation is larger and larger, so that the mobile device has a higher and higher demand on the computational power of the processor and a higher and higher demand on the processing capability.

Disclosure of Invention

The present application provides an improved mobile device and control method.

According to an aspect of an embodiment of the present application, there is provided a mobile device including: a body; the detection device is arranged on the machine body and used for generating a detection signal; the local area network unit is arranged on the machine body, comprises a plurality of processors and network equipment connected with the processors, is connected with the detection device and is used for receiving and processing the detection signal and generating a local area network signal; and the main control module is arranged on the machine body, is in communication connection with the local area network unit, and is used for receiving the local area network signal and generating a control signal according to the local area network signal.

According to another aspect of embodiments of the present application, there is provided a control method for controlling a mobile device including a body, the control method including: generating a detection signal through a detection device arranged on the machine body; processing the detection signal through a local area network unit arranged on the machine body and generating a local area network signal, wherein the local area network unit comprises a plurality of processors and network equipment connected with the processors; and generating a control signal according to the local area network signal through a main control module which is arranged on the machine body and is in communication connection with the local area network unit.

The mobile equipment comprises the local area network unit, the local area network unit comprises a plurality of processors connected through the network equipment, the local area network unit can process detection signals generated by the detection device, the plurality of processors of the local area network unit can meet the processing work with large data volume, the calculation capacity is high, the data processing capacity and the speed of the mobile equipment can be improved, and the reaction of the mobile equipment is sensitive.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a perspective view of an embodiment of a mobile device according to the present application.

FIG. 2 is a block diagram of an embodiment of a mobile device of the present application.

Fig. 3 is a schematic perspective view of an embodiment of a local area network unit of a mobile device according to the present application.

Fig. 4 is a schematic perspective view of an embodiment of a network device of the lan unit shown in fig. 3.

Fig. 5 is a schematic perspective view of one embodiment of a processor of the lan unit shown in fig. 3.

Fig. 6 is a perspective view of the processor of fig. 5 from another angle.

Fig. 7 is a schematic perspective view of another embodiment of a mobile device according to the present application.

Fig. 8 is a flowchart illustrating an embodiment of a control method according to the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. Unless otherwise indicated, "front", "rear", "lower" and/or "upper" and the like are for convenience of description and are not limited to one position or one spatial orientation. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The word "plurality" or "a number" and the like mean at least two.

The mobile device of the embodiment of the application comprises a body, a detection device, a local area network unit and a main control module. The detection device is arranged on the machine body and used for generating a detection signal. The local area network unit is arranged on the machine body and comprises a plurality of processors and network equipment connected with the processors, and the local area network unit is connected with the detection device and used for receiving and processing the detection signals and generating local area network signals. The main control module is arranged on the machine body, is in communication connection with the local area network unit, and is used for receiving the local area network signal and generating a control signal according to the local area network signal.

The mobile device of some embodiments of the present application includes a lan unit, where the lan unit includes a plurality of processors connected through a network device, and the lan unit may process a detection signal generated by the detection apparatus, and the plurality of processors of the lan unit may satisfy a processing job with a large data volume, and have a high calculation power, so that a data processing capability and a speed of the mobile device may be improved, and a response of the mobile device may be sensitive.

Under the scene with higher requirement on processor computing power, a computer workstation is built to perform a large amount of computing processing, and the mobile device is communicated with the computer workstation. Computer workstations are bulky and fixed in location, whereas mobile devices are mobile, wired to computer workstations, affecting flexible mobility. Some mobile devices communicate with a computer workstation in a wireless mode, data to be processed is sent to the computer workstation, the computer workstation processes the data and then sends the data to the mobile devices, and therefore, the back-and-forth communication consumes a certain time, the computer workstation communicates with a plurality of mobile devices, the requirement on communication bandwidth is high, and the real-time performance and the reliability of control of the mobile devices are difficult to guarantee. The local area network unit of the mobile device of some embodiments of the application is arranged on the body, moves along with the movement of the mobile device, can avoid the limitation of flexible movement of the mobile device, can be in rapid communication with the main control module of the mobile device, and has strong real-time control performance and high reliability on the mobile device, so that the mobile device can react quickly. Therefore, the mobile device of some embodiments of the application has the advantages of being high in processing capacity, fast in response, high in real-time performance and reliability of control and capable of keeping the state of fast response.

The control method of the embodiment of the application is used for controlling the mobile equipment, and the mobile equipment comprises a body. The control method comprises the following steps: generating a detection signal through a detection device arranged on the machine body; processing the detection signal and generating a local area network signal through a local area network unit arranged on the machine body, wherein the local area network unit comprises a plurality of processors and network equipment connected with the processors; and generating a control signal according to the local area network signal through a main control module which is arranged on the machine body and is in communication connection with the local area network unit. The control method has strong processing capability on the detection signal, and has high control real-time performance and reliability, so that the mobile equipment can react quickly.

FIG. 1 illustrates a perspective view of one embodiment of a mobile device 100. The mobile device 100 shown in fig. 1 is an unmanned aerial vehicle. The mobile device 100 includes a body 101. FIG. 2 is a block diagram illustrating one embodiment of the mobile device 100 shown in FIG. 1. Referring to fig. 1 and 2, the mobile device 100 further includes a probe 102, a lan unit 103, and a main control module 104. The detecting device 102 is disposed on the body 101 for generating a detecting signal. The lan unit 103 is disposed on the body 101 and includes a plurality of

processors

131 and 134 and a network device 135 connected to the plurality of

processors

131 and 134, and the lan unit 103 is connected to the detecting device 102 and configured to receive and process the detection signal and generate a lan signal. The main control module 104 is disposed on the body 101, is in communication connection with the lan unit 103, and is configured to receive the lan signal and generate a control signal according to the lan signal.

The lan unit 103 can process the detection signal generated by the detection device 102, and the plurality of

processors

131 and 134 of the lan unit can satisfy the processing work with larger data amount, so that the calculation power is higher, the data processing capability and speed of the mobile device 100 can be improved, and the response of the mobile device is sensitive. In addition, the lan unit 103 is disposed on the body 101 and moves along with the movement of the mobile device 100, so that the limitation of flexible movement of the mobile device 100 can be avoided, and the lan unit can communicate with the main control module 104 of the mobile device 100 quickly, and the lan unit has strong real-time control and high reliability on the mobile device 100, so that the mobile device can respond quickly. Therefore, the mobile device 100 has a relatively high processing capability, and maintains a fast response state, and the real-time performance and reliability of the control are high.

The detection device 102 includes a sensor and the generated detection signal may represent information sensed by the detection device 102. In some embodiments, the detection device 102 includes at least one of a camera, a radar, a GPS (Global Positioning System), an altimeter, an Inertial Measurement Unit (IMU), and a pressure gauge. The camera may be used to take images, etc. Radar may be used to detect obstacles, to measure range, to locate, etc. GPS may be used for positioning. Altimeters may be used to sense the altitude of a mobile device such as an unmanned aerial vehicle. The pressure gauge may determine the flying height by sensing the pressure of the air. The inertial measurement unit may be used to sense the attitude of the mobile device 100. In other embodiments, the detection device 102 may include other sensors, etc. Different detection means 102 may be provided for different mobile devices.

The lan unit 103 is provided in the main body 101. In one embodiment, the lan unit 103 may be provided on the top of the main body 101. A local area network unit 103 such as that shown in fig. 1 is provided on the top of the unmanned aerial vehicle. In other embodiments, the lan unit 103 may be disposed at the bottom of the body 101 of the mobile device 100, or at other locations. In some embodiments, the processor 131 and the network device 135 of the lan unit 103 may be integrally assembled to the main body 101. In other embodiments, the processor 131 and the network device 135 of the lan unit 103 may be separated and disposed at different positions of the main body 101, so as to reasonably utilize the space of the main body 101 and ensure the balance and stability of the mobile device 101.

The network device 135 may include an interactive engine, hub, etc. that enables communication between the plurality of

processors

131 and 134. The local area network unit 103 may include two or more processors. For illustrative purposes only, four

processors

131 and 134 are shown, but not limited thereto, and the number of processors may be set according to practical applications. In some embodiments, the processors 131-134 include at least one of a Central Processing Unit (CPU) and a Graphics Processing Unit (GPU), which improves computing power and reduces power consumption. The appropriate processor can be selected according to the actual processing required and the type of the detection device 102, etc., so as to ensure the computing power.

In some embodiments, the plurality of processors 131-134 comprises a plurality of CPUs. In another embodiment, the plurality of processors 131-134 includes a plurality of GPUs. In another embodiment, the plurality of processors 131-134 includes a CPU and one or more GPUs. In one embodiment, the plurality of processors 131-134 includes a plurality of CPUs and one or more GPUs. In other embodiments, the processor may comprise other types of processors, such as an FPGA. In some embodiments, the processors 131-134 may form a homogeneous or heterogeneous computer cluster through the network device 135 to perform distributed computing, which greatly shortens the processing time and improves the response agility of the system.

At least one

processor

131 and 134 are coupled to the detection device 102 for processing the detection signal generated by the detection device 102. In some embodiments, one

processor

131 and 134 may be coupled to one or more detection devices 102. A

processor

131 and 134 may process the detection signals generated by one or more of the detection devices 102. For example, the data amount of the detection signal generated by one detection device 102 is large, and the processing algorithm is complex, one

processor

131 and 134 may be connected to the detection device 102, mainly process the detection signal of the detection device 102, so as to ensure the processing speed is fast, and the

processor

131 and 134 that are good at processing the detection signal may be selected for processing. For example, image data generated by a camera may be processed by the GPU. The data amount of the detection signals generated by the plurality of detection devices 102 is not very large, and the detection signals of the plurality of detection devices 102 can be provided to the

same processor

131 and 134 for processing, so that the processor resources are reasonably utilized, and less processors are arranged as far as possible while the computing power is ensured, thereby the volume of the local area network unit 103 is as small as possible, the volume and the weight of the mobile device 100 are not increased too much, and the flexibility and the portability are ensured.

In some embodiments, a detection device 102 may be coupled to a

processor

131 and 134. In other embodiments, one detection device 102 may be connected to a plurality of

processors

131 and 134, and the plurality of

processors

131 and 134 may respectively perform different processing on the detection signal of the one detection device 102.

In some embodiments, the lan signal includes a control decision, and the

processor

131 and 134 are configured to determine the control decision according to the processed probe signal and provide the control decision to the main control module 104. The main control module 104 is used for generating a control signal according to the control decision. The lan unit 103 may process the detection signal and generate a corresponding control decision, such that the corresponding control decision is generated according to the information sensed by the detection apparatus 102, and further instruct the main control module 104 to generate a corresponding control signal to control the movement, behavior, and the like of the mobile device 100. The local area network unit 103 has strong processing capability and high processing speed, so that the fast and timely control can be realized.

In some embodiments, the plurality of

processors

131 and 134 includes a first processor, which is connected to the detecting device 102 for processing the detecting signal. The first processor may be one or more of the

processors

131 and 134 in the figure, and processes the detection signal rapidly. The following description will take the first processor as the processor 131 as an example.

In some embodiments, the plurality of processors 131-134 includes a second processor communicatively connected to the first processor 131 through a network device, and the second processor is connected to the main control module 104 for sending the local area network signal to the main control module 104. The second processor is hereinafter described as the processor 134. The second processor 134 may be responsible for communicating with the master control module 104. In one embodiment, the second processor 134 may receive the signal processed by the first processor 131 through the network device 135 and send the signal to the main control module 104. For example, the first processor 131 processes the probe signal to generate a control decision, and the second processor 134 sends the control decision to the main control module 104. In another embodiment, the second processor 134 may further process the signal processed by the first processor 131 and then send the signal to the main control module 104. In one embodiment, the second processor 134 is configured to receive the detection signal processed by the first processor 131, determine a control decision according to the processed detection signal, and send the control decision to the main control module 104. Therefore, the work division cooperation can be realized, and the efficiency and the processing speed are improved.

In some embodiments, the processors 131-134 include a plurality of first processors, such as the processor 131-133 shown as the first processor. The

first processor

131 and 133 process the detection signal. In one embodiment, the plurality of

first processors

131 and 133 may process the detection signals independently, process different detection signals, or process the same detection signal differently. In another embodiment, the plurality of

first processors

131 and 133 may cooperatively process the detection signal. After the detection signal is processed by a first processor 131, it can be further processed by another processor 132. For example, the first processor 131 may perform processes of removing noise, enhancing, restoring, segmenting, and/or extracting features, etc. on the image data. Another first processor 132 compresses and/or stores the processed image data, etc. The first processor 131 and the first processor 132 may have different characteristics, and the characteristics of the processors can be fully utilized to process the detection signals faster and better. The processing speed can be increased by the cooperative work of the

first processors

131 and 133.

In one embodiment, the second processor 134 is communicatively connected to the plurality of

first processors

131 and 133 through the network device 135, and is configured to receive the processed probe signals of the plurality of

first processors

131 and 133 and determine the control decision according to the processed probe signals. After the multiple first processors 131-133 process different detection signals or process the same detection signal differently, the processed detection signals are provided to the second processor 134, and the second processor 134 determines a control decision according to different processing results, so that a better control decision can be determined. In one embodiment, the second processor 134 determines the control decision based on the processed different detection signals, taking into account the different detection signals. For example, control decisions to plan a movement path of the mobile device 100 are determined from the detection signals of the camera and the radar. In another embodiment, the second processor 134 determines the control decision based on the data of the same detection signal after different processing, and the combined consideration.

The at least one

processor

131 and 134 are configured to process the detection signal using an artificial neural network. And inputting the detection signal or the detection signal after the pretreatment into an artificial neural network for processing to obtain a processing result. The method can realize deep learning, artificial intelligence and high processing speed, and particularly has obviously improved speed in the aspect of processing big data. The lan unit 103 provides a hardware basis for the operation of the artificial neural network algorithm, so that intelligent control of the mobile device 100 and the like can be realized, and the mobile device 100 is more intelligent.

In one embodiment, the detection device 102 includes a camera for capturing images and generating corresponding image data, and the

processor

131 and 134 are configured to process the image data and determine control decisions based on the processed image data. The image data volume is large, the processing algorithm is complex, the local area network unit 103 is used for processing, the processing can be rapidly carried out, and the workload of the main control module 104 is reduced. In some embodiments, the image data may be processed using an artificial neural network.

In some embodiments, the

processor

131 and 134 are configured to identify the captured object and/or determine the relative position of the captured object and the mobile device 100 based on the image data, and determine corresponding control decisions. The camera may capture a subject, the image data including image data of the subject, process the image data, identify the subject and/or determine a relative position. In some embodiments, the control decision comprises at least one of: a decision to control the mobile device 100 to approach the object being photographed, a decision to control the mobile device to move away from the object being photographed, a decision to control the mobile device to track the object being photographed, a decision to control the mobile device to strike the object being photographed. The main control module 104 controls the mobile device 100 accordingly according to the control decision, for example, controls the mobile device to move to a position close to the object to be photographed, move to a position far away from the object to be photographed, track the object to be photographed, or strike the object to be photographed. Thus, timely and quick control is realized.

In some embodiments, the detection apparatus 102 includes radar, and the

processor

131 and 134 are configured to process the radar data to determine relative location information of the obstacle and the mobile device 100. The distance and orientation of the obstacle from the mobile device 100 may be determined by radar. The radar has large data volume and complex processing algorithm, and the local area network unit 103 can realize quick processing and reduce the workload of the main control module 104. In some embodiments, the radar data may be processed using an artificial neural network.

In some embodiments, the processor 131-134 is configured to determine a corresponding control decision based on the relative location information, the control decision including at least one of: planning the moving path of the mobile equipment and controlling the running state of the mobile equipment. When the distance between the mobile device 100 and the obstacle is short, the path can be re-planned, and the obstacle can be effectively avoided. Controlling the operational state of the mobile device may control the mobile device to stop advancing, control the attitude of the mobile device, and/or control the speed of movement of the mobile device, among other things.

In some embodiments, the LAN unit 103 comprises a wireless communication module 136 coupled to the at least one

processor

131 and 134. In some embodiments, the lan unit 103 of the mobile device 100 may communicate with the lan units 103 of other mobile devices 100 through the wireless communication module 136, may enable multiple mobile devices 100 to work in concert, and so on. In some embodiments, the lan unit 103 of the mobile device 100 may communicate with an external device (e.g., a computer, a mobile phone, etc.) through the wireless communication module 136. The external device may debug the

processors

131 and 134, and the like. The external device may comprise a user device through which a user may send information and/or instructions or the like to the lan unit 103. In other embodiments, the lan unit 103 of the mobile device 100 may also communicate wirelessly with other devices having a wireless communication module, such as a server, through the wireless communication module 136. The wireless communication module is arranged, so that more functions can be realized, and the user experience is improved. In some embodiments, the wireless communication module 136 includes an antenna. In some embodiments, the antenna comprises a WiFi antenna, which may enable wireless communication with external devices such as computers, mobile phones, servers, and the like. In other embodiments, the wireless communication module 136 may be omitted.

In some embodiments, the mobile device 100 includes a power module 107 coupled to the master control module 104, and the master control module 104 is configured to generate control signals to control the power module 107. The master control module 104 may control the power module 107 according to control decisions. In the embodiment of the UAV shown in FIG. 1, power module 107 includes a motor 110 and a propeller 111 coupled to motor 110. The main control module 104 can control the motor 110 to drive the propeller 111. Other types of mobile devices 100 may include other power modules 107, such as running gear such as wheels, paddles, and the like.

With continued reference to fig. 2, in some embodiments, the mobile device 100 includes a behavior module 108 coupled to the master module 104, the master module 104 configured to generate control signals to control the behavior module 108. In some embodiments, the behavior module 108 may be used for image-wise aerial photography, rescue tasks, and/or combat countermeasures tasks, among other tasks, to implement some of the tasks of the mobile device 100. The master control module 104 may control the behavior module 108 according to the control decisions.

In some embodiments, the mobile device 100 includes a power module 105 disposed on the main body 101, and the power module 105 is connected to the lan unit 103 and the main control module 104, and is configured to supply power to the lan unit 103 and the main control module 104, so as to ensure normal operation power of the lan unit 103 and the main control module 104. The power module 105 includes a battery, which may be a rechargeable battery, such as a lithium battery. The power module 105 may provide power to the

processor

131 and 134 and the network device 135.

In some embodiments, the mobile device 100 includes a sensing module 106 connected to the main control module 104, the sensing module 106 is configured to generate a sensing signal to the main control module 104, and the main control module 104 is configured to process the sensing signal. The main control module 104 may process the sensing signals and generate control signals, which may control the power module 107 and/or the behavior module 108. In some embodiments, the sensing module 106 may include a sensor, the sensor of the sensing module 106 may be different from the sensor of the detecting device 102, the data amount of the sensing signal may be smaller than the data amount of the detecting signal of the detecting device 102, and the sensing signal may be processed quickly by the main control module 104, so as to control the mobile device 100 quickly and in time. In some embodiments, the perception module 106 includes at least one of a binocular vision module and a carrierless communication positioning module. The binocular vision module can be used for height positioning, distance measurement and the like, and can be used for the unmanned aerial vehicle. The carrier-free communication positioning module can be used for indoor accurate positioning and can be used on a mobile trolley.

Fig. 3 is a schematic perspective view of an embodiment of the lan unit 103. Only two

processors

131 and 132 are shown in the figure, but not limited to two. In one embodiment, the

processors

131, 132 and the network device 135 may be stacked and may be fixed together. The plurality of

processors

131 and 132 may be separately disposed on the upper and lower sides of the network device 135, so as to facilitate connection between the

processors

131 and 132 and the network device 135.

In one embodiment, the mobile device 100 includes a power adapter board 112, the power adapter board 112 connects a power module 105 (shown in fig. 2) and a plurality of

processors

131, 132, and supplies power from the power module 105 to the plurality of

processors

131, 132, so as to supply power to the plurality of

processors

131, 132.

In one embodiment, the processor 131 includes a first power interface 1311 through which the power module 105 is coupled, and a second power interface 1312 through which the power adapter is coupled. The power adapter may be connected to an external power supply, such as mains power, to power the processor 131. During the movement of the mobile device 100, the power adapter can be unplugged from the second power interface 1312, so that the mobile device 100 can move flexibly. When the mobile device 100 stops moving, the lan unit 103 is debugged, or the like, the power adapter may be plugged into the second power interface 1312 to supply power to the processor 131, so that the power of the power module 105 may be saved. The other processors may also be similar to processor 131, including a first power interface and a second power interface.

In one embodiment, the power adapter board 112 includes a first adapter board 1121 and a second adapter board 1122, the first adapter board 1121 connects the power module 105 and the plurality of

processors

131, 132, and the second adapter board 1122 connects the power adapter and the plurality of

processors

131, 132.

Fig. 4 is a schematic perspective view of one embodiment of network device 135. Referring to fig. 3 and 4, network device 135 includes a network device power interface 1351 to which power module 105 (shown in fig. 2) may be connected. In one embodiment, the network device 135 may include a first network device power interface to connect with the power module 105 and a second network device power interface to connect with a power adapter. The first network device power interface may be connected to the power module 105 through the first adapter plate 1121, and the second network device power interface may be connected to the power adapter through the second adapter plate 1122. Network device 135 includes a plurality of network interfaces 1352, which may be coupled to a plurality of processors.

Fig. 5 is a perspective view of one embodiment of the processor 131. Fig. 6 is a perspective view of processor 131 from another angle. Referring to fig. 4-6, processor 131 includes a wired network interface 1313 through which network device 135 is wired to connect to. The wired network interface 1313 of the processor 131 is connected to the network interface 1352 of the network device 135 by wire, so that data transmission is faster and more reliable.

With continued reference to fig. 5 and 6, the interface at least one processor 131 includes a probe signal interface through which the probe device 102 (shown in fig. 2) is connected. The detection device 102 is connected with the processor 131 through a wire, and data transmission is rapid and reliable. In some embodiments, the probe signal interface includes at least one of a UART interface, a CAN interface, a USB interface, an SPI interface, and an I2C interface.

In the embodiment shown in fig. 5 and 6, the

interfaces

1314, 1315 are USB3.0 interfaces. The interface 1316 is an HDMI interface. The interface 1317 is a USB3.0 micro b interface. The

interfaces

1318, 1319 are UART interfaces. The

interfaces

1320, 1321 are CAN interfaces. Interface 1322 is the IO interface for I2C and SPI. The probing signal interface may be at least one of

interfaces

1314, 1315, 1317, 1318, 1319, 1320, 1321, 1322.

At least one processor 131 includes a master interface, and is connected to master module 104 (shown in fig. 2) through the master interface. In some embodiments, the master interface includes at least one of a UART interface, a CAN interface, and a USB interface. The master interface may be at least one of

interfaces

1314, 1315, 1317, 1318, 1319, 1320, 1321. The processor 131 and the main control module 104 are connected by an interface through a wire, so that timely and effective data transmission can be ensured.

In some embodiments, the wireless communication module 136 includes an antenna, and the at least one processor 131 includes an

antenna interface

1323, 1324 coupled to the antenna. An antenna may be plugged into the

antenna interface

1323, 1324.

In some embodiments, the processor 131 includes an interaction interface for connecting an interaction device (not shown). Debugging of the processor 131, viewing of data in the processor 131, etc. may be performed by the interaction means. The interactive interface may include at least one of an HDMI interface and a USB interface. The interactive interface may be at least one of

interfaces

1314, 1315, 1316, 1317. In some embodiments, the interaction device includes at least one of a display, a mouse, and a keyboard, and may input instructions, load programs, view data, and the like.

The other processors of the lan unit may be the same as or different from the interface of the processor 131. The interface may be set according to the actual application.

Fig. 7 is a schematic diagram illustrating another embodiment of a mobile device 200. The mobile device 200 shown in fig. 7 is a mobile cart. The lan unit 203 is disposed on the main body 201, and may be disposed on the top of the main body 201. In another embodiment, the lan unit 203 may be disposed at the bottom of the main body 201, and may be disposed on the chassis. The processor and network equipment of the lan unit 203 may be detachable and located at different locations on the body 201. The power module 207 of the mobile device 200 includes wheels, driven by a motor. The wheels may be universal wheels, such as mecanum wheels.

The mobile device 200 is similar to the mobile device 100, and the lan unit 203 is similar to the lan 103 of the mobile device 100, and the relevant points are referred to above and will not be described herein again.

FIG. 8 is a flow chart illustrating an embodiment of a control method 300 of the present application. The control method 300 is for controlling a mobile device, the mobile device including a body. The mobile device may be the

mobile device

100 or 200 described above. The control method 300 includes steps.

In step 301, a detection signal is generated by a detection device disposed in the body.

In step 302, the detection signal is processed and a lan signal is generated by a lan unit disposed in the body, the lan unit including a plurality of processors and a network device connected to the plurality of processors.

In step 303, a control signal is generated according to the lan signal by a main control module disposed on the body and communicatively connected to the lan unit.

The control method 300 has strong processing capability on the detection signal, and has high control real-time performance and reliability, so that the mobile device can react quickly.

In some embodiments, the local area network signal comprises a control decision; determining, by a processor, a control decision based on the processed detection signal; a control signal is generated based on the control decision. In some embodiments, the plurality of processors includes a first processor coupled to the detection device; the detection signal is processed by a first processor.

In some embodiments, the plurality of processors includes a second processor communicatively coupled to the first processor via a network device, the second processor coupled to the master control module; the control method 300 includes: and sending the local area network signal to the main control module through the second processor. In some embodiments, the second processor receives the probe signal processed by the first processor and determines a control decision based on the processed probe signal.

In some embodiments, the plurality of processors includes a plurality of first processors, the second processor communicatively coupled to the plurality of first processors via a network device; and determining a control decision according to the detection signals processed by the plurality of first processors. In some embodiments, the detection device comprises a camera. The image is captured by the camera and corresponding image data is generated. Processing the image data by a processor; and determining a control decision based on the processed image data. In some embodiments, a captured object is identified and/or a relative position of the captured object and the mobile device is determined from the image data and corresponding control decisions are determined by the processor. In some embodiments, the control decision comprises at least one of: a decision to control the mobile device to approach the photographed object, a decision to control the mobile device to move away from the photographed object, a decision to control the mobile device to track the photographed object, a decision to control the mobile device to strike the photographed object.

In some embodiments, the detection device comprises a radar. The radar data is processed by a processor to determine relative position information of the obstacle and the mobile device. In some embodiments, the corresponding control decisions are determined by the processor from the relative position information. The control decision comprises at least one of the following decisions: planning the moving path of the mobile equipment and controlling the running state of the mobile equipment.

In some embodiments, the probe signals are processed by at least one processor using an artificial neural network.

In some embodiments, the plurality of processors include a wired network interface through which the network device is wired, and the control method includes: the plurality of processors are in wired communication with the network device.

In some embodiments, the mobile device comprises a perception module connected with the main control module, and the control method comprises: the sensing module generates a sensing signal to the main control module, and the sensing signal is processed by the main control module.

In some embodiments, the mobile device includes a power module connected to the master control module, and the control method includes: and generating a control signal through the main control module to control the power module. In some embodiments, the mobile device includes a behavior module connected to the main control module, and the control method includes: and the behavior module is controlled by generating a control signal through the main control module.

For the method embodiments, since they substantially correspond to the apparatus embodiments, reference may be made to the apparatus embodiments for relevant portions of the description. The method embodiment and the device embodiment are complementary.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The method and apparatus provided by the embodiments of the present invention are described in detail above, and the principle and the embodiments of the present invention are explained in detail herein by using specific examples, and the description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.

Claims

1. A mobile device, comprising:

a body;

the detection device is arranged on the machine body and used for generating a detection signal;

the local area network unit is arranged on the machine body, comprises a plurality of processors and network equipment connected with the processors, is connected with the detection device and is used for receiving and processing the detection signal and generating a local area network signal; and

the main control module is arranged on the machine body, is in communication connection with the local area network unit, and is used for receiving the local area network signal and generating a control signal according to the local area network signal.

2. The mobile device of claim 1, wherein the detection means comprises at least one of a camera, a radar, a GPS, an altimeter, an inertial measurement unit, and a pressure gauge.

3. The mobile device of claim 1, wherein the processor comprises at least one of a CPU and a GPU.

4. The mobile device of claim 1, wherein the lan signal comprises a control decision, wherein the processor is configured to determine a control decision based on the processed probe signal and provide the control decision to the master module, and wherein the master module is configured to generate the control signal based on the control decision.

5. The mobile device of claim 4, wherein the plurality of processors comprises a first processor, and wherein the first processor is connected to the detection apparatus for processing the detection signal.

6. The mobile device of claim 5, wherein the plurality of processors comprises a second processor communicatively coupled to the first processor via the network device, the second processor coupled to the host module for sending the local area network signal to the host module.

7. The mobile device of claim 6, wherein the second processor is configured to receive the probe signal processed by the first processor and determine a control decision based on the processed probe signal.

8. The mobile device of claim 7, wherein the plurality of processors comprises a plurality of the first processors, and wherein the second processor is communicatively coupled to the plurality of first processors via the network device, and is configured to receive the processed probe signals of the plurality of first processors and determine a control decision based on the processed probe signals.

9. The mobile device of claim 4, wherein the detection device comprises a camera configured to capture an image and generate corresponding image data, and wherein the processor is configured to process the image data and determine the control decision based on the processed image data.

10. The mobile device of claim 9, wherein the processor is configured to identify a captured object and/or determine a relative position of the captured object and the mobile device based on the image data, and determine a corresponding control decision.

11. The mobile device of claim 10, wherein the control decision comprises at least one of: a decision to control the mobile device to approach the photographed object, a decision to control the mobile device to move away from the photographed object, a decision to control the mobile device to track the photographed object, a decision to control the mobile device to strike the photographed object.

12. A mobile device according to claim 4, wherein the detection means comprises a radar and the processor is arranged to process the radar data to determine relative position information of an obstacle and the mobile device.

13. The mobile device of claim 12, wherein the processor is configured to determine a corresponding control decision based on the relative location information, wherein the control decision comprises at least one of: a decision for planning a moving path of the mobile equipment and a decision for controlling the running state of the mobile equipment.

14. The mobile device of claim 1, wherein at least one of the processors is configured to process the probe signals using an artificial neural network.

15. The mobile device of claim 1, wherein at least one of the processors comprises a probing signal interface, and wherein the probing signal interface is configured to interface with the probing apparatus.

16. The mobile device of claim 15, wherein the probing signal interface comprises at least one of a UART interface, a CAN interface, a USB interface, an SPI interface, and an I2C interface.

17. The mobile device of claim 1, wherein at least one of the processors comprises a master interface, and wherein the master interface is configured to connect to the master module.

18. The mobile device of claim 17, wherein the master interface comprises at least one of a UART interface, a CAN interface, and a USB interface.

19. The mobile device of claim 1, wherein a plurality of the processors comprise a wired network interface, and wherein the wired network interface is configured to be wired to the network device.

20. The mobile device of claim 1, wherein the mobile device comprises a power module disposed on the body, and the power module is connected to the lan unit and the main control module and configured to supply power to the lan unit and the main control module.

21. The mobile device of claim 20, wherein the processor comprises a first power interface through which the power module is coupled and a second power interface through which a power adapter is coupled.

22. The mobile device of claim 20, wherein the mobile device comprises a power adapter board, wherein the power adapter board connects the power module and the plurality of processors.

23. The mobile device of claim 1, wherein the processor comprises an interaction interface for connecting an interaction means.

24. The mobile device of claim 23, wherein the interaction means comprises at least one of a display, a mouse, and a keyboard.

25. The mobile device of claim 1, wherein the local area network unit comprises a wireless communication module coupled to at least one of the processors.

26. The mobile device of claim 25, wherein the wireless communication module comprises an antenna, and wherein at least one of the processors comprises an antenna interface coupled to the antenna.

27. The mobile device of claim 26, wherein the antenna comprises a WiFi antenna.

28. The mobile device of claim 1, wherein the mobile device comprises a sensing module connected to the main control module, the sensing module is configured to generate a sensing signal to the main control module, and the main control module is configured to process the sensing signal.

29. The mobile device of claim 28, wherein the perception module comprises at least one of a binocular vision module and a carrierless communication positioning module.

30. The mobile device of claim 1, comprising a power module connected to the master control module, wherein the master control module is configured to generate the control signal to control the power module.

31. The mobile device of claim 1, wherein the mobile device comprises a behavior module connected to the main control module, and the main control module is configured to generate the control signal to control the behavior module.

32. A control method for controlling a mobile device including a body, the control method comprising:

generating a detection signal through a detection device arranged on the machine body;

processing the detection signal through a local area network unit arranged on the machine body and generating a local area network signal, wherein the local area network unit comprises a plurality of processors and network equipment connected with the processors; and

and generating a control signal according to the local area network signal through a main control module which is arranged on the machine body and is in communication connection with the local area network unit.

33. The control method of claim 32, wherein the detection device comprises at least one of a camera, a radar, a GPS, an altimeter, an inertial measurement unit, and a pressure gauge.

34. The control method of claim 32, wherein the processor comprises at least one of a CPU and a GPU.

35. The control method of claim 32, wherein the local area network signal comprises a control decision; the processing the probe signal and generating a local area network signal includes: determining, by the processor, a control decision based on the processed probing signal;

the generating a control signal according to the local area network signal includes: generating the control signal according to the control decision.

36. The control method of claim 35, wherein the plurality of processors includes a first processor, the first processor being coupled to the detection device; the processing the probe signal and generating a local area network signal includes: processing, by the first processor, the detection signal.

37. The control method of claim 36, wherein the plurality of processors includes a second processor communicatively coupled to the first processor via the network device, the second processor coupled to the master control module; the control method comprises the following steps: and sending the local area network signal to the main control module through the second processor.

38. The control method of claim 37, wherein said determining, by said processor, a control decision based on said processed probing signal comprises:

and receiving the detection signal processed by the first processor through the second processor, and determining a control decision according to the processed detection signal.

39. The control method of claim 38, wherein the plurality of processors includes a plurality of the first processors, and wherein the second processor is communicatively coupled to the plurality of first processors via the network device; the receiving, by the second processor, the detection signal processed by the first processor, and determining a control decision according to the processed detection signal includes:

determining the control decision based on the detection signals processed by the plurality of first processors.

40. The control method of claim 35, wherein the detection device comprises a camera; through locating the detection device of fuselage produces the detecting signal, include: shooting an image through the camera and generating corresponding image data;

the determining a control decision according to the processed detection signal includes:

processing, by the processor, the image data; and

determining the control decision based on the processed image data.

41. The control method of claim 40, wherein said determining the control decision from the processed image data comprises:

identifying, by the processor, a photographed object and/or determining a relative position of the photographed object and the mobile device from the image data, and determining a corresponding control decision.

42. The control method of claim 41, wherein the control decision comprises at least one of: a decision to control the mobile device to approach the photographed object, a decision to control the mobile device to move away from the photographed object, a decision to control the mobile device to track the photographed object, a decision to control the mobile device to strike the photographed object.

43. The control method of claim 35, wherein the detection device comprises a radar; the processing the probe signal includes: processing, by the processor, the radar data to determine relative location information of an obstacle and the mobile device.

44. The control method of claim 43, wherein the determining a control decision based on the processed probing signal comprises: determining, by the processor, a corresponding control decision based on the relative position information;

the control decision comprises at least one of: a decision for planning a moving path of the mobile equipment and a decision for controlling the running state of the mobile equipment.

45. The control method of claim 32, wherein said processing the probe signal comprises: processing, by at least one of the processors, the probe signals with an artificial neural network.

46. The control method of claim 32, wherein at least one of the processors includes a probing signal interface, and wherein the probing signal interface is coupled to the probing device.

47. The control method of claim 46, wherein the probing signal interface comprises at least one of a UART interface, a CAN interface, a USB interface, an SPI interface, and an I2C interface.

48. The method of claim 32, wherein at least one of the processors comprises a master interface, and wherein the master interface is connected to the master module.

49. The control method of claim 48, wherein the master interface comprises at least one of a UART interface, a CAN interface, and a USB interface.

50. The control method according to claim 32, wherein the plurality of processors include a wired network interface through which the network device is wired, the control method comprising: a plurality of the processors are in wired communication with the network device.

51. The control method according to claim 32, wherein the mobile device includes a power module disposed on the main body, and the power module is connected to the lan unit and the main control module and is configured to supply power to the lan unit and the main control module.

52. The control method of claim 51, wherein the processor comprises a first power interface and a second power interface, wherein the power module is connected via the first power interface, and wherein a power adapter is connected via the second power interface.

53. The control method of claim 51, wherein the mobile device comprises a power adapter board, and wherein the power adapter board connects the power module and the plurality of processors.

54. The control method of claim 32, wherein the processor comprises an interactive interface for connecting an interactive device.

55. The control method of claim 54, wherein the interactive device comprises at least one of a display, a mouse, and a keyboard.

56. The control method of claim 32, wherein the local area network unit comprises a wireless communication module coupled to at least one of the processors.

57. The control method of claim 56, wherein the wireless communication module comprises an antenna, and wherein at least one of the processors comprises an antenna interface coupled to the antenna.

58. The control method of claim 57, wherein the antenna comprises a WiFi antenna.

59. The control method according to claim 32, wherein the mobile device includes a sensing module connected to the main control module, the control method comprising: and generating a sensing signal to the main control module through the sensing module, and processing the sensing signal through the main control module.

60. The control method of claim 59, wherein the perception module comprises at least one of a binocular vision module and a carrierless communication positioning module.

61. The control method of claim 32, wherein the mobile device comprises a power module connected to the master control module, the control method comprising: and generating the control signal through the main control module to control the power module.

62. The control method according to claim 32, wherein the mobile device includes a behavior module connected to the main control module, the control method including: and generating the control signal through the main control module to control the behavior module.