CN112789572A - Control method and device for movable platform, movable platform and storage medium - Google Patents

Control method and device for movable platform, movable platform and storage medium Download PDF

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Publication number
CN112789572A
CN112789572A CN202080005357.2A CN202080005357A CN112789572A CN 112789572 A CN112789572 A CN 112789572A CN 202080005357 A CN202080005357 A CN 202080005357A CN 112789572 A CN112789572 A CN 112789572A
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data
control device
movable platform
instruction
target control
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CN202080005357.2A
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李兴
詹增煜
乔鹏飞
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

A method of controlling a movable platform, comprising: acquiring data to be synchronized and identity information of a target control device (S101); generating a synchronization request instruction (S102); sending a synchronization request command and identity information of a target control device to the movable platform (S103); receiving a synchronization request command and identity information of a target control device (S201); judging whether the device is on-line (S202); if the synchronous request command is broadcasted online (S203); sending a control instruction to the movable platform (S104); control commands of the control device and the target control device are received and executed (S204).

Description

Control method and device for movable platform, movable platform and storage medium
Technical Field
The present application relates to the field of data synchronization technologies, and in particular, to a method and an apparatus for controlling a movable platform, and a storage medium.
Background
With the explosive development of unmanned aerial vehicles in the industry field, the demand for multi-person cooperation also becomes more vigorous. For example: in power routing inspection, due to the complexity of tasks, the flight of a flying hand-operated unmanned aerial vehicle usually occurs, and a holder manually operates the holder to realize accurate tracking and detection of targets. Under such scene, data synchronization is an important problem, guarantees that each controlling means can both show unmanned aerial vehicle current state in real time and is necessary for controlling means's user, just so can guarantee the security of unmanned aerial vehicle operation.
At present, there are two main methods for synchronizing data of multiple platforms, one is that a control device requests corresponding data from an unmanned aerial vehicle at a certain frequency, and the other is that the unmanned aerial vehicle actively pushes the data all the time. However, the first method increases the bandwidth of the uplink, and the second method causes huge waste of the bandwidth as the drone always pushes the state value whose update frequency is not high. Moreover, the safety and the cooperativity of the unmanned aerial vehicle under the multi-user operation can be influenced by the two methods.
Disclosure of Invention
Based on the above, the application provides a control method and device for a movable platform, the movable platform and a storage medium.
In a first aspect, the present application provides a method for controlling a movable platform, which is applicable to a control device of the movable platform, and the method includes:
acquiring data to be synchronized and identity information of a target control device to be synchronized according to detected synchronization request operation of a user;
generating a synchronization request instruction according to the data to be synchronized;
sending the synchronization request instruction and the identity information of the target control device to a movable platform, so that the movable platform broadcasts the synchronization request instruction to the target control device according to the identity information of the target control device, and the target control device changes own cache data according to the synchronization request instruction to complete data synchronization;
and sending a control instruction to the movable platform to enable the movable platform to operate according to the control instruction and the control instruction of the target control device after data synchronization is completed.
In a second aspect, the present application provides a method for controlling a movable platform, the method being applied to the movable platform, the method including:
receiving a synchronization request instruction of a control device and identity information of a target control device;
judging whether the target control device is on-line or not according to the identity information of the target control device;
if the target control device is online, broadcasting the synchronization request instruction to the target control device, and enabling the target control device to change own cache data according to the synchronization request instruction so as to complete data synchronization;
and respectively receiving the control instruction of the control device and the control instruction of the target control device after data synchronization is finished, and operating according to the received control instruction.
In a third aspect, the present application provides a control apparatus for a movable platform, the control apparatus comprising: memory, processor, and communication circuitry;
the memory is used for storing computer programs and also used for storing data;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
acquiring data to be synchronized and identity information of a target control device to be synchronized according to detected synchronization request operation of a user;
generating a synchronization request instruction according to the data to be synchronized;
controlling the communication circuit to send the synchronization request instruction and the identity information of the target control device to a movable platform, so that the movable platform broadcasts the synchronization request instruction to the target control device according to the identity information of the target control device, and the target control device changes own cache data according to the synchronization request instruction to complete data synchronization;
and controlling the communication circuit to send a control instruction to the movable platform, so that the movable platform operates according to the control instruction and the control instruction of the target control device after data synchronization is completed.
In a fourth aspect, the present application provides a movable platform comprising: memory, processor, and communication circuitry;
the memory is used for storing computer programs and also used for storing data;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
controlling the communication circuit to receive a synchronization request instruction of the control device and identity information of a target control device;
judging whether the target control device is on-line or not according to the identity information of the target control device;
if the target control device is online, controlling the communication circuit to broadcast the synchronization request instruction to the target control device, so that the target control device changes own cache data according to the synchronization request instruction to complete data synchronization;
and controlling the communication circuit to respectively receive the control instruction of the control device and the control instruction of the target control device after data synchronization is finished, and controlling the movable platform to operate according to the received control instruction.
In a fifth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the method of controlling a movable platform according to the first aspect.
In a sixth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the method of controlling a movable platform according to the second aspect.
The embodiment of the application provides a control method and a control device for a movable platform, the movable platform and a storage medium, which are applied to the control device: acquiring data to be synchronized and identity information of a target control device to be synchronized according to detected synchronization request operation of a user; generating a synchronization request instruction according to the data to be synchronized; sending a synchronization request instruction and identity information of a target control device to a movable platform, so that the movable platform broadcasts the synchronization request instruction to the target control device according to the identity information of the target control device, and the target control device changes own cache data according to the synchronization request instruction to complete data synchronization; and sending a control instruction to the movable platform to enable the movable platform to operate according to the control instruction and the control instruction of the target control device after data synchronization is completed. Because the synchronous request instruction can be generated according to the data synchronization requirement of the user and is sent to the movable platform, so that the movable platform broadcasts to the target control device, the target control device broadcasts and changes cache data to complete data synchronization, and the control instruction is sent to the movable platform, so that the movable platform operates under the common control of the synchronized control devices, through the mode, half technical support can be provided for data synchronization between cross-control devices, because the synchronization is carried out according to the synchronization requirement of the user, the waste of bandwidth can be avoided, and because the control instruction is sent to the movable platform after the synchronization, half technical support is provided for the movable platform to operate efficiently and safely under the multi-user cooperation; after the movable platform forwards, data synchronization between cross-control devices can be realized; after the movable platform receives the control instructions of the synchronized control devices, the movable platform can operate efficiently and safely under the cooperation of multiple users. Applied to a movable platform: receiving a synchronization request instruction of a control device and identity information of a target control device; judging whether the target control device is on-line or not according to the identity information of the target control device; if the target control device is on line, broadcasting a synchronization request instruction to the target control device, and enabling the target control device to change own cache data according to the synchronization request instruction so as to complete data synchronization; and respectively receiving a control instruction of the control device and a control instruction of the target control device after data synchronization is finished, and operating according to the received control instruction. Since the target control device broadcasts the synchronization request instruction to the target control device when the target control device is online, so that the target control device changes the cache data to complete data synchronization, the other half of technical support can be provided for realizing data synchronization between cross-control devices; since the broadcast is performed when the target control device is online, the waste of bandwidth can be avoided; due to the fact that the mobile platform operates according to the received control instructions of the plurality of control devices after broadcasting, the other half of technical support can be provided for the mobile platform to operate efficiently and safely under the multi-user cooperation. When the method is applied to the movable platform, the target control device broadcasts the synchronization request instruction to the target control device when the target control device is online, so that the target control device changes the cache data to complete data synchronization, and data synchronization among cross-control devices can be realized; when the control device is applied to the movable platform, the control device sends the control instruction to the movable platform after synchronization, and when the control device is applied to the movable platform, the movable platform operates according to the received control instructions of the plurality of control devices after synchronization, so that the movable platform can operate efficiently and safely under multi-user cooperation.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for controlling a movable stage according to the present application;
FIG. 2 is a schematic flow chart diagram illustrating another embodiment of a method for controlling a movable platform according to the present application;
FIG. 3 is a schematic flow chart diagram illustrating a method for controlling a movable platform according to another embodiment of the present disclosure;
FIG. 4 is a schematic flow chart diagram illustrating a method for controlling a movable platform according to another embodiment of the present disclosure;
FIG. 5 is a schematic flow chart diagram illustrating a method for controlling a movable platform according to another embodiment of the present disclosure;
FIG. 6 is a schematic view of an application scenario of the control method of the movable platform of the present application;
FIG. 7 is a schematic flow chart diagram illustrating a method for controlling a movable platform according to yet another embodiment of the present application;
FIG. 8 is a schematic structural diagram illustrating an embodiment of a control device for a movable stage according to the present disclosure;
FIG. 9 is a schematic structural diagram of an embodiment of the movable stage of 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 some, but not all, embodiments of the present application. 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.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Along with unmanned aerial vehicle many people's collaborative demand becomes flourishing, data synchronization is an important problem, guarantees that each controlling means can both show unmanned aerial vehicle current state in real time and is necessary to controlling means's user, just so can guarantee the security of unmanned aerial vehicle operation. The existing multi-platform data synchronization method wastes bandwidth and affects the safety and the cooperativity of the unmanned aerial vehicle under multi-user operation.
The embodiment of the application is applied to a control device: acquiring data to be synchronized and identity information of a target control device to be synchronized according to detected synchronization request operation of a user; generating a synchronization request instruction according to the data to be synchronized; sending a synchronization request instruction and identity information of a target control device to a movable platform, so that the movable platform broadcasts the synchronization request instruction to the target control device according to the identity information of the target control device, and the target control device changes own cache data according to the synchronization request instruction to complete data synchronization; and sending a control instruction to the movable platform to enable the movable platform to operate according to the control instruction and the control instruction of the target control device after data synchronization is completed. Because the synchronous request instruction can be generated according to the data synchronization requirement of the user and is sent to the movable platform, so that the movable platform broadcasts to the target control device, the target control device changes the cache data to complete the data synchronization, and the control instruction is sent to the movable platform, so that the movable platform operates under the common control of the synchronized control devices, through the mode, half technical support can be provided for the data synchronization between the cross-control devices, the bandwidth waste can be avoided because the synchronization is carried out according to the synchronization requirement of the user, and half technical support is provided for the high-efficiency and safe operation of the movable platform under the multi-user cooperation because the control instruction is sent to the movable platform after the synchronization; after the movable platform forwards, data synchronization between cross-control devices can be realized; after the movable platform receives the control instructions of the synchronized control devices, the movable platform can operate efficiently and safely under the cooperation of multiple users. Applied to a movable platform: receiving a synchronization request instruction of a control device and identity information of a target control device; judging whether the target control device is on-line or not according to the identity information of the target control device; if the target control device is on line, broadcasting a synchronization request instruction to the target control device, and enabling the target control device to change own cache data according to the synchronization request instruction so as to complete data synchronization; and respectively receiving a control instruction of the control device and a control instruction of the target control device after data synchronization is finished, and operating according to the received control instruction. Since the target control device broadcasts the synchronization request instruction to the target control device when the target control device is online, so that the target control device changes the cache data to complete data synchronization, the other half of technical support can be provided for realizing data synchronization between cross-control devices; since the broadcast is performed when the target control device is online, the waste of bandwidth can be avoided; due to the fact that the mobile platform operates according to the received control instructions of the plurality of control devices after broadcasting, the other half of technical support can be provided for the mobile platform to operate efficiently and safely under the multi-user cooperation. When the method is applied to the movable platform, the target control device broadcasts the synchronization request instruction to the target control device when the target control device is online, so that the target control device changes the cache data to complete data synchronization, and data synchronization among cross-control devices can be realized; when the control device is applied to the movable platform, the control device sends the control instruction to the movable platform after synchronization, and when the control device is applied to the movable platform, the movable platform operates according to the received control instructions of the plurality of control devices after synchronization, so that the movable platform can operate efficiently and safely under multi-user cooperation.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The control method of the movable platform in the embodiment of the application includes a control method of the movable platform applied to a control device of the movable platform (referred to as a control device side method for short) and a control method of the movable platform applied to the movable platform (referred to as a movable platform side method for short). For convenience of description and to facilitate better understanding of the method for controlling the movable platform according to the embodiment of the present application, the method for controlling the apparatus and the method for controlling the movable platform will be described in detail below in conjunction.
It should be noted that, although the control device side method and the movable platform side method are described in combination, the control device side method and the movable platform side method are independent of each other, and the control device side method provides half technical support for realizing data synchronization between cross-control devices and enabling the movable platform to operate efficiently and safely under multi-user cooperation; the method at the mobile platform end provides the other half of technical support for realizing data synchronization between cross-control devices and enabling the mobile platform to run efficiently and safely under multi-user cooperation; when the control device side method and the movable platform side method are combined together, data synchronization between cross-control devices can be achieved, and the movable platform can operate efficiently and safely under multi-user cooperation.
Referring to fig. 1 to 3, fig. 1 is a schematic flowchart illustrating an embodiment of a method for controlling a movable platform according to the present application, and fig. 2 is a schematic flowchart illustrating another embodiment of the method for controlling a movable platform according to the present application; fig. 3 is a flowchart illustrating a method for controlling a movable platform according to another embodiment of the present invention. It should be noted that the method of fig. 1 is a control device side method, the method of fig. 2 is a movable platform side method, and the method of fig. 3 is a method in which the control device side method and the movable platform side method are combined together.
The control device side method comprises the following steps: step S101, step S102, step S103, and step S104; the movable platform end method comprises the following steps: step S201, step S202, step S203, and step S204.
The control device end method comprises the following steps:
step S101: and acquiring the data to be synchronized and the identity information of the target control device to be synchronized according to the detected synchronization request operation of the user.
In this embodiment, the synchronization request operation may be an operation of locally requesting the target control device to perform data synchronization.
In the embodiments of the present application, the movable platform refers to various platforms that can be automatically moved or moved under controlled conditions, for example: pan-tilt (e.g., pan-tilt camera, etc.), drone, vehicle, drone vehicle, ground robot, drone, and the like. The movable platform can also be a combination of the above platforms, for example, an unmanned aerial vehicle, a vehicle, an unmanned vehicle, a ground robot, an unmanned ship and other devices carried on the ground form the movable platform together, such as an unmanned aerial vehicle carrying a pan-tilt camera.
The control means of the movable platform may refer to means for directly or indirectly controlling the movable platform. Taking unmanned aerial vehicle as an example, controlling means can be remote controller, control station, ground station, personal computer, mobile terminal, etc. The control device can also be a combined control device, for example, a mobile terminal is connected with a remote controller to form a combined control terminal. Taking an unmanned aerial vehicle as an example, a user sends an instruction on a mobile terminal to transmit to a remote controller, and then the remote controller controls the unmanned aerial vehicle; for another example, the mobile terminal and the personal computer are connected with the ground station to form a combined control terminal, and a user sends an instruction on the mobile terminal and the personal computer to transmit to the ground station and controls the unmanned aerial vehicle through the ground station; and so on.
The user input can be operated in two ways, one is that the user can operate on the control device, and the other is that for the combined control device, the user can adopt an indirect way: an operation is input at one control device, and the control device transmits an instruction corresponding to the operation to the other control device. Therefore, the synchronization request operation of the user may be input by the user at the user terminal (i.e., the device operated by the user input) and then transmitted to the control device, or may be input by the user at the control device.
The identity information of the control apparatus may be information for identifying the control apparatus identity to distinguish different control apparatuses, such as a unique identification code, an equipment identification code, an IP address, and the like. For example: control device 1, control device 2, control device 3. In this embodiment, the identity information of the control device can be used to determine which devices are currently connected and to determine the destination of data synchronization. The identity information of the target control device is the destination for determining data synchronization.
Step S102: and generating a synchronization request instruction according to the data to be synchronized.
In this embodiment, the synchronization request instruction may be an instruction for locally requesting the target control device to perform data synchronization.
Step S103: and sending a synchronization request instruction and the identity information of the target control device to the movable platform, so that the movable platform broadcasts the synchronization request instruction to the target control device according to the identity information of the target control device, and the target control device changes own cache data according to the synchronization request instruction to complete data synchronization.
In this embodiment, the target control device may change its own cache data according to the synchronization request instruction to complete data synchronization, or the target control device may change its own cache data according to the synchronization request instruction to complete data synchronization with the local device.
In this embodiment of the present application, the control device may generate a synchronization request instruction according to a data synchronization requirement of a user, and send the synchronization request instruction to the mobile platform, so that the mobile platform broadcasts to the target control device, and after the target control device receives the synchronization request instruction broadcasted by the mobile platform, the target control device changes its own cache data to enable the target control device to complete data synchronization with the local control device, thereby providing technical support for subsequent operation of the mobile platform under common control of the synchronized control devices (the local control device and the target control device), that is, in this embodiment of the present application, the purpose of enabling the target control device to complete data synchronization with the local control device is to subsequently enable the mobile platform to operate under common control of the synchronized control devices. Because synchronization is performed according to the synchronization requirement of the user (i.e. on-demand synchronization), the control device does not request corresponding data from the movable platform at a certain frequency, nor does the movable platform actively push the data all the time, and by this way, the waste of bandwidth can be avoided.
It should be noted that the control device may request data synchronization (i.e. initiate a synchronization request command), so that the target control device completes data synchronization with the local device; the control device may also receive a synchronization request command from another control device broadcasted by the mobile platform (i.e., the target control device of the synchronization request command from the other control device includes the local control device) to synchronize data locally with the other control device.
Movable platform end method:
step S201: and receiving a synchronization request instruction of the control device and identity information of the target control device.
Step S202: and judging whether the target control device is on line or not according to the identity information of the target control device.
Step S203: if the target control device is on line, a synchronization request instruction is broadcasted to the target control device, so that the target control device changes own cache data according to the synchronization request instruction to complete data synchronization.
In this embodiment, the target control device may change its own cache data according to the synchronization request instruction to complete data synchronization, where the target control device changes its own cache data according to the synchronization request instruction to complete data synchronization with the control device (i.e., the control device that sends the synchronization request instruction).
And when the target control device is determined to be on-line according to the received identity information of the target control device, broadcasting the received synchronization request instruction to the target control device, so that the target control device changes the cache data of the target control device to complete data synchronization with the control device, and thus, data synchronization between cross-control devices can be realized. Because the mobile platform broadcasts the synchronous request instruction when the target control device is online, the mobile platform does not actively push data all the time in the prior art, and the waste of bandwidth can be avoided by the mode.
After receiving the synchronization request command broadcasted by the movable platform, the target control device can change the cache data thereof according to the synchronization request command so as to complete the data synchronization with the control device. The details of the target control device changing its own cache data according to the synchronization request command to complete data synchronization with the control device are substantially the same as those of the control device receiving the synchronization request command of other control devices broadcasted by the movable platform to complete data synchronization with other control devices, and the detailed description is specifically referred to the following detailed description and is not repeated herein.
In an embodiment, in step S201, after receiving the synchronization request command of the control device and the identity information of the target control device, the movable platform may further feed back a confirmation receiving command to the control device; or in step S203, after the movable platform broadcasts the synchronization request command to the target control device, the movable platform may also feed back a confirmation receiving command to the control device; and the control device receives a confirmation receiving instruction fed back by the movable platform.
In an embodiment, in step S203, after the mobile platform broadcasts the synchronization request instruction to the target control apparatus, and after the target control apparatus receives the synchronization request instruction broadcasted by the mobile platform, the target control apparatus completes data synchronization according to the synchronization request instruction broadcasted by the mobile platform, and simultaneously feeds back a reception confirmation instruction to the mobile platform; and after receiving the receiving confirmation instruction fed back by the target control device, the movable platform stops broadcasting the synchronous request instruction. In this way, waste of bandwidth can be further avoided.
The control device end method comprises the following steps:
step S104: and sending a control instruction to the movable platform to enable the movable platform to operate according to the control instruction and the control instruction of the target control device after data synchronization is completed.
Movable platform end method:
step S204: and respectively receiving a control instruction of the control device and a control instruction of the target control device after data synchronization is finished, and operating according to the received control instruction.
After the control device and the target control device realize data synchronization between the cross-control devices, the control device and the target control device respectively send control instructions to the movable platform, and the movable platform receives the control instructions of the control device and the control instructions of the target control device after data synchronization is completed and operates according to the received control instructions. Because the received control instruction executed by the movable platform is the control instruction sent by the control device and the target control device after data synchronization, the movable platform can operate efficiently and safely under multi-user cooperation in this way.
After the control device and the target control device realize data synchronization between the cross control devices, the control device and the target control device can display the synchronized data on a display screen in real time, so that the operation is more convenient for users, and the safety of the users operating the movable platform can be ensured.
The embodiment of the application is applied to a control device: acquiring data to be synchronized and identity information of a target control device to be synchronized according to detected synchronization request operation of a user; generating a synchronization request instruction according to the data to be synchronized; sending a synchronization request instruction and identity information of a target control device to a movable platform, so that the movable platform broadcasts the synchronization request instruction to the target control device according to the identity information of the target control device, and the target control device changes own cache data according to the synchronization request instruction to complete data synchronization with the local device; and sending a control instruction to the movable platform to enable the movable platform to operate according to the control instruction and the control instruction of the target control device after data synchronization is completed. Because the synchronous request instruction can be generated according to the data synchronization requirement of the user and is sent to the movable platform, so that the movable platform broadcasts to the target control device, the target control device changes the cache data of the target control device to complete data synchronization, and the control instruction is sent to the movable platform, so that the movable platform operates under the common control of the synchronized control devices, through the mode, half technical support can be provided for the data synchronization between the cross-control devices, because the synchronization is carried out according to the synchronization requirement of the user, the waste of bandwidth can be avoided, and because the control instruction is sent to the movable platform after the synchronization, half technical support is provided for the movable platform to operate efficiently and safely under the multi-user cooperation; after the movable platform forwards, data synchronization between cross-control devices can be realized; after the movable platform receives the control instructions of the synchronized control devices, the movable platform can operate efficiently and safely under the cooperation of multiple users. Applied to a movable platform: receiving a synchronization request instruction of a control device and identity information of a target control device; judging whether the target control device is on-line or not according to the identity information of the target control device; if the target control device is on line, broadcasting a synchronization request instruction to the target control device, and enabling the target control device to change own cache data according to the synchronization request instruction so as to complete data synchronization with the local data; and respectively receiving a control instruction of the control device and a control instruction of the target control device after data synchronization is finished, and operating according to the received control instruction. When the target control device is online, the synchronization request instruction is broadcasted to the target control device, so that the target control device changes the cache data of the target control device to complete data synchronization, and the other half of technical support can be provided for realizing data synchronization among the cross-control devices; since the broadcast is performed when the target control device is online, the waste of bandwidth can be avoided; due to the fact that the mobile platform operates according to the received control instructions of the plurality of control devices after broadcasting, the other half of technical support can be provided for the mobile platform to operate efficiently and safely under the multi-user cooperation. When the method is applied to the movable platform, the target control device broadcasts the synchronization request instruction to the target control device when the target control device is online, so that the target control device changes the cache data of the target control device to complete data synchronization, and data synchronization among cross-control devices can be realized; when the control device is applied to the movable platform, the control device sends the control instruction to the movable platform after synchronization, and when the control device is applied to the movable platform, the movable platform operates according to the received control instructions of the plurality of control devices after synchronization, so that the movable platform can operate efficiently and safely under multi-user cooperation.
For the control device side method:
in an embodiment, the synchronization request operation of the user is from the user side, and before step S101, it is necessary to ensure that the control device is connected to the user side and the movable platform, that is, before step S101, the method includes: and respectively keeping the connection state with the user terminal and the movable platform. Specifically, the heartbeat packets are respectively connected with the user terminal and the movable platform.
In one embodiment, to ensure further avoidance of wasted bandwidth and to ensure timeliness of data synchronization, the control device requires data synchronization upon determining that the target control device is online. That is, step S103 may further include: judging whether the target control device is on-line; and if the target control device is online, sending a synchronous request instruction and the identity information of the target control device to the movable platform. Specifically, determining whether the target control device is online may further include: receiving connection condition information broadcasted by a movable platform; and judging whether the target control device is on line or not according to the connection condition information broadcasted by the movable platform, wherein the connection condition information comprises the identity information of the control device which is currently in a connection state with the movable platform.
In practical application, the user side can send heartbeat packets to the control device at preset time intervals so that the control device can know the existence of the user side; the control device may send heartbeat packets to the movable platform at predetermined time intervals to make the movable platform aware of the presence of the control device.
Correspondingly, the movable platform end method comprises the following steps:
step S202, determining whether the target control device is online according to the identity information of the target control device, and may further include: collecting connection condition information; and judging whether the target control device is online or not according to the identity information of the target control device and the collected connection condition information, wherein the connection condition information comprises the identity information of the control device which is currently connected with the movable platform.
Specifically, connection condition information is collected by a heartbeat packet. In practical application, the movable platform receives heartbeat packets of the control device at preset time intervals, so that the identity information of the control device which is currently connected with the movable platform is obtained.
After acquiring the connection condition information, the mobile platform can also broadcast the connection condition information to the online control devices, so that each online control device can acquire which current control devices are online and determine whether to request data synchronization.
When the user side accesses the control device for the first time, the current data of the movable platform needs to be requested, so that the data of the local and movable platforms are kept synchronous, and the current data of the movable platform is provided for the subsequent operation of the user. Referring to fig. 4, the control device side method includes: step S105, step S106, step S107; the movable platform end method comprises the following steps: step S205 and step S206.
Step S105 (control device side method): and generating a data request instruction according to the detected data request operation of the first accessed user side.
Step S106 (control device side method): and sending a data request instruction to the movable platform so that the movable platform returns the current data of the movable platform according to the data request instruction.
Step S205 (movable platform side method): and receiving a data request command of the control device.
Step S206 (movable platform side method): and sending the current data of the movable platform to the control device according to the data request instruction so as to enable the control device to cache the current data of the movable platform.
Step S107 (control device side method): and receiving the current data returned by the movable platform, and caching the current data of the movable platform. Thereby keeping the data of the local and mobile platforms synchronized.
In one embodiment, if the data requested by the user to be synchronized is data related to the mobile platform, the mobile platform may be requested to change the related data before the user requests the data synchronization, and the data synchronization may be initiated to the target control device after the mobile platform changes the related data to keep the data of the mobile platform and the local data synchronized. Referring to fig. 5, the control device side method includes: step S108, step S109, step S110, step S111; the movable platform end method comprises the following steps: step S207, step S208, and step S209.
Step S108 (control device side method): and acquiring data to be changed according to the detected change request operation of the user.
Step S109 (control device side method): and generating a change request instruction according to the data to be changed.
Step S110 (control device side method): and sending a change request instruction to the movable platform so that the movable platform changes the relevant data thereof according to the change request instruction.
Step S207 (movable platform side method): and receiving a change request instruction of the control device.
Step S208 (movable platform side method): and changing the relevant data of the user according to the change request instruction. Thereby keeping the data of the movable platform and the local synchronous.
Step S209 (movable platform side method): and sending a change success confirmation instruction to the control device.
Step S111 (control device side method): and receiving a change success confirmation instruction returned by the movable platform.
In the embodiment of the application, data is cached as much as possible, a synchronization request instruction is sent to the movable platform when the data is changed, data synchronization with a target control device is requested, and after all destinations receive the synchronization request instruction, the movable platform stops broadcasting.
In one embodiment, the data to be synchronized includes data related to the movable platform. In particular, when the movable platform comprises a drone, the data to be synchronized comprises flight related data.
In another embodiment, the data to be synchronized includes custom data associated with the user side. For example: the user side can be a mobile terminal or a personal computer, and when the user inputs data at the user side, the types of the data are possibly different, and the data are defined by the user side. For the synchronization of user-defined data, the movable platform provides a channel to transparently transmit the data of the user side, and the user side can define a protocol format by itself, so that the method can be suitable for the synchronization of various data of the user side and even segmented data of large files.
For example, referring to fig. 6, in a practical application, the movable platform is referred to as a sky end for short, and the movable platform may include an unmanned aerial vehicle, a cradle head carried on the unmanned aerial vehicle, and a cradle head camera carried on the unmanned aerial vehicle. The control device comprises a ground station A, a ground station B and a ground station C, wherein the ground station A is connected with a client A (android mobile phone), the ground station B is connected with a client B (apple mobile phone), and the ground station C is connected with a client C (personal computer). The ground station A, the ground station B and the ground station C are directly communicated with the sky end. If the client A is accessed to the ground station A for the first time, the ground station A can request the current data of the sky end from the sky end, and the ground station A receives and caches the current data to keep synchronous with the data of the sky end. And then if the flying height of the client A is set to be 100 meters, requesting to change the flying height of the sky end to be 100 meters from the sky end, and returning a change success confirmation instruction to the sky end to indicate that the data of the sky end and the client A are kept synchronous. Then, the ground station A sends a request for requiring that the flying height is 100 meters synchronously with the ground station B and the ground station C to the sky end, the sky end broadcasts the request for the flying height of 100 meters to the ground station B and the ground station C under the condition that the ground station B and the ground station C are online, the ground station B and the ground station C buffer the flying height of 100 meters after receiving the request, the sky end stops broadcasting after receiving a feedback receiving success confirmation instruction, and the ground station A, the ground station B, the ground station C and the sky end successfully synchronize data.
In general, data to be synchronized includes original data to be synchronized, which facilitates synchronization of the data between different control devices, and data sent by one control device can be recognized and acquired on another control device, and the original data to be synchronized needs to be converted into data that can be recognized and acquired on each control device, and then the data is transmitted. In particular, the lightweight data format can simplify the workload of representing complex data structures, is smaller and has no poor description capability, and can effectively improve the network transmission speed.
In an embodiment, in step S102, generating a synchronization request instruction according to the data to be synchronized may include: converting original data to be synchronized into data in a lightweight data format; and generating a synchronous request instruction according to the data in the lightweight data format. The converting the original data to be synchronized into the data in the lightweight data format may further include: and converting the original data to be synchronized into data in a JSON data format or a Protobuf data format. Further, converting the original data to be synchronized into data in a JSON data format or a Protobuf data format, which may further include: converting original data to be synchronized into data in a Key-Value data format; and serializing the data in the Key-Value data format into binary data.
Wherein, Key represents a certain attribute of the movable platform, and Value represents the specific Value of the attribute. For example, Key "maxfight height" represents the maximum flight height of the drone, and Value ═ 100 represents the maximum flight height of the drone to be 100 meters; this Value is not necessarily a basic data type, but may also be a structure, and a specific structure may refer to the following table 1:
TABLE 1 Key-Value data Format
Figure BDA0002992753900000141
Figure BDA0002992753900000151
The Key represents Custom type data used for each control device to transmit a data structure defined by the user side.
TABLE 2 Key-Value custom data Format
Figure BDA0002992753900000152
According to the embodiment of the application, the Key-Value lightweight data synchronization method is used, so that the communication bandwidth is further reduced, the synchronization of data among different platforms can be supported, and the effect of cross-platform data synchronization is realized.
The following describes details of the control device when receiving a synchronization request command from another control device.
Referring to fig. 7, the control device side method further includes: step S112, step S113, and step S114.
Step S112: and receiving a synchronization request instruction broadcasted by the movable platform, wherein the synchronization request instruction broadcasted by the movable platform is generated by other control devices according to local data to be synchronized.
Step S113: if the identity information of the target control device of the synchronization request instruction broadcasted by the movable platform comprises local identity information, the cache data of the target control device is changed according to the synchronization request instruction broadcasted by the movable platform so as to complete data synchronization. Namely, the self cache data is changed according to the synchronization request command broadcast by the movable platform so as to complete the data synchronization with other control devices.
Step S114: and sending a control instruction to the movable platform to enable the movable platform to operate according to the control instruction of the control device and the control instructions of other control devices after data synchronization is completed.
Through the mode, data synchronization with other control devices can be completed under the data synchronization request of other control devices locally, and after the data synchronization is completed, the control instruction is sent to control the movable platform together with other control devices, so that the safety, the cooperation and the high efficiency of control are ensured.
In step S113, changing the cache data of the mobile platform according to the synchronization request command broadcasted by the mobile platform to complete data synchronization, which may further include: and changing own cache data according to the synchronization request instruction broadcasted by the movable platform to complete data synchronization, and feeding back a receiving confirmation instruction to the movable platform.
By the method, the mobile platform can confirm that the local synchronous request command is received, and can determine to stop broadcasting according to the receiving condition of the target control device, so that the waste of bandwidth can be avoided.
Correspondingly, the data to be synchronized of other control devices includes original data to be synchronized of other control devices, and the synchronization request instruction broadcasted by the movable platform is generated by the other control devices converting the original data to be synchronized of the other control devices into data in a lightweight data format and then according to the data in the lightweight data format.
At this time, in step S113, changing the cache data according to the synchronization request instruction broadcasted by the mobile platform may specifically include: acquiring data in a lightweight data format according to a synchronous request instruction broadcast by a movable platform; analyzing the data in the lightweight data format to obtain analyzed data; and according to the analyzed data, changing the cache data of the user. The data in the lightweight data format includes data in a JSON data format or a Protobuf data format. The data in the lightweight data format comprises data in a Key-Value data format.
Referring to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of the control device for a movable platform of the present application, and it is to be noted that the control device is capable of executing the steps in the control method for a movable platform applied to the control device for a movable platform, and the related contents are described in detail, please refer to the related contents of the control method for a movable platform applied to the control device for a movable platform, which is not described herein in detail.
The control device 100 includes: the device comprises a memory 1, a processor 2 and a communication circuit 3, wherein the memory 1 and the communication circuit 3 are respectively connected with the processor 2.
The processor 2 may be a micro-control unit, a central processing unit, a digital signal processor, or the like.
The memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb disk, or a removable hard disk.
The communication circuit 3 may be used for communication between the control device 100 and the outside, communication between itself and the processor 2, and communication between the memory 1 and the processor 2.
The memory 1 is used for storing computer programs and also for storing data; the processor 2 is adapted to execute the computer program and, when executing the computer program, to carry out the steps of:
acquiring data to be synchronized and identity information of a target control device to be synchronized according to detected synchronization request operation of a user; generating a synchronization request instruction according to the data to be synchronized; the control communication circuit sends a synchronization request instruction and identity information of the target control device to the movable platform, so that the movable platform broadcasts the synchronization request instruction to the target control device according to the identity information of the target control device, and the target control device changes own cache data according to the synchronization request instruction to complete data synchronization; and the control communication circuit sends a control instruction to the movable platform, so that the movable platform operates according to the control instruction and the control instruction of the target control device after data synchronization is completed.
The synchronous request operation of the user comes from the user side, and the processor realizes the following steps when executing the computer program: the control communication circuit is respectively connected with the user side and the movable platform.
Wherein, when the processor executes the computer program, the following steps are realized: and the control communication circuit is respectively connected with the user side and the movable platform through the heartbeat packet.
Wherein, when the processor executes the computer program, the following steps are realized: judging whether the target control device is on-line; and if the target control device is online, the control communication circuit sends a synchronization request instruction and the identity information of the target control device to the movable platform.
Wherein, when the processor executes the computer program, the following steps are realized: and judging whether the target control device is on line or not according to the connection condition information broadcasted by the movable platform, wherein the connection condition information comprises the identity information of the control device which is currently in a connection state with the movable platform.
Wherein, when the processor executes the computer program, the following steps are realized: the control communication circuit receives connection status information broadcast by the movable platform.
Wherein the data to be synchronized comprises data related to the movable platform.
Wherein, the movable platform includes unmanned aerial vehicle, treats that synchronous data includes flight relevant data.
The data to be synchronized comprises custom data related to the user side.
The data to be synchronized comprises original data to be synchronized, and the processor realizes the following steps when executing the computer program: converting original data to be synchronized into data in a lightweight data format; and generating a synchronous request instruction according to the data in the lightweight data format.
Wherein, when the processor executes the computer program, the following steps are realized: and converting the original data to be synchronized into data in a JSON data format or a Protobuf data format.
Wherein, when the processor executes the computer program, the following steps are realized: converting original data to be synchronized into data in a Key-Value data format; and serializing the data in the Key-Value data format into binary data.
Wherein, Key represents a certain attribute of the movable platform, and Value represents the specific Value of the attribute.
Wherein Value comprises a structure.
The Key represents Custom type data used for each control device to transmit a data structure defined by the user side.
Wherein, when the processor executes the computer program, the following steps are realized: generating a data request instruction according to the detected data request operation of the first accessed user side; the control communication circuit sends a data request instruction to the movable platform so that the movable platform returns the current data of the movable platform according to the data request instruction; and the control communication circuit receives the current data returned by the movable platform and controls the memory to cache the current data of the movable platform.
Wherein, when the processor executes the computer program, the following steps are realized: acquiring data to be changed according to the detected change request operation of the user; generating a change request instruction according to the data to be changed; the control communication circuit sends a change request instruction to the movable platform so that the movable platform changes own related data according to the change request instruction; and the control communication circuit receives a change success confirmation instruction returned by the movable platform.
Wherein, when the processor executes the computer program, the following steps are realized: the control communication circuit receives a synchronization request instruction broadcasted by the movable platform, and the synchronization request instruction broadcasted by the movable platform is generated by other control devices according to the data to be synchronized of the other control devices; if the identity information of the target control device of the synchronization request instruction broadcasted by the movable platform comprises local identity information, controlling the memory to change the cache data of the memory according to the synchronization request instruction broadcasted by the movable platform so as to complete data synchronization; and the control communication circuit sends a control instruction to the movable platform, so that the movable platform operates according to the control instruction of the control device and the control instructions of other control devices after data synchronization is completed.
Wherein, when the processor executes the computer program, the following steps are realized: and controlling the memory to change own cache data according to the synchronization request instruction broadcasted by the movable platform so as to complete data synchronization, and controlling the communication circuit to feed back a confirmation receiving instruction to the movable platform.
The data to be synchronized of other control devices comprises original data to be synchronized of other control devices, and the synchronization request instruction broadcasted by the movable platform is generated by converting the original data to be synchronized of other control devices into data in a light-weight data format by other control devices and then generating the data according to the data in the light-weight data format; the processor, when executing the computer program, implements the steps of: acquiring data in a lightweight data format according to a synchronous request instruction broadcast by a movable platform; analyzing the data in the lightweight data format to obtain analyzed data; and controlling the memory to change the cache data of the memory according to the analyzed data.
The data in the lightweight data format includes data in a JSON data format or a Protobuf data format.
The data in the lightweight data format comprises data in a Key-Value data format.
Wherein, when the processor executes the computer program, the following steps are realized: and the control communication circuit receives a confirmation receiving instruction fed back by the movable platform.
Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of the present disclosure, it should be noted that the present disclosure is applicable to a mobile platform capable of executing the steps in the above-mentioned method for controlling a mobile platform applied to a mobile platform, and the detailed description thereof is please refer to the related contents of the above-mentioned method for controlling a mobile platform applied to a mobile platform, which is not repeated herein.
The movable platform 200 includes: memory 10, processor 20 and communication circuit 30, memory 10 and communication circuit 30 are connected with processor 20 respectively.
The processor 20 may be a micro-control unit, a central processing unit, a digital signal processor, or the like.
The memory 10 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb disk, or a removable hard disk, among others.
The communication circuit 30 may be used for the mobile platform 200 to communicate with the outside, or may be used for communication with the processor 20 itself, and communication between the memory 10 and the processor 20.
The memory 10 is used for storing computer programs and also for storing data; the processor 20 is arranged to execute the computer program and when executing the computer program, to carry out the steps of:
the control communication circuit receives a synchronization request instruction of the control device and identity information of a target control device; judging whether the target control device is on-line or not according to the identity information of the target control device; if the target control device is on-line, the control communication circuit broadcasts a synchronization request instruction to the target control device, so that the target control device changes own cache data according to the synchronization request instruction to complete data synchronization; and the control communication circuit respectively receives the control instruction of the control device and the control instruction of the target control device after data synchronization is finished, and controls the movable platform to operate according to the received control instruction.
Wherein, when the processor executes the computer program, the following steps are realized: and after receiving the receiving confirmation instruction fed back by the target control device, controlling the communication circuit to stop broadcasting the synchronous request instruction.
Wherein, when the processor executes the computer program, the following steps are realized: and judging whether the target control device is online or not according to the identity information of the target control device and the collected connection condition information, wherein the connection condition information comprises the identity information of the control device which is currently connected with the movable platform.
Wherein, when the processor executes the computer program, the following steps are realized: the control communication circuit collects connection condition information.
Wherein, when the processor executes the computer program, the following steps are realized: and the control communication circuit collects the connection condition information through the heartbeat packet.
Wherein, when the processor executes the computer program, the following steps are realized: the control communication circuit broadcasts the connection condition information to the control device on-line.
Wherein, when the processor executes the computer program, the following steps are realized: the control communication circuit receives a data request instruction of the control device; and controlling the communication circuit to send the current data of the movable platform to the control device according to the data request instruction.
Wherein, when the processor executes the computer program, the following steps are realized: the control communication circuit receives a change request instruction of the control device; controlling the memory to change own related data according to the change request instruction; the control communication circuit transmits a change success confirmation instruction to the control device.
Wherein, when the processor executes the computer program, the following steps are realized: the control communication circuit feeds back an acknowledgement reception instruction to the control device.
The present application also provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the method of controlling a movable platform as applied to the apparatus for controlling a movable platform as defined in any one of the above. For a detailed description of relevant contents, reference is made to the above-mentioned relevant contents section, which is not described herein again in a redundant manner.
The computer readable storage medium may be an internal storage unit of the control device of the above-mentioned movable platform, such as a hard disk or a memory. The computer readable storage medium may also be an external storage device such as a hard drive equipped with a plug-in, smart memory card, secure digital card, flash memory card, or the like.
The present application also provides another computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the control method applied to a movable platform of a movable platform as any one of the above. For a detailed description of relevant contents, reference is made to the above-mentioned relevant contents section, which is not described herein again in a redundant manner.
The computer readable storage medium may be an internal storage unit of the above-mentioned removable platform, such as a hard disk or a memory. The computer readable storage medium may also be an external storage device such as a hard drive equipped with a plug-in, smart memory card, secure digital card, flash memory card, or the like.
It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
The above description is only for the specific embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (66)

1. A method for controlling a movable platform, adapted for use in a control apparatus for a movable platform, the method comprising:
acquiring data to be synchronized and identity information of a target control device to be synchronized according to detected synchronization request operation of a user;
generating a synchronization request instruction according to the data to be synchronized;
sending the synchronization request instruction and the identity information of the target control device to a movable platform, so that the movable platform broadcasts the synchronization request instruction to the target control device according to the identity information of the target control device, and the target control device changes own cache data according to the synchronization request instruction to complete data synchronization;
and sending a control instruction to the movable platform to enable the movable platform to operate according to the control instruction and the control instruction of the target control device after data synchronization is completed.
2. The method according to claim 1, wherein the synchronization request operation of the user comes from a user side, and before the obtaining of the data to be synchronized and the identity information of the target control terminal to be synchronized according to the detected synchronization request operation of the user, the method comprises:
and respectively keeping the connection state with the user side and the movable platform.
3. The method of claim 2, wherein maintaining the connection with the user side and the movable platform, respectively, comprises:
and the heartbeat package is respectively kept in a connection state with the user side and the movable platform.
4. The method of claim 1, wherein sending the synchronization request command and the identity information of the target control device to the movable platform comprises:
judging whether the target control device is on-line or not;
and if the target control device is online, sending the synchronization request instruction and the identity information of the target control device to the movable platform.
5. The method of claim 4, wherein the determining whether the target control device is online comprises:
and judging whether the target control device is online or not according to the connection condition information broadcasted by the movable platform, wherein the connection condition information comprises the identity information of the control device which is currently connected with the movable platform.
6. The method of claim 5, wherein before determining whether the target control device is online according to the connection status information broadcasted by the movable platform, the method comprises:
and receiving the connection condition information broadcasted by the movable platform.
7. The method of claim 1, wherein the data to be synchronized comprises data related to the movable platform.
8. The method of claim 7, wherein the movable platform comprises a drone and the data to be synchronized comprises flight related data.
9. The method of claim 1, wherein the data to be synchronized comprises custom data associated with a user end.
10. The method of claim 1, wherein the data to be synchronized comprises original data to be synchronized,
the generating a synchronization request instruction according to the data to be synchronized includes:
converting the original data to be synchronized into data in a lightweight data format;
and generating the synchronous request instruction according to the data in the lightweight data format.
11. The method according to claim 10, wherein the converting the original data to be synchronized into data in a lightweight data format comprises:
and converting the original data to be synchronized into data in a JSON data format or a Protobuf data format.
12. The method according to claim 11, wherein the converting the original data to be synchronized into data in JSON data format or Protobuf data format comprises:
converting the original data to be synchronized into data in a Key-Value data format;
and serializing the data in the Key-Value data format into binary data.
13. The method according to claim 12, wherein the Key represents a certain attribute of the movable platform, and the Value represents a specific Value of the attribute.
14. The method of claim 13, wherein the Value comprises a structure.
15. The method according to claim 12, characterized in that the Key represents data of the Custom type for each control device to transmit its own defined data structure.
16. The method of claim 1, further comprising:
generating a data request instruction according to the detected data request operation of the first accessed user side;
sending the data request instruction to the movable platform so that the movable platform returns the current data of the movable platform according to the data request instruction;
and receiving the current data returned by the movable platform, and caching the current data of the movable platform.
17. The method according to claim 1, wherein before the obtaining of the data to be synchronized and the identity information of the target control terminal to be synchronized according to the detected synchronization request operation of the user, the method further comprises:
acquiring data to be changed according to the detected change request operation of the user;
generating a change request instruction according to the data to be changed;
sending the change request instruction to the movable platform so that the movable platform changes own related data according to the change request instruction;
and receiving a change success confirmation instruction returned by the movable platform.
18. The method of claim 1, further comprising:
receiving a synchronization request instruction broadcasted by the movable platform, wherein the synchronization request instruction broadcasted by the movable platform is generated by other control devices according to data to be synchronized of the other control devices;
if the identity information of the target control device of the synchronization request instruction broadcasted by the movable platform comprises local identity information, the cache data of the target control device is changed according to the synchronization request instruction broadcasted by the movable platform so as to complete data synchronization;
and sending a control instruction to the movable platform to enable the movable platform to operate according to the control instruction of the control device and the control instructions of the other control devices after data synchronization is completed.
19. The method of claim 18, wherein the modifying of the cached data to achieve data synchronization according to the synchronization request command broadcast by the mobile platform further comprises:
and changing own cache data according to the synchronization request instruction broadcasted by the movable platform to complete data synchronization, and feeding back a receiving confirmation instruction to the movable platform.
20. The method according to claim 18, wherein the data to be synchronized of the other control devices comprises original data to be synchronized of the other control devices, and the synchronization request command broadcasted by the movable platform is generated by the other control devices by converting the original data to be synchronized of the other control devices into data in a lightweight data format and then generating the data according to the data in the lightweight data format;
the step of changing the cache data according to the synchronization request instruction broadcasted by the movable platform comprises the following steps:
acquiring the data in the lightweight data format according to the synchronization request instruction broadcast by the movable platform;
analyzing the data in the lightweight data format to obtain analyzed data;
and changing the cache data of the user according to the analyzed data.
21. The method of claim 20, wherein the data in the lightweight data format comprises data in a JSON data format or a Protobuf data format.
22. The method of claim 21, wherein the data in a lightweight data format comprises data in a Key-Value data format.
23. The method of claim 1, wherein after sending the synchronization request command and the identity information of the target control terminal to the movable platform, the method comprises:
and receiving a confirmation receiving instruction fed back by the movable platform.
24. A method of controlling a movable platform, adapted for use with a movable platform, the method comprising:
receiving a synchronization request instruction of a control device and identity information of a target control device;
judging whether the target control device is on-line or not according to the identity information of the target control device;
if the target control device is online, broadcasting the synchronization request instruction to the target control device, and enabling the target control device to change own cache data according to the synchronization request instruction so as to complete data synchronization;
and respectively receiving the control instruction of the control device and the control instruction of the target control device after data synchronization is finished, and operating according to the received control instruction.
25. The method of claim 24, further comprising:
and after receiving a receiving confirmation instruction fed back by the target control device, stopping broadcasting the synchronization request instruction.
26. The method of claim 24, wherein the determining whether the target control device is online according to the identity information of the target control device comprises:
and judging whether the target control device is online or not according to the identity information of the target control device and the collected connection condition information, wherein the connection condition information comprises the identity information of the control device which is currently connected with the movable platform.
27. The method of claim 26, further comprising:
collecting the connection situation information.
28. The method of claim 27, wherein the gathering the connection information comprises:
and collecting the connection condition information through the heartbeat packet.
29. The method of claim 27, further comprising:
and broadcasting the connection condition information to the online control device.
30. The method of claim 24, further comprising:
receiving a data request instruction of the control device;
according to the data request instruction, sending the current data of the movable platform to the control device to enable the control device to cache the current data of the movable platform.
31. The method of claim 24, wherein before receiving the synchronization request command from the control device and the identity information of the target control device, the method comprises:
receiving a change request instruction of the control device;
changing own related data according to the change request instruction;
and sending a change success confirmation instruction to the control device.
32. The method of claim 24, wherein after receiving the synchronization request command of the control device and the identity information of the target control device, the method comprises:
and feeding back a receiving confirmation instruction to the control device.
33. A control device for a movable platform, the control device comprising: the device comprises a memory, a processor and a communication circuit, wherein the memory and the communication circuit are respectively connected with the processor;
the memory is used for storing computer programs and also used for storing data;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
acquiring data to be synchronized and identity information of a target control device to be synchronized according to detected synchronization request operation of a user;
generating a synchronization request instruction according to the data to be synchronized;
controlling the communication circuit to send the synchronization request instruction and the identity information of the target control device to a movable platform, so that the movable platform broadcasts the synchronization request instruction to the target control device according to the identity information of the target control device, and the target control device changes own cache data according to the synchronization request instruction to complete data synchronization;
and controlling the communication circuit to send a control instruction to the movable platform, so that the movable platform operates according to the control instruction and the control instruction of the target control device after data synchronization is completed.
34. The control device of claim 33, wherein the user's synchronization request operation is from a user side, and the processor, when executing the computer program, performs the steps of:
and controlling the communication circuit to respectively keep the connection state with the user side and the movable platform.
35. The control device of claim 34, wherein the processor, when executing the computer program, performs the steps of:
and controlling the communication circuit to respectively keep a connection state with the user side and the movable platform through a heartbeat packet.
36. The control device of claim 33, wherein the processor, when executing the computer program, performs the steps of:
judging whether the target control device is on-line or not;
and if the target control device is online, controlling the communication circuit to send the synchronization request instruction and the identity information of the target control device to the movable platform.
37. The control device of claim 36, wherein the processor, when executing the computer program, performs the steps of:
and judging whether the target control device is online or not according to the connection condition information broadcasted by the movable platform, wherein the connection condition information comprises the identity information of the control device which is currently connected with the movable platform.
38. The control device of claim 37, wherein the processor, when executing the computer program, performs the steps of:
controlling the communication circuit to receive the connection status information broadcast by the movable platform.
39. The control device of claim 33, wherein the data to be synchronized comprises data related to the movable platform.
40. The control device of claim 39, wherein the movable platform comprises a drone and the data to be synchronized comprises flight related data.
41. The control device of claim 33, wherein the data to be synchronized comprises custom data associated with a user end.
42. The control device of claim 33, wherein the data to be synchronized comprises raw data to be synchronized,
the processor, when executing the computer program, implements the steps of:
converting the original data to be synchronized into data in a lightweight data format;
and generating the synchronous request instruction according to the data in the lightweight data format.
43. The control device of claim 42, wherein the processor, when executing the computer program, performs the steps of:
and converting the original data to be synchronized into data in a JSON data format or a Protobuf data format.
44. The control device of claim 43, wherein the processor, when executing the computer program, performs the steps of:
converting the original data to be synchronized into data in a Key-Value data format;
and serializing the data in the Key-Value data format into binary data.
45. The control apparatus according to claim 44, wherein the Key represents a certain attribute of the movable platform, and the Value represents a specific Value of the attribute.
46. The control device of claim 45, wherein the Value comprises a structure.
47. The control device according to claim 44, wherein the Key indicates store-type data for each control device to transmit a data structure defined by the user side itself.
48. The control device of claim 33, wherein the processor, when executing the computer program, performs the steps of:
generating a data request instruction according to the detected data request operation of the first accessed user side;
controlling the communication circuit to send the data request instruction to the movable platform so that the movable platform returns the current data of the movable platform according to the data request instruction;
and controlling the communication circuit to receive the current data returned by the movable platform and controlling the memory to cache the current data of the movable platform.
49. The control device of claim 33, wherein the processor, when executing the computer program, performs the steps of:
acquiring data to be changed according to the detected change request operation of the user;
generating a change request instruction according to the data to be changed;
controlling the communication circuit to send the change request instruction to the movable platform so that the movable platform changes own related data according to the change request instruction;
and controlling the communication circuit to receive a change success confirmation instruction returned by the movable platform.
50. The control device of claim 33, wherein the processor, when executing the computer program, performs the steps of:
controlling the communication circuit to receive a synchronization request instruction broadcasted by the movable platform, wherein the synchronization request instruction broadcasted by the movable platform is generated by other control devices according to data to be synchronized of the other control devices;
if the identity information of the target control device of the synchronization request instruction broadcasted by the movable platform comprises local identity information, controlling the memory to change own cache data according to the synchronization request instruction broadcasted by the movable platform so as to complete data synchronization;
and controlling the communication circuit to send a control instruction to the movable platform, so that the movable platform operates according to the control instruction of the control device after data synchronization and the control instructions of the other control devices.
51. The control device of claim 50, wherein the processor, when executing the computer program, performs the steps of:
and controlling the memory to change own cache data according to the synchronization request instruction broadcasted by the movable platform so as to complete data synchronization, and controlling the communication circuit to feed back a receiving confirmation instruction to the movable platform.
52. The control device of claim 50, wherein the data to be synchronized of the other control devices comprises original data to be synchronized of the other control devices, and the synchronization request command broadcasted by the movable platform is generated by the other control devices by converting the original data to be synchronized of the other control devices into data in a lightweight data format and then generating the data according to the data in the lightweight data format;
the processor, when executing the computer program, implements the steps of:
acquiring the data in the lightweight data format according to the synchronization request instruction broadcast by the movable platform;
analyzing the data in the lightweight data format to obtain analyzed data;
and controlling the memory to change the cache data of the memory according to the analyzed data.
53. The control device of claim 52, wherein the data in the lightweight data format comprises data in a JSON data format or a Protobuf data format.
54. The control apparatus of claim 53, wherein the data in a lightweight data format comprises data in a Key-Value data format.
55. The control device of claim 33, wherein the processor, when executing the computer program, performs the steps of:
and controlling the communication circuit to receive a confirmation receiving instruction fed back by the movable platform.
56. A movable platform, comprising: the device comprises a memory, a processor and a communication circuit, wherein the memory and the communication circuit are respectively connected with the processor;
the memory is used for storing computer programs and also used for storing data;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
controlling the communication circuit to receive a synchronization request instruction of the control device and identity information of a target control device;
judging whether the target control device is on-line or not according to the identity information of the target control device;
if the target control device is online, controlling the communication circuit to broadcast the synchronization request instruction to the target control device, so that the target control device changes own cache data according to the synchronization request instruction to complete data synchronization;
and controlling the communication circuit to respectively receive the control instruction of the control device and the control instruction of the target control device after data synchronization is finished, and controlling the movable platform to operate according to the received control instruction.
57. The movable platform of claim 56, wherein the processor, when executing the computer program, performs the steps of:
and after receiving a receiving confirmation instruction fed back by the target control device, controlling the communication circuit to stop broadcasting the synchronization request instruction.
58. The movable platform of claim 56, wherein the processor, when executing the computer program, performs the steps of:
and judging whether the target control device is online or not according to the identity information of the target control device and the collected connection condition information, wherein the connection condition information comprises the identity information of the control device which is currently connected with the movable platform.
59. The movable platform of claim 58, wherein the processor, when executing the computer program, performs the steps of:
controlling the communication circuit to gather the connection condition information.
60. The movable platform of claim 59, wherein the processor, when executing the computer program, performs the steps of:
and controlling the communication circuit to collect the connection condition information through a heartbeat packet.
61. The movable platform of claim 59, wherein the processor, when executing the computer program, performs the steps of:
and controlling the communication circuit to broadcast the connection condition information to an online control device.
62. The movable platform of claim 56, wherein the processor, when executing the computer program, performs the steps of:
controlling the communication circuit to receive a data request instruction of the control device;
according to the data request instruction, the communication circuit is controlled to send the current data of the movable platform to the control device so that the control device buffers the current data of the movable platform.
63. The movable platform of claim 56, wherein the processor, when executing the computer program, performs the steps of:
controlling the communication circuit to receive a change request instruction of the control device;
controlling the memory to change own related data according to the change request instruction;
and controlling the communication circuit to send a change success confirmation instruction to the control device.
64. The movable platform of claim 56, wherein the processor, when executing the computer program, performs the steps of:
and controlling the communication circuit to feed back an acknowledgement receiving instruction to the control device.
65. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the method of controlling a movable platform according to any one of claims 1-23.
66. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the method of controlling a movable platform according to any one of claims 24-32.
CN202080005357.2A 2020-04-09 2020-04-09 Control method and device for movable platform, movable platform and storage medium Pending CN112789572A (en)

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Application publication date: 20210511