CN114096463A - 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 PDFInfo
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- CN114096463A CN114096463A CN202080028848.9A CN202080028848A CN114096463A CN 114096463 A CN114096463 A CN 114096463A CN 202080028848 A CN202080028848 A CN 202080028848A CN 114096463 A CN114096463 A CN 114096463A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
Abstract
A control method, a control device, a movable platform and a storage medium of a mobile platform are provided, wherein the method comprises the following steps: determining a target working mode when the movable platform performs image data transmission, wherein the target working mode is a first working mode or a second working mode (S201); transmitting the image data, and receiving first feedback information transmitted by the first control device and second feedback information transmitted by the second control device (S202); if the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information (S203); if the target working mode is the second working mode, determining whether to resend the image data according to the first feedback information or the second feedback information (S204), so that unnecessary data retransmission can be effectively avoided, and the efficiency of data transmission of the movable platform can be improved.
Description
The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.
The present invention relates to the field of communications technologies, and in particular, to a method and an apparatus for controlling a movable platform, and a storage medium.
With continuous upgrading of user consumption, in order to further improve the consumption experience of the user, a plurality of control devices can be configured for the movable platform, so that the user can control the movable platform through different control devices, and the control experience of the user on the movable platform can be improved. If when the movable platform is the unmanned aerial vehicle, can dispose remote control equipment and flight glasses for unmanned aerial vehicle respectively, and remote control equipment and flight glasses establish the connection with unmanned aerial vehicle through different communication link respectively, unmanned aerial vehicle then adopts the mode of broadcasting to send the image data who gathers to remote control equipment and flight glasses, remote controller and flight glasses are after receiving image data, will send feedback information to unmanned aerial vehicle, whether to instruct to successfully receive image data, if the feedback information instruction that arbitrary party sent in remote controller and flight glasses did not successfully receive this image data, then unmanned aerial vehicle will carry out the retransmission to image data, this image data of also rebroadcast. In some application scenarios, the drone may be caused to retransmit the image data unnecessarily frequently. Therefore, the current transmission feedback mechanism is adopted, the efficiency of data transmission of the unmanned aerial vehicle is reduced, and the low-power-consumption design of the unmanned aerial vehicle is not facilitated.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for controlling a movable platform, and a storage medium, which can effectively avoid unnecessary data retransmission, so as to improve the efficiency of data transmission performed by the movable platform.
A first aspect of an embodiment of the present invention provides a method for controlling a movable platform, where the movable platform establishes communication connections with a first control device and a second control device, respectively, and the method includes:
determining a target working mode when the movable platform carries out image data transmission, wherein the target working mode is a first working mode or a second working mode;
sending the image data, and receiving first feedback information sent by the first control device and second feedback information sent by the second control device, wherein the first feedback information is used for indicating whether the first control device successfully receives the image data, and the second feedback information is used for indicating whether the second control device successfully receives the image data;
if the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information;
and if the target working mode is the second working mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
A second aspect of the embodiments of the present invention provides a control apparatus for a movable platform, where the movable platform establishes communication connections with a first control device and a second control device, respectively, and the apparatus includes a memory and a processor;
the memory is used for storing program codes;
the processor, invoking the program code, when executed, is configured to:
determining a target working mode when the movable platform carries out image data transmission, wherein the target working mode is a first working mode or a second working mode;
sending the image data, and receiving first feedback information sent by the first control device and second feedback information sent by the second control device, wherein the first feedback information is used for indicating whether the first control device successfully receives the image data, and the second feedback information is used for indicating whether the second control device successfully receives the image data;
if the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information;
and if the target working mode is the second working mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
A third aspect of an embodiment of the present invention provides a movable platform, including:
a body;
the power system is arranged on the machine body and used for providing power for the movable platform;
and a control device as set forth in the second aspect.
In the embodiment of the invention, after determining the target working mode when the movable platform carries out image data transmission, the movable platform can send the image data to the first control device and the second control device, so as to receive the first feedback information sent by the first control device and the second feedback information sent by the second control device, such that, when the target operation mode is the first operation mode, it is determined whether to retransmit the image data based on the first feedback information, when the target working mode is the second working mode, whether the image data is retransmitted or not can be determined based on the first feedback information or the second feedback information, so that the movable platform can adopt different retransmission feedback mechanisms based on different modes, unnecessary data retransmission can be effectively avoided, therefore, the efficiency of data transmission of the movable platform can be improved, and the low-power-consumption design of the movable platform is facilitated.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a control system for a movable platform according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for controlling a movable platform according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of image data transmission performed by a movable platform according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a method for controlling a movable platform according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating a process for receiving control commands for a movable platform according to an embodiment of the present invention;
fig. 6 is a schematic block diagram of a movable platform provided by an embodiment of the present invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
In order to enhance the control experience of the user in controlling the movable platform, one or more control devices may be provided for the movable platform, for example, a first control device and a second control device may be provided for the movable platform, respectively, and the first control device and the second control device may establish a communication connection with the movable platform, respectively. In one embodiment, the movable platform may broadcast control data and image data to the first and second control devices, which each receive downstream broadcast data for the movable platform. Wherein the First Control device and the second Control device can respectively establish a communication connection with the movable platform through a wireless link, the movable platform can be an Unmanned Aerial Vehicle (UAV), an automobile, an intelligent robot, or the like, the First Control device and the second Control device can be two Control devices of the same type, such as a glasses (Glass, GLS) device, or a Remote Control device, or the First Control device and the second Control device can also be two different Control devices, such as a First Control device can be a glasses device and a second Control device can be a Remote Control device, such as a Remote Control (RC), the glasses device can be glasses based on a First Person main View (FPV), in the description of the subsequent embodiments of the present invention, the First Control device and the second Control device are described in detail as different devices, in the following description of the embodiments, the first control device is specifically a glasses device, and the second control device is a remote control device.
In an embodiment, a communication connection between a first control device and a movable platform is a first communication link, a communication connection between a second control device and the movable platform is a second communication link, and when the first control device and the second control device are different control devices, a communication service carried by the first communication link and a communication service carried by the second communication link are different, so that the first communication link and the second communication link have an asymmetry problem during data transmission. For example, the second control device has a poor effect of receiving downlink data of the movable platform, and when the movable platform broadcasts the downlink data, because the second control device may not receive complete downlink data, the movable platform needs to reduce the transmission quality of the downlink data to ensure that the second control device receives the complete downlink data, which affects the quality of receiving the downlink data by the first control device, where the downlink data may be, for example, image data. Particularly, movable platform is unmanned aerial vehicle, and first controlgear is FPV glasses, and second controlgear is the remote controller, and when unmanned aerial vehicle was not in remote controller operator's the place ahead, the receptivity of remote controller was relatively poor, in order to guarantee that FPV glasses and remote controller can both correctly receive the image data that unmanned aerial vehicle sent, need reduce image data to the level that the remote controller can correctly receive to FPV glasses operator's experience can have been influenced. Further, if the feedback information transmitted by either one of the remote controller and the FPV glasses indicates that the image data is not successfully received, the unmanned aerial vehicle needs to re-broadcast the image data. In some application scenarios, the drone may be caused to retransmit the image data unnecessarily frequently. Therefore, the current transmission feedback mechanism is adopted, the efficiency of data transmission of the unmanned aerial vehicle is reduced, and the low-power-consumption design of the unmanned aerial vehicle is not facilitated.
Based on this, the present application provides a method for controlling a movable platform, which may determine whether to retransmit image data according to a selected target operating mode and based on first feedback information or second feedback information after the image data is broadcast in a downlink manner on the movable platform and first feedback information sent by a first control device based on the image data and second feedback information sent by a second control device based on the image data are received.
In one embodiment, the target operation mode when the movable platform performs image transmission may be a first operation mode or a second operation mode, the first operation mode is a mode preferred by the first control device, the second operation mode is a control mode in which the first control device and the second control device cooperate with each other, and it is understood that when the first control device is a glasses device and the second control device is a remote control device, the first operation mode is a glasses priority mode, and the second operation mode is a two-way image transmission mode. Generally speaking, when a user who uses the remote control device to control the movable platform and uses the glasses device to experience the operation visual angle of the movable platform is the same user, the user can select the glasses priority mode as the target working mode of the movable platform, and when the user who uses the remote control device and the user who uses the glasses device are different users, the user can select the two-way image transmission mode as the target working mode of the movable platform.
When determining the target working mode for image transmission, the movable platform may receive a selection instruction of the target working mode from the first control device, or may select a selection instruction of the target working mode from the second control device, or may be configured such that after the first control device selects the target working mode, the first control device sends the selected target working mode to the second control device, and after the second control device confirms the selected target working mode, the second control device sends the selected target working mode to the movable platform. In one embodiment, the first control device and the second control device are also established with a wireless communication connection, as shown in fig. 1, the second control device may maintain time synchronization, frequency synchronization, or time and frequency synchronization with the first control device, after the first control device and the second control device are synchronized, if the mobile platform determines the target operating mode only according to the operating mode sent by the second control device, after the user selects the target operating mode at the first control device, the user needs to first send the target operating mode to the second control device, after the second control device confirms the target operating mode selected by the first control device, and after the confirmation passes, the user sends the target operating mode to the mobile platform.
In one embodiment, if the movable platform determines that the target operating mode is the first operating mode (i.e., the glasses priority mode), the movable platform may receive first feedback information sent by the first control device (i.e., the glasses device) and second feedback information sent by the second control device (i.e., the remote control device) after sending the downlink data, where the first feedback information and the second feedback information include a return signal indicating whether the downlink data is received, and the return signal includes: an Acknowledgement (ACK) for indicating that the downlink data is determined to be received, or a Negative Acknowledgement (NACK) for indicating that the downlink data is not received. In the glasses priority mode, if the downlink data is image data, the movable platform takes a return signal which is used for indicating whether the image data is received or not in the second feedback information sent by the remote control equipment as an ACK signal, and controls retransmission of the image data based on the return signal in the first feedback information sent by the glasses equipment, namely in the glasses priority mode, when the movable platform broadcasts the image data in the downlink, the movable platform considers that the remote control equipment returns the ACK signal for confirming the reception of the image data no matter the return signal in the feedback information of the remote control equipment is the ACK signal/NACK signal, and controls retransmission of the image data based on the return signal in the first feedback information sent by the glasses equipment, if the return signal in the first feedback information is the ACK signal, the image data is not retransmitted, and if the return signal in the first feedback information is the NACK signal, then retransmission of the image data is controlled.
In one embodiment, if the downlink data is control data, the movable platform determines whether to retransmit the control data based on a return signal in third feedback information sent by the first control device or the second control device, respectively, that is, if the movable platform receives that the return signal in the third feedback information sent by the first control device or the second control device based on the control data is an ACK signal, it determines not to retransmit the control data, and receives that the return signal in the third feedback information sent by the first control device or the second control device based on the control data is a NACK signal, it determines to retransmit the control data. In one embodiment, when the movable platform retransmits the control data, N retransmissions may be attempted until the received return signals are both ACK signals, where N is greater than or equal to 1, where N may be, for example, 3 or 5, and the control data may be, for example, a control instruction for controlling the first control device and the second control device to perform frequency point switching, or a control instruction for requesting connection or disconnection, and the like. If the movable platform determines that the target working mode is the second working mode (i.e. the two-way mapping mode), after broadcasting the downlink data and receiving the first feedback information and the second feedback information, the movable platform performs retransmission based on a return signal in the first feedback information or the second feedback information no matter the downlink data is control data or image data, that is, as long as a NACK signal exists in a return signal of the first feedback information or the second feedback information received by the movable platform, the movable platform controls the downlink data to perform retransmission. When controlling the image data to be retransmitted, the movable platform may request retransmission based on a key frame included in the feedback information, where the key frame may be, for example, an intra-picture frame (i.e., an I-frame).
In one embodiment, the movable platform may further receive control instructions sent by the first control device and the second control device, and control the operation of the movable platform according to the received control instructions, where the control instruction sent by the first control device is a first control instruction, and the control instruction sent by the second control device is a second control instruction. In an embodiment, after receiving the first control instruction and the second control instruction, the movable platform may determine a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction, and optionally, the target control instruction is the first control instruction or the second control instruction.
When the movable platform determines a target control instruction from the first control instruction and the second control instruction, determining a connection state between the second control device and the movable platform, if the connection state is a synchronous state, determining a transmission frequency of the second control instruction, and if the transmission frequency is greater than or equal to a preset transmission frequency threshold, indicating that the time delay for transmitting the second control instruction is low, taking the second control instruction as the target control instruction; if the connection state between the second control device and the movable platform is a synchronous state, and the transmission frequency of the second control instruction is less than the preset transmission frequency, the second control instruction may be inserted into the first control instruction, and the inserted control instruction is used as the target control instruction, or the first control instruction may be inserted into the second control instruction to obtain the target control instruction, where the preset transmission frequency may be, for example, 10 hertz (Hz), 15Hz, and the like. In one embodiment, if the connection state between the second control device and the movable platform is an out-of-step state, the movable platform cannot receive the second control instruction sent by the second control device, and the movable platform determines that the time delay for receiving the first control instruction is short, and can directly take the first control instruction as a target control instruction, so that the movable platform can control the movable platform based on the control instruction with low time delay.
Referring to fig. 2, which is a schematic flowchart illustrating a method for controlling a movable platform according to an embodiment of the present invention, where the movable platform establishes communication connections with a first control device and a second control device, respectively, as shown in fig. 2, the method may include:
s201, determining a target working mode when the movable platform carries out image data transmission, wherein the target working mode is a first working mode or a second working mode.
In one embodiment, the user may select the target operation mode through the first control device and send the selected target operation mode to the movable platform, or the user may select the target operation mode through the second control device and send the selected target operation mode to the movable platform, where the target operation mode may be the first operation mode preferred by the first control device, or a two-way cooperative mode (or a two-way mapping mode) cooperatively controlled by the first control device and the second control device. In an embodiment, the movable platform may further determine a target working mode when the image transmission is performed on the movable platform by determining whether a first user corresponding to the first control device and a second user corresponding to the second control device are the same user, where the movable platform may use the first working mode as the target working mode when the first user and the second user are the same user, and use the second working mode as the target working mode when the first user and the second user are different users.
In one embodiment, when determining a target working mode during image transmission, a movable platform may receive a selection instruction for the target working mode, so that the target working mode during image data transmission of the movable platform may be determined according to the selection instruction, where the selection instruction may be that a user selects and sends the target working mode through the first control device, or that the user selects and sends the target working mode through the second control device; or, after the user selects the target operating mode through the first control device, the first control device sends the selection instruction to the second control device, and then the selection instruction is sent by the second control device. In addition, when determining a target working mode during image transmission, the movable platform may further determine a first priority when the first control device performs mode selection and a second priority when the second control device performs mode selection, so as to obtain a first working mode selected by the first control device and a second working mode selected by the second control device, and if the first priority is higher than the second priority, the first working mode is taken as the target working mode; and if the first priority is lower than the second priority, the second operation mode is taken as the target operation mode.
S202, sending the image data, and receiving first feedback information sent by the first control device and second feedback information sent by the second control device.
In one embodiment, the movable platform may transmit the image data in a broadcast manner, and after the first control device and the second control device receive the image data, may transmit feedback information indicating whether the image data is successfully received to the movable platform, that is, the movable platform may receive the first feedback information transmitted by the first control device and the second feedback information transmitted by the second control device, so that the movable platform may determine whether to retransmit the image data according to the corresponding target operating mode and the received first feedback information and second feedback information, i.e., may instead perform steps S203 and S204. In one embodiment, the first feedback information is used to indicate whether the first control device successfully receives the image data, and the second feedback information is used to indicate whether the second control device successfully receives the image data.
In one embodiment, the first feedback information and the second feedback information include a return signal indicating whether the control device successfully receives the image data, and the return signal may be an ACK signal or a NACK signal, where ACK is used to indicate that the control device received the image data, and NACK is used to indicate that the control device did not receive the image data. In an embodiment, the step S201 and the step S202 have no specific sequential execution order, and the step S201 may be executed first, and then the step S202 is executed, or the step S202 may be executed first, and then the step S201 is executed, or the step S201 and the step S202 may be executed at the same time.
And S203, if the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information.
And S204, if the target working mode is the second working mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
In steps S203 and S204, if the movable platform determines that the target operating mode is the first operating mode prioritized by the first control device, the movable platform may directly process a return signal in the second feedback information as an ACK signal after receiving the second feedback information sent by the second control device, and determine whether to retransmit the image data based on the first feedback information. When the mobile platform retransmits the image data, a key frame request can be acquired from the first feedback information, and key frame data of the image data is retransmitted based on the key frame request, wherein the image data is sent to the first control device and the second control device after the original image is coded, the key frame data is a necessary frame of the original image obtained by recovering the image data after the control device receives the image data, so that the mobile platform can retransmit the key frame only, and the control device can recover to obtain the corresponding original image based on the retransmitted key frame and image parameters in the image data sent before, and the key frame can be an I frame or the like.
In one embodiment, if the target control mode is a second working mode in which the first control device and the second control device cooperate, the movable platform needs to determine whether to retransmit the image data according to first feedback information sent by the first control device or according to second feedback information sent by the second control device. In a specific implementation, if the return signal in the first feedback information received by the movable platform is an ACK signal and the return signal in the second feedback information is also an ACK signal, it indicates that both the first control device and the second control device have successfully received the image data sent by the movable platform, and the image data is not retransmitted. If the return signal in the first feedback information is a NACK signal, it indicates that the first control device does not receive the image data, and the mobile platform needs to broadcast the image data again; or, if the return signal in the second feedback information is a NACK signal, which indicates that the second control device does not receive the image data, the movable platform also needs to retransmit the image data, where the movable platform may request for a key frame according to the first feedback information or the second feedback information, and only retransmit the key frame when retransmitting the image data.
In an embodiment, if the first control device is a glasses device and the second control device is a remote control device, referring to the flowchart shown in fig. 3, where the movable platform determines whether to retransmit the image data of the downlink broadcast, a user may first select a target operating mode of the movable platform, and based on the user selection, the movable platform may determine the target operating mode, where the target operating mode may be a glasses priority mode or a two-way image transmission mode. In the glasses priority mode, the movable platform can receive feedback information sent by the glasses equipment and feedback information sent by the remote control equipment after sending image data to the glasses equipment and the remote control equipment, if a return signal in the feedback information sent by the glasses equipment is an ACK signal, and no matter the return signal in the feedback information sent by the remote control equipment is an ACK signal or a NACK signal, the movable platform determines that the glasses equipment and the remote control equipment successfully receive the image data, and if the movable platform receives the NACK signal, the movable platform determines that the image data needs to be retransmitted, and when the movable platform retransmits the image data, a key frame request can be obtained from the glasses equipment and the key frame data can be retransmitted.
In one embodiment, if the target operation mode of the movable platform selected by the user is the two-way mapping mode, the movable platform only determines that the glasses device and the remote control device successfully receive the image data and does not retransmit the image data if the return signal in the feedback information received from the glasses device is an ACK signal and the return signal in the feedback information received from the remote control device is an ACK signal, and determines that the image data is retransmitted if the return signal in the feedback information received from the glasses device is a NACK signal or the return signal in the feedback information received from the remote control device is a NACK signal. When the movable platform retransmits the image data, the key frame request can be acquired from the glasses device or the remote control device, and the key frame data is retransmitted.
In the embodiment of the invention, after determining the target working mode when the movable platform carries out image data transmission, the movable platform can send the image data to the first control device and the second control device, so as to receive the first feedback information sent by the first control device and the second feedback information sent by the second control device, so that the movable platform can determine whether to retransmit the image data based on the first feedback information if the target operation mode is the first operation mode, when the target working mode is the second working mode, whether the image data is retransmitted or not can be determined based on the first feedback information or the second feedback information, so that the movable platform can adopt different retransmission feedback mechanisms based on different modes, unnecessary data retransmission can be effectively avoided, and therefore the efficiency of data transmission of the movable platform can be improved.
Referring to fig. 4, a schematic flowchart of a method for controlling a movable platform according to an embodiment of the present invention is shown, where the movable platform establishes communication connections with a first control device and a second control device respectively, and as shown in fig. 4, the method may include:
s401, determining a target working mode when the movable platform carries out image data transmission, wherein the target working mode is a first working mode or a second working mode.
S402, sending the image data, and receiving first feedback information sent by the first control device and second feedback information sent by the second control device.
In an embodiment, for specific implementation of step S401 and step S402, refer to the specific implementation of step S201 and step S202 in the foregoing embodiment, and details are not described herein again.
And S403, if the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information.
S404, if the target working mode is the second working mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
In steps S403 and S404, if the movable platform determines that the target operation mode is the first operation mode, after receiving the second feedback information sent by the second control device, no matter the return signal in the second feedback information is an ACK signal or a NACK signal, the movable platform uses the return signal in the second feedback information as an ACK signal, that is, the movable platform defaults to the communication link between the movable platform and the second control device being in any state, the second control device has successfully received the image data, so that, in the first mode of operation, the movable platform, in determining whether to retransmit the image data is determined based on the first feedback information sent by the first control device, that is, the movable platform only responds to the image transmission request sent by the first control device, wherein the movable platform only responds to the image transmission request sent by the first control device and comprises: responding to the key frame request in the first feedback information. In one embodiment, when determining whether to retransmit the image data according to the first feedback information, the movable platform retransmits the image data if the first feedback information indicates that the image data is not successfully received, i.e., the return signal in the first feedback information is a NACK signal, wherein the movable platform retransmits key frame data based on a key frame request included in the first feedback information when retransmitting the image data, wherein the key frame includes an I frame or the like.
In one embodiment, if the target operating mode is determined to be the second operating mode, the movable platform needs to ensure that the first control device and the second control device both really receive the image data, so the movable platform refers to the feedback information sent by the first control device or the second control device, respectively, and performs retransmission of the image data when the first feedback information sent by the first control device or the second feedback information sent by the second control device indicates that the image data is not received, that is, when the movable platform has a NACK signal in the return signal in the first feedback information or the second feedback information, the movable platform retransmits the image data, and only when the return signals in the first feedback information sent by the first control device and the second feedback information sent by the second control device are both ACK signals, the image data is not retransmitted. In one embodiment, the movable platform determines whether to retransmit the image data based on the first feedback information or the second feedback information is: the first feedback information or the second feedback information indicates that the image data is retransmitted when the image data is unsuccessfully received, wherein retransmitting the image data according to the first feedback information or the second feedback information includes retransmitting key frame data according to a key frame request included in the first feedback information or the second feedback information, and it can be understood that when the target operating mode is the second operating mode, the movable platform responds to an image data transmission request transmitted by the first control device or the second control device, respectively.
In one embodiment, when the movable platform performs downlink data transmission, in addition to broadcasting and transmitting image data, control data may be transmitted to the first control device and the second control device, where the control data may be, for example, data for instructing the first control device or the second control device to perform frequency point switching, perform connection or disconnection, after the movable platform transmits the control data, third feedback information fed back by the first control device or the second control device based on the control data may be received, where the third feedback information is used to instruct the first control device or the second control device whether to successfully receive the control data transmitted by the movable platform, when the first control device or the second control device successfully receives the control data, a return signal in the third feedback information is an ACK signal, and when the first control device or the second control device does not successfully receive the control data, the return signal in the third feedback information is a NACK signal. After the movable platform receives the third feedback information, the movable platform may be controlled to retransmit the control data based on whether the first control device or the second control device indicated by the third feedback information successfully receives the control data.
S405, receiving a first control instruction sent by the first control device and a second control instruction sent by the second control device.
In one embodiment, in addition to sending the image data and the control data to the first control device and the second control device in a downlink broadcast manner, the movable platform may also receive a control instruction sent by the first control device and the second control device in an uplink manner, respectively, and the control instruction may control the operation of the movable platform, and when the movable platform is an unmanned aerial vehicle, the control instruction may be, for example, a flight control command and the like, and the flight control command may be, for example, a control command for turning left or turning right, or a control command for landing or takeoff.
In one embodiment, the source of the first control command received by the movable platform from the first control device and the source of the second control command received by the movable platform from the second control device are the same, that is, the control commands in the first control command and the second control command are the same, it is understood that the source of the first control command and the source of the second control command are the same, that is, the first control command and the second control command are the same command generated in the same control device, wherein the first control command and the second control command are both generated by the first control device, or the first control command and the second control command are both generated by the second control device. For example, the first control instruction and the second control instruction are both generated by the second control device, and the first control instruction is sent to the movable platform by the second control device through the first control device after the second control device and the first control device keep synchronous, that is, the second control device forwards the first control instruction to the first control device first, and then the first control device sends the first control instruction to the movable platform. Particularly, first controlgear is FPV glasses, second controlgear is the remote controller, the remote controller can forward the control command of its production to glasses, send for unmanned aerial vehicle by glasses, so, can be lower at the control command frequency that FPV glasses self sent, or under the condition that does not send control command, make full use of communication link between FPV glasses and the unmanned aerial vehicle, when unmanned aerial vehicle does not correctly receive the control command that the remote controller sent, can regard as the backup in order to ensure unmanned aerial vehicle's safe operation.
In other embodiments, the first control command received by the movable platform from the first control device and the second control command received from the second control device may also be sourced differently.
In one embodiment, the movable platform may determine a target control command for controlling the movable platform according to the received first control command and the second control command, i.e. execute step S406 instead.
S406, determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction.
S407, responding to the target control instruction.
In step S406 and step S407, when determining the target control command according to the first control command and the second control command, the movable platform may first determine a first transmission delay of the first control command and a second transmission delay of the second control command; if the movable platform determines that the first transmission delay is smaller than or equal to the second transmission delay, taking the first control instruction as the target control instruction; and if the movable platform determines that the first transmission delay is greater than the second transmission delay, the second control instruction is taken as the target control instruction. In one embodiment, when the movable platform determines the target control instruction for controlling the movable platform according to the first control instruction and the second control instruction, the movable platform may further determine a connection state between the movable platform and the second control device, so that the target control instruction for controlling the movable platform may be determined according to the connection state, the first control instruction, and the second control instruction.
In an embodiment, when the movable platform determines a target control instruction for controlling the movable platform according to the connection state, the first control instruction, and the second control instruction, if the movable platform determines that the connection state between the movable platform and the second control device is a normal connection state (i.e., a synchronization state), the transmission frequency of the second control instruction may be compared with a preset transmission frequency threshold, so that the movable platform may determine the target control instruction based on the comparison result. The preset transmission frequency threshold is the lowest frequency set by the movable platform for transmitting the control instruction, and it can be understood that the higher the transmission frequency is, the shorter the time delay of the movable platform for receiving the corresponding control instruction is, the faster the response speed of the movable platform to the control instruction is, so that when the transmission frequency of the second control instruction is greater than or equal to the preset transmission frequency threshold, the movable platform can consider the second control instruction as the control instruction with the shorter time delay, and thus, the second control instruction is taken as the target control instruction; and when the second transmission delay is smaller than the transmission delay threshold, the movable platform considers that the delay of the second control instruction is longer, and then the target control instruction may be generated according to the first control instruction and the second control instruction, where the preset transmission frequency threshold may be, for example, 10Hz or 15 Hz.
In one embodiment, when the movable platform generates the target control instruction according to the first control instruction and the second control instruction, the second control instruction may be inserted into the first control instruction, or the first control instruction may be inserted into the second control instruction, so as to obtain the target control instruction. In a specific implementation, the movable platform may adopt a strategy of low latency first and backup of a high latency link as an auxiliary to insert a control instruction, so as to improve the system reliability of the movable platform, wherein the movable platform may determine an instruction with a smaller transmission latency from the first control instruction and the second control instruction, and if the transmission latency corresponding to the first control instruction is less than or equal to the transmission latency corresponding to the second control instruction, the movable platform inserts the second control instruction into the first control instruction to obtain a target control instruction; and if the transmission delay corresponding to the first control instruction is larger than the transmission delay corresponding to the second control instruction, the movable platform inserts the first control instruction into the second control instruction to obtain a target control instruction, and the movable platform inserts the second control instruction into the first control instruction or inserts the first control instruction into the second control instruction to obtain the target control instruction. In one embodiment, the control instruction insertion may be performed at a TIME interval parameter (TIME _ INTVAL). In one embodiment, when the movable platform generates the target control instruction according to the first control instruction and the second control instruction, the movable platform may further adopt a strategy of inserting the first control instruction into the second control instruction directly subject to the second control instruction.
In one embodiment, if the movable platform determines that the connection state between the second control device and the movable platform is a disconnected state (i.e., an out-of-step state), the movable platform may use the first control instruction as the target control instruction, so that the movable platform may switch the selection of the target control instruction of the movable platform based on the out-of-step states of the communication links between the first control device and the second control device and the movable platform, respectively, and the characteristic that the delay of the target control instruction determined by the movable platform is low is effectively ensured. In one embodiment, when determining that the connection state with the second control device is a disconnection state, the movable platform may further determine a duration of the disconnection, so that the duration of the disconnection may be compared with a preset duration threshold (TIME _ TH1), and if the duration is greater than the preset duration threshold, the first control instruction is taken as the target control instruction; and when the duration is less than the duration threshold, taking the second control instruction as the target control instruction, where the duration threshold may be, for example, 200 milliseconds, or 300 milliseconds, and further, after determining the target control instruction, the movable platform may respond to the target control instruction and control the operation of the movable platform based on the target control instruction. Optionally, a communication connection is established between the first control device and the second control device, the first control instruction is sent to the movable platform by the second control device through the first control device after the second control device and the first control device keep synchronized, and the synchronizing includes: time synchronization and/or frequency synchronization.
As shown in fig. 5, in one embodiment, the movable platform is a drone, the first control device is a glasses device, the second control device is a remote control device, the first control instruction and the second control instruction are flight control commands respectively sent by the first control device and the second control device, after receiving a flight control command sent by the remote control equipment, the unmanned aerial vehicle can detect whether the unmanned aerial vehicle and the remote control equipment are in a synchronous state or not, if so, detecting whether the frequency of sending the flight control command by the remote controller exceeds a threshold frequency, and if so, responding to the flight control command sent by the remote control device, and if the fact that the frequency of the flight control command sent by the remote controller does not exceed the threshold frequency is detected, the unmanned aerial vehicle fuses the flight control command sent by the glasses equipment and the flight control command sent by the remote control equipment to obtain a target flight control command, and the unmanned aerial vehicle is controlled based on the target flight control command. In one embodiment, if the drone determines that the state between the remote control device and the drone is an out-of-step state, the drone may determine whether to keep synchronization with the eyewear device, if the drone determines that the state is in synchronization with the eyewear device, the drone may respond to the flight control command sent by the eyewear device, and if the drone determines that the state between the drone and the eyewear device is also an out-of-step state, the drone may acquire an out-of-control handling policy to control the drone, where the out-of-control handling policy may be, for example, a policy to control the drone to return to its original route, or land in place.
In the embodiment of the invention, after determining the target working mode, the movable platform can send the image data to the first control device and the second control device, and receive the first feedback information and the second feedback information for feeding back whether the image data is received, so that the movable platform can control the retransmission of the image data according to the first feedback information in the first working mode, and control the retransmission of the image data according to the second feedback information in the second working mode, so that the movable platform can adopt different data retransmission strategies in different scenes, the unnecessary data retransmission times of the movable platform can be effectively reduced, and the data processing pressure of the movable platform is effectively improved. In addition, the movable platform can also determine a target control instruction for controlling the movable platform according to the received first control instruction sent by the first control device in an uplink manner and the received second control instruction sent by the second control device in an uplink manner, and control the movable platform based on the target control instruction, so that when the movable platform receives the control instruction in an uplink manner, a link with shorter delay can be preferentially selected, the response time of the movable platform to the control instruction can be reduced, and the efficiency of the movable platform for executing the control instruction can be improved.
Referring to fig. 6, fig. 6 is a diagram of a movable platform 60 according to an embodiment of the present invention, where the movable platform 60 includes a processor 601 and a local storage device 602, and the processor 601 and the local storage device 602 may be connected to each other through a bus. In addition, the movable platform and the first control device and the second control device establish a communication connection.
The local storage 602 includes, but is not limited to, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a portable read-only memory (CD-ROM), and the local storage 602 is used for storing related instructions and data.
The processor 601 may be one or more Central Processing Units (CPUs), and in the case that the processor 601 is one CPU, the CPU may be a single-core CPU or a multi-core CPU.
The processor 601 in the mobile platform 60 is configured to read the program code stored in the local storage device 602, and perform the following operations:
determining a target working mode when the movable platform carries out image data transmission, wherein the target working mode is a first working mode or a second working mode;
sending the image data, and receiving first feedback information sent by the first control device and second feedback information sent by the second control device, wherein the first feedback information is used for indicating whether the first control device successfully receives the image data, and the second feedback information is used for indicating whether the second control device successfully receives the image data;
if the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information;
and if the target working mode is the second working mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
In one embodiment, the processor 601 is further configured to perform, when the program code is executed:
receiving third feedback information, where the third feedback information is used to indicate whether the first control device or the second control device successfully receives control data sent by the movable platform;
and if the third feedback information indicates that the first control device or the second control device does not successfully receive the control data, retransmitting the control data.
In one embodiment, the processor 601 is further configured to perform, when the program code is executed:
if the target working mode is the first working mode, responding to an image data transmission request sent by the first control equipment;
and if the target working mode is the second working mode, responding to image data transmission requests sent by the first control equipment and the second control equipment respectively.
In one embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when determining whether to retransmit the image data according to the first feedback information:
and if the first feedback information indicates that the image data is not successfully received, retransmitting the image data.
In one embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when determining whether to retransmit the image data according to the first feedback information:
and if the first feedback information comprises a key frame request, retransmitting the key frame data.
In one embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when determining whether to retransmit the image data according to the first feedback information or the second feedback information:
and if the first feedback information or the second feedback information indicates that the image data is not successfully received, retransmitting the image data.
In one embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when determining whether to retransmit the image data according to the first feedback information or the second feedback information:
and if the first feedback information or the second feedback information comprises a key frame request, retransmitting the key frame data.
In one embodiment, the processor 601 is further configured to perform, when the program code is executed:
receiving a first control instruction sent by the first control equipment and a second control instruction sent by the second control equipment;
determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction;
and responding to the target control instruction.
In one embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction:
determining a first transmission delay of the first control instruction and a second transmission delay of the second control instruction;
if the first transmission delay is smaller than or equal to the second transmission delay, taking the first control instruction as the target control instruction;
and if the first transmission delay is larger than the second transmission delay, taking the second control instruction as the target control instruction.
In one embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction:
determining a connection status between the movable platform and the second control device;
and determining a target control instruction for controlling the movable platform according to the connection state, the first control instruction and the second control instruction.
In one embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when determining a target control instruction for controlling the movable platform according to the connection status, the first control instruction and the second control instruction:
if the connection state is normal connection, comparing the transmission frequency of the second control instruction with a preset transmission frequency threshold value;
if the transmission frequency of the second control instruction is greater than or equal to the preset transmission frequency threshold, taking the second control instruction as the target control instruction;
and if the second transmission delay is smaller than the transmission delay threshold, generating the target control instruction according to the first control instruction and the second control instruction.
In an embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when generating the target control instruction according to the first control instruction and the second control instruction:
and inserting the second control instruction into the first control instruction, or inserting the first control instruction into the second control instruction to obtain the target control instruction.
In one embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when determining a target control instruction for controlling the movable platform according to the connection status, the first control instruction and the second control instruction:
if the connection state is disconnection, determining the duration of the disconnection;
if the duration is greater than a preset duration threshold, taking the first control instruction as the target control instruction;
and if the duration is less than the duration threshold, taking the second control instruction as the target control instruction.
In one embodiment, a communication connection is established between the first control device and the second control device, and the first control instruction is sent to the movable platform by the second control device through the first control device after the second control device and the first control device keep synchronous.
In one embodiment, the synchronizing comprises: time synchronization and/or frequency synchronization.
In one embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when determining the target operation mode when the movable platform performs image data transmission:
receiving a selection instruction aiming at the target working mode;
and determining a target working mode when the movable platform transmits the image data according to the selection instruction.
In one embodiment, the selection instruction is sent by the user through the first control device to select the target working mode;
or, the selection instruction is that the user selects and sends the target working mode through the second control device;
or, after the user selects the target working mode through the first control device, the first control device sends the selection instruction to the second control device, and then the selection instruction is sent by the second control device.
In one embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when determining the target operation mode of the movable platform during image data transmission according to the selection instruction:
determining a first priority when the first control device performs mode selection and a second priority when the second control device performs mode selection;
acquiring a first working mode selected by the first control equipment and a second working mode selected by the second control equipment;
if the first priority is higher than the second priority, taking the first working mode as the target working mode; and if the first priority is lower than the second priority, taking the second working mode as the target working mode.
In one embodiment, when the program code is executed, the processor 601 is specifically configured to perform, when determining the target operation mode when the movable platform performs image data transmission:
determining whether a first user corresponding to the first control device and a second user corresponding to the second control device are the same user;
if so, taking the second working mode as the target working mode;
and if not, taking the first working mode as the target working mode.
The movable platform provided by the embodiment of the present invention can execute the control method of the movable platform shown in fig. 2 or fig. 4 provided by the foregoing embodiment, and the execution manner and the beneficial effect are similar, and are not described again here.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (41)
- A method for controlling a movable platform, wherein the movable platform establishes communication connections with a first control device and a second control device, respectively, the method comprising:determining a target working mode when the movable platform carries out image data transmission, wherein the target working mode is a first working mode or a second working mode;sending the image data, and receiving first feedback information sent by the first control device and second feedback information sent by the second control device, wherein the first feedback information is used for indicating whether the first control device successfully receives the image data, and the second feedback information is used for indicating whether the second control device successfully receives the image data;if the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information;and if the target working mode is the second working mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
- The method of claim 1, further comprising:receiving third feedback information, where the third feedback information is used to indicate whether the first control device or the second control device successfully receives control data sent by the movable platform;and if the third feedback information indicates that the first control device or the second control device does not successfully receive the control data, retransmitting the control data.
- The method of claim 1, further comprising:if the target working mode is the first working mode, responding to an image data transmission request sent by the first control equipment;and if the target working mode is the second working mode, responding to an image data transmission request sent by the first control equipment or the second control equipment respectively.
- The method of claim 1, wherein the determining whether to retransmit the image data according to the first feedback information comprises:and if the first feedback information indicates that the image data is not successfully received, retransmitting the image data.
- The method of claim 4, wherein the determining whether to retransmit the image data according to the first feedback information comprises:and if the first feedback information comprises a key frame request, retransmitting the key frame data.
- The method of claim 1, wherein the determining whether to retransmit the image data according to the first feedback information or the second feedback information comprises:and if the first feedback information or the second feedback information indicates that the image data is not successfully received, retransmitting the image data.
- The method of claim 6, wherein the determining whether to retransmit the image data according to the first feedback information or the second feedback information comprises:and if the first feedback information or the second feedback information comprises a key frame request, retransmitting the key frame data.
- The method of claim 1, further comprising:receiving a first control instruction sent by the first control equipment and a second control instruction sent by the second control equipment;determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction;and responding to the target control instruction.
- The method of claim 8, wherein determining a target control command for controlling the movable platform based on the first control command and the second control command comprises:determining a first transmission delay of the first control instruction and a second transmission delay of the second control instruction;if the first transmission delay is smaller than or equal to the second transmission delay, taking the first control instruction as the target control instruction;and if the first transmission delay is larger than the second transmission delay, taking the second control instruction as the target control instruction.
- The method of claim 8, wherein determining a target control command for controlling the movable platform based on the first control command and the second control command comprises:determining a connection status between the movable platform and the second control device;and determining a target control instruction for controlling the movable platform according to the connection state, the first control instruction and the second control instruction.
- The method of claim 10, wherein determining a target control command for controlling the movable platform based on the connection status, the first control command, and the second control command comprises:if the connection state is normal connection, comparing the transmission frequency of the second control instruction with a preset transmission frequency threshold value;if the transmission frequency of the second control instruction is greater than or equal to the preset transmission frequency threshold, taking the second control instruction as the target control instruction;and if the second transmission delay is smaller than the transmission delay threshold, generating the target control instruction according to the first control instruction and the second control instruction.
- The method of claim 11, wherein the generating the target control instruction from the first control instruction and the second control instruction comprises:and inserting the second control instruction into the first control instruction, or inserting the first control instruction into the second control instruction to obtain the target control instruction.
- The method of claim 10, wherein determining a target control command for controlling the movable platform based on the connection status, the first control command, and the second control command comprises:if the connection state is disconnection, determining the duration of the disconnection;if the duration is greater than a preset duration threshold, taking the first control instruction as the target control instruction;and if the duration is less than the duration threshold, taking the second control instruction as the target control instruction.
- The method according to any one of claims 8 to 13, wherein a communication connection is established between the first control device and the second control device, and the first control instruction is sent to the movable platform by the second control device through the first control device after the second control device and the first control device keep synchronous.
- The method of claim 14, wherein the synchronizing comprises: time synchronization and/or frequency synchronization.
- The method of claim 1, wherein determining the target operating mode for the movable platform for image data transfer comprises:receiving a selection instruction aiming at the target working mode;and determining a target working mode when the movable platform transmits the image data according to the selection instruction.
- The method according to claim 16, wherein the selection instruction is selected and transmitted by the user through the first control device to the target operating mode;or, the selection instruction is that the user selects and sends the target working mode through the second control device;or, after the user selects the target working mode through the first control device, the first control device sends the selection instruction to the second control device, and then the selection instruction is sent by the second control device.
- The method of claim 16, wherein determining the target operating mode of the movable platform for image data transmission according to the selection command comprises:determining a first priority when the first control device performs mode selection and a second priority when the second control device performs mode selection;acquiring a first working mode selected by the first control equipment and a second working mode selected by the second control equipment;if the first priority is higher than the second priority, taking the first working mode as the target working mode; and if the first priority is lower than the second priority, taking the second working mode as the target working mode.
- The method of claim 1, wherein determining the target operating mode for the movable platform for image data transfer comprises:determining whether a first user corresponding to the first control device and a second user corresponding to the second control device are the same user;if so, taking the second working mode as the target working mode;and if not, taking the first working mode as the target working mode.
- The control device of the movable platform is characterized in that the movable platform is respectively in communication connection with a first control device and a second control device, and the device comprises a memory and a processor;the memory is used for storing program codes;the processor, invoking the program code, when executed, is configured to:determining a target working mode when the movable platform carries out image data transmission, wherein the target working mode is a first working mode or a second working mode;sending the image data, and receiving first feedback information sent by the first control device and second feedback information sent by the second control device, wherein the first feedback information is used for indicating whether the first control device successfully receives the image data, and the second feedback information is used for indicating whether the second control device successfully receives the image data;if the target working mode is the first working mode, determining whether to resend the image data according to the first feedback information;and if the target working mode is the second working mode, determining whether to resend the image data according to the first feedback information or the second feedback information.
- The apparatus of claim 20, further comprising:receiving third feedback information, where the third feedback information is used to indicate whether the first control device or the second control device successfully receives control data sent by the movable platform;and if the third feedback information indicates that the first control device or the second control device does not successfully receive the control data, retransmitting the control data.
- The apparatus of claim 20, further comprising:if the target working mode is the first working mode, responding to an image data transmission request sent by the first control equipment;and if the target working mode is the second working mode, responding to image data transmission requests sent by the first control equipment and the second control equipment respectively.
- The apparatus of claim 20, wherein the determining whether to retransmit the image data according to the first feedback information comprises:and if the first feedback information indicates that the image data is not successfully received, retransmitting the image data.
- The apparatus of claim 23, wherein the determining whether to retransmit the image data according to the first feedback information comprises:and if the first feedback information comprises a key frame request, retransmitting the key frame data.
- The apparatus of claim 20, wherein the determining whether to retransmit the image data according to the first feedback information or the second feedback information comprises:and if the first feedback information or the second feedback information indicates that the image data is not successfully received, retransmitting the image data.
- The apparatus of claim 25, wherein the determining whether to retransmit the image data according to the first feedback information or the second feedback information comprises:and if the first feedback information or the second feedback information comprises a key frame request, retransmitting the key frame data.
- The apparatus of claim 20, further comprising:receiving a first control instruction sent by the first control equipment and a second control instruction sent by the second control equipment;determining a target control instruction for controlling the movable platform according to the first control instruction and the second control instruction;and responding to the target control instruction.
- The apparatus of claim 27, wherein determining the target control command for controlling the movable platform based on the first control command and the second control command comprises:determining a first transmission delay of the first control instruction and a second transmission delay of the second control instruction;if the first transmission delay is smaller than or equal to the second transmission delay, taking the first control instruction as the target control instruction;and if the first transmission delay is larger than the second transmission delay, taking the second control instruction as the target control instruction.
- The apparatus of claim 27, wherein determining the target control command for controlling the movable platform based on the first control command and the second control command comprises:determining a connection status between the movable platform and the second control device;and determining a target control instruction for controlling the movable platform according to the connection state, the first control instruction and the second control instruction.
- The apparatus of claim 29, wherein determining the target control command for controlling the movable platform based on the connection status, the first control command, and the second control command comprises:if the connection state is normal connection, comparing the transmission frequency of the second control instruction with a preset transmission frequency threshold value;if the transmission frequency of the second control instruction is greater than or equal to the preset transmission frequency threshold, taking the second control instruction as the target control instruction;and if the second transmission delay is smaller than the transmission delay threshold, generating the target control instruction according to the first control instruction and the second control instruction.
- The apparatus of claim 30, wherein the generating the target control instruction from the first control instruction and the second control instruction comprises:and inserting the second control instruction into the first control instruction, or inserting the first control instruction into the second control instruction to obtain the target control instruction.
- The apparatus of claim 29, wherein determining the target control command for controlling the movable platform based on the connection status, the first control command, and the second control command comprises:if the connection state is disconnection, determining the duration of the disconnection;if the duration is greater than a preset duration threshold, taking the first control instruction as the target control instruction;and if the duration is less than the duration threshold, taking the second control instruction as the target control instruction.
- The apparatus according to any one of claims 27 to 32, wherein a communication connection is established between the first control device and the second control device, and the first control instruction is sent to the movable platform by the second control device through the first control device after the second control device and the first control device keep synchronous.
- The apparatus of claim 33, wherein the synchronizing comprises: time synchronization and/or frequency synchronization.
- The apparatus of claim 20, wherein said determining a target operating mode for said movable platform for image data transfer comprises:receiving a selection instruction aiming at the target working mode;and determining a target working mode when the movable platform transmits the image data according to the selection instruction.
- The apparatus according to claim 35, wherein the selection instruction is selected and transmitted by the user through the first control device;or, the selection instruction is that the user selects and sends the target working mode through the second control device;or, after the user selects the target working mode through the first control device, the first control device sends the selection instruction to the second control device, and then the selection instruction is sent by the second control device.
- The apparatus of claim 35, wherein said determining a target operating mode for said movable platform for image data transfer according to said selection command comprises:determining a first priority when the first control device performs mode selection and a second priority when the second control device performs mode selection;acquiring a first working mode selected by the first control equipment and a second working mode selected by the second control equipment;if the first priority is higher than the second priority, taking the first working mode as the target working mode; and if the first priority is lower than the second priority, taking the second working mode as the target working mode.
- The apparatus of claim 20, wherein said determining a target operating mode for said movable platform for image data transfer comprises:determining whether a first user corresponding to the first control device and a second user corresponding to the second control device are the same user;if so, taking the second control mode as the target working mode;and if not, taking the first control mode as the target working mode.
- A movable platform, comprising:a body;the power system is arranged on the machine body and used for providing power for the movable platform;and a control device as claimed in any one of claims 20 to 38.
- The movable platform of claim 39, wherein the movable platform comprises at least one of: unmanned aerial vehicle, car and intelligent robot.
- A computer-readable storage medium, in which program instructions are stored, which, when run on a processor, implement the method of any of claims 1-19.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/087493 WO2021217416A1 (en) | 2020-04-28 | 2020-04-28 | Movable platform control method and apparatus, movable platform, and storage medium |
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| Publication Number | Publication Date |
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| CN114096463A true CN114096463A (en) | 2022-02-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202080028848.9A Pending CN114096463A (en) | 2020-04-28 | 2020-04-28 | Control method and device for movable platform, movable platform and storage medium |
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| WO (1) | WO2021217416A1 (en) |
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