CN209328011U - Fly control communication system - Google Patents
Fly control communication system Download PDFInfo
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- CN209328011U CN209328011U CN201822273883.XU CN201822273883U CN209328011U CN 209328011 U CN209328011 U CN 209328011U CN 201822273883 U CN201822273883 U CN 201822273883U CN 209328011 U CN209328011 U CN 209328011U
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Abstract
This application provides one kind to fly control communication system, including flies control processor and electronic controller；Flying control processor includes the first winged control feature board；Electronic controller includes the first control function plate, and the first control function plate includes the first switching module and first processing module；First, which flies control feature board, is connected with the first switching module by the first bus, is connected between the first switching module and first processing module using at least two isomery modes.It is connected between the first switching module and first processing module using at least two isomery modes in the electronic controller of the present embodiment, so another implementation can be switched to after exception occurs in a kind of connection type wherein.Due to two kinds of connection type differences, so the abnormal simultaneously probability of two kinds of implementations will be greatly reduced, the reliability for flying control communication system is improved.
Description
Technical field
This application involves UAV Communication technical fields, more particularly to fly control communication system.
Background technique
The winged control communication system of unmanned plane includes flying control processor and electronic controller, flies control processor and electronic controller
Between generally use unified bus and communicate and the communication interface of congenerous is used to realize backup communication, reliability journey for backing up
It spends not high.
Utility model content
In consideration of it, the application, which provides, flies control communication system, the reliability for flying control communication system can be improved.
For above-mentioned purpose, this application provides following technical characteristics:
It includes flying control processor and electronic controller that one kind, which flying control communication system,；
The winged control processor includes the first winged control feature board；
The electronic controller include the first control function plate, the first control function plate include the first switching module and
First processing module；
Described first, which flies control feature board, is connected with first switching module by the first bus, first switching module
It is connected between the first processing module using at least two isomery modes.
Optionally, first switching module includes the first multi-functional i.e. the first MUX module of switching switch module, and, the
One i.e. the first EMIF module of serioparallel exchange parallel port module for reading and writing；
The first processing module includes the first serial communication interface i.e. the first SCI interface, and, the first serioparallel exchange parallel port
Read-write interface i.e. the first EMIF interface；
The first MUX module is connected with the first SCI interface；
The first MUX module is connected with the first EMIF module, and, the first EMIF module and described first
EMIF interface is connected.
Optionally, the electronic controller further includes the second control function plate, and the second control function plate includes second
Switching module and Second processing module；
First switching module is connected with second switching module.
Optionally, the winged control processor further includes the second winged control feature board；
Described second, which flies control feature board, is connected with first switching module by the second bus.
Optionally, the winged control processor further includes the second winged control feature board；
The electronic controller further includes the second control function plate, and the second control function plate includes the second switching module
And Second processing module；
Described second, which flies control feature board, is connected with second switching module by third bus, second switching module
It is connected between Second processing module using at least two isomery modes.
Optionally, second switching module includes the second multi-functional i.e. the 2nd MUX module of switching switch module, and, the
Two i.e. the 2nd EMIF modules of serioparallel exchange parallel port module for reading and writing；
The Second processing module includes the second serial communication interface i.e. the 2nd SCI interface, and, the second serioparallel exchange parallel port
Read-write interface i.e. the 2nd EMIF interface；
The 2nd MUX module is connected with the 2nd SCI interface；
The 2nd MUX module is connected with the 2nd EMIF module, and, the 2nd EMIF module and described second
EMIF interface is connected；
The 2nd MUX module is connected with the first MUX module.
Optionally, the electronic controller includes digital fuel data controller.
Optionally, first bus and third bus use universal serial bus；
The first MUX module is connected with the first SCI interface using universal serial bus；
The 2nd MUX module is connected with the 2nd SCI interface using universal serial bus.
Optionally, first switching module and second switching module are realized using fpga chip；
The first processing module and the Second processing module are realized using ARM chip or dsp chip.
Optionally, the universal serial bus includes RS422 bus.
By the above technological means, may be implemented it is following the utility model has the advantages that
Using extremely between the first switching module 2011 and first processing module 2012 in the electronic controller 200 of the present embodiment
Few two kinds of isomery modes are connected, so can switch to another realization side after exception occurs in a kind of connection type wherein
Formula.Due to two kinds of connection type differences, so the abnormal simultaneously probability of two kinds of implementations can be significantly less than two kinds of identical connections
The probability of mode exception improves the reliability for flying control communication system.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of winged control communication system disclosed in the embodiment of the present application；
Fig. 2 is the structural schematic diagram of another winged control communication system disclosed in the embodiment of the present application；
Fig. 3 is the structural schematic diagram of another winged control communication system disclosed in the embodiment of the present application；
Fig. 4 is the structural schematic diagram of another winged control communication system disclosed in the embodiment of the present application；
Fig. 5 is the structural schematic diagram of another winged control communication system disclosed in the embodiment of the present application；
Fig. 6 is the structural schematic diagram of another winged control communication system disclosed in the embodiment of the present application；
Fig. 7 is the structural schematic diagram of another winged control communication system disclosed in the embodiment of the present application；
Fig. 8 is the structural schematic diagram of another winged control communication system disclosed in the embodiment of the present application；
Fig. 9 is the structural schematic diagram of another winged control communication system disclosed in the embodiment of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Term is explained:
Serial communication interface: SCI, Serial Communication Interface.
MUX, Multiplexer data selector, multidiameter option switch
EMIF, ExternalMemory Interface external memory interface.
This application provides the embodiments one of winged control communication system, and referring to Fig. 1, flying control communication system may include flying at control
Reason machine 100 and electronic controller 200；
The winged control processor 100 includes the first winged control feature board 101；
The electronic controller 200 includes the first control function plate 201, and the first control function plate 201 includes first
Switching module 2011 and first processing module 2012；
Described first, which flies control feature board 101, is connected with first switching module 2011 by the first bus, and described first
It is connected between switching module 2011 and first processing module 2012 using at least two isomery modes.
First switching module 2011 includes the first multi-functional i.e. the first MUX module of switching switch module, and, the first string
And convert parallel port module for reading and writing i.e. the first EMIF module；Wherein, the described first winged control feature board 101 is connected with the first MUX module.
The first processing module 2012 includes the first serial communication interface i.e. the first SCI interface, and, the first serioparallel exchange
Parallel port read-write interface i.e. the first EMIF interface；
The first MUX module is connected with the first SCI interface, with for realizing first switching module with it is described
Serial communication between first processing module；
The first MUX module is connected with the first EMIF module, and, the first EMIF module and described first
EMIF interface is connected, with the parallel communications for realizing first switching module and the first processing module.
The first MUX module of the present embodiment can receive the switching command of first processing module 2012, to realize the first switching
The gating of two kinds of isomery connection types between module 2011 and first processing module.
Isomery connection type one is that the serial data interface of the first MUX module is direct-connected serial to first processing module 2012
Data port, the first SCI interface carried by first processing module 2012 realize the unpacking and group packet and system of bus data
Control function.
Isomery connection type two is that bus parsing is realized by the first switching module 2011, and will be serial by the first EMIF module
Data are converted to parallel data, and the parallel data bus line of first processing module 2012 is passed data to by parallel bus interface
The control function of interface, the unpacking of bus data and group packet and system is completed by first processing module 2012.
It can learn that the application has the advantages that through the foregoing embodiment
Using extremely between the first switching module 2011 and first processing module 2012 in the electronic controller 200 of the present embodiment
Few two kinds of isomery modes are connected, so can switch to another realization side after exception occurs in a kind of connection type wherein
Formula.Due to two kinds of connection type differences, so the abnormal simultaneously probability of two kinds of implementations will be greatly reduced, so the present embodiment
Reliability can be improved.
This application provides the embodiments two of winged control communication system, and referring to fig. 2, flying control communication system may include flying at control
Reason machine 100 and electronic controller 200；
The winged control processor 100 includes the first winged control feature board 101；
The electronic controller 200 includes the first control function plate 201, and the first control function plate 201 includes first
Switching module 2011 and first processing module 2012；
Described first, which flies control feature board 101, is connected with first switching module 2011 by the first bus, and described first
It is connected between switching module 2011 and first processing module 2012 using at least two isomery modes.It is detailed in Fig. 1 embodiment
It specifically describes, details are not described herein.
The electronic controller further includes the second control function plate 202, and the second control function plate 202 is cut including second
Change the mold block 2021 and Second processing module 2022；
First switching module 2011 is connected with second switching module 2021, specifically includes the first switching mould
The first MUX module in block 2011 is connected with the 2nd MUX module in second switching module 2021；In first switching
In the case that module 2011 connect exception with the first processing module 2012, second switching module 2021 is switched to, it is real
Now communicated using second switching module 2021 with the Second processing module 2022.
Wherein, the first control function plate and the second function control plate structure are consistent, the detailed construction description of the second feature board
It may refer to the description of the first control function plate in Fig. 1, details are not described herein.Due to the first control function plate and the second function control
Making sheet structure is consistent, it is possible to realize seamless switching.
Under default situations, first, which flies control feature board 101, is adopted by the first switching module 2011 with first processing module 2012
It is communicated with mode one, employing mode two communicates again in the case where one exception of mode.Work as first processing module in the present embodiment
2012 detect when two access operation irregularity of mode in the first control function plate or the second switching module detects the first processing
When the operation irregularity of module 2012, the first MUX module of the first control function plate 201 switches over operation, to realize the first MUX
Module is connected to the 2nd MUX module of the second function control plate 202, to realize that flying control feature board 101 using first passes through first
Switching module 2011 and the second switching module 2021 are realized and are communicated with Second processing module 2022, to guarantee first as far as possible
Fly the communication of control feature board 101.
The beneficial effect of the present embodiment is as can be seen from the above description:
Using extremely between the first switching module 2011 and first processing module 2012 in the electronic controller 200 of the present embodiment
Few two kinds of isomery modes are connected, so can switch to another realization side after exception occurs in a kind of connection type wherein
Formula.Due to two kinds of connection type differences, so the abnormal simultaneously probability of two kinds of implementations will be greatly reduced.
Also, there are two control function plates for the present embodiment electronic controller tool, in two kinds of isomeries of the first control function plate
After mode exception, control function plate can be changed, so that two kinds of isomery modes providing based on the second control function plate are come real
Now fly the communication of control processor and electronic controller.
This application provides the embodiments three of winged control communication system, and referring to Fig. 3, flying control communication system may include flying at control
Reason machine 100 and electronic controller 200；
The winged control processor 100 includes the first winged control feature board 101；
The electronic controller 200 includes the first control function plate 201, and the first control function plate 201 includes first
Switching module 2011 and first processing module 2012；
Described first, which flies control feature board 101, is connected with first switching module 2011 by the first bus, and described first
It is connected between switching module 2011 and first processing module 2012 using at least two isomery modes.It is detailed in Fig. 1 embodiment
It specifically describes, details are not described herein.
The winged control processor 100 further includes the second winged control feature board 102；
Described second flies control feature board 102 and first switching module 2011, specifically can be described second and flies control function
Energy plate 102 is connected with the first MUX module in first switching module 2011 by the second bus, for described first
In the case where the connection exception for flying control feature board 101 and first switching module 2011, switches to described second and fly control function
Plate 102 realizes that fly control feature board 102 using described second communicates with first switching module 2011.
In the present embodiment when any lane-wise that first flies control feature board 101 is abnormal, fly control feature board by second
102 complete the data interaction with electronic controller 200, and the second communication mode for flying control feature board 102 flies to control function with first
Plate 101 is identical, to farthest guarantee the reliability for flying to control data interaction between processor 100 and electronic controller 200.
The beneficial effect of the present embodiment is as can be seen from the above description:
Using extremely between the first switching module 2011 and first processing module 2012 in the electronic controller 200 of the present embodiment
Few two kinds of isomery modes are connected, so can switch to another realization side after exception occurs in a kind of connection type wherein
Formula.Due to two kinds of connection types be it is different, so the abnormal simultaneously probability of two kinds of implementations can be significantly less than two kinds it is identical
The probability of connection type.
Also, fly control processor 100 tool in the present embodiment there are two control feature board is flown, in the exception that first flies control feature board
Afterwards, it can change and fly control feature board, so that the two kinds of isomery modes provided based on the first control function plate realize that winged control is handled
The communication of machine and electronic controller.
The application provides the example IV for flying control communication system, and referring to fig. 4, flying control communication system may include flying control processing
Machine 100 and electronic controller 200；
The winged control processor 100 includes the first winged control feature board 101；
The electronic controller 200 includes the first control function plate 201, and the first control function plate 201 includes first
Switching module 2011 and first processing module 2012；
Described first, which flies control feature board 101, is connected with first switching module 2011 by the first bus, and described first
It is connected between switching module 2011 and first processing module 2012 using at least two isomery modes.It is detailed in Fig. 1 embodiment
It specifically describes, details are not described herein.
The winged control processor further includes the second winged control feature board 102；
The electronic controller further includes the second control function plate 202, and the second control function plate 202 is cut including second
Change the mold block 2021 and Second processing module 2022；
Described second, which flies control feature board 102, is connected with second switching module 2021 by third bus, and described second
It is connected between switching module 2021 and Second processing module 2022 using at least two isomery modes.
Wherein, second switching module 2021 includes the second multi-functional i.e. the 2nd MUX module of switching switch module, and,
Second i.e. the 2nd EMIF module of serioparallel exchange parallel port module for reading and writing；Then described second flies control feature board 102 and the 2nd MUX mould
Block is connected, and the first MUX module is connected with the 2nd MUX module.
The Second processing module 2022 includes the second serial communication interface i.e. the 2nd SCI interface, and, the second serioparallel exchange
Parallel port read-write interface i.e. the 2nd EMIF interface；
The 2nd MUX module is connected with the 2nd SCI interface, with for realizing second switching module with it is described
Serial communication between Second processing module；
The 2nd MUX module is connected with the 2nd EMIF module, and, the 2nd EMIF module and described second
EMIF interface is connected, with the parallel communications for realizing second switching module 2021 and the Second processing module 2022.
The beneficial effect of the present embodiment is as can be seen from the above description:
Using at least between the first switching module 2011 and first processing module 2012 in the electronic controller of the present embodiment
Two kinds of isomery modes are connected, so can switch to another implementation after exception occurs in a kind of connection type wherein.
Since two kinds of connection types are different, so the abnormal simultaneously probability of two kinds of implementations can be significantly less than two kinds of identical connections
The probability of mode.
Also, fly control processor 100 tool in the present embodiment there are two control feature board is flown, in the exception that first flies control feature board
Afterwards, it can change and fly control feature board, so that the two kinds of isomery modes provided based on the first control function plate realize that winged control is handled
The communication of machine and electronic controller.
Also, there are two control function plates for the present embodiment electronic controller tool, in two kinds of isomeries of the first control function plate
After mode exception, control function plate can be changed, so that two kinds of isomery modes providing based on the second control function plate are come real
Now fly the communication of control processor and electronic controller.
Optionally, according to one embodiment provided by the present application, electronic controller can be digital fuel data controller, certainly
The equipment that can also be interacted for other needs with winged control processor, the application do not limit this.
Referring to Fig. 5, for the specific embodiment of winged control communication system provided by the present application.
Flying control communication system includes flying control processor 100 and electronic controller 200, flies control processor 100 and electronic control
There are 2 groups of RS422 buses between device 200.
Flying control processor 100 includes flying to control A and flying control B.
Electronic controller 200 includes an interface board (diagram is not shown) and main channel and from two, channel feature board,
In two feature board structure and compositions it is just the same, it can be achieved that indifference replace, wherein 2 groups of RS422 buses are respectively connected to two
On a channel.
It (is consistent from channel) by taking main channel as an example, main channel (can be DSP or ARM by a piece of FPGA and a piece of CPU
Equal chips) composition, FPGA realizes Interface Controller and conversion function, FPGA may include: that multi-functional switching switch module illustrates
MUX, and, serioparallel exchange parallel port module for reading and writing be illustrate in EMIF.
Wherein, MUX can receive the switching command of CPU, to realize external RS422 bus to out of channel or current channel
The gating of the 2 kinds of isomery implementations in portion.
Mode one is the direct-connected serial data mouth to CPU of serial data interface of RS422, and the SCI function of being carried by CPU connects
Cause for gossip shows the unpacking of RS422 bus data and the control function of group packet and system.
Mode two is that the parsing of RS422 is completed by FPGA, after FPGA converts serial data into parallel data, by parallel
Bus interface passes data to the parallel data bus line interface of CPU, the unpacking of final RS422 bus data and group packet and is
The control function of system is completed by CPU.
Under default situations, data interaction is realized using winged control A and main channel pass-through mode one, when CPU detects itself
When SCI functional circuit operation irregularity, switching command is sent to FPGA, two in a manner of being switched to transmission mode, to realize data
Interaction.
When CPU detects two access operation irregularity of mode or FPGA detection CPU itself operation irregularity, the MUX of main channel
Switch with from the MUX in channel, data interaction is realized with from channel using winged control A to realize, guarantees that winged control A's is logical as much as possible
Letter.
When fly the control any lane-wise of A it is abnormal when, i.e. switching flies control A to winged control B, since complete and electronic controller
200 data interaction, the communication mode for flying control B is identical as control A is flown, to farthest guarantee to fly control processor 100 and electricity
The reliability of data interaction between sub-controller 200.
It is understood that a variety of sides can be used by flying control processor 100 and electronic controller 200 on the basis of Fig. 5
Formula is communicated, and communication is introduced below.
When using flying control A and when main channel pass-through mode one realizes data interaction, heavy line in signal interaction access such as Fig. 6
It is shown；When using control A and the realization data interaction of main channel pass-through mode two is flown, signal interaction access such as thick dashed line institute in Fig. 6
Show.
When using control A is flown with data interaction is realized from channel pass-through mode one, heavy line in signal interaction access such as Fig. 7
It is shown；When using control A is flown with data interaction is realized from channel pass-through mode two, signal interaction access such as thick dashed line institute in Fig. 7
Show.
When using flying control B and when main channel pass-through mode one realizes data interaction, heavy line in signal interaction access such as Fig. 8
It is shown；When using control B and the realization data interaction of main channel pass-through mode two is flown, signal interaction access such as thick dashed line institute in Fig. 8
Show.
When using control B is flown with data interaction is realized from channel pass-through mode one, thick dashed line in signal interaction access such as Fig. 9
It is shown；When using control B is flown with data interaction is realized from channel pass-through mode two, signal interaction access such as thick dashed line institute in Fig. 9
Show.
If function described in the present embodiment method is realized in the form of SFU software functional unit and as independent product pin
It sells or in use, can store in a storage medium readable by a compute device.Based on this understanding, the embodiment of the present application
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, this is soft
Part product is stored in a storage medium, including some instructions are used so that calculating equipment (it can be personal computer,
Server, mobile computing device or network equipment etc.) execute all or part of step of each embodiment the method for the application
Suddenly.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), deposits at random
The various media that can store program code such as access to memory (RAM, RandomAccess Memory), magnetic or disk.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. one kind flies control communication system, which is characterized in that including flying control processor and electronic controller；
The winged control processor includes the first winged control feature board；
The electronic controller includes the first control function plate, and the first control function plate includes the first switching module and first
Processing module；
Described first, which flies control feature board, is connected with first switching module by the first bus, first switching module and institute
It states and is connected between first processing module using at least two isomery modes.
2. as described in claim 1 fly control communication system, which is characterized in that
First switching module includes the first multi-functional i.e. the first MUX module of switching switch module, and, the first serioparallel exchange is simultaneously
Mouth module for reading and writing i.e. the first EMIF module；
The first processing module includes the first serial communication interface i.e. the first SCI interface, and, the read-write of the first serioparallel exchange parallel port
Interface i.e. the first EMIF interface；
The first MUX module is connected with the first SCI interface；
The first MUX module is connected with the first EMIF module, and, the first EMIF module connects with the first EMIF
Mouth is connected.
3. as described in claim 1 fly control communication system, which is characterized in that
The electronic controller further includes the second control function plate, and the second control function plate includes the second switching module and the
Two processing modules；
First switching module is connected with second switching module.
4. as described in claim 1 fly control communication system, which is characterized in that
The winged control processor further includes the second winged control feature board；
Described second, which flies control feature board, is connected with first switching module by the second bus.
5. as claimed in claim 2 fly control communication system, which is characterized in that
The winged control processor further includes the second winged control feature board；
The electronic controller further includes the second control function plate, and the second control function plate includes the second switching module and the
Two processing modules；
Described second, which flies control feature board, is connected with second switching module by third bus, second switching module and the
It is connected between two processing modules using at least two isomery modes.
6. as claimed in claim 5 fly control communication system, which is characterized in that
Second switching module includes the second multi-functional i.e. the 2nd MUX module of switching switch module, and, the second serioparallel exchange is simultaneously
Mouth module for reading and writing i.e. the 2nd EMIF module；
The Second processing module includes the second serial communication interface i.e. the 2nd SCI interface, and, the read-write of the second serioparallel exchange parallel port
Interface i.e. the 2nd EMIF interface；
The 2nd MUX module is connected with the 2nd SCI interface；
The 2nd MUX module is connected with the 2nd EMIF module, and, the 2nd EMIF module connects with the 2nd EMIF
Mouth is connected；
The 2nd MUX module is connected with the first MUX module.
7. winged control communication system as claimed in any one of claims 1 to 6, which is characterized in that
The electronic controller includes digital fuel data controller.
8. as claimed in claim 6 fly control communication system, which is characterized in that
First bus and the third bus use universal serial bus；
The first MUX module is connected with the first SCI interface using universal serial bus；
The 2nd MUX module is connected with the 2nd SCI interface using universal serial bus.
9. as claimed in claim 6 fly control communication system, which is characterized in that
First switching module and second switching module are realized using fpga chip；
The first processing module and the Second processing module are realized using ARM chip or dsp chip.
10. as claimed in claim 8 fly control communication system, which is characterized in that the universal serial bus includes RS422 bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822273883.XU CN209328011U (en) | 2018-12-29 | 2018-12-29 | Fly control communication system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822273883.XU CN209328011U (en) | 2018-12-29 | 2018-12-29 | Fly control communication system |
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| Publication Number | Publication Date |
|---|---|
| CN209328011U true CN209328011U (en) | 2019-08-30 |
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| CN201822273883.XU Active CN209328011U (en) | 2018-12-29 | 2018-12-29 | Fly control communication system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113039503A (en) * | 2020-08-05 | 2021-06-25 | 深圳市大疆创新科技有限公司 | Control system, control method, device and storage medium for movable platform |
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2018
- 2018-12-29 CN CN201822273883.XU patent/CN209328011U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113039503A (en) * | 2020-08-05 | 2021-06-25 | 深圳市大疆创新科技有限公司 | Control system, control method, device and storage medium for movable platform |
| WO2022027337A1 (en) * | 2020-08-05 | 2022-02-10 | 深圳市大疆创新科技有限公司 | Movable platform control system, control method, device, and storage medium |
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