WO2016011590A1 - Procédé et dispositif de traitement de données, et aéronef - Google Patents

Procédé et dispositif de traitement de données, et aéronef Download PDF

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Publication number
WO2016011590A1
WO2016011590A1 PCT/CN2014/082658 CN2014082658W WO2016011590A1 WO 2016011590 A1 WO2016011590 A1 WO 2016011590A1 CN 2014082658 W CN2014082658 W CN 2014082658W WO 2016011590 A1 WO2016011590 A1 WO 2016011590A1
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WO
WIPO (PCT)
Prior art keywords
data
control
mobile
interface
received
Prior art date
Application number
PCT/CN2014/082658
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English (en)
Chinese (zh)
Inventor
胡骁
刘昂
周谷越
谢捷斌
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2014/082658 priority Critical patent/WO2016011590A1/fr
Priority to CN201480003869.XA priority patent/CN104995575B/zh
Publication of WO2016011590A1 publication Critical patent/WO2016011590A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H27/00—Toy aircraft; Other flying toys

Definitions

  • the present invention relates to the field of electronic technologies, and in particular, to a data processing method, apparatus, and aircraft. ⁇ Background technique ⁇
  • remote-controlled aircraft With the development of electronic technology and communication technology, remote-controlled aircraft, remote-controlled vehicles, and various remote-controlled robots have been manufactured, which can perform corresponding actions through remote control or pre-programmed procedures to assist or replace people in performing related work, for example,
  • the drone is used for aerial photography, and the remote control car is used to shoot suspicious devices.
  • the execution of the drone, remote control car, etc. is based on the remote control system and the shooting system, namely: through the user-side remote control and the on-board remote receiver to complete the equipment of the drone, remote control car, etc. Movement in all directions and positions; cooperation with camera devices mounted on devices such as drones and remote control cars through the camera controller of the user terminal (for example, a smart device with application software installed), and via WiFi or mobile communication network To receive data, and finally display data such as videos or photos that users need on their mobile phones.
  • Embodiments of the present invention provide a data processing method, device, and aircraft, which can implement remote control of mobile vehicles such as aircrafts, remote control vehicles, and remote control robots, and user demand data processing accurately, quickly, and at low cost.
  • the embodiment of the invention provides a data processing method, including:
  • the user demand data is pre-processed, and the pre-processed user demand data is sent to the target terminal;
  • the mobile control data is processed to obtain a power control command, and the currently connected mobile vehicle is controlled according to the obtained power control command. Power output.
  • an embodiment of the present invention further provides a data processing apparatus, including:
  • An identification module configured to identify the received data
  • a first processing module configured to: if the received data is the user demand data, perform pre-processing on the user requirement data, and send the pre-processed user requirement data to the target terminal; the second processing module, For identifying that the received data is mobile control data, processing the mobile control data to obtain a power control command, and controlling a power output of the currently connected mobile vehicle according to the obtained power control command.
  • an embodiment of the present invention further provides an aircraft, including: a power device, a data processing device, where the data processing device includes: a data interface, a flight control interface for connecting with the power device signal, and processing Device
  • the processor is configured to identify data received from the data interface; if the received data is identified as user requirement data, pre-processing the user requirement data, and pre-processing the data
  • the user demand data is sent to the target terminal; if the received data is identified as the mobile control data, the mobile control data is processed to obtain a power control command, and the flight control interface is controlled according to the obtained power control command.
  • the power output of the power unit is configured to identify data received from the data interface; if the received data is identified as user requirement data, pre-processing the user requirement data, and pre-processing the data
  • the user demand data is sent to the target terminal; if the received data is identified as the mobile control data, the mobile control data is processed to obtain a power control command, and the flight control interface is controlled according to the obtained power control command.
  • the embodiments of the present invention can perform different processing on different data through data identification in mobile vehicles such as aircrafts, remote control vehicles, and remote control robots, and can satisfy the unified processing of data, realize fast and accurate data processing, and save cost.
  • mobile vehicles such as aircrafts, remote control vehicles, and remote control robots
  • FIG. 1 is a schematic flow chart of a data processing method according to an embodiment of the present invention.
  • FIG. 2 is a schematic flow chart of another data processing method according to an embodiment of the present invention.
  • FIG. 3 is a schematic flow chart of a specific method for identifying data
  • FIG. 4 is a schematic structural diagram of a data processing apparatus according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of another data processing apparatus according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a control structure in an aircraft according to an embodiment of the present invention.
  • FIG. 1 is a schematic flowchart of a data processing method according to an embodiment of the present invention.
  • the method in the embodiment of the present invention may be implemented based on a controller in a mobile vehicle such as an aircraft or a remote control car, or may be fixed on a mobile device.
  • a separate processing device is used as an example to implement the processing device, which is implemented by a processor, or is implemented by a smart mobile device, such as a smart phone.
  • the method includes:
  • the processing device can receive various types of data through one or more data interfaces, one or more communication methods.
  • the data interface includes a pre-configured USB (Universal Serial Bus) interface, HDMI (High Definition Multimedia Interface), SPI (Serial Peripheral Interface), CAN ( Controller Area Network, Control System Local Area Network ⁇ : Home-port, UAR (Universal Asynchronous Receiver/Transmitter) Data Interface, I2C (Inter- Integrated Circuit) Data Interface, etc.
  • the method includes: a WiFi transmission mode, a mobile communication transmission mode such as 2G, 3G, and 4G, an infrared communication transmission mode, a Bluetooth communication transmission mode, and a short-distance laser communication mode.
  • the type of data received from the data interface or the wireless communication module may include: user demand data, such as: captured pictures, video data, etc.; mobile control data, for example: motion sent by the ground remote controller
  • the direction control signal, the moving attitude signal transmitted by the inertial sensor, etc. may further include a rotation control signal, the rotation control signal mainly including a signal for controlling a single-axis or multi-axis pan/tilt on the moving carrier.
  • the method of identification can be determined based on the source of the received data. Wherein, if the received data is received from the data interface, and the data interface has been configured to be connected to a photographing device such as a camera as an interface for receiving image data, then the data received from the data interface can be The identification is determined as user demand data; and if it is a data interface connected from a module such as an inertial sensor, a GPS (Global Positioning System), or a wireless transmission interface that receives a remote control signal at the ground end, then the received from these interfaces The data can then be identified as mobile control data for controlling the movement of the mobile vehicle.
  • a photographing device such as a camera as an interface for receiving image data
  • the identification is determined as user demand data; and if it is a data interface connected from a module such as an inertial sensor, a GPS (Global Positioning System), or a wireless transmission interface that receives a remote control signal at the ground end, then the received from these interfaces
  • the data can then be identified as mobile control
  • the identification of the received data may also include: first determining based on the specific content of the data, specifically, if the received data is data such as video, picture, voice, etc., determining the number of users required According to; if it is the direction indication data such as the moving direction, the position, etc., it can be determined as the movement control data.
  • the image data can also be determined as the mobile control data as needed, or as the mobile control data and the user demand data, and the module data of the inertial sensor, GPS, etc. can also be determined as the user demand data according to the need.
  • the specific type is based on the user's configuration.
  • the pre-processing includes processing for data correction, compensation, etc., or processing such as compression, transmission coding, etc., to facilitate transmission of user demand data such as pictures and videos on the corresponding transmission channel.
  • the target terminal can be a smartphone, a tablet, or the like.
  • the pre-processed user demand data is transmitted through the WiFi transmission mode and/or the mobile communication transmission mode, even when the distance is short, by Bluetooth, infrared, or the like.
  • the control command for controlling the power system is generated based on the movement control data, and is sent to the power system through the data line to control the rotation speed or the rotation direction of the power module such as the motor in the power system, Complete the movement of the mobile vehicle.
  • Mobile vehicles include aircraft, remote control cars, remote control robots, and the like.
  • the controller of the power system of the mobile vehicle can be directly controlled.
  • it can also be connected to the originally configured power controller in the mobile vehicle to convert the received and recognized motion control data into a power control command recognizable by the power controller and send it to the power controller.
  • the power controller recognizes the power control command, and then sends a control command to the power system to complete the power output control.
  • the power control command recognizable by the power controller refers to an instruction corresponding to the existing remote control protocol or instruction set.
  • the embodiments of the present invention can perform different processing on different data through data identification in mobile vehicles such as aircrafts, remote control vehicles, and remote control robots, and can satisfy the unified processing of data, realize fast and accurate data processing, and save cost.
  • FIG. 2 it is a schematic flowchart of another data processing method according to an embodiment of the present invention.
  • the method in the embodiment of the present invention may be implemented based on a controller in a mobile vehicle such as an aircraft or a remote control car, or may be fixed.
  • a processing device consisting of a processor on a mobile carrier, or by a fixed shift Intelligent mobile terminals such as smart phones on mobile vehicles are implemented.
  • the mobile vehicle is described by taking an aircraft as an example.
  • the method includes:
  • the method for receiving data includes: receiving data of the sensor through the data interface, wherein the data connection includes: USB interface, HDM: [, SPL CAN data interface, UART data interface, I2C data interface, etc.; receiving the ground through wireless transmission
  • wireless transmission methods include: WiFi transmission mode, 2G, 3G and 4G mobile communication transmission methods, infrared communication transmission methods, Bluetooth communication transmission methods, short-range laser communication methods.
  • the identification rules can be set in advance, and then the data is identified based on the recognition rules. Identification rules are based on the user's functional requirements for the aircraft. For example, image data collected by an image sensor such as a camera is generally data that needs to be transmitted to a user for display. Therefore, data such as video, picture, and the like sensed by the image sensor in the identification rule can be directly determined as user demand data; and at the same time, the image sensor The collected video, picture and other data may also provide data for the flight control function of the aircraft to automatically avoid obstacles. If the user opens the automatic obstacle avoidance function, the video and picture that can be sensed by the image sensor in the Shao recognition rule can be The data is determined as user demand data and mobile control data.
  • the identifying the received data may include: determining, by using a source of the data, when the received data is received by a data interface connected to device data such as a camera, the data may be directly determined to be user demand data. If it is data received from other data interfaces such as the compass module, it can be identified as mobile control data, the data of the compass module is mainly used to correct the motion orientation of the aircraft; and if it is the ground end.
  • the source of the data is distinguished based on the frequency, thereby identifying different control data according to different frequencies, and mainly identifying the movement control data, the load control data, and the image acquisition request data.
  • the identification of the received data may also include: first determining the user demand data based on the source or content of the data, and if not the user demand data, further identifying based on the source identifier in the data. Specifically, when the ground end transmits data, if it is user data generated in the mobile control interface of the aircraft, the identifier of the mobile control data is generated for the generated user data; if it is generated in the load control interface of the femto The user data generates an identifier of the load control data for the generated user data; if it is user data generated on the image collection interface of the aircraft, an identifier of the image collection request is generated for the M household data.
  • the pre-processing includes processing such as data correction, compensation, or the like, or processing including compression, transmission coding, and the like.
  • the S202 may include: when it is recognized that the received data is image data collected by an image sensor, determining that the image data is user demand data; and compressing the image data as user demand data. And/or processing according to a preset codec mode, obtaining image transmission data, and transmitting the image transmission data to the target terminal.
  • the target terminal may be an intelligent mobile terminal that transmits mobile control data and load control data and can display data such as video, images, and the like.
  • the S203 may specifically include: if the received data is identified as moving control data, extracting movement parameter data from the movement control data; generating a power control instruction according to the extracted movement parameter data, and according to the obtained power control instruction Controlling a power output of the currently connected mobile vehicle;
  • the movement parameter data includes: movement mode data, one or more moving position point data, moving line data, altitude limit data, speed limit data, distance limit data, maximum attitude limit Any one or more of data (acceleration) and various sensitivity data.
  • Controlling the power output of the currently connected aircraft can be directly controlled.
  • the control may also be performed by cooperating with the original controller of the mobile vehicle, that is, when the received data is identified as the mobile control data, the mobile control data is processed to obtain the dynamic control of the mobile vehicle. a power control command recognizable by the device; transmitting the power control command to a power controller of the mobile vehicle to cause the power controller to control power output by the power device of the mobile vehicle.
  • the flight control data is processed to obtain a flight controller (power controller) of the aircraft capable of identifying a power control command; transmitting the power control command to the flight control controller to cause the flight controller to control power output by the aircraft power device (including a propeller power component, etc.).
  • the step of processing the power control command to complete the power output control may include: acquiring, when the received data is the mobile control data, a first instruction set, where the first instruction set is connected with the current The mobile vehicle negotiated instruction set; converting the mobile control data into a power control command recognizable by the power controller of the mobile vehicle according to the first instruction set; transmitting the power control command to the mobile load a power controller to cause the power controller to move the movement The power output from the power unit of the vehicle is controlled.
  • the mounting device includes a three-axis pan/tilt device, and the load control data is used to control the rotation of the gimbal motor to drive the arm to rotate, thereby adjusting the shooting direction of the camera and fixing the camera in the adjusted direction.
  • the way to control the mounting device can also be used to directly control the rotation of the motor.
  • the motor rotation control can be realized by a controller such as a pan/tilt or the like.
  • the load control data is processed to obtain a motor rotation command recognizable by the rotation controller in the mounting device provided on the mobile vehicle;
  • the motor rotation command is sent to the rotation controller in the mounting device, so that the rotation controller controls the corresponding motor rotation of the mounting device on the moving carrier according to the motor rotation command.
  • the manner of processing the motor rotation command and controlling the rotation of the motor may include: acquiring, when the received data is load control data, a second instruction set, where the second instruction set is a mobile connection with the current connection And a command set negotiated by the mounting device provided on the carrier; converting the obtained load control data into a motor rotation command recognizable by the rotation controller provided in the mounting device according to the second instruction set;
  • the motor rotation command is sent to the rotation controller provided in the mounting device, so that the rotation controller controls the corresponding motor rotation in the mounting device provided on the moving carrier according to the motor rotation command.
  • the image sensor may be a sensor such as a camera provided on the aircraft, and the image sensor on the aircraft is connected to the data of the separate processing device, the intelligent terminal, the flight control, and the like, and the separate processing device and the intelligent terminal.
  • the flight control or the like controls the image sensor of the aircraft to be turned on.
  • the image sensor may also be a camera module on the smart terminal. After the image acquisition request sent by the user on the ground end image acquisition page, the smart terminal directly starts the terminal camera based on the image acquisition request, and starts taking photos, videos, and the like.
  • the received data can also be its data, such as by GPS, visual positioning, Positioning data transmitted by a positioning device such as ultrasonic positioning. Tongxiang can be set in the identification rule to determine it as user demand data, mobile control data, etc. by means of source, etc., and perform different operations separately, including transmitting the positioning data to the target terminal.
  • the positioning data refers to self-positioning data of the mobile vehicle, and the self-positioning data includes any one or more of GPS data, base station positioning data, position data determined based on the vision sensor, and position data determined based on the ultrasonic detector.
  • the self-positioning data includes any one or more of GPS data, base station positioning data, position data determined based on the vision sensor, and position data determined based on the ultrasonic detector.
  • the controller in the mobile vehicle that pulls the data processing method is implemented, the processing device formed by the processor, or the intelligent mobile terminal can be used as a mobile device such as an aircraft based on the data processing method described above.
  • a remote control universal interface which can be used as:
  • Flight Control Interface Provides input for the control instruction set.
  • the instruction set consists of two parts: flight mode and flight parameters.
  • the flight modes include: fully automatic flight, semi-automatic flight and manual flight.
  • fully automatic flight The aircraft flies autonomously according to the preset mode, the user only needs to give the takeoff/landing command, and the aircraft can take off and land automatically.
  • the flight route can be set to a fixed curve (straight line, arc, etc.) according to the user's preset, or it can be fixed or fixed. Flight parameter settings allow the user to customize information about the route (eg linear distance, round radius, etc.).
  • the APP will prompt the user to give the three semi-circle orphans (starting point, End point, turning point), after the user selects the waypoint, the aircraft will automatically design the route to complete the semi-circular flight.
  • Semi-automatic flight The aircraft automatically takes off and land, flies to the user-specified position, and the hover is fixed at this position, and then switches to manual control by the user.
  • the user can set the hover position by flight parameters.
  • Manual flight The aircraft is fully controlled by the user. Users can set related parameters such as height limits, speed limits, and more.
  • the flight control interface frees the user from complex aerodynamics, cybernetics, and navigation theory, so that users don't have to care about the details of the implementation, but are free to control the aircraft.
  • Sensor/Picture Interface Allows users to access third-party sensors such as cameras, infrared detectors, ultrasound, and more.
  • the sensor interface provides data entry for third party sensors.
  • connection methods such as USB/HDMI.
  • the sensor inputs the data into a black box, where it converts and compresses the data format, and transmits the information in real time through a communication device (for example, high-definition image transmission).
  • the sensor interface eliminates the need for the user to care about the specific data format as well as the codec format, the transmission protocol, and only the imaging content, such as mounting an infrared imaging device to detect forest fire risks.
  • the universal PTZ interface not only supports the mounting of the imaging device, but provides a stable platform and suspension mechanism that can be self-stabilized to mount any object that the user wants to mount (in accordance with the counterweight). If the pesticide tank is mounted to spray pesticides. Stable platforms are important for liquids, otherwise the aircraft's violent motor movement can easily cause liquid leakage, resulting in waste or pollution.
  • the aircraft uses its own sensors, such as GPS, visual VO to realize the self-positioning of the aircraft, and outputs position and speed information to the user, which is convenient for the user to use the positioning information for other development, such as multi-machine cooperative work.
  • Application development interface Open the software interface to provide professional users with specific functions by providing an onboard SOC board hardware platform and corresponding software platform. Users only need to write code according to the specified interface, which can drive the corresponding hardware, obtain sensor information and other functions, and facilitate users to develop corresponding functions for specific applications.
  • the embodiment of the invention can identify the specific type of data in the mobile vehicle such as the aircraft, the remote control car, the remote control robot, and the like, and respectively perform different operations, which can basically meet the data processing requirements of the mobile vehicle, and realize fast and accurate.
  • the data processing work in which a separate processor or an existing intelligent terminal can be used to complete the data processing, thereby saving costs.
  • FIG. 3 it is a schematic flowchart of a specific method for identifying data, which identifies the received data based on the source of the data. Specifically, the method includes:
  • S301 Determine the source of the received data.
  • the source can be mainly judged based on the interface, mode, etc. of receiving the data. It is also possible to judge whether data from various sensors or data of a ground terminal is based on the specific content of the data.
  • the embodiments of the present invention can accurately identify three main types of data, including user demand video and picture data user demand data, control aircraft, remote control robot movement control data, and control load control of the corresponding cloud platform equipment.
  • the data realizes fast and accurate data processing. It can also use a separate processor or an existing intelligent terminal to complete data processing, which saves costs.
  • the data processing apparatus and the aircraft of the embodiment of the present invention will be described in detail below.
  • 4 is a schematic structural diagram of a data processing device according to an embodiment of the present invention.
  • the device in the embodiment of the present invention may be disposed in a controller of a mobile vehicle such as an aircraft or a remote control car, or may be fixed on a mobile device.
  • the device includes:
  • the identification module 1 is configured to identify the received data
  • the first processing module 2 is configured to: if the received data is identified as user requirement data, perform pre-processing on the user requirement data, and send the pre-processed user requirement data to the target terminal; 3. If it is recognized that the received data is mobile control data, the mobile control data is processed to obtain a power control command, and the power output of the currently connected mobile vehicle is controlled according to the obtained power control command.
  • the data processing device receives data by setting a data interface or a wireless transmission module, wherein the data interface comprises: a USB interface, an HDMI, an SPI, a CAN data interface, a UART data interface, an I2C data interface, etc.; the wireless transmission mode includes: a WiFi transmission mode Mobile communication transmission methods such as 2G, 3G and 4G, infrared communication transmission methods, Bluetooth communication transmission methods, and short-range laser communication methods.
  • the data interface comprises: a USB interface, an HDMI, an SPI, a CAN data interface, a UART data interface, an I2C data interface, etc.
  • the wireless transmission mode includes: a WiFi transmission mode Mobile communication transmission methods such as 2G, 3G and 4G, infrared communication transmission methods, Bluetooth communication transmission methods, and short-range laser communication methods.
  • the type of the received data may include: user demand data, and mobile control data, and may further include a rotation control signal, where the rotation control signal mainly includes a single-axis or multi-axis cloud on the mobile vehicle.
  • the signal that the station performs control may include: user demand data, and mobile control data, and may further include a rotation control signal, where the rotation control signal mainly includes a single-axis or multi-axis cloud on the mobile vehicle. The signal that the station performs control.
  • the manner of identification of the identification module 1 can be determined based on the source of the received data. It can also be determined based on the specific content of the data.
  • an identification rule may be set in advance, and the identification module 1 identifies the data based on the identification rule.
  • the identification rules are based on the user's ability to set the aircraft's functional requirements. For example, image data collected by an image sensor such as a camera is generally data that needs to be transmitted to a user for display. Therefore, data such as video, picture, and the like sensed by the image sensor in the identification rule can be directly determined as user demand data; and at the same time, the image sensor The collected video, picture and other data may also provide data for the flight control function of the aircraft to automatically avoid obstacles, and the identification rules may determine the video, picture and other data sensed by the image sensor as user demand data and movement control. data.
  • the preprocessing of the first processing module 2 includes processing such as data correction, compensation, or the like, or processing including compression, transmission coding, etc., to facilitate transmission of user demand data such as pictures and videos on the corresponding transmission channel.
  • the target terminal can be a smartphone, a tablet, or the like.
  • the processing module can be transmitted by means of WiFi transmission and/or mobile communication, even when the distance is short, through Bluetooth,
  • the transmission method such as infrared transmits the pre-processed user demand data.
  • the second processing module 3 If it is the mobile control data, the second processing module 3 generates a control instruction for controlling the power system based on the movement control data, and sends the data to the power system through the data line to control the power module such as the motor in the power system.
  • the movement of the moving carrier is completed by the rotation speed, or the direction of rotation.
  • Mobile vehicles include aircraft, remote control cars, remote control robots, and the like.
  • the second processing module 3 can directly control the controller of the power system of the mobile vehicle.
  • it may also be connected to the flight controller of the aircraft, and the second processing module 3 converts the received and recognized movement control data into a power control command recognizable by the power controller, and then the power controller controls the power control command.
  • the control command is sent to the control power system, and the power control command recognizable by the power controller refers to an instruction corresponding to the existing remote control protocol or the instruction set.
  • the embodiments of the present invention can perform different processing on different data through data identification in mobile vehicles such as aircrafts, remote control vehicles, and remote control robots, and can satisfy the unified processing of data, realize fast and accurate data processing, and save cost.
  • FIG. 5 it is a schematic structural diagram of another data processing apparatus according to an embodiment of the present invention.
  • the apparatus of the embodiment of the present invention includes the identification module 1, the first processing module 2, and the second processing module in the above embodiment. 3.
  • the device further includes:
  • the third processing module 4 is configured to: when the received data is identified as load control data, perform conversion processing on the load control data to obtain a motor rotation instruction, and control the mobile vehicle according to the obtained motor rotation instruction.
  • the corresponding motor in the mounted mounting device rotates to drive the corresponding one or more arms of the mounting device to rotate.
  • the mounting device includes a three-axis pan/tilt device, and the load control data is used to control the rotation of the gimbal motor to drive the arm to rotate, thereby adjusting the shooting direction of the camera and fixing the camera in the adjusted direction.
  • the manner in which the third processing module 4 controls the mounting device may also adopt a method of directly controlling the rotation of the motor, or implementing a rotation control of the motor by a controller such as a pan/tilt or the like, and identifying the received
  • the third processing module 4 processes the load control data to obtain a motor rotation command recognizable by the rotation controller provided in the mounting device; the third processing module 4
  • the motor rotation command is sent to the rotation controller provided in the mounting device, so that the rotation controller controls the rotation of the corresponding motor in the mounting device provided on the moving carrier according to the motor rotation command.
  • the second processing module 3 is specifically configured to: when the received data is found to be flight control data, process the flight control data to obtain the movement. a power control command recognizable by the power controller of the vehicle; transmitting the power control command to a power controller of the mobile vehicle to cause the power controller to perform power output to the power device of the mobile vehicle control.
  • the third processing module 4 is configured to: when the received data is identified as load control data, process the load control data to obtain a rotation controller that is set in the mounting device. a motor rotation command; transmitting the motor rotation command to a rotation controller provided in the mounting device, so that the rotation controller controls a corresponding one of the mounting devices disposed on the moving carrier according to the motor rotation command The motor rotates.
  • the device may further include:
  • the calling module 5 is configured to call the image sensor to acquire image data if the received data is identified as an image picking request.
  • the image sensor may be a sensor such as a camera provided on the aircraft, and an image sensor on the aircraft is connected to the calling module 5, and the calling module 5 controls to turn on the aircraft after receiving the image acquisition request.
  • Image sensor may be a sensor such as a camera provided on the aircraft, and an image sensor on the aircraft is connected to the calling module 5, and the calling module 5 controls to turn on the aircraft after receiving the image acquisition request.
  • the image sensor may also be a camera module on the smart terminal. After the image acquisition request sent by the user on the ground end image acquisition page, the calling module 5 in the smart terminal directly starts the terminal camera based on the image acquisition request, and starts to take a photo. Video, etc.
  • the first processing module 2 is specifically configured to: when it is determined that the received data is image data collected by an image sensor, determine the image data as user requirement data; The image data of the data is subjected to compression processing and/or processed in accordance with a preset codec format to obtain image transmission data, and the image transmission data is transmitted to the target terminal.
  • the second processing module 3 is specifically configured to: if the received data is identified as mobile control data, extract mobile parameter data from the mobile control data; generate power control according to the extracted mobile parameter data. Commanding, and controlling a power output of the currently connected mobile vehicle according to the obtained power control command; the movement parameter data includes: movement mode data, one or more moving position point data, moving line data, altitude limit data, speed limit Any one or more of data, distance limit data, maximum attitude limit data, and various sensitivity data.
  • the identifying module is specifically configured to determine a source of the received data; if the received data is image data from a preset image sensor, determining the received The data is user demand data; if the received data is from the data of the ground remote control, it is determined as mobile control data or load control data; wherein, if the data from the ground remote end includes the movement for marking the data from the ground remote end Controlling the first identifier of the interface, determining that the received data is mobile control data; if the data from the ground remote control end includes a second identifier for marking the data from the ground control end of the rotation control interface, determining the received The data is load control data.
  • the apparatus of the embodiment of the present invention may further include:
  • the communication module 6 is configured to receive data of the sensor through the data interface, and receive data of the ground remote control end by wireless transmission, wherein the data interface comprises: a USB data interface, a high definition multimedia interface HDMI data interface, a serial peripheral interface SPI, Controller area network CAN data interface, universal asynchronous transceiver transmitter UART data interface, I2C data interface, one or more; wireless transmission methods include: WiFi transmission mode, mobile communication transmission mode, infrared communication transmission mode, Bluetooth communication Any one or more of transmission methods and short-range laser communication methods.
  • the communication module 6 is further configured to: if the received data includes positioning data, send the positioning data to the target terminal; the positioning data refers to self-positioning data of the mobile vehicle, and the self-positioning data Any one or more of GPS data, base station positioning data, and position data determined based on visual sensors are included.
  • the embodiment of the invention can identify the specific type of data in the mobile vehicle such as the aircraft, the remote control car, the remote control robot, etc., and perform different operations separately, which can basically meet the data processing requirements of the mobile vehicle, and realize fast and accurate Data processing work, in which a separate processor or an existing smart terminal can be used to complete data processing, which saves cost.
  • the aircraft includes a drone, a fixed wing, a rotorcraft, and the like.
  • the aircraft of the embodiment of the present invention includes: The device 100, the data processing device 200, wherein the data processing device 200 includes: a data interface 202, a flight control interface 204 for signal connection with the power device 100, and a processor 206;
  • the processor 206 is configured to identify data received from the data interface 202; if the received data is identified as user requirement data, pre-processing the user requirement data, and pre-processing After the user demand data is sent to the target terminal; if the received data is identified as the mobile control data, the mobile control data is processed to obtain a power control command, and according to the obtained The power control command controls the power output of the power unit 100 through the fly control connection ⁇ 204 .
  • the data related to the aircraft is received by setting a data interface or a wireless transmission module, wherein the data interface includes: USB interface, HDMI, SPI, CAN data interface, UART data interface, I2C data interface, etc.; wireless transmission modes include: WiFi Transmission methods, 2G, 3G and 4G mobile communication transmission methods, infrared communication transmission methods, Bluetooth communication transmission methods, short-range laser communication methods, etc.
  • the aircraft may further include: a flight controller 300 connected to the power device 100 and the processor 206;
  • the processor 206 is configured to: when the received data is identified as flight control data, process the flight control data to obtain a power control command that the flight controller 300 can recognize; a power control command is sent to the flight controller 300;
  • the flight controller 300 is configured to control a power output of the power device 100 according to a power control command sent by the processor 206.
  • the aircraft may further include: a mounting interface and a mounter 400 connected to the mounting interface;
  • the mounter 400 includes: one or more arms for mounting an external device, and a motor 404 for driving the one or more arms to rotate;
  • the processor 206 is further configured to: when the received data is identified as load control data, perform conversion processing on the load control data to obtain a rotation instruction of the motor 404, and control the hanging according to the obtained motor 404 rotation instruction.
  • the corresponding motor 404 in the carrier rotates to drive the corresponding one or more arms of the mounting device to rotate.
  • the loader 400 further includes: a rotation controller 402 connected to each of the motor 404 and the processor 206,
  • the processor 206 is configured to: when the received data is identified as load control data, process the load control data to obtain a motor 404 rotation command that is recognized by the rotation controller 402, and The motor 404 rotation command is sent to the rotation controller 402;
  • the rotation controller 402 is configured to control the rotation of the associated motor 404 according to the motor 404 rotation command sent by the processor 206 to drive the corresponding one or more arms to rotate.
  • the aircraft may also include an image sensor 500.
  • the image sensor 500 is used to acquire image data.
  • the processor 206 is further configured to: if the received data is identified as an image acquisition request, adjust Image data is acquired with image sensor 500.
  • the processor 206 is specifically configured to: when the image data collected by the image sensor 500 is identified, determine the image data as user demand data; and pressurize the image data as user demand data.
  • the processing is reduced and/or processed according to a preset codec format to obtain image transmission data, and the image transmission data is transmitted to the target terminal.
  • the processor 206 is specifically configured to: if the received data is identified as mobile control data, extract mobile parameter data from the mobile control data; generate a power control command according to the extracted mobile parameter data, And controlling, according to the obtained power control command, a power output of the currently connected mobile vehicle;
  • the movement parameter data includes: movement mode data, one or more moving position point data, moving line data, altitude limit data, speed limit data, Any one or more of distance limit data, maximum posture limit data, and various sensitivity data.
  • the processor 206 is specifically configured to determine a source of the received data; if the received data is image data from the preset image sensor 500, determining that the received data is a user Demand data; if the received data is from the data of the ground remote control, it is determined as mobile control data or load control data; wherein, if the data from the ground remote control end includes a mobile control interface for marking the data from the ground remote control end The first identifier determines that the received data is mobile control data; if the data from the ground remote control end includes a second identifier for marking the data from the ground control end of the rotation control interface, determining that the received data is a load Control data.
  • the data interface 202 includes: a USB data interface, a high definition multimedia interface HDMI data interface, a serial peripheral interface SPI, a controller local area CAN data interface, and a universal asynchronous transceiver transceiver UART data interface. Any one or more of the I2C data interfaces.
  • the processor 206 is further configured to: if the received data includes positioning data, send the positioning data to the target terminal; the positioning data refers to self-positioning data of the mobile vehicle, and the self-positioning data Any one or more of GPS data, base station positioning data, and position data determined based on visual sensors are included.
  • the embodiment of the invention can identify the specific type of data in the mobile vehicle such as the aircraft, the remote control car, the remote control robot, and the like, and respectively perform different operations, which can basically meet the data processing requirements of the mobile vehicle, and realize fast and accurate. Data processing work, which can also use a separate processor Or the existing smart terminal to complete the data processing, which saves the cost.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Bonding can either be made to another system, or some features can be ignored, or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through the interfaces, devices or units, and may be electrical, mechanical or otherwise.
  • the units described as separate components may or may not be physically separate, and the components displayed as the units may or may not be physical units, i.e., may be located in one place, or may be distributed to a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention may contribute to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read only memory (ROM, ead-Only Memory), a random access memory (RAM), a disk or an optical disk, and the like, which can store program code. .

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Selective Calling Equipment (AREA)

Abstract

L'invention concerne un procédé et un dispositif de traitement de données, et un aéronef. Le procédé comprend : l'identification de données reçues ; si les données reçues sont identifiées comme étant des données requises par un utilisateur, le prétraitement des données requises par l'utilisateur, et l'envoi des données requises par l'utilisateur prétraitées à un terminal cible ; et si les données reçues sont identifiées comme étant des données de commande de déplacement, le traitement des données de commande de déplacement pour obtenir une instruction de commande de puissance, et la commande de la puissance de sortie d'un véhicule en déplacement actuellement connecté selon l'instruction de commande de puissance obtenue. Au moyen de la présente invention, un traitement différent peut être réalisé sur des données différentes à travers une identification de données dans des véhicules en déplacement, tels qu'un aéronef, un véhicule automobile télécommandé et un robot télécommandé.
PCT/CN2014/082658 2014-07-21 2014-07-21 Procédé et dispositif de traitement de données, et aéronef WO2016011590A1 (fr)

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CN201480003869.XA CN104995575B (zh) 2014-07-21 2014-07-21 一种数据处理方法、装置及飞行器

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