WO2018040092A1

WO2018040092A1 - Remote execution device, method, and system

Info

Publication number: WO2018040092A1
Application number: PCT/CN2016/098052
Authority: WO
Inventors: 黄思荣; 郝祎
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-09-05
Filing date: 2016-09-05
Publication date: 2018-03-08
Also published as: CN106797436A; CN106797436B

Abstract

Disclosed is a remote execution device (1) comprising a master control module (10) and at least two execution mechanisms (11, 12, and 13). The master control module (10) receives a control command from outside of the remote execution device (1), such as a remote control device (2). When the control command is used for instructing the at least two execution mechanisms (11, 12, and 13) to concurrently execute a specific action, the master control module (10) respectively generates one sub-control command for each execution mechanism (11, 12, and 13) of the at least two execution mechanisms (11, 12, and 13), thus controlling the at least two execution mechanisms (11, 12, and 13) to concurrently execute the specific action. The remote execution device (1) and the remote control device (2) constitute a remote execution system. The device and system prevent desynchronization and error from being produced when a user is remotely operating different execution mechanisms and simplify user operation. Also disclosed is a remote execution method.

Description

Remote control device, method and system

Copyright statement

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or patent disclosure contained in the official records and files of the Patent and Trademark Office.

Technical field

The invention belongs to the field of remote control technology, and particularly relates to a remote control executing device, method and system used in applications such as a drone or a driverless car.

Background technique

With the wide range of applications in the UAV industry, in the field of power inspection, thermal imaging search, etc., the same drone sometimes needs to carry two or more cameras. For example, in some scenarios, a visible light camera and an infrared camera are required to work together. In the application of the infrared camera and the visible light camera, it is often necessary to simultaneously see the normal exposure picture and the infrared thermal imaging effect of the normal camera, so it is necessary to achieve simultaneous shooting, so as to ensure the consistency of the video and the photo.

During the shooting of the existing single-camera drone, only one camera responds to the shooting command generated by the user's shooting action, taking a picture or recording. If multiple cameras need to be activated at the same time, or simultaneously, this requires the user to perform two or more actions. However, if more than two actions are performed, the time may be greatly out of sync. Cannot sync shots so that they cannot reflect the same view at the same time.

Fig. 1A shows the case where two cameras of the same command are simultaneously transmitted to the drone in the prior art. As shown in Figure 1, serious problems can arise if the existing single-camera drone control method is directly applied to a multi-camera drone. Because, if the same command is received by two cameras, two kinds of information feedback will be generated. As the sender's remote controller receives two feedback information at the same time, it will be disordered, that is, it cannot be determined which camera is fed back. Thus, if there is a case where data is lost, it cannot be determined which camera has failed to perform the action.

FIG. 1B shows the prior art in which two cameras are simultaneously generated and sent to the two cameras of the drone. As shown in FIG. 1B, if the user operates, two commands are directly generated and sent to the two cameras, which increases the amount of data. And after the transmission fails, it needs to be resent. Because the link is long, the retransmission will increase the time difference and the shooting will be out of sync.

Summary of the invention

The present invention provides a remote control executing device comprising a main control module and at least two executing mechanisms, the main control module for receiving a control command from outside the remote control executing device, wherein when the control command is used to indicate at least When the two actuators perform a specific action at the same time, the master module generates a separate control command for each of the at least two actuators to control the at least two actuators to simultaneously perform the specific action.

The present invention also provides a remote control execution method, comprising: receiving a control command from the outside; and when the control command is used to instruct at least two actuators to simultaneously perform a specific action, for each of the at least two actuators Generating a sub-control command separately; sending the sub-control command to each executing mechanism separately, so that the at least two executing mechanisms simultaneously perform the specific action.

The present invention also provides a remote control execution system including a remote control device and a remote control device capable of transmitting control commands for controlling at least two remote control actuators of the remote control execution device, wherein: the remote control execution device further includes a main control a control module, the main control module is configured to receive a control command from the remote control device; and when the control command is used to indicate that at least two actuators located in the remote control execution device simultaneously perform a specific action, the main control module A separate control command is generated for each of the at least two actuators to control the at least two actuators to simultaneously perform the specific action.

The present invention also provides a remote control execution system including a remote control device and at least one remote control device capable of transmitting control commands for controlling the at least two remote control actuators, wherein: the remote control execution device includes a main control module And at least one actuator for receiving a control command from the remote control device; when the control command is used to indicate that at least two actuators located at the same remote control execution device or different remote control execution devices simultaneously perform a specific action At least one of the main control modules of the remote control device for the at least two Each of the executing agencies generates a separate control command to control the at least two executing mechanisms to simultaneously perform the specific actions.

Other aspects of the invention may also include a non-transitory computer readable medium comprising program instructions for: receiving a control command; when the control command is for indicating that at least two actuators perform a particular action simultaneously And generating, by each of the at least two executing mechanisms, a sub-control command; respectively, sending the sub-control command to each of the executing mechanisms, so that the at least two executing mechanisms simultaneously perform the specific action.

The device of the present invention and the method, system and computer readable medium are capable of avoiding the occurrence of out-of-sync and error when the user remotely operates different actuators, and can simplify the operation of the user.

DRAWINGS

FIG. 1A shows a case where two cameras of the same command are simultaneously transmitted to a drone in the prior art;

FIG. 1B shows a case where two cameras are simultaneously generated and sent to the drones in the prior art;

2 is a block diagram of a module of an embodiment of the present invention;

3 is a view showing an application scenario of a second embodiment of the present invention;

Figure 4 is a flow chart showing the specific operation in the second embodiment of the present invention;

Figure 5 is a diagram of an application scenario of a third implementation of the present invention.

detailed description

For remotely operated devices such as drones, driverless cars, etc., the present invention primarily contemplates the situation where the remote control actuator includes more than one actuator, such as two cameras. When the two or more actuators need to cooperate with each other to perform a certain task, how to prevent errors caused by the transmission and feedback of the commands and the asynchronous problems generated during the execution.

In the following, when the solution of the present invention is specifically described, although the description is made by taking an unmanned aerial vehicle as an example, the system, the device and the method of the present invention are not limited to the field, and any of them are wired or not. The remote control of the line allows the invention to be utilized in a field where two or more different actuators are engaged in a coordinated action, for example, including various unmanned vehicles, and any person who does not need to be directly Various application devices and application scenarios on the device body, such as robot technology, virtual reality technology, and the like.

The "remote control" mentioned in the present invention can be extended to any system or device that performs remote control using the Internet, mobile communication, etc., and wireless control systems and devices implemented using infrared, Bluetooth, NFC near field communication, Zigbee, and the like. The "execution" mentioned in the present invention is not limited to a specific action of an image acquisition section such as a camera, but may be extended to any operation based on mechanical, electronic, or optical.

A "module" as referred to in the present invention may be any hardware device or component of a device, such as a processor, or a logic module of software. The hardware device or components of the device may also execute the corresponding method in accordance with a computer program stored in a non-transitory computer readable medium stored in the memory.

The "two or more actuators" proposed in the present invention are not limited to the same or the same type of actuator, but any arbitrary or different actuators as long as they can cooperate with each other in a specific scene. Complete a task.

In addition, although the "remote control device" of the present invention generally needs to be used with a specific "remote control device" such as a remote controller, it is not necessary for the "remote control device" and the entity "remote device" as long as "remote control is performed" The device can receive a signal from the outside, and the signal may not be sent by a specific certain/some physical device, for example, it may be a device that is not specifically specified in the communication network, or a device located in the "cloud". Issued, and so on. Even when the "remote control device" of the present invention communicates with the "remote control device" of the entity, the number and type of the "remote control device" are not limited.

In general, in order to avoid the problem that the command transmission and reception are not synchronized due to the generation of multiple control commands to multiple actuators, the present invention proposes to set the main control module in the remote control execution device, that is, the remote control of the present invention. At least one master module and at least two actuators are provided in the execution device, the master module being configured to receive a control command from outside the remote control device. As previously mentioned, the received command may be issued by a particular materialized remote control device or by an unspecified, non-materialized system.

More importantly for the present invention, when the control command is used to indicate that at least two actuators perform a specific action at the same time, the master module generates a separate control command for each of the at least two actuators. In order to control the at least two actuators to perform the specific action simultaneously. That is to say, the present invention converts a control command into a control command for separately controlling different actuators, thereby avoiding sending a plurality of control commands to a plurality of actuators, resulting in a complicated link.

The generated sub-control commands are transmitted to the at least two actuators by wire or wirelessly. When the main control module and the executing mechanism are both disposed in the remote control executing device and directly connected in a wired manner, the sub-control command issued by the main control module can well realize the synchronization of sending and receiving, thereby enabling the execution of the executing mechanism. Achieve good synchronization. This also avoids the delay caused by the out of synchronization of the transmission and reception processes when multiple control commands are sent to multiple actuators. When the main control module and the actuator send the sub-control command wirelessly, it can simplify the electrical structure of the remote control device, making the mechanical structure of the remote control device more flexible.

Each actuator performs a specific action after receiving the sub-control command, such as turning on the camera, after which it can selectively feed back status information of the execution action to the main control module. Since the main control module generates the sub-control command for different actuators, the execution status information fed back to the main control module has the identity to the executing mechanism. The main control module can also selectively send the execution status information obtained by the main control module to the outside, or simply store the execution status information. Since the execution status information has an identifier for the execution mechanism, the situation in which the feedback information obtained when the control command is directly sent to the plurality of execution units in the prior art cannot be recognized and causes a problem occurs.

Further, the present invention can be automatically re-executed directly at the remote control execution device when the execution fails, so as to reduce the burden on the end of the control command. That is, when the execution state information fed back by at least one of the at least two execution mechanisms indicates that the execution mechanism fails to execute the specific action, the main control module separately generates points for each of the two or more execution mechanisms. Controlling commands to control the at least two actuators to perform the specific actions simultaneously. In order to avoid falling into the loop of execution failure, a predetermined value may be set. When the number of consecutive re-executions of each actuator reaches the predetermined value, the main control module stops generating the sub-control command and selectively executes the specific control. The message that the action failed is sent to the outside.

The main control module of the present invention is not limited to a specific position provided in the remote control executing device, but generally a position where each actuator can communicate well should be provided. In the drone, the main control module can be set inside the gimbal of the drone. The image acquisition device as an actuator is located on the gimbal.

Furthermore, the two or more actuators of the present invention may be located in the same remote control device or in different remote control devices. For example, when the remote control executing device is a drone, the actuator in the present invention may be a different camera of the same drone or a camera on a different drone. This scenario is useful when multiple drones are tracking the same person, scene, or environment. That is to say, the present invention can issue a control command to a drone to simultaneously operate cameras located on different drones to achieve simultaneous shooting. At this time, the main control module of a drone is required as the main drone that receives the main control command, and the main drone can communicate well with the actuators (such as cameras) of other drones that cooperate with the operation. For example, Bluetooth communication within 200 meters. Thus, when the user issues a master command for synchronous shooting to the master drone with the remote controller, the master drone issues a minute control command to the camera on its own camera or other drone after receiving the master command, thereby Complete the simultaneous start, synchronized shooting and other actions.

The present invention will be further described in detail below with reference to the specific embodiments of the invention, It should be understood that the following embodiments are described with the exception that the drone is used as a remote control executing device, but this does not mean that the present invention cannot be applied to other fields. It is to be understood that any modifications, equivalents, improvements, etc., made within the spirit and scope of the invention are intended to be included within the scope of the invention.

2 is a block diagram of an embodiment of the present invention. As shown, the remote control executing device 1 is a stand-alone device capable of receiving a control command from the outside. In this embodiment, it is capable of receiving control signals from a remote control device 2 having a particular entity. In other embodiments, the number of remote control devices 2 is not limited, and may not be a specific physical device, for example, may be a device that is not specifically designated from a communication network, or an unspecified device located in the "cloud". Wait.

The remote control actuator 1 includes a plurality of

actuators

11, 12, 13. Although three actuators are shown in the figure, the invention can be used for two or more actuators Be applicable. These actuators can be the same type of actuator, for example two cameras for three-dimensional imaging, or different types of actuators, such as a combination of a visible light camera and an infrared camera, or even an actuator that cannot function. For example, a combination of a lighting device and a camera.

As shown in FIG. 2, the present invention adds a main control module 10 to the remote control executing device 1, and the main control module 10 can perform information communication with each of the

actuators

11, 12, and 13. Although the main control module 10 is connected to each actuator by a solid line in the figure, this does not mean that the invention can only use a wired connection, and the main control module 10 can also adopt wireless methods such as infrared, Bluetooth, WiFi, Zigbee and the like. The agency conducts information communication.

By setting the main control module 10, the information interaction between the actuator 2 and the main control module 10 in the prior art can be replaced by the information interaction between the remote control device 2 and the main control module 10. At this time, the main control module 10 needs to use those. The control command for instructing the actuator to perform an action is forwarded to each of the

actuators

11, 12, 13 by generating a minute control command. However, the manner in which the remote control device directly transmits the control command to the actuator is not excluded in the present invention. That is to say, for the remote control device 2, in different embodiments, it may send the control command only to the main control module 10, or may selectively send the control command to the main control module 10 or the

actuators

11, 12 , 13 and so on.

However, as described above, the advantages of the present invention are embodied in that when the control command is used to instruct at least two

actuators

11, 12, 13 to simultaneously perform a specific action, the master module 10 can execute for two or more Each of the actuators in the organization generates a separate control command, which enables each actuator to perform specific actions simultaneously. For the remote control device 2, it is necessary to send a synchronously executed control command to the main control module 10 without transmitting a plurality of control commands as in the prior art. For the actuator,

different actuators

11, 12, and 13 obtain different sub-control commands from the main control module 10, which do not cause mutual interference of signals and cause errors in parsing commands, causing problems. Further, since the main control module 10 assumes the function of signal forwarding, it can also be designed to have certain information processing capability, so that after receiving the control command of the remote control device 2, the actuators can be more intelligently controlled. 11, 12, 13 action.

As an embodiment, the main control module 10 can be heavy when an execution mechanism fails. Newly start the simultaneous execution of each actuator. In this embodiment, each

execution mechanism

11, 12, 13 needs to feed back the execution status information of the execution action to the main control module 10. After receiving the execution status information of each execution unit, the main control module 10 can directly forward the same. The remote control device 2 can also be selectively attempted to restart the execution of the actions by the respective execution devices. When it selects the latter, the main control module 10 can re-send the component control command and send it to each executing mechanism, so that each executing mechanism resynchronizes the execution action. This has the advantage that once at least one of the execution agencies has an execution error, the main control module 10 automatically restarts and is likely to repair the error execution and resume the synchronous execution operation, effectively avoiding the execution error at the remote control device. The processing makes the user's operation more worry-free and convenient.

As a more preferred embodiment, the main control module 10 is further capable of determining the number of times the connection resynchronization execution fails, and stops attempting to restart the synchronization execution when the number reaches the predetermined value, thereby avoiding a fatal problem that cannot be repaired due to the execution mechanism. It is caught in an infinite loop of restart. When the number of retries reaches the predetermined value, the main control module 10 transmits execution state information of the execution failure to the remote control device 2.

It should be understood that the essence of the present invention is that the main control module 10 can intelligently control the execution of each execution mechanism in real time after receiving the synchronous execution command issued by the remote control device 2, instead of the specific synchronous execution control mode. That is to say, the main control module 10 of the present invention may also adopt other control strategies to enable each execution mechanism to perform synchronously, such as timing restart, or delayed restart, etc., which are all included in the scope of the present invention. . In addition, since the main control module itself can have certain information processing energy, it can also have a certain information storage capability, and thus, it can store or process the execution state information of each execution mechanism and then send it to the remote control device 2.

FIG. 3 is an application scenario diagram of another embodiment (second embodiment) of the present invention. This embodiment is one of the specific embodiments of the prior embodiment in the field of drones. As shown in the figure, in this embodiment, the remote control device 3 is a drone, and the remote control device is correspondingly the remote controller 4 of the drone 3. The drone 3 has a pan/tilt 30 on which two cameras are mounted: a visible light camera 32 and an infrared camera 33. Also provided in the pan/tilt 30 is an imaging controller 31 having a function of transmitting and receiving information with the remote controller, and capable of transmitting an operation instruction to the visible light camera 32 and the infrared camera 33. It can be seen that the imaging controller 31 in this embodiment is the master mode. The specific embodiment of the block, while the visible light camera 32 and the infrared camera 32 are specific embodiments of the two actuators.

In this embodiment, the remote controller 4 sends a synchronous start visible light camera to the drone 3 with the same control command as the infrared, which control command is received and parsed by the imaging controller 31. After the imaging controller parses the control command, it begins to control the visible light camera 32 and the infrared machine phase 32 to cause them to start synchronously. Of course, before the two cameras are started synchronously, the imaging controller can also perform some necessary pre-operations to ensure the smooth execution of the synchronization, such as checking the state of each camera, stopping the currently performed action, and the like. Next, the imaging controller 31 respectively generates a sub-control command that activates the visible light camera 32 and the infrared camera 33 and simultaneously transmits them to the two cameras so that the two cameras are simultaneously activated, and the photographing is simultaneously performed at a subsequent time. In this embodiment, the Bluetooth controller is established between the imaging controller 31 and each of the

cameras

32, 33 when the drone is activated. However, the present invention can also establish the connection by means of a wired connection or other wireless connection.

Figure 4 is a flow chart showing the specific operation in the above embodiment. As shown in FIG. 4, the synchronously executed operation is initiated by the user operating the remote controller. After the remote controller sends the synchronously executed control command, the control command is received by the imaging controller located on the drone, and the imaging controller receives the control command. Analyze and obtain the content of the specific synchronous execution, including the execution organization, the action information of the execution, and the like. In this embodiment, the control command includes information that causes the visible light to be the same as the infrared camera to perform the startup. Thus, the imaging controller generates two sub-control commands and transmits them to the two cameras, thereby controlling simultaneous activation of the visible light camera and the infrared camera.

The visible light camera and the infrared camera feed back execution status information to the imaging controller after performing the startup action, and if both cameras are successfully executed, the imaging controller transmits successful execution status information to the remote controller.

If at least one of the two cameras does not successfully perform the startup, the imaging controller then determines whether the number of times the synchronization execution action is restarted has reached a predetermined value, which is, for example, five. If the predetermined value is reached, the synchronous execution action is no longer attempted, and the execution status information of the failed execution is sent to the imaging controller, otherwise the attempt to restart the synchronization is continued. The execution state information is transmitted to the remote controller after the execution state information of the execution failure that is received by the imaging controller d. At this point, the operation flow ends.

It should be noted that in the foregoing embodiment, the synchronously executed action is the same as the synchronous start of the visible light camera and the infrared, but in other embodiments, it may also perform other actions synchronously, such as synchronous photographing, synchronization adjustment parameters, and the like. In addition, in the above embodiment, the imaging controller disposed in the pan/tilt is used as the main control module 10, but in other embodiments of the present invention, the main control may be implemented by other hardware or software having information processing capabilities. The module 10 is implemented, for example, by a control chip implemented by a CPU, a DSP, an FPGA, or the like, or a logic function module in a drone master program. Such variations are intended to be encompassed within the scope of the invention.

In addition, the mechanical connection relationship between the camera and the imaging control module of the above embodiment on the drone is not specific, that is, it does not have to be mounted on the pan/tilt, which may be any mechanical assembly method conforming to the actual application scenario, as long as the camera is guaranteed. And the imaging control module can exchange information by wire or wirelessly.

Fig. 5 is a view showing an application scenario of the third embodiment. As shown in FIG. 5, the present invention is also applicable to scenes of a plurality of remote control executing devices based on the subject matter of the present invention. This third embodiment is still illustrated by the example of a drone, but the technical architecture embodied therein is still a general way.

Referring to Figure 5, two drones are taken as an example. In a realistic scene, it is possible to use two or more drones to shoot the same scene, person or environment from multiple angles. At this time, the requirements for synchronizing the cameras of multiple drones may be more prominent.

In this embodiment, the first drone 3 and the second drone 3' cooperate to perform shooting. In order to synchronize the cameras of the two drones, in this embodiment, one of the drones An imaging controller is provided on the 3rd. Different from the previous embodiment, the first drone 3 can interact with the camera of the second drone in addition to information interaction with its own camera. In this embodiment, a Bluetooth communication method of wireless communication within a range of 200 meters can be employed. Thus, when the remote controller 4 issues a synchronous start control command, the imaging controller of the first drone simultaneously sends a sub-control command to the cameras located in the first drone 3 and the second drone 3' to The cameras on the two drones are synchronized to start shooting. The specific operation process is the same as that of the previous embodiment, and details are not described herein again.

In the third embodiment, the imaging controller is only provided on the first drone 3, but in other embodiments, the imaging controller may be provided on the other drones 3, or may be set on all the drones. An imaging controller, the remote controller 4 can selectively be turned into a drone Like the controller sends a control command that is executed synchronously.

In summary, the present invention employs a command to cause at least two actuators to simultaneously perform the startup, photographing or recording of the phase in the example, which will save user interaction costs. Especially in equipment such as drones, due to the anti-interference of communication links, etc., the fewer the signals, the better, of course, the better, only one execution button is needed at the interactive end, and the user can synchronize by one action. Take photos and videos.

The above method and module according to various embodiments of the present invention may be implemented by executing a computer-containing software by a computing-capable electronic device. The system can include storage devices to implement the various storages described above. The computing capable electronic device can include a general purpose processor, a digital signal processor, a dedicated processor, a reconfigurable processor, etc., but is not limited thereto. Executing such instructions causes the electronic device to be configured to perform the operations described above in accordance with the present invention. The above methods and/or modules may be implemented in one electronic device or in different electronic devices.

Embodiments of the invention use software, which may be stored in the form of volatile memory or non-volatile storage (such as a storage device such as a ROM), whether erasable or rewritable, or stored as The form of the memory (eg, RAM, memory chip, device, or integrated circuit) is either stored on an optically readable medium or a magnetically readable medium (eg, CD, DVD, magnetic or tape, etc.). It should be appreciated that the storage device and the storage medium are embodiments of a machine-readable storage device adapted to store one or more programs, the program or programs comprising instructions that, when executed, implement the present invention An embodiment. Moreover, these programs can be routed via any medium, such as a communication signal carried via a wired connection or a wireless connection, and various embodiments suitably include such programs.

The specific embodiments of the present invention have been described in detail in the foregoing detailed description of the embodiments of the present invention. All modifications, equivalents, improvements, etc., made within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

A remote control executing device includes a main control module and at least two executing mechanisms, wherein the main control module is configured to receive a control command from outside the remote control executing device, wherein:

When the control command is used to indicate that at least two executing mechanisms perform a specific action at the same time, the master control module generates a separate control command for each of the at least two executing mechanisms to control the at least two The actuator performs the specific action at the same time.
The remote control executing apparatus according to claim 1, wherein the generated respective sub-control commands are transmitted to the at least two actuators by wire or wirelessly.
The remote control execution device of claim 1 wherein:

The at least two executing mechanisms are further configured to feed back execution state information of the specific action to the main control module.
The remote control executing device according to claim 3, wherein:

The main control module is further configured to send the execution status information fed back by the at least two actuators directly to the outside.
The remote control executing device according to claim 3, wherein:

When the execution state information fed back by at least one of the at least two executing mechanisms indicates that the executing mechanism fails to perform the specific action, the main control module separately generates a sub-control for each of the at least two executing mechanisms a command to control the at least two actuators to perform the specific action simultaneously.
The remote control executing device according to claim 5, wherein:

When the number of times the at least two executing mechanisms continuously re-execute the specific action simultaneously reaches a predetermined value, the main control module stops generating a sub-control command and transmits information for performing the specific action failure to the outside.
The remote control execution device according to any one of claims 1 to 6, wherein the at least one actuator is an image acquisition device.
The remote control execution device according to claim 7, wherein said specific action is an action of activating an image acquisition device.
The remote control executing device according to claim 7, wherein: said remote control executing device For drones.
The remote control execution device according to claim 9, wherein the image acquisition device is installed on a pan/tilt of the drone, and the main control module is located in a gimbal of the drone.
A remote control execution method includes:

Receiving control commands from the outside;

When the control command is used to indicate that at least two executing mechanisms perform a specific action at the same time, a separate control command is generated for each of the at least two executing mechanisms;

The sub-control commands are separately sent to the respective executing mechanisms such that the at least two executing mechanisms simultaneously perform the specific actions.
The remote control execution method according to claim 11, wherein the generated respective sub-control commands are transmitted to the at least two actuators by wire or wirelessly.
The remote control execution method of claim 11, further comprising:

The at least two actuators feed back execution state information of the specific action to a master module.
The remote control execution method of claim 13, further comprising:

The main control module directly transmits the execution status information fed back by the at least two actuators to the outside.
The remote control execution method according to claim 13, wherein:

When the execution state information fed back by at least one of the at least two execution mechanisms indicates that the execution mechanism fails to perform the specific action, a separate control command is separately generated for each of the at least two execution mechanisms to control the At least two actuators re-execute the specific action simultaneously.
The remote control execution method according to claim 15, wherein:

When the number of times the at least two executing mechanisms continuously re-execute the specific action simultaneously reaches a predetermined value, the generation of the minute control command is stopped, and the information for performing the specific action failure is transmitted to the outside.
The remote control execution method according to any one of claims 11 to 16, wherein the at least one actuator is an image acquisition device.
The remote control execution method according to claim 17, wherein: said specific action is The action of the image acquisition device is activated.
A remote control execution system includes a remote control device and a remote control device capable of transmitting control commands for controlling at least two remote control actuators of the remote control device, wherein:

The remote control executing device further includes a main control module, and the main control module is configured to receive a control command from the remote control device;

When the control command is used to indicate that at least two executing mechanisms located at the remote control executing device simultaneously perform a specific action, the main control module generates a separate control command for each of the at least two executing mechanisms In order to control the at least two actuators to perform the specific action simultaneously.
The remote control execution system of claim 19, wherein the generated respective sub-control commands are transmitted to the at least two actuators by wire or wirelessly.
The remote control execution system of claim 19 wherein:

The at least two executing mechanisms are further configured to feed back execution state information of the specific action to the main control module.
The remote control execution system of claim 21 wherein:

The main control module is further configured to send the execution status information fed back by the at least two actuators directly to the remote control device.
The remote control execution system of claim 21 wherein:

When the execution state information fed back by at least one of the at least two executing mechanisms indicates that the executing mechanism fails to perform the specific action, the main control module separately generates a sub-control for each of the at least two executing mechanisms a command to control the at least two actuators to perform the specific action simultaneously.
The remote control execution system of claim 23 wherein:

When the number of times the at least two actuators continuously re-execute the specific action simultaneously reaches a predetermined value, the main control module stops generating a sub-control command, and sends information for performing the specific action failure to the remote control device. send.
A remote control execution system according to any one of claims 19 to 24, wherein said at least two actuators are image acquisition means.
The remote control execution system according to claim 25, wherein said specific action is an action of activating an image acquisition device.
The remote control execution system of claim 25 wherein: said remote control device is a drone.
A remote control execution system according to claim 27, wherein said image acquisition means is mounted on a head of the drone, and said main control module is located in the head of the drone.
A remote control execution system includes a remote control device and at least one remote control device capable of transmitting control commands for controlling the at least two remote control actuators, wherein:

The remote control executing device includes a main control module and at least one executing mechanism, and the main control module is configured to receive a control command from the remote control device;

When the control command is used to indicate that at least two actuators located at the same remote control executing device or different remote control executing devices simultaneously perform a specific action, the master control module of one of the remote control executing devices is for each of the at least two executing mechanisms The executing agency generates a separate control command to control the at least two executing mechanisms to simultaneously perform the specific action.
The remote control execution system of claim 29, wherein the generated respective sub-control commands are transmitted to the at least two actuators by wire or wirelessly.
The remote control execution system of claim 29 wherein:

The at least two executing mechanisms are further configured to feed back execution state information of performing the specific action to the main control module that generates the sub-control command.
A remote control execution system according to claim 31, wherein:

The main control module for generating the sub-control command is further configured to send the execution status information fed back by the at least two executing mechanisms directly to the remote control device.
A remote control execution system according to claim 31, wherein:

When the execution state information fed back by at least one of the at least two execution mechanisms indicates that the execution mechanism fails to execute the specific action, the master control module that generates the minute control command is for each of the at least two execution mechanisms The sub-control commands are separately generated to control the at least two actuators to perform the specific actions simultaneously.
A remote control execution system according to claim 33, wherein:

When the number of times the at least two executing mechanisms continuously re-execute the specific action simultaneously reaches a predetermined value, the main control module that generates the sub-control command stops generating the sub-control command, and performs information that the specific action fails. Sended to the remote control device.
The remote control execution system according to any one of claims 29 to 34, wherein the at least two actuators are image acquisition devices.
The remote control execution system according to claim 35, wherein said specific action is an action of activating an image acquisition device.
A remote control execution system according to claim 35, wherein said remote control executing means is a drone.
A remote control execution system according to claim 37, wherein said image acquisition means is mounted on a head of the drone, and said main control module is located in the head of the drone.