WO2019178832A1 - 负载设备控制方法、转接装置、无人机、及控制终端 - Google Patents

负载设备控制方法、转接装置、无人机、及控制终端 Download PDF

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Publication number
WO2019178832A1
WO2019178832A1 PCT/CN2018/080175 CN2018080175W WO2019178832A1 WO 2019178832 A1 WO2019178832 A1 WO 2019178832A1 CN 2018080175 W CN2018080175 W CN 2018080175W WO 2019178832 A1 WO2019178832 A1 WO 2019178832A1
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WO
WIPO (PCT)
Prior art keywords
drone
control
load device
switching device
load
Prior art date
Application number
PCT/CN2018/080175
Other languages
English (en)
French (fr)
Inventor
陈汉平
杨勇
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.)
Filing date
Publication date
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/CN2018/080175 priority Critical patent/WO2019178832A1/zh
Priority to CN201880031568.6A priority patent/CN110621577A/zh
Publication of WO2019178832A1 publication Critical patent/WO2019178832A1/zh
Priority to US17/028,504 priority patent/US11994878B2/en
Priority to US18/674,175 priority patent/US20240310849A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/60—Protecting data
    • G06F21/602—Providing cryptographic facilities or services
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/60—Protecting data
    • G06F21/606—Protecting data by securing the transmission between two devices or processes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/53—Network services using third party service providers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/08—Protocols for interworking; Protocol conversion
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/03—Protecting confidentiality, e.g. by encryption
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/03—Protecting confidentiality, e.g. by encryption
    • H04W12/037—Protecting confidentiality, e.g. by encryption of the control plane, e.g. signalling traffic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the embodiment of the invention relates to the field of drones, and in particular to a load device control method, a switching device, a drone, and a control terminal.
  • the head of the drone can be equipped with a photographing device, and when the drone is in flight, the photographing device can perform aerial photography.
  • the drone-equipped shooting equipment may not meet the needs of some third-party manufacturers.
  • Some third-party manufacturers need the drone to be able to carry their own developed third-party equipment, but most of the current drones cannot support third-party equipment.
  • the application of the drone is relatively limited.
  • the embodiment of the invention provides a load device control method, a switching device, a drone, and a control terminal, so that the drone can support the third-party device and improve the application range of the drone.
  • a first aspect of the embodiments of the present invention provides a load device control method, where the load device is connected to an adapter device, and the adapter device is connected to a body of the drone; the method includes:
  • the switching device receives a control instruction sent by the drone for controlling the load device
  • the switching device converts a first communication protocol between the UAV and the switching device into a second communication protocol between the switching device and the load device;
  • the switching device transmits the control command to the load device by using the second communication protocol.
  • a second aspect of the embodiments of the present invention provides a load device control method, where the load device is connected to an adapter device, and the adapter device is connected to a body of the drone; the method includes:
  • the drone receives a control command sent by the control terminal for controlling the load device
  • the drone transmits the control command to the load device through the switching device.
  • a third aspect of the embodiments of the present invention provides a load device control method, where the load device is connected to an adapter device, and the adapter device is connected to a body of the drone; the method includes:
  • the control terminal detects the load device control operation of the user
  • a control instruction for controlling the load device is sent to the drone.
  • a fourth aspect of the present invention provides a switching apparatus, including: a first communication interface, a second communication interface, and a processor; wherein the switching device communicates with the drone through the first communication interface Connected, the switching device is communicatively connected to the load device through the second communication interface;
  • the processor is used to:
  • a fifth aspect of the embodiments of the present invention provides a drone, including:
  • a power system mounted to the fuselage for providing flight power
  • a flight controller in communication with the power system, for controlling the flight of the drone
  • a communication system in communication with the flight controller, the communication system comprising: a first communication interface and a second communication interface;
  • the first communication interface is configured to receive a control instruction sent by the control terminal for controlling the load device
  • the second communication interface is configured to send the control command to the switching device, so that the switching device sends the control command to the load device.
  • a sixth aspect of the embodiments of the present invention provides a control terminal, a processor, and a communication interface
  • the processor is used to:
  • control terminal detects the operation, transmitting, by the communication interface, a control instruction for controlling the load device to the drone.
  • the load device control method, the switching device, the drone, and the control terminal provided by the embodiment are connected to the switching device through the load device, and the switching device is connected with the body of the drone, so that the load device can pass the turn
  • the pick-up device is mounted on the drone, and when the transfer device receives the control command sent by the drone for controlling the load device, the internal protocol between the drone and the transfer device is converted into the transfer device and the load
  • An external protocol between devices, and an external protocol is used to send control commands to the load device, so that third-party devices produced by third-party manufacturers can communicate with the drone through external protocols, so that the drone can support third-party devices. Increased range of applications for drones.
  • FIG. 1 is a schematic diagram of a drone according to an embodiment of the present invention.
  • FIG. 2 is a flowchart of a method for controlling a load device according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a drone according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a system according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of a method for controlling a load device according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a switching device according to an embodiment of the present invention.
  • FIG. 7 is a flowchart of a method for controlling a load device according to another embodiment of the present invention.
  • FIG. 8 is a flowchart of a method for controlling a load device according to another embodiment of the present invention.
  • FIG. 9 is a flowchart of a method for controlling a load device according to another embodiment of the present invention.
  • FIG. 10 is a flowchart of a method for controlling a load device according to another embodiment of the present invention.
  • FIG. 11 is a structural diagram of an adapter device according to an embodiment of the present invention.
  • FIG. 12 is a structural diagram of a drone according to an embodiment of the present invention.
  • FIG. 13 is a structural diagram of a control terminal according to an embodiment of the present invention.
  • pan/tilt 110: switching device;
  • 111 first communication interface;
  • 112 a second communication interface
  • 113 a processor
  • 114 an encryption chip
  • 115 power interface
  • 116 USB to network card chip
  • 120 drone
  • 1261 first communication interface
  • 1262 second communication interface
  • 127 pan/tilt
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • the drone 10 is equipped with a photographing device 12 through a pan/tilt head 11, and image data or video data captured by the photographing device 12 can be transmitted to a control terminal of the ground through a communication system of the drone 10 such as a remote controller or a user. Terminal, etc.
  • a communication system of the drone 10 such as a remote controller or a user. Terminal, etc.
  • some third-party manufacturers hope that drones can be equipped with third-party equipment, but most of the drones currently cannot support third-party equipment, resulting in the application of drones being limited.
  • the embodiment provides a load device control method, and the load device control method is introduced in conjunction with a specific embodiment.
  • FIG. 2 is a flowchart of a method for controlling a load device according to an embodiment of the present invention. As shown in FIG. 2, the method in this embodiment may include:
  • Step S201 The switching device receives a control instruction sent by the drone for controlling the load device.
  • a switching device which may be a Payload software development kit (SDK) transfer. Board, adapter ring, etc.
  • SDK Payload software development kit
  • the load device is coupled to the switching device, and the switching device is coupled to the body of the drone.
  • the body 31 of the drone 30 is connected to the switching device 32, and the switching device 32 is connected to the load device, and the load device can include both the pan/tilt 33 and the third-party device 34; or the load device Only third party devices 34 may be included.
  • the fuselage 31 and the adapter 32 of the drone 30 can be connected by a quick release joint.
  • one end of the quick release joint is connected to the fuselage 31 of the drone 30, and the other end of the quick release joint is rotated.
  • the connecting device 32 is connected, the load device is connected to the switching device 32, the switching device 32 and the load device can be detached from the drone 30 as a whole, or the switching device 32 and the load device can be carried as a whole without On the man machine 30.
  • the load device When the load device is mounted on the drone through the switching device, the load device can also be controlled by the ground control terminal, and the control terminal can be specifically a device such as a remote controller or a user terminal.
  • the remote controller can send a control command through a command channel between the remote controller and the communication system of the drone, and the control command can be specifically a control command for controlling the load device, for example, the control command is used for The pan/tilt 33 and/or third party device 34 as shown in FIG. 3 is controlled. Additionally, the control command can be generated by the user terminal.
  • the control command is sent to the switching device.
  • the communication protocol between the communication system of the drone and the switching device is The internal protocol
  • the communication protocol between the switching device and the load device is an external protocol.
  • the internal protocol between the communication system of the drone and the switching device is recorded as the first communication protocol
  • the external protocol between the switching device and the load device is recorded as the second communication protocol.
  • Step S202 The switching device converts a first communication protocol between the UAV and the switching device into a second communication protocol between the switching device and the load device.
  • the switching device When the switching device receives the control command sent by the drone using the first communication protocol, converting the internal protocol between the communication system of the drone and the switching device into an external connection between the switching device and the load device protocol.
  • An implementation manner in which the switching device converts the internal protocol into the external protocol is that the switching device adds a header conforming to the external protocol to the outer layer of the internal protocol packet, so that the internal protocol packet is converted into the external protocol packet.
  • Step S203 The switching device sends the control command to the load device by using the second communication protocol.
  • the communication interface between the switching device and the load device includes a Controller Area Network (CAN) interface or a Universal Asynchronous Receiver/Transmitter (UART) interface.
  • CAN Controller Area Network
  • UART Universal Asynchronous Receiver/Transmitter
  • the load device control method further includes the following steps as shown in FIG. 5:
  • Step S501 The switching device receives data sent by the load device.
  • the third-party device 34 shown in FIG. 3 is a gas sensor, and when the gas sensor senses a gas component in the air, it is necessary to transmit the sensing data to the control terminal on the ground.
  • the load device shown in FIG. 4 includes the pan/tilt head 33 and the third party device 34 shown in FIG. As shown in FIG. 4, the load device can send the sensing data of the third-party device 34 to the switching device through the network port between the load device and the switching device, and the switching device receives the load device through the network port.
  • Sensing data of the third-party device 34; or the load device may also send the sensing data of the third-party device 34 through the CAN interface or the UART interface between the load device and the switching device, the switching device passing through the CAN interface Or the UART interface receives the sensing data of the third party device 34 sent by the load device.
  • the communication protocol used by the load device to send the sensing data of the third-party device 34 to the switching device through the network port, the CAN interface, or the UART interface is a second communication protocol, that is, an external protocol.
  • Step S502 The switching device converts a second communication protocol between the switching device and the load device into a first communication protocol between the UAV and the switching device.
  • the switching device converts the external protocol between the switching device and the load device into a communication system of the drone.
  • the internal protocol between the switching devices As shown in FIG. 4, after the switching device receives the sensing data of the third-party device 34 sent by the load device, the switching device converts the external protocol between the switching device and the load device into a communication system of the drone. The internal protocol between the switching devices.
  • Step S503 The switching device sends the data to the drone by using the first communication protocol.
  • the switching device transmits the sensing data of the third party device 34 to the communication system of the drone through a data channel between the switching device and the drone using an internal protocol. Further, the sensing data of the third-party device 34 is sent by the communication system to the remote controller through a data channel between the drone and the remote controller, and the remote controller forwards the sensing data of the third-party device 34 to the user. terminal.
  • the ground control terminal may specifically include only the user terminal, that is, the user terminal and the drone communicate without being forwarded by the remote controller.
  • the switching device before the switching device sends the data to the drone by using the first communication protocol, the switching device further includes: the switching device encrypts the data to obtain an encryption.
  • the switching device sends the data to the drone by using the first communication protocol, including: the switching device uses the first communication protocol to encrypt the data Data is sent to the drone.
  • the sensing data may also be encrypted to obtain encrypted data to improve the security of the sensing data.
  • the switching device uses an internal protocol to transmit encrypted data to the communication system of the drone through a data channel between the switching device and the drone, and the communication system passes the encrypted data through the drone and A data channel between the remote controllers is sent to the remote controller, and the remote controller forwards the encrypted data to the user terminal.
  • the load device is connected to the adapter device, and the adapter device is connected to the body of the drone, so that the load device can be mounted on the drone through the adapter device, and when the adapter device receives the drone transmission
  • the internal protocol between the drone and the switching device is converted into an external protocol between the switching device and the load device, and the control command is sent to the load device by using an external protocol.
  • the third-party equipment produced by the third-party manufacturer can communicate with the drone through an external protocol, so that the drone can support the third-party equipment, and the application range of the drone is improved.
  • Embodiments of the present invention provide a load device control method.
  • the method in this embodiment may include: the switching device sends a handshake instruction to the load device, where the handshake instruction is used to detect whether the switching device and the load device are Normal communication connection.
  • the switching device may also send a handshake instruction to the load device periodically or non-periodically, and if the load device does not answer, or the response message of the load device is wrong, the switching device may be disconnected.
  • a communication connection with the load device, or the transfer device can retain the upgrade function and turn off other functions.
  • the switching device includes a power interface for powering the load device. As shown in FIG. 4, the drone can supply power to the switching device, and the switching device can further supply power to the load device.
  • the switching device includes a power interface, and the switching device sends the load device through the power interface. powered by.
  • the communication interface between the UAV and the switching device includes a Universal Serial Bus (USB) interface; the method further includes: the switching device is configured to connect the USB interface Convert to a network port.
  • the load device includes: a cloud platform and a third-party device; and the third-party device is communicably connected to the switching device by using the network port.
  • the data channel between the communication system of the drone and the switching device can be implemented by USB, that is, the communication interface between the UAV and the switching device for implementing the data channel is USB.
  • the interface can also convert the USB interface into a network port, and the network port can be an Ethernet port.
  • the load device can perform data transmission with the switching device through the network port, so that the load device can conveniently use the transmission control protocol to perform network communication with the switching device without downloading the USB analog network card driver.
  • the interface for the UAV to output externally through the quick release connector includes: a CAN port, a USB port, and a 12V/4A power port.
  • the CAN port, the USB port, and the 12V/4A power port are respectively connected to the switching device, and the CAN port, the USB port, and the 12V/4A power port are converted by the switching device to generate a set of external interfaces.
  • the switching device 61 is connected to the drone through a quick release joint, and the load device is connected to the transfer device 61, which includes the pan/tilt head 62 and a third party device.
  • the switching device 61 includes a processor 1, an encryption chip, and a USB to network card chip.
  • the processor 1 may specifically be a Micro Controller Unit (MCU).
  • the command channel between the UAV and the switching device 61 may specifically be a CAN link as shown in FIG. 6.
  • the data channel between the UAV and the switching device 61 may specifically be a USB as shown in FIG. 6.
  • the communication link between the switching device 61 and the pan/tilt 62 can be a CAN link or a UART link.
  • the processor 1 can convert the internal protocol on the CAN link between the drone and the processor 1 into an external protocol on the communication link between the processor 1 and the processor 2, and the processor 2 can communicate with the inertial measurement unit. .
  • the processor 1 can communicate with the encryption chip, and the processor 1 can encrypt the control instructions for controlling the load device, and can also encrypt the data returned by the third party device.
  • the USB transfer network card can convert the USB interface between the UAV and the switching device 61 into a network port, so that the third-party device communicates with the switching device 61 through the network port.
  • the third-party device can The detected data is sent to the switching device 61, forwarded by the switching device 61 to the drone, and then forwarded by the drone to the control terminal on the ground.
  • the switching device 61 can provide the 12V voltage provided by the drone to the third-party device.
  • the switching device 61 also has a DC voltage conversion function.
  • the switching device 61 can be unmanned.
  • the 12V voltage provided by the machine is converted to 3.3V voltage, and the 3.3V voltage can supply power to the processor 1, the USB transfer network card chip, and the processor 2.
  • the drone can also send a control command for controlling the pan/tilt head 62 to the load device through the switching device 61, and the control command can control the pitch axis motor, the yaw axis motor, and the roll axis motor of the pan/tilt head 62. at least one.
  • the method further comprises: the switching device receiving a control sent by the load device, the control for controlling the load device; the switching device transmitting the control to the a drone to cause the drone to send the control to the control terminal.
  • the third-party manufacturer can develop a control for controlling a third-party device based on the Payload SDK, and the control can be a small program, which can be loaded in an application (Application, APP) for controlling the drone in the control terminal. So that third-party manufacturers do not need to develop an APP for controlling third-party devices in order to control third-party devices.
  • the third-party manufacturer can upload the control to the server. When the user needs to control the third-party device, the control terminal downloads the control from the server and loads it into the control terminal to control the drone's APP, so that the user passes An app can control both drones and third-party devices.
  • the third-party manufacturer may store the control in the third-party device.
  • the third-party device When the third-party device is in the working state, the third-party device sends the control to the switching device, and the switching device receives the control sent by the third-party device, and the The control is sent to the drone, and the drone forwards the control to the control terminal.
  • the control terminal receives the control, the control is loaded into the APP for controlling the drone, so that the user can simultaneously pass an APP. Control drones and third-party devices.
  • a handshake instruction is sent to the load device by the switching device, and the communication connection between the load device and the switching device can be detected to ensure normal communication connection between the load device and the switching device; in addition, the USB device is connected through the switching device.
  • the interface is converted into a network port, so that the load device can conveniently use the transmission control protocol to perform network communication with the switching device without downloading the USB analog network card driver; in addition, receiving the control sent by the third-party device through the switching device, and
  • the control is sent to the drone, and the drone forwards the control to the control terminal.
  • the control terminal receives the control, the control is loaded into the APP for controlling the drone, so that the user can simultaneously pass an APP. Control drones and third-party devices, improve the development efficiency of third-party manufacturers and enhance the user experience.
  • FIG. 7 is a flowchart of a method for controlling a load device according to another embodiment of the present invention. As shown in FIG. 7, the method in this embodiment may include:
  • Step S701 The UAV receives a control command sent by the control terminal for controlling the load device.
  • control terminal includes a remote controller and a user terminal.
  • the communication system of the drone receives a control command through a command channel between the remote controller and the drone, and the control command may specifically be a control command for controlling the load device, for example, the control command is used to control PTZ 33 and/or third party device 34 as shown in FIG. Additionally, the control command can be generated by the user terminal.
  • the load device is connected to the switching device, and the switching device is connected to the body of the drone.
  • the body 31 of the drone 30 is connected to the switching device 32, and the switching device 32 is connected to a load device, which can include both the pan/tilt 33 and the third party device 34.
  • Step S702 The UAV sends the control command to the load device by using the switching device.
  • the control command is sent to the switching device.
  • the communication protocol between the communication system of the drone and the switching device is The internal protocol
  • the communication protocol between the switching device and the load device is an external protocol.
  • the internal protocol between the communication system of the drone and the switching device is recorded as the first communication protocol
  • the external protocol between the switching device and the load device is recorded as the second communication protocol.
  • the switching device When the switching device receives the control command sent by the drone using the first communication protocol, converting the internal protocol between the communication system of the drone and the switching device into an external connection between the switching device and the load device
  • the protocol is sent to the load device via a CAN interface or a UART interface using an external protocol.
  • the load device control method further includes the following steps as shown in FIG. 8:
  • Step S801 the UAV receives data sent by the switching device, and the data is generated by the load device.
  • the load device can send data to the switching device through a network port between the load device and the switching device, and the data may be specifically generated by a third-party device.
  • the switching device After the switching device receives the data sent by the load device, the switching device converts the external protocol between the switching device and the load device into an internal protocol between the communication system and the switching device of the drone, and adopts an internal protocol.
  • the data is sent to the drone, and the drone receives the data sent by the switching device.
  • Step S802 the UAV sends the data to the control terminal.
  • the drone transmits the data to the remote controller through the data channel between the drone and the remote controller through the communication system, and the remote controller forwards the data to the user terminal.
  • the data is encrypted data.
  • the switching device receives the data sent by the load device and encrypts the data to obtain encrypted data
  • the switching device uses an internal protocol to send the encrypted data through the data channel between the switching device and the drone.
  • the encrypted data is transmitted by the communication system of the drone to the remote controller through a data channel between the drone and the remote controller, and the remote controller forwards the encrypted data to the user terminal.
  • the load device is connected to the adapter device, and the adapter device is connected to the body of the drone, so that the load device can be mounted on the drone through the adapter device, and when the adapter device receives the drone transmission
  • the internal protocol between the drone and the switching device is converted into an external protocol between the switching device and the load device, and the control command is sent to the load device by using an external protocol.
  • the third-party equipment produced by the third-party manufacturer can communicate with the drone through an external protocol, so that the drone can support the third-party equipment, and the application range of the drone is improved.
  • FIG. 9 is a flowchart of a method for controlling a load device according to another embodiment of the present invention. As shown in FIG. 9, the method in this embodiment may include:
  • Step S901 The control terminal detects a load device control operation of the user.
  • a switching device which may be a Payload software development kit (SDK) transfer. Board, adapter ring, etc.
  • SDK Payload software development kit
  • the load device is coupled to an adapter device that is coupled to the body of the drone. As shown in FIG. 3, the body 31 of the drone 30 is connected to the switching device 32, and the switching device 32 is connected to the load device, and the load device can include both the pan/tilt 33 and the third-party device 34; or the load device Only third party devices 34 may be included.
  • control terminal includes a remote controller and a user terminal.
  • an APP is installed in the user terminal, and the APP can be used to control the load device, and the user terminal can detect the load device control operation of the user.
  • Step S902 When the control terminal detects the operation, send a control instruction for controlling the load device to the drone.
  • a control command is generated, and the control command is sent to the remote controller, and the control command is sent to the drone through the command channel by the remote controller.
  • the method further includes:
  • Step S903 The control terminal receives data sent by the drone, and the data is generated by the load device and sent by the load device to the drone through the switching device.
  • the load device When the load device generates data, the load device sends the data to the switching device through the network port, and the switching device further transmits the data to the drone through the data channel, and the drone transmits the data to the remote controller through the data channel, and the user The terminal receives data generated by the load device from the remote controller.
  • the method before the step S901 controls the terminal to detect the load device control operation of the user, the method further includes the following steps as shown in FIG. 10:
  • Step S1001 The control terminal acquires a control for controlling the load device.
  • control terminal acquiring control for controlling the load device includes the following feasible implementation manners:
  • control terminal downloads a control for controlling the load device from a server.
  • Third-party manufacturers can develop controls for controlling third-party devices based on the Payload SDK.
  • the control can be a small program. After the third-party manufacturer develops the control, the control can be uploaded to the server. When the three-party device is used, the control is downloaded from the server through the control terminal.
  • control terminal receives a control sent by the drone to control the load device.
  • the third-party manufacturer can store the control in the third-party device.
  • the third-party device sends the control to the switching device, and the switching device receives the control sent by the third-party device, and sends the control.
  • the drone forwards the control to the control terminal.
  • Step S1002 The control terminal loads the control into an application for controlling the drone.
  • control terminal downloads the control from the server, or when the control terminal receives the control from the drone, the control is loaded into the control terminal to control the drone's APP, so that the user passes an APP. Control drones and third-party devices simultaneously.
  • control terminal detects a load device control operation of the user, and the control terminal detects the user's operation on the control.
  • the control terminal loads the control into an APP for controlling the drone in the control terminal, and the APP can explicitly pop up a window, an icon, or a window, and the user can control the third party through the popup, icon, or window.
  • the device, or the pop-up window, icon, or window can also explicitly capture data collected by a third-party device.
  • a third-party manufacturer develops a control for controlling a third-party device based on the Payload SDK, and the control terminal downloads the control from the server, or the third-party device sends the control to the control terminal through the switching device and the drone, and controls The terminal loads the control into the APP that controls the drone, so that the user can simultaneously control the drone and the third-party device through an APP, thereby improving the development efficiency of the third-party manufacturer and improving the user experience.
  • FIG. 11 is a structural diagram of a switching device according to an embodiment of the present invention.
  • the switching device 110 includes: a first communication interface 111, a second communication interface 112, and a processor 113; wherein the switching device 110 The first communication interface 111 is connected to the UAV, and the switching device 110 is connected to the load device through the second communication interface 112.
  • the processor 113 is configured to: receive, by using the first communication interface 111, the UAV to send Controlling a control command of the load device; converting a first communication protocol between the drone and the switching device 110 into a second communication protocol between the switching device 110 and the load device; The communication interface 112 transmits the control command to the load device using the second communication protocol.
  • the processor 113 is further configured to: receive data sent by the load device by using the second communication interface 112; convert the second communication protocol between the switching device 110 and the load device into the drone And a first communication protocol between the switching device 110; transmitting the data to the drone through the first communication interface 111 using the first communication protocol.
  • the switching device 110 further includes: an encryption chip 114, the encryption chip 114 is communicatively coupled to the processor 113; the processor 113 transmits the data to the none by using the first communication protocol by using the first communication interface 111 Before the human machine, the method is further configured to: encrypt the data by using the encryption chip 114 to obtain the encrypted data; and the processor 113 sends the data to the unmanned by using the first communication protocol by using the first communication interface 111.
  • the machine time is specifically configured to: send the encrypted data to the drone by using the first communication protocol by using the first communication interface 111.
  • the processor 113 is further configured to: send, by using the second communication interface 112, a handshake instruction to the load device, where the handshake instruction is used to detect whether the switching device 110 and the load device are in normal communication connection.
  • the switching device 110 further includes: a power interface 115, and the power interface 115 is configured to supply power to the load device.
  • the first communication interface 111 includes: a USB interface; the switching device 110 further includes: a USB to network card chip 116, the USB to network card chip 116 is configured to convert the USB interface into a network port; and the second communication interface 112 includes : The network port.
  • the load device includes: a cloud platform and a third-party device; and the third-party device is communicatively connected to the switching device 110 through the network port.
  • the processor 113 is further configured to: receive, by using the second communication interface 112, a control sent by the load device, where the control is used to control the load device; and send the control to the device by using the first communication interface 111.
  • the drone is described to cause the drone to send the control to the control terminal.
  • the load device is connected to the adapter device, and the adapter device is connected to the body of the drone, so that the load device can be mounted on the drone through the adapter device, and when the adapter device receives the drone transmission
  • the internal protocol between the drone and the switching device is converted into an external protocol between the switching device and the load device, and the control command is sent to the load device by using an external protocol.
  • the third-party equipment produced by the third-party manufacturer can communicate with the drone through an external protocol, so that the drone can support the third-party equipment, and the application range of the drone is improved.
  • Embodiments of the present invention provide a drone. 12 is a structural diagram of a drone according to an embodiment of the present invention.
  • the drone 120 includes a fuselage, a power system, and a flight controller 121.
  • the power system includes at least one of the following: a motor 122.
  • the power system is mounted on the airframe for providing flight power.
  • the flight controller 121 is communicatively coupled to the power system for controlling the flight of the drone.
  • the drone 120 further includes: the switching device 125 and the communication system 126; the specific principles and implementations of the switching device 125 are similar to the above embodiments, and are not described herein again.
  • the communication system 126 is connected to the flight controller 121.
  • the communication system 126 includes: a first communication interface 1261 and a second communication interface 1262.
  • the first communication interface 1261 is configured to receive a control command sent by the control terminal for controlling the load device.
  • the second communication interface 1262 is configured to send the control command to the switching device 125 to cause the switching device 125 to transmit the control command to the load device.
  • the load device includes a cloud platform 127 and a third party device 128.
  • the second communication interface 1262 is further configured to: receive data sent by the switching device 125, where the data is generated by the load device; the first communication interface 1261 is further configured to: send the data to the control terminal .
  • the data is encrypted data.
  • the load device is connected to the adapter device, and the adapter device is connected to the body of the drone, so that the load device can be mounted on the drone through the adapter device, and when the adapter device receives the drone transmission
  • the internal protocol between the drone and the switching device is converted into an external protocol between the switching device and the load device, and the control command is sent to the load device by using an external protocol.
  • the third-party equipment produced by the third-party manufacturer can communicate with the drone through an external protocol, so that the drone can support the third-party equipment, and the application range of the drone is improved.
  • FIG. 13 is a structural diagram of a control terminal according to an embodiment of the present invention.
  • the control terminal 130 includes a processor 131 and a communication interface 132.
  • the processor 131 is configured to: detect a load device control operation of the user; when the control terminal detects the operation, send a control instruction for controlling the load device to the drone through the communication interface 132.
  • the processor 131 is further configured to: receive, by using the communication interface 132, data sent by the drone, where the data is generated by the load device, and sent by the load device to the device by using the switching device. Said the drone.
  • the processor 131 is further configured to: acquire a control for controlling the load device; and load the control into an application for controlling the drone
  • the processor 131 is specifically configured to: detect a user's operation on the control.
  • the controller 131 downloads a control for controlling the load device from a server.
  • the processor 131 when the processor 131 acquires a control for controlling the load device, the processor 131 is configured to: receive, by using the communication interface 132, a control sent by the drone to control the load device.
  • the load device is connected to the adapter device, and the adapter device is connected to the body of the drone, so that the load device can be mounted on the drone through the adapter device, and when the adapter device receives the drone transmission
  • the internal protocol between the drone and the switching device is converted into an external protocol between the switching device and the load device, and the control command is sent to the load device by using an external protocol.
  • the third-party equipment produced by the third-party manufacturer can communicate with the drone through an external protocol, so that the drone can support the third-party equipment, and the application range of the drone is improved.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into 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 some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose 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 hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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Abstract

本发明实施例提供一种负载设备控制方法、转接装置、无人机、及控制终端，该方法包括：转接装置接收无人机发送的用于控制负载设备的控制指令；将无人机和转接装置之间的第一通信协议转换为转接装置和负载设备之间的第二通信协议；采用第二通信协议将控制指令发送给负载设备。本发明实施例负载设备通过转接装置搭载在无人机上，当该转接装置接收到无人机发送的用于控制负载设备的控制指令时，将无人机和转接装置之间的内部协议转换为转接装置和负载设备之间的外部协议，并采用外部协议将控制指令发送给负载设备，使得第三方厂家生产的第三方设备可通过外部协议与无人机正常通信，从而使得无人机可支持第三方设备，提高了无人机的应用范围。

Description

负载设备控制方法、转接装置、无人机、及控制终端 技术领域
本发明实施例涉及无人机领域，尤其涉及一种负载设备控制方法、转接装置、无人机、及控制终端。
背景技术
现有技术中无人机的云台可搭载有拍摄设备，当无人机在飞行状态时，该拍摄设备可以进行航拍。
但是无人机搭载拍摄设备可能无法满足一些第三方厂家的需求，部分第三方厂家需要该无人机能够搭载其自己开发的第三方设备，但是目前大多数的无人机还无法支持第三方设备，导致该无人机的应用比较受局限。
发明内容
本发明实施例提供一种负载设备控制方法、转接装置、无人机、及控制终端，以使无人机可支持第三方设备，提高无人机的应用范围。
本发明实施例的第一方面是提供一种负载设备控制方法，所述负载设备与转接装置连接，所述转接装置与无人机的机身连接；所述方法包括：
所述转接装置接收所述无人机发送的用于控制所述负载设备的控制指令；
所述转接装置将所述无人机和所述转接装置之间的第一通信协议转换为所述转接装置和所述负载设备之间的第二通信协议；
所述转接装置采用所述第二通信协议将所述控制指令发送给所述负载设备。
本发明实施例的第二方面是提供一种负载设备控制方法，所述负载设备与转接装置连接，所述转接装置与无人机的机身连接；所述方法包括：
所述无人机接收控制终端发送的用于控制所述负载设备的控制指令；
所述无人机通过所述转接装置将所述控制指令发送给所述负载设备。
本发明实施例的第三方面是提供一种负载设备控制方法，所述负载设 备与转接装置连接，所述转接装置与无人机的机身连接；所述方法包括：
控制终端检测用户的负载设备控制操作；
当所述控制终端检测到所述操作时，向所述无人机发送用于控制所述负载设备的控制指令。
本发明实施例的第四方面是提供一种转接装置，包括：第一通讯接口、第二通讯接口和处理器；其中，所述转接装置通过所述第一通讯接口与无人机通讯连接，所述转接装置通过所述第二通讯接口与负载设备通讯连接；
所述处理器用于：
通过所述第一通讯接口接收所述无人机发送的用于控制所述负载设备的控制指令；
将所述无人机和所述转接装置之间的第一通信协议转换为所述转接装置和所述负载设备之间的第二通信协议；
通过所述第二通讯接口采用所述第二通信协议将所述控制指令发送给所述负载设备。
本发明实施例的第五方面是提供一种无人机，包括：
机身；
动力系统，安装在所述机身，用于提供飞行动力；
飞行控制器，与所述动力系统通讯连接，用于控制所述无人机飞行；
如第四方面所述的转接装置；以及
通信系统，与所述飞行控制器通讯连接，所述通信系统包括：第一通讯接口和第二通讯接口；
所述第一通讯接口用于接收控制终端发送的用于控制所述负载设备的控制指令；
所述第二通讯接口用于将所述控制指令发送给所述转接装置，以使所述转接装置将所述控制指令发送给所述负载设备。
本发明实施例的第六方面是提供一种控制终端，处理器和通讯接口；
所述处理器用于：
检测用户的负载设备控制操作；
当所述控制终端检测到所述操作时，通过所述通讯接口向所述无人机发送用于控制所述负载设备的控制指令。
本实施例提供的负载设备控制方法、转接装置、无人机、及控制终端，通过负载设备与转接装置连接，转接装置与无人机的机身连接，使得负载设备可以通过该转接装置搭载在无人机上，当该转接装置接收到无人机发送的用于控制负载设备的控制指令时，将无人机和转接装置之间的内部协议转换为转接装置和负载设备之间的外部协议，并采用外部协议将控制指令发送给负载设备，使得第三方厂家生产的第三方设备可通过外部协议与无人机正常通信，从而使得无人机可支持第三方设备，提高了无人机的应用范围。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的无人机的示意图；
图2为本发明实施例提供的负载设备控制方法的流程图；
图3为本发明实施例提供的无人机的示意图；
图4为本发明实施例提供的系统结构示意图；
图5为本发明实施例提供的负载设备控制方法的流程图；
图6为本发明实施例提供的转接装置的示意图；
图7为本发明另一实施例提供的负载设备控制方法的流程图；
图8为本发明另一实施例提供的负载设备控制方法的流程图；
图9为本发明另一实施例提供的负载设备控制方法的流程图；
图10为本发明另一实施例提供的负载设备控制方法的流程图；
图11为本发明实施例提供的转接装置的结构图；
图12为本发明实施例提供的无人机的结构图；
图13为本发明实施例提供的控制终端的结构图。
附图标记：
10：无人机；11：云台；12：拍摄设备；
30：无人机；31：机身；32：转接装置；
33：云台；34：第三方设备；61：转接装置；
62：云台；110：转接装置；111：第一通讯接口；
112：第二通讯接口；113：处理器；114：加密芯片；
115：电源接口；116：USB转网卡芯片；120：无人机；
121：飞行控制器；122：电机；123：螺旋桨；
124：电子调速器；125：转接装置；126：通信系统；
1261：第一通讯接口；1262：第二通讯接口；127：云台；
128：第三方设备；130：控制终端；131：处理器；
132：通讯接口。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
如图1所示，无人机10通过云台11搭载有拍摄设备12，拍摄设备12拍摄的图像数据或视频数据可通过无人机10的通信系统传输到地面的控制终端例如遥控器、用户终端等。随着无人机应用领域越来越广，一些第三方厂家希望无人机能够搭载第三方设备，但是目前大多数的无人机还无法支持第三方设备，导致无人机的应用比较受局限。为了解决该问题， 本实施例提供了一种负载设备控制方法，下面结合具体的实施例对该负载设备控制方法进行介绍。
本发明实施例提供一种负载设备控制方法。图2为本发明实施例提供的负载设备控制方法的流程图。如图2所示，本实施例中的方法，可以包括：
步骤S201、所述转接装置接收所述无人机发送的用于控制所述负载设备的控制指令。
为了能够使无人机支持第三方设备，在本实施例中提供了一种转接装置，该转接装置具体可以是有效载荷的(Payload)软件开发工具包(Software Development Kit，SDK)转接板、转接环等。所述负载设备与所述转接装置连接，所述转接装置与无人机的机身连接。如图3所示，无人机30的机身31与转接装置32连接，转接装置32与负载设备连接，该负载设备可同时包括云台33和第三方设备34；或者，该负载设备可只包括第三方设备34。可选的，无人机30的机身31和转接装置32可以通过快拆接头连接，例如，快拆接头的一端与无人机30的机身31连接，快拆接头的另一端与转接装置32连接，负载设备连接到转接装置32上，转接装置32和负载设备可作为一个整体从无人机30上拆卸下来，或者转接装置32和负载设备可作为一个整体搭载在无人机30上。
当负载设备通过转接装置搭载在无人机时，该负载设备还可以由地面的控制终端进行控制，该控制终端具体可以是遥控器、用户终端等设备。如图4所示，遥控器可通过该遥控器与无人机的通信系统之间的命令通道发送控制指令，该控制指令具体可以是用于控制负载设备的控制指令，例如该控制指令用于控制如图3所示的云台33和/或第三方设备34。另外，该控制指令可以是用户终端生成的。
如图4所示，当无人机的通信系统接收到该控制指令后，将该控制指令发送给转接装置，可选的，无人机的通信系统与转接装置之间的通信协议为内部协议，转接装置与负载设备之间的通信协议为外部协议。在本实施例中，将无人机的通信系统与转接装置之间的内部协议记为第一通信协议，将转接装置与负载设备之间的外部协议记为第二通信协议。无人机的 通信系统接收到该控制指令后，采用第一通信协议将该控制指令通过该通信系统与转接装置之间的命令通道发送给该转接装置。
步骤S202、所述转接装置将所述无人机和所述转接装置之间的第一通信协议转换为所述转接装置和所述负载设备之间的第二通信协议。
该转接装置接收到无人机采用第一通信协议发送的该控制指令时，将无人机的通信系统与转接装置之间的内部协议转换为该转接装置与负载设备之间的外部协议。转接装置将内部协议转换为外部协议的一种可实现方式是：转接装置在内部协议报文的外层增加一个符合外部协议的头部，使得内部协议报文转换为外部协议报文。
步骤S203、所述转接装置采用所述第二通信协议将所述控制指令发送给所述负载设备。
如图4所示，转接装置和负载设备之间的通讯接口包括控制器局域网络(Controller Area Network,CAN)接口或通用异步收发传输器(Universal Asynchronous Receiver/Transmitter,UART)接口。转接装置将无人机的通信系统与转接装置之间的内部协议转换为该转接装置与负载设备之间的外部协议之后，采用外部协议通过CAN接口或UART接口将该控制指令发送给该负载设备。
在本实施例的基础上，负载设备控制方法还包括如图5所示的如下步骤：
步骤S501、所述转接装置接收所述负载设备发送的数据。
例如图3所示的第三方设备34为气体传感器，当该气体传感器感测到空气中的气体成分时，需要将感测数据发送给地面的控制终端。如图4所示的负载设备包括图3所示的云台33和第三方设备34。如图4所示，负载设备可通过该负载设备与该转接装置之间的网口向该转接装置发送第三方设备34的感测数据，该转接装置通过网口接收该负载设备发送的第三方设备34的感测数据；或者，负载设备还可以通过该负载设备与该转接装置之间的CAN接口或UART接口发送第三方设备34的感测数据，该转接装置通过CAN接口或UART接口接收该负载设备发送的第三方设备34的感测数据。可选的，该负载设备通过网口、CAN接口或UART接口向该转接装置发送第三方设备34的感测数据时采用的通信协议为第二通信协议 即外部协议。
步骤S502、所述转接装置将其与所述负载设备之间的第二通信协议转换为所述无人机和所述转接装置之间的第一通信协议。
如图4所示，当该转接装置接收到负载设备发送的第三方设备34的感测数据之后，该转接装置将其与负载设备之间的外部协议转换为无人机的通信系统与转接装置之间的内部协议。
步骤S503、所述转接装置采用所述第一通信协议将所述数据发送给所述无人机。
该转接装置采用内部协议将第三方设备34的感测数据通过该转接装置与该无人机之间的数据通道发送给该无人机的通信系统。进一步由通信系统将该第三方设备34的感测数据通过该无人机和遥控器之间的数据通道发送给该遥控器，由该遥控器将该第三方设备34的感测数据转发给用户终端。在一些实施例中，地面的控制终端具体可以只包括用户终端，即该用户终端和无人机之间进行通信，而无需由遥控器进行转发。
在其他实施例中，步骤S203所述转接装置采用所述第一通信协议将所述数据发送给所述无人机之前，还包括：所述转接装置将所述数据进行加密得到加密后的数据；相应的，所述转接装置采用所述第一通信协议将所述数据发送给所述无人机，包括：所述转接装置采用所述第一通信协议将所述加密后的数据发送给所述无人机。
当该转接装置接收到负载设备发送的第三方设备34的感测数据之后，还可以对该感测数据进行加密得到加密数据,以提高该感测数据的安全性。进一步，该转接装置采用内部协议将加密数据通过该转接装置与该无人机之间的数据通道发送给该无人机的通信系统，由通信系统将该加密数据通过该无人机和遥控器之间的数据通道发送给该遥控器，该遥控器再将该加密数据转发给用户终端。
本实施例通过负载设备与转接装置连接，转接装置与无人机的机身连接，使得负载设备可以通过该转接装置搭载在无人机上，当该转接装置接收到无人机发送的用于控制负载设备的控制指令时，将无人机和转接装置之间的内部协议转换为转接装置和负载设备之间的外部协议，并采用外部协议将控制指令发送给负载设备，使得第三方厂家生产的第三方设备可通 过外部协议与无人机正常通信，从而使得无人机可支持第三方设备，提高了无人机的应用范围。
本发明实施例提供一种负载设备控制方法。在上述实施例的基础上，本实施例中的方法，可以包括：所述转接装置向所述负载设备发送握手指令，所述握手指令用于检测所述转接装置和所述负载设备是否正常通讯连接。
在本实施例中，转接装置还可以周期性或非周期性的向负载设备发送握手指令，如果负载设备没有应答，或者该负载设备的应答消息是错误的，则该转接装置可断开与该负载设备之间的通讯连接，或者该转接装置可保留升级功能，将其他功能关闭。
另外，所述转接装置包括电源接口，所述电源接口用于给所述负载设备供电。如图4所示，无人机可以给转接装置供电，该转接装置可进一步给负载设备供电，可选的，该转接装置包括电源接口，该转接装置通过该电源接口给负载设备供电。
可选的，所述无人机和所述转接装置之间的通讯接口包括通用串行总线(Universal Serial Bus，USB)接口；所述方法还包括：所述转接装置将所述USB接口转换为网口。可选的，所述负载设备包括：云台和第三方设备；所述第三方设备通过所述网口与所述转接装置通讯连接。
如图4所示，无人机的通信系统与该转接装置之间的数据通道可通过USB实现，也就是说，该无人机和该转接装置之间实现数据通道的通讯接口为USB接口，该转接装置还可以将USB接口转换为网口，该网口具体可以是以太网口。该负载设备可通过网口与该转接装置进行数据传输，如此，负载设备可方便的使用传输控制协议与该转接装置进行网络通信，而无需下载USB模拟网卡驱动。
在本实施例中，无人机通过快拆接头对外输出的接口包括：CAN口、USB口、以及12V/4A电源口。CAN口、USB口、以及12V/4A电源口分别与转接装置连接，CAN口、USB口、以及12V/4A电源口由转接装置进行协议转换后可生成一套对外的接口。
如图6所示，转接装置61通过快拆接头与无人机连接，负载设备与 转接装置61连接，该负载设备包括云台62和第三方设备。转接装置61包括:处理器1、加密芯片和USB转网卡芯片，处理器1具体可以是微控制单元(Micro Controller Unit，MCU)。无人机与转接装置61之间的命令通道具体可以是如图6所示的CAN链路，无人机与转接装置61之间的数据通道具体可以是如图6所示的USB。转接装置61与云台62之间的通信链路可以是CAN链路或UART链路。处理器1可以将无人机与处理器1之间CAN链路上的内部协议转换为处理器1与处理器2之间通信链路上的外部协议，处理器2可与惯性测量单元进行通信。另外，处理器1可以与加密芯片进行通信，处理器1可以将用于控制负载设备的控制指令进行加密，也可以对第三方设备返回的数据进行加密。USB转网卡芯片可以将无人机和转接装置61之间的USB接口转换为网口，以使第三方设备通过网口与转接装置61通信，例如，第三方设备可通过网口将其检测到的数据发送给转接装置61，由转接装置61转发给无人机，再由无人机转发给地面的控制终端。如图6所示，转接装置61可将无人机提供的12V电压提供给第三方设备使用，另外，转接装置61还具有直流电压转换的功能，例如，转接装置61可将无人机提供的12V电压转换为3.3V电压，3.3V电压可以给处理器1、USB转网卡芯片、处理器2供电。此外，无人机还可以通过转接装置61向负载设备发送用于控制云台62的控制指令，该控制指令可以控制云台62的俯仰轴电机、偏航轴电机、横滚轴电机中的至少一个。
在其他实施例中，所述方法还包括：所述转接装置接收所述负载设备发送的控件，所述控件用于控制所述负载设备；所述转接装置将所述控件发送给所述无人机，以使所述无人机将所述控件发送给控制终端。
第三方厂家可基于Payload SDK开发出用于控制第三方设备的控件，该控件具体可以是小程序，该小程序可加载在控制终端中用于控制无人机的应用程序(Application,APP)中，使得第三方厂家不需要为了控制第三方设备而专门开发一个用于控制第三方设备的APP。第三方厂家可以将该控件上传到服务器上，当用户需要控制第三方设备时，通过控制终端从服务器下载该控件，并加载到该控制终端中用于控制无人机的APP中，使得用户通过一个APP即可同时控制无人机和第三方设备。或者，第三方厂家可以将该控件存储在第三方设备中，当第三方设备处于工作状态时，第 三方设备向转接装置发送给控件，转接装置接收第三方设备发送的控件，并将该控件发送给无人机，无人机将该控件转发给控制终端，当控制终端接收到该控件时，将该控件加载到用于控制无人机的APP中，使得用户通过一个APP即可同时控制无人机和第三方设备。
本实施例通过转接装置向所述负载设备发送握手指令，可对负载设备和转接装置之间通讯连接进行检测，保证负载设备和转接装置正常通讯连接；另外，通过转接装置将USB接口转换为网口，使得负载设备可方便的使用传输控制协议与该转接装置进行网络通信，而无需下载USB模拟网卡驱动；另外，通过转接装置接收第三方设备发送的控件，并将该控件发送给无人机，无人机将该控件转发给控制终端，当控制终端接收到该控件时，将该控件加载到用于控制无人机的APP中，使得用户通过一个APP即可同时控制无人机和第三方设备，提高了第三方厂家的开发效率，提升了用户体验。
本发明实施例提供一种负载设备控制方法。图7为本发明另一实施例提供的负载设备控制方法的流程图。如图7所示，本实施例中的方法，可以包括：
步骤S701、所述无人机接收控制终端发送的用于控制所述负载设备的控制指令。
在本实施例中，控制终端包括遥控器和用户终端。
如图4所示，无人机的通信系统通过遥控器与无人机之间的命令通道接收控制指令，该控制指令具体可以是用于控制负载设备的控制指令，例如该控制指令用于控制如图3所示的云台33和/或第三方设备34。另外，该控制指令可以是用户终端生成的。
可选的，所述负载设备与转接装置连接，所述转接装置与无人机的机身连接。如图3所示，无人机30的机身31与转接装置32连接，转接装置32与负载设备连接，该负载设备可同时包括云台33和第三方设备34。
步骤S702、所述无人机通过所述转接装置将所述控制指令发送给所述负载设备。
如图4所示，当无人机的通信系统接收到该控制指令后，将该控制指 令发送给转接装置，可选的，无人机的通信系统与转接装置之间的通信协议为内部协议，转接装置与负载设备之间的通信协议为外部协议。在本实施例中，将无人机的通信系统与转接装置之间的内部协议记为第一通信协议，将转接装置与负载设备之间的外部协议记为第二通信协议。无人机的通信系统接收到该控制指令后，采用第一通信协议将该控制指令通过该通信系统与转接装置之间的命令通道发送给该转接装置。该转接装置接收到无人机采用第一通信协议发送的该控制指令时，将无人机的通信系统与转接装置之间的内部协议转换为该转接装置与负载设备之间的外部协议，并采用外部协议通过CAN接口或UART接口将该控制指令发送给该负载设备。
在本实施例的基础上，负载设备控制方法还包括如图8所示的如下步骤：
步骤S801、所述无人机接收所述转接装置发送的数据，所述数据是所述负载设备生成的。
如图4所示，负载设备可通过该负载设备与该转接装置之间的网口向该转接装置发送数据，该数据具体可以是第三方设备生成的。当该转接装置接收到负载设备发送的数据后，该转接装置将其与负载设备之间的外部协议转换为无人机的通信系统与转接装置之间的内部协议，并采用内部协议将该数据发送给无人机，无人机接收转接装置发送的该数据。
步骤S802、所述无人机将所述数据发送给所述控制终端。
无人机通过通信系统将该数据通过该无人机和遥控器之间的数据通道发送给该遥控器，由该遥控器将该数据转发给用户终端。可选的，所述数据为加密后的数据。例如，当该转接装置接收到负载设备发送的数据后对该数据进行加密得到加密数据，该转接装置采用内部协议将加密数据通过该转接装置与该无人机之间的数据通道发送给该无人机，由该无人机的通信系统将该加密数据通过该无人机和遥控器之间的数据通道发送给该遥控器，该遥控器再将该加密数据转发给用户终端。
本实施例通过负载设备与转接装置连接，转接装置与无人机的机身连接，使得负载设备可以通过该转接装置搭载在无人机上，当该转接装置接收到无人机发送的用于控制负载设备的控制指令时，将无人机和转接装置之间的内部协议转换为转接装置和负载设备之间的外部协议，并采用外部 协议将控制指令发送给负载设备，使得第三方厂家生产的第三方设备可通过外部协议与无人机正常通信，从而使得无人机可支持第三方设备，提高了无人机的应用范围。
本发明实施例提供一种负载设备控制方法。图9为本发明另一实施例提供的负载设备控制方法的流程图。如图9所示，本实施例中的方法，可以包括：
步骤S901、控制终端检测用户的负载设备控制操作。
为了能够使无人机支持第三方设备，在本实施例中提供了一种转接装置，该转接装置具体可以是有效载荷的(Payload)软件开发工具包(Software Development Kit，SDK)转接板、转接环等。所述负载设备与转接装置连接，所述转接装置与无人机的机身连接。如图3所示，无人机30的机身31与转接装置32连接，转接装置32与负载设备连接，该负载设备可同时包括云台33和第三方设备34；或者，该负载设备可只包括第三方设备34。
在本实施例中，控制终端包括遥控器和用户终端。如图4所示，用户终端中安装有APP，该APP可用于控制负载设备，用户终端可检测用户的负载设备控制操作。
步骤S902、当所述控制终端检测到所述操作时，向所述无人机发送用于控制所述负载设备的控制指令。
当用户终端检测到用户的负载设备控制操作时，生成控制指令，并将该控制指令发送给遥控器，由遥控器将该控制指令通过命令通道发送给无人机。
在其他实施例中，在图9的基础上，所述方法还包括：
步骤S903、所述控制终端接收所述无人机发送的数据，所述数据是所述负载设备生成、并由所述负载设备通过所述转接装置发送给所述无人机的。
当负载设备生成数据时，负载设备通过网口将该数据发送给转接装置，转接装置进一步通过数据通道将该数据发送给无人机，由无人机通过数据通道发送给遥控器，用户终端从遥控器接收该负载设备生成的数据。
在一些实施例中，步骤S901控制终端检测用户的负载设备控制操作之前，所述方法还包括如图10所示的如下步骤：
步骤S1001、所述控制终端获取用于控制所述负载设备的控件。
在本实施例中，所述控制终端获取用于控制所述负载设备的控件包括如下几种可行的实现方式：
一种可行的实现方式是：所述控制终端从服务器下载用于控制所述负载设备的控件。
第三方厂家可基于Payload SDK开发出用于控制第三方设备的控件，该控件具体可以是小程序，当第三方厂家开发出该控件之后，可以将该控件上传到服务器上，当用户需要控制第三方设备时，通过控制终端从服务器下载该控件。
另一种可行的实现方式是：所述控制终端接收所述无人机发送的用于控制所述负载设备的控件。
第三方厂家可以将该控件存储在第三方设备中，当第三方设备处于工作状态时，第三方设备向转接装置发送给控件，转接装置接收第三方设备发送的控件，并将该控件发送给无人机，无人机将该控件转发给控制终端。
步骤S1002、所述控制终端将所述控件加载到用于控制所述无人机的应用程序中。
当控制终端从服务器下载该控件后，或者，当控制终端从无人机接收到该控件后，将该控件加载到该控制终端中用于控制无人机的APP中，使得用户通过一个APP即可同时控制无人机和第三方设备。
相应的，所述控制终端检测用户的负载设备控制操作，包括：所述控制终端检测用户对所述控件的操作。例如，控制终端将该控件加载到该控制终端中用于控制无人机的APP中，该APP可显式弹窗、图标、或窗口，用户可通过该弹窗、图标、或窗口控制第三方设备，或者，该弹窗、图标、或窗口还可显式第三方设备采集到的数据。
本实施例通过第三方厂家基于Payload SDK开发用于控制第三方设备的控件，控制终端从服务器下载该控件，或由第三方设备将该控件通过转接装置、无人机发送给控制终端，控制终端将该控件加载到控制无人机的APP中，使得用户通过一个APP即可同时控制无人机和第三方设备，提高 了第三方厂家的开发效率，提升了用户体验。
本发明实施例提供一种转接装置。图11为本发明实施例提供的转接装置的结构图，如图11所示，转接装置110包括：第一通讯接口111、第二通讯接口112和处理器113；其中，转接装置110通过第一通讯接口111与无人机通讯连接，转接装置110通过第二通讯接口112与负载设备通讯连接；处理器113用于：通过第一通讯接口111接收所述无人机发送的用于控制所述负载设备的控制指令；将所述无人机和转接装置110之间的第一通信协议转换为转接装置110和所述负载设备之间的第二通信协议；通过第二通讯接口112采用所述第二通信协议将所述控制指令发送给所述负载设备。
可选的，处理器113还用于：通过第二通讯接口112接收所述负载设备发送的数据；将转接装置110和所述负载设备之间的第二通信协议转换为所述无人机和转接装置110之间的第一通信协议；通过第一通讯接口111采用所述第一通信协议将所述数据发送给所述无人机。
可选的，转接装置110还包括：加密芯片114，加密芯片114与处理器113通讯连接；处理器113通过第一通讯接口111采用所述第一通信协议将所述数据发送给所述无人机之前，还用于：通过加密芯片114将所述数据进行加密得到加密后的数据；处理器113通过第一通讯接口111采用所述第一通信协议将所述数据发送给所述无人机时，具体用于：通过第一通讯接口111采用所述第一通信协议将所述加密后的数据发送给所述无人机。
可选的，处理器113还用于：通过第二通讯接口112向所述负载设备发送握手指令，所述握手指令用于检测转接装置110和所述负载设备是否正常通讯连接。
可选的，转接装置110还包括：电源接口115，电源接口115用于给所述负载设备供电。
可选的，第一通讯接口111包括：USB接口；转接装置110还包括：USB转网卡芯片116，USB转网卡芯片116用于将所述USB接口转换为网口；第二通讯接口112包括：所述网口。
可选的，所述负载设备包括：云台和第三方设备；所述第三方设备通过所述网口与转接装置110通讯连接。
可选的，处理器113还用于：通过第二通讯接口112接收所述负载设备发送的控件，所述控件用于控制所述负载设备；通过第一通讯接口111将所述控件发送给所述无人机，以使所述无人机将所述控件发送给控制终端。
本发明实施例提供的转接装置的具体原理和实现方式均与图6所示实施例类似，此处不再赘述。
本实施例通过负载设备与转接装置连接，转接装置与无人机的机身连接，使得负载设备可以通过该转接装置搭载在无人机上，当该转接装置接收到无人机发送的用于控制负载设备的控制指令时，将无人机和转接装置之间的内部协议转换为转接装置和负载设备之间的外部协议，并采用外部协议将控制指令发送给负载设备，使得第三方厂家生产的第三方设备可通过外部协议与无人机正常通信，从而使得无人机可支持第三方设备，提高了无人机的应用范围。
本发明实施例提供一种无人机。图12为本发明实施例提供的无人机的结构图，如图12所示，无人机120包括：机身、动力系统和飞行控制器121，所述动力系统包括如下至少一种：电机122、螺旋桨123和电子调速器124，动力系统安装在所述机身，用于提供飞行动力；飞行控制器121与所述动力系统通讯连接，用于控制所述无人机飞行。如图12所示，无人机120还包括：转接装置125和通信系统126；转接装置125具体原理和实现方式均与上述实施例类似，此处不再赘述。通信系统126与飞行控制器121连接，通信系统126包括：第一通讯接口1261和第二通讯接口1262；第一通讯接口1261用于接收控制终端发送的用于控制所述负载设备的控制指令；第二通讯接口1262用于将所述控制指令发送给转接装置125，以使转接装置125将所述控制指令发送给所述负载设备。所述负载设备包括云台127和第三方设备128。
另外，第二通讯接口1262还用于：接收转接装置125发送的数据，所述数据是所述负载设备生成的；第一通讯接口1261还用于：将所述数 据发送给所述控制终端。可选的，所述数据为加密后的数据。
本实施例通过负载设备与转接装置连接，转接装置与无人机的机身连接，使得负载设备可以通过该转接装置搭载在无人机上，当该转接装置接收到无人机发送的用于控制负载设备的控制指令时，将无人机和转接装置之间的内部协议转换为转接装置和负载设备之间的外部协议，并采用外部协议将控制指令发送给负载设备，使得第三方厂家生产的第三方设备可通过外部协议与无人机正常通信，从而使得无人机可支持第三方设备，提高了无人机的应用范围。
本发明实施例提供一种控制终端。图13为本发明实施例提供的控制终端的结构图，如图13所示，控制终端130包括：处理器131和通讯接口132。处理器131用于：检测用户的负载设备控制操作；当所述控制终端检测到所述操作时，通过通讯接口132向所述无人机发送用于控制所述负载设备的控制指令。
可选的，处理器131还用于：通过通讯接口132接收所述无人机发送的数据，所述数据是所述负载设备生成、并由所述负载设备通过所述转接装置发送给所述无人机的。
可选的，处理器131在检测用户的负载设备控制操作之前，还用于：获取用于控制所述负载设备的控件；将所述控件加载到用于控制所述无人机的应用程序中；处理器131在检测用户的负载设备控制操作时，具体用于：检测用户对所述控件的操作。
可选的，处理器131获取用于控制所述负载设备的控件时，具体用于：从服务器下载用于控制所述负载设备的控件。
可选的，处理器131获取用于控制所述负载设备的控件时，具体用于：通过通讯接口132接收所述无人机发送的用于控制所述负载设备的控件。
本实施例通过负载设备与转接装置连接，转接装置与无人机的机身连接，使得负载设备可以通过该转接装置搭载在无人机上，当该转接装置接收到无人机发送的用于控制负载设备的控制指令时，将无人机和转接装置之间的内部协议转换为转接装置和负载设备之间的外部协议，并采用外部协议将控制指令发送给负载设备，使得第三方厂家生产的第三方设备可通 过外部协议与无人机正常通信，从而使得无人机可支持第三方设备，提高了无人机的应用范围。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过 程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (32)

  1. 一种负载设备控制方法，其特征在于，所述负载设备与转接装置连接，所述转接装置与无人机的机身连接；所述方法包括：
    所述转接装置接收所述无人机发送的用于控制所述负载设备的控制指令；
    所述转接装置将所述无人机和所述转接装置之间的第一通信协议转换为所述转接装置和所述负载设备之间的第二通信协议；
    所述转接装置采用所述第二通信协议将所述控制指令发送给所述负载设备。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述转接装置接收所述负载设备发送的数据；
    所述转接装置将其与所述负载设备之间的第二通信协议转换为所述无人机和所述转接装置之间的第一通信协议；
    所述转接装置采用所述第一通信协议将所述数据发送给所述无人机。
  3. 根据权利要求2所述的方法，其特征在于，所述转接装置采用所述第一通信协议将所述数据发送给所述无人机之前，还包括：
    所述转接装置将所述数据进行加密得到加密后的数据；
    所述转接装置采用所述第一通信协议将所述数据发送给所述无人机，包括：
    所述转接装置采用所述第一通信协议将所述加密后的数据发送给所述无人机。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述转接装置向所述负载设备发送握手指令，所述握手指令用于检测所述转接装置和所述负载设备是否正常通讯连接。
  5. 根据权利要求1所述的方法，其特征在于，所述转接装置包括电源接口，所述电源接口用于给所述负载设备供电。
  6. 根据权利要求1所述的方法，其特征在于，所述无人机和所述转接装置之间的通讯接口包括USB接口；
    所述方法还包括：
    所述转接装置将所述USB接口转换为网口。
  7. 根据权利要求6所述的方法，其特征在于，所述负载设备包括：云台和第三方设备；
    所述第三方设备通过所述网口与所述转接装置通讯连接。
  8. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述转接装置接收所述负载设备发送的控件，所述控件用于控制所述负载设备；
    所述转接装置将所述控件发送给所述无人机，以使所述无人机将所述控件发送给控制终端。
  9. 一种负载设备控制方法，其特征在于，所述负载设备与转接装置连接，所述转接装置与无人机的机身连接；所述方法包括：
    所述无人机接收控制终端发送的用于控制所述负载设备的控制指令；
    所述无人机通过所述转接装置将所述控制指令发送给所述负载设备。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    所述无人机接收所述转接装置发送的数据，所述数据是所述负载设备生成的；
    所述无人机将所述数据发送给所述控制终端。
  11. 根据权利要求10所述的方法，其特征在于，所述数据为加密后的数据。
  12. 一种负载设备控制方法，其特征在于，所述负载设备与转接装置连接，所述转接装置与无人机的机身连接；所述方法包括：
    控制终端检测用户的负载设备控制操作；
    当所述控制终端检测到所述操作时，向所述无人机发送用于控制所述负载设备的控制指令。
  13. 根据权利要求12所述的方法，其特征在于，所述方法还包括：
    所述控制终端接收所述无人机发送的数据，所述数据是所述负载设备生成、并由所述负载设备通过所述转接装置发送给所述无人机的。
  14. 根据权利要求12或13所述的方法，其特征在于，所述控制终端检测用户的负载设备控制操作之前，所述方法还包括：
    所述控制终端获取用于控制所述负载设备的控件；
    所述控制终端将所述控件加载到用于控制所述无人机的应用程序中；
    所述控制终端检测用户的负载设备控制操作，包括：
    所述控制终端检测用户对所述控件的操作。
  15. 根据权利要求14所述的方法，其特征在于，所述控制终端获取用于控制所述负载设备的控件，包括：
    所述控制终端从服务器下载用于控制所述负载设备的控件。
  16. 根据权利要求14所述的方法，其特征在于，所述控制终端获取用于控制所述负载设备的控件，包括：
    所述控制终端接收所述无人机发送的用于控制所述负载设备的控件。
  17. 一种转接装置，其特征在于，包括：第一通讯接口、第二通讯接口和处理器；其中，所述转接装置通过所述第一通讯接口与无人机通讯连接，所述转接装置通过所述第二通讯接口与负载设备通讯连接；
    所述处理器用于：
    通过所述第一通讯接口接收所述无人机发送的用于控制所述负载设备的控制指令；
    将所述无人机和所述转接装置之间的第一通信协议转换为所述转接装置和所述负载设备之间的第二通信协议；
    通过所述第二通讯接口采用所述第二通信协议将所述控制指令发送给所述负载设备。
  18. 根据权利要求17所述的转接装置，其特征在于，所述处理器还用于：
    通过所述第二通讯接口接收所述负载设备发送的数据；
    将所述转接装置和所述负载设备之间的第二通信协议转换为所述无人机和所述转接装置之间的第一通信协议；
    通过所述第一通讯接口采用所述第一通信协议将所述数据发送给所述无人机。
  19. 根据权利要求18所述的转接装置，其特征在于，所述转接装置还包括：加密芯片，所述加密芯片与所述处理器通讯连接；
    所述处理器通过所述第一通讯接口采用所述第一通信协议将所述数据发送给所述无人机之前，还用于：
    通过所述加密芯片将所述数据进行加密得到加密后的数据；
    所述处理器通过所述第一通讯接口采用所述第一通信协议将所述数据发送给所述无人机时，具体用于：
    通过所述第一通讯接口采用所述第一通信协议将所述加密后的数据发送给所述无人机。
  20. 根据权利要求17所述的转接装置，其特征在于，所述处理器还用于：
    通过所述第二通讯接口向所述负载设备发送握手指令，所述握手指令用于检测所述转接装置和所述负载设备是否正常通讯连接。
  21. 根据权利要求17所述的转接装置，其特征在于，所述转接装置还包括：电源接口，所述电源接口用于给所述负载设备供电。
  22. 根据权利要求17所述的转接装置，其特征在于，所述第一通讯接口包括：USB接口；
    所述转接装置还包括：USB转网卡芯片，所述USB转网卡芯片用于将所述USB接口转换为网口；
    所述第二通讯接口包括：所述网口。
  23. 根据权利要求22所述的转接装置，其特征在于，所述负载设备包括：云台和第三方设备；
    所述第三方设备通过所述网口与所述转接装置通讯连接。
  24. 根据权利要求17所述的转接装置，其特征在于，所述处理器还用于：
    通过所述第二通讯接口接收所述负载设备发送的控件，所述控件用于控制所述负载设备；
    通过所述第一通讯接口将所述控件发送给所述无人机，以使所述无人机将所述控件发送给控制终端。
  25. 一种无人机，其特征在于，包括：
    机身；
    动力系统，安装在所述机身，用于提供飞行动力；
    飞行控制器，与所述动力系统通讯连接，用于控制所述无人机飞行；
    权利要求17-24任一项所述的转接装置；以及
    通信系统，与所述飞行控制器通讯连接，所述通信系统包括：第一通 讯接口和第二通讯接口；
    所述第一通讯接口用于接收控制终端发送的用于控制所述负载设备的控制指令；
    所述第二通讯接口用于将所述控制指令发送给所述转接装置，以使所述转接装置将所述控制指令发送给所述负载设备。
  26. 根据权利要求25所述的无人机，其特征在于，所述第二通讯接口还用于：接收所述转接装置发送的数据，所述数据是所述负载设备生成的；
    所述第一通讯接口还用于：将所述数据发送给所述控制终端。
  27. 根据权利要求26所述的无人机，其特征在于，所述数据为加密后的数据。
  28. 一种控制终端，其特征在于，包括：处理器和通讯接口；
    所述处理器用于：
    检测用户的负载设备控制操作；
    当所述控制终端检测到所述操作时，通过所述通讯接口向无人机发送用于控制所述负载设备的控制指令。
  29. 根据权利要求28所述的控制终端，其特征在于，所述处理器还用于：
    通过所述通讯接口接收所述无人机发送的数据，所述数据是所述负载设备生成、并由所述负载设备通过转接装置发送给所述无人机的。
  30. 根据权利要求28或29所述的控制终端，其特征在于，所述处理器在检测用户的负载设备控制操作之前，还用于：
    获取用于控制所述负载设备的控件；
    将所述控件加载到用于控制所述无人机的应用程序中；
    所述处理器在检测用户的负载设备控制操作时，具体用于：
    检测用户对所述控件的操作。
  31. 根据权利要求30所述的控制终端，其特征在于，所述处理器获取用于控制所述负载设备的控件时，具体用于：
    从服务器下载用于控制所述负载设备的控件。
  32. 根据权利要求30所述的控制终端，其特征在于，所述处理器获 取用于控制所述负载设备的控件时，具体用于：
    通过所述通讯接口接收所述无人机发送的用于控制所述负载设备的控件。
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