WO2020107332A1 - 无人机指令的处理方法、终端设备及无人机中心板 - Google Patents

无人机指令的处理方法、终端设备及无人机中心板 Download PDF

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Publication number
WO2020107332A1
WO2020107332A1 PCT/CN2018/118198 CN2018118198W WO2020107332A1 WO 2020107332 A1 WO2020107332 A1 WO 2020107332A1 CN 2018118198 W CN2018118198 W CN 2018118198W WO 2020107332 A1 WO2020107332 A1 WO 2020107332A1
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WIPO (PCT)
Prior art keywords
instruction
information
offline
terminal device
center board
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PCT/CN2018/118198
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English (en)
French (fr)
Inventor
何昌昕
王钧玉
杨勇
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication date
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Priority to PCT/CN2018/118198 priority Critical patent/WO2020107332A1/zh
Priority to CN201880069787.3A priority patent/CN111566577A/zh
Publication of WO2020107332A1 publication Critical patent/WO2020107332A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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

Definitions

  • the embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular, to a method for processing an unmanned aerial vehicle instruction, terminal equipment, and an unmanned aerial board.
  • Embodiments of the present invention provide a method for processing drone instructions, terminal equipment, and a center panel of a drone, so as to realize fast grabbing of instructions.
  • an embodiment of the present application provides a method for processing drone commands.
  • the drone includes a center board.
  • the center board is used to communicate with a plurality of sensors and loads of the drone.
  • the method includes:
  • an embodiment of the present application provides a method for processing drone commands, wherein the drone includes a center board, and the center board is used for communication connection with a plurality of sensors and loads of the drone, For forwarding instructions to each of the sensors and the load, the method includes:
  • an embodiment of the present application provides a terminal device, the terminal device includes a communication interface and a processor, the communication interface is connected to a center board on a drone, and the center board is used to communicate with the drone A plurality of sensors and load communication connections for forwarding instructions to each of the sensors and the load;
  • the processor is configured to send first information to the center board through the communication interface, where the first information is used to indicate first instruction information of an instruction to be selected;
  • the processor is further configured to receive second information from the center board through the communication interface, where the second information includes at least one candidate instruction determined by the center board according to the first instruction information .
  • an embodiment of the present application provides a drone center board, which is used to communicate with a plurality of sensors and loads of the drone for forwarding instructions to each sensor and all For the load, the center board includes a communication interface and a processor, and the center board is connected to a terminal device through the communication interface:
  • the processor is configured to receive first information from the terminal device through the communication interface, where the first information is used to indicate first instruction information of the instruction to be selected;
  • the processor is configured to send second information to the terminal device through the communication interface, where the second information includes the at least one candidate instruction.
  • an embodiment of the present application provides a drone, including: a flight control system, multiple sensors, a load, and the center board described in the fourth aspect,
  • the center board is communicatively connected to the flight control system, the plurality of sensors, and the load, respectively, to forward instructions to each of the sensors, the load, and the flight control system.
  • an embodiment of the present application provides a drone control system, including: terminal equipment and a drone center board, the terminal equipment is in communication connection with the center board, and the terminal equipment is described in the third aspect
  • the center board is the center board of the fourth aspect.
  • an embodiment of the present invention provides a computer-readable storage medium that stores a computer program.
  • the computer program includes at least one piece of code.
  • the at least one piece of code can be executed by a computer to control the computer
  • the computer executes the unmanned aircraft command processing method described in the first aspect of the embodiments of the present invention.
  • the embodiments of the present application provide a method for processing a drone instruction, a terminal device, and a drone center board.
  • the first information is sent to the center board through the terminal device.
  • the first information is used to indicate the first instruction information of the instruction to be selected.
  • the board determines at least one candidate instruction according to the first information, and sends second information to the terminal device, the second information includes the determined at least one candidate instruction, and the terminal device obtains at least one candidate instruction according to the second information Election instructions. That is, in the method of the embodiment of the present application, the command to be selected is grabbed from the center board through the command line without changing the firmware, which has low cost and high efficiency.
  • FIG. 1 is a schematic diagram of an application scenario involved in an embodiment of this application
  • FIG. 2 is a schematic architectural diagram of an unmanned aerial system according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a link of an unmanned aerial vehicle involved in an embodiment of the present application.
  • FIG. 5 is a flowchart of a method for processing a drone instruction provided by an embodiment of the present application
  • FIG. 6 is a flowchart of a method for processing a drone instruction provided by an embodiment of this application.
  • FIG. 7 is a schematic diagram of gimbal switching involved in an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a terminal device provided by an embodiment of this application.
  • FIG. 10 is a schematic structural diagram of a center panel of a drone provided by an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of a drone provided by an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of a drone control system provided by an embodiment of the present application.
  • the words “first” and “second” are used to distinguish the same or similar items that have substantially the same functions and functions. Those skilled in the art may understand that the words “first” and “second” do not limit the number and execution order, and the words “first” and “second” do not necessarily mean different.
  • the embodiments of the present application are applied to the research and development test phase or maintenance phase of the drone, where the terminal equipment interacts with the center board on the drone, online grabbing and analyzing the instructions on the drone routing, and assisting each module on the drone For analysis and problem locating, there is no need to improve the firmware in the whole process, and the instruction fetching efficiency is high.
  • Terminal device It can be a wireless terminal device or a wired terminal device.
  • the wireless terminal device can refer to a device with wireless transceiver function, which can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted; it can also be deployed on the water surface Onboard (such as ships, etc.); can also be deployed in the air (such as aircraft, balloons, satellites, etc.).
  • the terminal device may be a mobile phone (mobile phone), a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (Virtual Reality, VR) terminal device, an augmented reality (Augmented Reality, AR) terminal device, industrial control ( Wireless terminal equipment in industrial control, wireless terminal equipment in self-driving (self-driving), wireless terminal equipment in remote medical (remote medical), wireless terminal equipment in smart grid (smart grid), transportation security (transportation)
  • the wireless terminal equipment in safety, the wireless terminal equipment in smart city (smart city), the wireless terminal equipment in smart home (smart home), etc. are not limited here. It can be understood that, in the embodiments of the present application, the terminal device may also be referred to as user equipment (UE).
  • UE user equipment
  • the drone may be a rotorcraft (rotorcraft), for example, a multirotor aircraft propelled by multiple propulsion devices through air, and the embodiments of the present invention are not limited thereto.
  • rotorcraft rotorcraft
  • multirotor aircraft propelled by multiple propulsion devices through air
  • FIG. 2 is a schematic architectural diagram of an unmanned aerial system according to an embodiment of the present invention.
  • the embodiments of the present application are described by taking the rotorless unmanned aerial vehicle as an example.
  • the unmanned aerial vehicle 100 may include an unmanned aerial vehicle 110, a gimbal 120, a display device 130, and a control device 140.
  • the UAV 110 may include a power system 150, a flight control system 160, and a rack.
  • the unmanned aerial vehicle 110 may wirelessly communicate with the control device 140 and the display device 130.
  • the rack may include a fuselage and a tripod (also called landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, the one or more arms extending radially from the center frame.
  • the tripod is connected to the fuselage for supporting the UAV 110 when it lands.
  • the power system 150 may include one or more electronic governors (abbreviated as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motor 152 is connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are disposed on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal The current is given to the motor 152 to control the rotation speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the UAV 110, which enables the UAV 110 to achieve one or more degrees of freedom of movement.
  • electric governors abbreviated as electric governors
  • the UAV 110 may rotate about one or more rotation axes.
  • the rotation axis may include a roll axis, a yaw axis, and a pitch axis.
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brush motor.
  • the flight control system 160 may include a flight controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the UAV, that is, the position information and status information of the UAV 110 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be a global positioning system (Global Positioning System, GPS).
  • the flight controller 161 is used to control the flight of the UAV 110.
  • the flight of the UAV 110 can be controlled according to the attitude information measured by the sensor system 162.
  • the flight controller 161 may control the unmanned aerial vehicle 110 according to pre-programmed program instructions, and may also control the unmanned aerial vehicle 110 by responding to one or more control instructions from the control device 140.
  • the gimbal 120 may include a motor 122.
  • the gimbal is used to carry the imaging device 123 or a microphone (not shown in the figure).
  • the flight controller 161 can control the movement of the gimbal 120 through the motor 122.
  • the gimbal 120 may further include a controller for controlling the movement of the gimbal 120 by controlling the motor 122.
  • the gimbal 120 may be independent of the UAV 110 or may be a part of the UAV 110.
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brush motor.
  • the gimbal may be located at the top of the UAV or at the bottom of the UAV.
  • the imaging device 123 may be, for example, a device for capturing images such as a camera or a video camera, and the imaging device 123 may communicate with the flight controller and take pictures under the control of the flight controller.
  • the imaging device 123 of the embodiment of the present application at least includes a photosensitive element, for example, a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor (CMOS) sensor or a charge-coupled device (Charge-coupled Device, CCD) sensor.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD charge-coupled Device
  • the display device 130 is located on the ground side of the unmanned aerial system 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used to display the attitude information of the unmanned aerial vehicle 110.
  • the image captured by the imaging device may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device, or may be integrated in the control device 140.
  • the control device 140 is located on the ground side of the unmanned aerial system 100, and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remotely manipulating the unmanned aerial vehicle 110.
  • FIG. 3 is a schematic diagram of a link of an unmanned aerial vehicle according to an embodiment of the present application.
  • the unmanned aerial vehicle of the embodiment of the present application further includes a center board, which communicates with multiple sensors and loads of the unmanned aerial vehicle The connection is used to forward instructions to each sensor and the load.
  • the multiple loads that are in communication connection with the center board may include at least one of the following: a gimbal, a camera, and so on.
  • the multiple sensors that are in communication with the center board may include at least one of the following: barometer, temperature sensor, external GPS, and so on.
  • the center board of the embodiment of the present application is further provided with a power management circuit, through which power is supplied to the flight controller, each sensor, and each load of the drone.
  • FIG. 4 is a flowchart of a method for processing a drone instruction provided by an embodiment of the present application. As shown in FIG. 4, the method of the embodiment of the present application may include:
  • the terminal device sends the first information to the center board.
  • the first information is used to indicate the first instruction information of the instruction to be selected.
  • the whole drone product including several modules or dozens of modules, the commands sent to each module are forwarded by the center board.
  • the center board can be Catch the instruction on the.
  • the terminal device obtains instruction information of the instruction to be selected.
  • the instruction information of the instruction to be selected may be input by a user, or may be determined by the terminal device according to a preset rule, which is not limited in this embodiment of the present application.
  • the first instruction information includes module A information.
  • the instruction sent by module B to module A needs to be fetched, the first instruction information includes information of module B and module A.
  • the first instruction information includes: at least one of a sender of the instruction, a receiver of the instruction, a setting of the instruction, an identifier of the instruction, and original data of the instruction.
  • the first instruction information includes: the receiver is module A.
  • the first instruction information includes: the sender is module B, and the receiver is module A.
  • the instruction 1 sent by module B to module A needs to be fetched, the first instruction information includes: the sender is module B, the receiver is module A, and the instruction identifier is 1.
  • the combination mode is not limited in this embodiment of the present application, and is specifically determined according to actual needs.
  • the above-mentioned first information may be a command line, that is, the terminal device can directly interact with the center board through the command line of the debugging serial port, the command line interpreter can be written in accordance with the mechanism of the shell under linux, and supports up to 16 fillable options Fields, support conversion between hexadecimal and decimal parameters, and support flexible configuration options.
  • the first information may be: cmdcat-b/A, indicating that the filtering receiver is the instruction of module A.
  • the first information may be: cmdcat-a/B-b/A, indicating that the instruction to filter the sender is module B and the receiver is module A.
  • the first information is cmdcat-a/B-b/A-d/1, indicating that the instruction whose filtering sender is module B, the receiving party is module A, and the instruction identifier is 1.
  • the terminal device can determine the instruction information of the instruction that needs to be filtered according to the above manner, obtain the first information according to the instruction information, and send the first information to the center board.
  • the center board receives the first information from the terminal device.
  • the center board determines at least one candidate instruction according to the first information.
  • the center board After receiving the first information sent by the terminal device, the center board parses the first information to obtain the first instruction information of the instruction to be selected indicated by the first information. Next, according to the first instruction information, at least one instruction that satisfies the first instruction information is filtered from the plurality of instructions, and each instruction in the at least one instruction is used as a candidate instruction.
  • the center board filters out all the instructions of the receiver module A from the instructions passing through it as candidate instructions, and then obtains at least one candidate instruction.
  • the center board filters out all the instructions that the sender is module B and the receiver is module A from the instructions passing through it as candidate instructions, and then obtains at least one pending Election instructions.
  • the center board filters out all the instructions that pass through the sender is module B, the receiver is module A, and the instruction ID is 1 as The candidate instruction, and then obtain at least one candidate instruction.
  • the center board sends second information to the terminal device.
  • the terminal device receives the second information from the center board.
  • the center board After determining the at least one instruction to be selected according to the first information according to the method of S103, the center board carries the determined at least one instruction to be selected in the second information and sends it to the terminal device.
  • the terminal device After receiving the second information, the terminal device parses the second information to obtain at least one instruction to be selected, thereby implementing instruction filtering.
  • the terminal device may perform problem analysis and positioning according to the obtained at least one candidate instruction.
  • the user performs problem analysis and positioning based on at least one candidate instruction obtained by the terminal device, wherein the specific process of problem analysis and positioning based on the at least one candidate instruction can refer to the existing technology, and this embodiment example will not be repeated here. .
  • the command to be selected is captured through the command line, and the command is accurately captured without changing the hardware.
  • the method for processing drone instructions provided in the embodiments of the present application sends first information to the center board through a terminal device, the first information is used to indicate first instruction information of a command to be selected, and the center board determines the first instruction information according to the first information At least one candidate instruction, and sends second information to the terminal device, where the second information includes the determined at least one candidate instruction, and the terminal device obtains at least one candidate instruction according to the second information. That is, in the method of the embodiment of the present application, the command to be selected is grabbed from the center board through the command line without changing the firmware, which has low cost and high efficiency.
  • the method of the embodiment of the present application further includes: according to the second information, the terminal device determines whether the filling field of each candidate instruction in the at least one candidate instruction is correct.
  • the first instruction information indicated by the first information sent by the terminal device to the central board includes: the sender of the instruction, the receiver of the instruction, the setting of the instruction, the identification of the instruction, and the original data of the instruction.
  • the center board obtains at least one candidate instruction that satisfies the first instruction information according to the first instruction information, where each candidate instruction in the at least one candidate instruction is an instruction that satisfies the first instruction information, and Optionally, the at least one candidate instruction is a candidate instruction. Then, the center board carries the at least one candidate instruction in the second information and sends it to the terminal device.
  • the terminal device After receiving the second information, the terminal device parses the second information to obtain at least one instruction to be selected. Next, the terminal device determines whether the filling field of each candidate instruction in the at least one candidate instruction is correct.
  • FIG. 5 is a flowchart of a method for processing a drone instruction provided by an embodiment of the present application. As shown in FIG. 5, the method of the embodiment of the present application may include:
  • the terminal device sends third information to the center board.
  • the third information is used to indicate the second instruction information of the instruction to be tested.
  • the embodiments of the present application provide a method for testing the packet loss rate of an instruction.
  • the terminal device determines the second instruction information of the instruction to be tested, and then sends third information to the center board, where the third information is used to indicate the second instruction information of the instruction to be tested.
  • the second instruction information of the instruction to be tested may be input by a user, or may be determined by the terminal device according to a preset rule, which is not limited in this embodiment of the present application.
  • the second instruction information includes: a sender of the instruction, a receiver of the instruction, settings of the instruction, and an identifier of the instruction.
  • the second instruction information includes the above-mentioned instruction information, that is, after the instruction information is complete, the link packet loss rate of the instruction is analyzed to ensure the accuracy of the test result.
  • the above second information may be the command line, that is, the terminal device can directly interact with the center board through the command line of the debugging serial port, the command line interpreter can be written in accordance with the mechanism of the shell under linux, and the maximum support 16 fillable options Fields, support conversion between hexadecimal and decimal parameters, and support flexible configuration options.
  • the above-mentioned second information may be a loss command, which supports the configuration of -a–b–c–d, respectively corresponding to the instruction sender, the instruction receiver, the instruction setting and the instruction in the instruction information Logo.
  • This way of configurable options can be very convenient for the condition (the condition can be understood as the above instruction information) selection filtering, you can choose one or more of them to freely combine the instruction filtering, this method brings debugging Great convenience.
  • the second information may be: loss-a/Bb/Ac/2-d/1, indicating that the sender is module B, the receiver is module A, the command setting is 2, and the command identifier is 1 Perform packet loss rate analysis.
  • the center board receives the third information from the terminal device.
  • the center board determines the serial number of the instruction to be tested within a preset time period according to the third information.
  • the packet loss rate of the instruction needs to be determined based on the transmission of the instruction over a period of time.
  • the center board parses the third information to obtain second instruction information of the instruction to be tested indicated by the third information.
  • the second instruction information obtain the instruction to be tested that satisfies the second instruction information in each instruction within a preset time period, and obtain the serial number of the instruction to be tested.
  • the preset time period may be pre-defined, that is, the center board obtains the instruction to be tested that satisfies the second instruction information in each instruction within the preset time period according to the predefined preset time period.
  • the foregoing preset time period may also be sent by the terminal device, for example, the third information sent by the terminal device also indicates the preset time period.
  • the preset time period may also be a time between when the center board is powered on and when the center board receives the third information.
  • the embodiment of the present application does not limit the preset time period in detail, and the specific time period may be determined according to actual needs.
  • the center board sends fourth information to the terminal device.
  • the fourth information includes the serial number of the instruction to be tested.
  • the center board After obtaining the serial number of the instruction to be tested according to the above steps, the center board carries the serial number of the instruction to be tested in the fourth information and sends it to the terminal device.
  • the terminal device receives the fourth information from the center board.
  • the terminal device determines the packet loss rate of the instruction to be analyzed according to the sequence number of the instruction to be tested.
  • the terminal device After receiving the fourth information, the terminal device parses the fourth information to obtain the serial number of the instruction to be tested.
  • the terminal device determines the packet loss rate of the instruction to be analyzed according to the sequence number of the instruction to be tested.
  • the terminal device determines whether there is packet loss in the instruction to be analyzed according to the serial number of the instruction to be tested. That is, if the sequence numbers of the instructions to be tested are continuous, it is determined that no packet loss occurs during the transmission of the instructions to be tested. If the sequence number of the instruction to be tested is not continuous, it is determined that packet loss has occurred during the transmission of the instruction to be tested.
  • the packet loss rate of the command to be tested is determined according to the sequence number of the command to be tested, specifically based on the total transmission volume and total packet loss of the command to be tested The packet loss rate of the instruction to be tested.
  • the obtained sequence number of the instruction to be tested is: ⁇ 1,2,4,5,7,9,10 ⁇ , where the total transmission volume of the instruction to be tested is 10 and the total packet loss is 3, then it is determined
  • the packet loss rate of the command to be tested is 3/10.
  • the serial number is only an example, and the embodiments of the present application are not limited thereto.
  • the third information is sent to the central board through the terminal device, the third information is used to indicate the second instruction information of the instruction to be tested, and the central board determines the to-be-tested within a preset time period according to the third information
  • the serial number of the instruction and send the serial number of the instruction to be tested to the terminal device.
  • the terminal device determines the packet loss rate of the command to be analyzed according to the serial number of the command to be tested, and then realizes the accurate determination of the packet loss rate of the command to be tested based on the command line, and the method is simple.
  • FIG. 6 is a flowchart of a method for processing a drone command provided by an embodiment of the present application. As shown in FIG. 6, the method of the embodiment of the present application may include:
  • the terminal device obtains a log file of at least one offline instruction.
  • all log files of at least one offline command passing through the center board can be stored, for example, in an offline storage device.
  • the log files of offline instructions include: the number of offline instructions (count) and the instruction information of offline instructions, where the number of offline instructions is of type uint32_t, occupying multiple bytes, the instruction information of offline instructions, including the sender of the instruction, The receiver of the instruction, the setting of the instruction, and the identity of the instruction are combined into a uint32_t type, occupying multiple bytes.
  • the central board stores at least one log file of the offline instruction in the offline storage device.
  • the offline storage device may be a communication chip on the drone, such as 1860, or an SD card.
  • the terminal device can obtain a log file of at least one offline instruction.
  • the offline storage device is connected to the terminal device, and the terminal device directly reads the log file of at least one offline instruction from the offline storage device.
  • the above S301 may also be: the terminal device sends fifth information to an offline storage device, where the offline storage device stores multiple offline instructions, and the fifth information is used to instruct to obtain a log file of at least one offline instruction.
  • the terminal device receives sixth information from the offline storage device, where the sixth information includes at least one log file of the offline instruction. That is, the terminal device and the offline storage device are communicatively connected, and the terminal device sends fifth information to the offline storage device, and the offline storage device obtains at least one log file of the offline command from the stored log files of multiple offline commands according to the fifth information And carry the log file of the at least one offline instruction in the sixth information and send it to the terminal device, so that the terminal device can accurately and quickly obtain the log file of the at least one offline instruction.
  • the terminal device determines the name of the data packet storing the at least one offline instruction according to the log file of the at least one offline instruction.
  • the terminal device After obtaining the log file of at least one offline instruction according to the above steps, the terminal device determines the name of the data packet storing the at least one offline instruction according to the log file of the at least one offline instruction.
  • the terminal device determines the name of the data packet storing the at least one offline instruction according to the order in which the log files of the at least one offline instruction are obtained.
  • the above S302 may further include: the terminal device acquiring the storage order of each offline instruction from the log file of the at least one offline instruction; and determining the name of the data packet according to the storage order.
  • the terminal device parses the instruction information of a specific field to obtain the storage order of each offline instruction.
  • the storage order is the offline instruction on the offline storage device. Storage order.
  • the name of the data packet is determined.
  • the name of the data packet includes multiple labels, and one label is used to indicate an offline instruction, wherein the order of the multiple labels is consistent with the storage order.
  • the at least one offline instruction includes: offline instruction 1, offline instruction 2, and offline instruction 3, the storage order is: offline instruction 2, offline instruction 3, and offline instruction 1, and the name of the data packet includes three labels, A, B and C, where A corresponds to offline instruction 1, B corresponds to offline instruction 2, and C corresponds to offline instruction 3, so that the name of the data packet can be determined as: BCA.
  • the storage order of offline commands can be determined by the name BCA of the data packet.
  • At least one offline instruction is stored in the data packet of the name, so that the storage order of the offline instructions stored therein can be determined by the name of the data packet, which is convenient for subsequent problem location.
  • the method in the embodiments of the present application further includes:
  • the terminal device obtains the number of each offline instruction in the at least one offline instruction from the log file of the at least one offline instruction.
  • step S304 and the above S302 and S303 have no order, that is, S304 may be executed before S302 and S303, or after S302 and S303, or S304 is executed between S302 and S303.
  • the terminal device stores the data packet and the number of each offline instruction.
  • the order of the number of each offline instruction in at least one offline instruction is consistent with the storage order of each offline instruction in the at least one offline instruction.
  • each label in the name of the data packet corresponds to the number of offline instructions.
  • offline instruction 1, offline instruction 2 and offline instruction 3 the storage order is: offline instruction 2, offline instruction 3 and offline instruction 1
  • the name of the data packet includes 3 labels are A, B and C, where A Corresponds to offline command 1, B corresponds to offline command 2, C corresponds to offline command 3, the name of the data packet is determined to be: BCA, the number of offline command 1 is n1, the number of offline command 2 is n2 and the number of offline command 3 Is n3, and the order of the number of offline commands is: n2n3n1.
  • the name BCA of the data packet corresponds to the order of the number of offline commands n2n3n1.
  • the method of the embodiment of the present application through the above step S305, makes the name of the data packet correspond to the actual number of offline commands, which is convenient for observation, and does not need to check the command information one by one, thereby improving the efficiency of the overall offline command analysis.
  • the above data packet can store 108 offline instructions, which can be expanded to 256.
  • the instruction information of the offline instruction is dynamically added, because an instruction contains 8 bytes in length, and the push frequency is relatively slow. For example, the number of instructions will be pushed once every 1S, and the instruction information will be pushed once every 3S. The bandwidth is increased to 600 bytes/s to improve transmission efficiency.
  • the offline instructions include periodic instructions and/or triggering instructions.
  • the terminal device may perform problem analysis based on the stored data packets and the number of each offline instruction.
  • FIG. 7 it is a schematic diagram of the change in the number of commands when switching between commands of PTZ 1 and PTZ 2.
  • the number of commands corresponding to PTZ 1 increases at a stable slope.
  • PTZ 2 does not receive the command, and the number of commands remains unchanged.
  • the command is switched from PTZ 1 to PTZ 2.
  • the number of instructions of PTZ 1 does not increase, and the number of instructions of PTZ 2 increases according to a stable slope.
  • the command is switched from PTZ 2 to PTZ 1, but in the area after the box shown in FIG. 7, the number of PTZ 1 commands increases, and the number of PTZ 2 commands
  • the problem is also growing, so that the location problem can be analyzed according to the change in the number of instructions shown in FIG. 7, and the problem is easily located.
  • the embodiments of the present application further include: obtaining a blacklist, the blacklist including an identifier of a non-storage instruction.
  • the terminal device in S302 determines the name of the data packet storing the at least one offline command according to the log file of the at least one offline command, which may include: the terminal device parses the log file of each command in the at least one offline command , Obtain at least one offline instruction, and compare each offline instruction with the identifier of the non-storage instruction in the blacklist, obtain each offline instruction that does not belong to the blacklist, and then determine according to the log file of each offline instruction that does not belong to the blacklist The name of the packet.
  • the terminal device in S302 determines the name of the data packet storing the at least one offline command according to the log file of the at least one offline command, which may include: the terminal device parses the log file of each command in the at least one offline command , Obtain at least one offline instruction, and compare each offline instruction with the identifier of the non-storage instruction in the blacklist, obtain each offline instruction that does not belong to the blacklist, and then determine according to the log file of each offline instruction that does not belong to the blacklist
  • a terminal device obtains a log file of at least one offline instruction, and determines a name of a data packet storing the at least one offline instruction according to the log file of the at least one offline instruction, and The at least one offline instruction is stored in the data packet of the name, and at the same time, the number of each offline instruction is stored, so that the number of each offline instruction corresponds to the name of the data packet, which facilitates the search of the instruction.
  • FIG. 9 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.
  • the terminal device 400 described in this embodiment of the present application includes a communication interface 401 and a processor 402.
  • the terminal device 400 is connected to a center board on the drone through the communication interface 401.
  • the center board is used to A plurality of sensors and load communication connections of the unmanned aerial vehicle are used to forward instructions to each of the sensors and the load;
  • the processor 402 is configured to send first information to the center board through the communication interface 401, where the first information is used to indicate the first instruction information of the instruction to be selected;
  • the second information of the center board wherein the second information includes at least one candidate instruction determined by the center board according to the first instruction information.
  • the terminal device in the embodiments of the present application may be used to execute the technical solutions of the terminal devices in the foregoing method embodiments, and the implementation principles and technical effects are similar, and will not be repeated here.
  • the first instruction information includes: at least one of a sender of the instruction, a receiver of the instruction, a setting of the instruction, an identifier of the instruction, and original data of the instruction.
  • the processor 402 which is also used to determine whether the fill field of each candidate instruction in the at least one candidate instruction is correct according to the second information.
  • the processor 402 is further configured to send third information to the center board through the communication interface 401, where the third information is used to indicate second instruction information of an instruction to be tested And receiving fourth information from the center board through the communication interface 401, wherein the fourth information includes the serial number of the instruction to be tested determined by the center board according to the second instruction information; and The packet loss rate of the instruction to be analyzed is determined according to the sequence number of the instruction to be tested.
  • the second instruction information includes: a sender of the instruction, a receiver of the instruction, settings of the instruction, and an identifier of the instruction.
  • the processor 402 is further configured to obtain a log file of at least one offline instruction; and according to the log file of the at least one offline instruction, determine a name of a data packet storing the at least one offline instruction ; Store the at least one offline instruction in the data packet of the name.
  • the processor 402 is further configured to send fifth information to an offline storage device through the communication interface 401, wherein the offline storage device stores multiple offline instructions, and the fifth information It is used to instruct to obtain a log file of at least one offline instruction; and receive sixth information from the offline storage device through the communication interface 401, where the sixth information includes the log file of the at least one offline instruction.
  • the processor 402 is specifically configured to obtain the storage order of each offline instruction from the log file of the at least one offline instruction; and determine the name of the data packet according to the storage order.
  • the name of the data packet includes multiple labels, and one label is used to indicate an offline instruction, wherein the order of the multiple labels is consistent with the storage order.
  • the processor 402 is further configured to obtain the number of each offline instruction in the at least one offline instruction from the log file of the at least one offline instruction; store the data packet and each The number of offline instructions, wherein the order of the number of each offline instruction in the at least one offline instruction is consistent with the storage order of each offline instruction in the at least one offline instruction.
  • the processor 402 is further configured to perform problem analysis according to the stored data packets and the number of each offline instruction.
  • the offline instructions include periodic instructions and/or triggering instructions.
  • the processor 402 is specifically configured to obtain a blacklist, where the blacklist includes an identifier of a non-stored instruction; parsing the log file of each instruction in the at least one offline instruction to obtain at least one Offline instructions; compare the at least one offline instruction with the blacklist to obtain each offline instruction that does not belong to the blacklist; and determine the said according to the log file of each offline instruction that does not belong to the blacklist The name of the packet.
  • the load includes at least one of the following: a gimbal and a camera.
  • the senor includes at least one of the following: a barometer, a temperature sensor, and an external global navigation system GPS.
  • the center board is also provided with a power management circuit, through which the power supply of the drone flight controller, each of the sensors, and the load is supplied.
  • the terminal device in the embodiments of the present application may be used to execute the technical solutions of the terminal devices in the foregoing method embodiments, and the implementation principles and technical effects are similar, and will not be repeated here.
  • FIG. 10 is a schematic structural diagram of a center panel of an unmanned aerial vehicle provided by an embodiment of the present application.
  • the drone center board 500 described in the embodiment of the present application is used to communicate with a plurality of sensors and loads of the drone for forwarding instructions to each sensor and the load, and the center board 500 It includes a communication interface 501 and a processor 502, and the center board 500 is connected to a terminal device through the communication interface 501;
  • the processor 502 is configured to receive first information from a terminal device through the communication interface 501, where the first information is used to indicate first instruction information of a command to be selected; based on the first information, determine At least one candidate instruction; and send second information to the terminal device through the communication interface 501, where the second information includes the at least one candidate instruction.
  • the center board in the embodiments of the present application may be used to execute the technical solutions of the center board in the above method embodiments, and the implementation principles and technical effects are similar, and are not described herein again.
  • the first instruction information includes: at least one of a sender of the instruction, a receiver of the instruction, a setting of the instruction, an identifier of the instruction, and original data of the instruction.
  • the processor 502 is further configured to receive third information from the terminal device through the communication interface 501, wherein the third information is used to indicate a second instruction of the instruction to be tested Information; determine the serial number of the instruction to be tested within a preset time period according to the third information; and send fourth information to the terminal device through the communication interface 501, wherein the fourth information includes all Describe the serial number of the command to be tested.
  • the second instruction information includes: a sender of the instruction, a receiver of the instruction, settings of the instruction, and an identifier of the instruction.
  • the processor 502 is further configured to store the log file of at least one offline instruction in an offline storage device.
  • the load includes at least one of the following: a gimbal and a camera.
  • the senor includes at least one of the following: a barometer, a temperature sensor, and an external global navigation system GPS.
  • the center board is also provided with a power management circuit, through which the power supply of the drone flight controller, each of the sensors, and the load is supplied.
  • the center board of the unmanned aerial vehicle may be used to execute the technical solutions of the center board in the above method embodiments, and the implementation principles and technical effects are similar, and will not be repeated here.
  • FIG. 11 is a schematic structural diagram of a drone provided by an embodiment of the present application.
  • the drone 700 includes: a flight control system 701, multiple sensors 702, a load 703, and the drone described in FIG. 10. Center board 500,
  • the center board 500 is respectively in communication with the flight control system 701, the plurality of sensors 702, and the load 703 to forward instructions to each of the sensors 702, the load 703, and the flight control system 701 .
  • the processing method of the above-mentioned drone instruction can correspond to the technical solution of the embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.
  • FIG. 12 is a schematic structural diagram of a drone control system provided by an embodiment of the present application.
  • the drone control system 800 includes: a terminal device 801 and a center board 802, the terminal device 801 and the The center board 802 is communicatively connected, the terminal device 801 is the terminal device described above in FIG. 9, and the center board 802 is the center board shown in FIG. 10.
  • the terminal device 801 and the center board 802 are connected by wire communication, for example, the terminal device 801 and the center board 802 are connected through respective communication interfaces.
  • the terminal device 801 is connected to the center board 802 by wireless communication.
  • the terminal device 801 and the center board 802 are connected by wireless communication such as WIFI and Bluetooth.
  • the drone control system of the embodiment of the present application can execute the above-mentioned drone instruction processing method corresponding to the technical solution of the embodiment, and its implementation principles and technical effects are similar, and will not be repeated here.
  • the foregoing program may be stored in a computer-readable storage medium, and when the program is executed, It includes the steps of the above method embodiments; and the foregoing storage media include: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical discs, etc., which can store program codes Medium.
  • a computer storage medium is also provided in an embodiment of the present invention.
  • the computer storage medium stores program instructions. When the program is executed, some or all of the steps of the method for processing a drone instruction in the foregoing embodiments may be included.
  • the foregoing program may be stored in a computer-readable storage medium, and when the program is executed, It includes the steps of the above method embodiments; and the foregoing storage media include: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical discs, etc., which can store program codes Medium.

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Abstract

一种无人机指令的处理方法、终端设备及无人机中心板，该处理方法包括：终端设备向中心板发送第一信息，该第一信息用于指示待选指令的第一指令信息，中心板根据该第一信息，确定至少一个待选指令，并向终端设备发送第二信息，该第二信息包括确定的至少一个待选指令，终端设备根据该第二信息，获得至少一个待选指令。通过该处理方法，通过命令行的方式，从中心板抓取待选指令，而不需要更改固件，其成本低，且效率高。

Description

无人机指令的处理方法、终端设备及无人机中心板 技术领域
本发明实施例涉及无人机技术领域，尤其涉及一种无人机指令的处理方法、终端设备及无人机中心板。
背景技术
随着无人机技术的发展，无人机在多个行业得到了广泛的应用。为了保证无人机的可靠运行，在无人机的设计研发阶段中，无人机的测试是至关重要的。在测试阶段，通过指令的抓取，可以定位出问题所在。
已有技术中，指令的抓取大多都是依赖更改代码，做补丁，然后将固件烧录进去，这样使得指令的抓取的整个过程效率非常低，每次和其他模块联调的时候都会处于一种被动的状态，而且耗费大量时间。
发明内容
本发明实施例提供一种无人机指令的处理方法、终端设备及无人机中心板，以实现对指令的快速抓取。
第一方面，本申请实施例提供一种无人机指令的处理方法，所述无人机包括中心板，所述中心板用于与所述无人机的多个传感器以及负载通信连接，用于将指令转发给各所述传感器以及所述负载，所述方法包括：
向中心板发送第一信息，其中，所述第一信息用于指示待选指令的第一指令信息；
接收来自所述中心板的第二信息，其中，所述第二信息包括所述中心板根据所述第一指令信息确定的至少一个待选指令。
第二方面，本申请实施例提供一种无人机指令的处理方法，其所述无人机包括中心板，所述中心板用于与所述无人机的多个传感器以及负载通信连接，用于将指令转发给各所述传感器以及所述负载，所述方法包括：
接收来自终端设备的第一信息，其中，所述第一信息用于指示待选指令的第一指令信息；
根据所述第一信息，确定至少一个待选指令；
向所述终端设备发送第二信息，其中，所述第二信息包括所述至少一个待选指令。
第三方面，本申请实施例提供一种终端设备，所述终端设备包括通信接口和处理器，所述通信接口与无人机上的中心板连接，所述中心板用于与所述无人机的多个传感器以及负载通信连接，用于将指令转发给各所述传感器以及所述负载；
所述处理器，用于通过所述通信接口向所述中心板发送第一信息，其中，所述第一信息用于指示待选指令的第一指令信息；
所述处理器，还用于通过所述通信接口接收来自所述中心板的第二信息，其中，所述第二信息包括所述中心板根据所述第一指令信息确定的至少一个待选指令。
第四方面，本申请实施例提供一种无人机中心板，所述中心板用于与所述无人机的多个传感器以及负载通信连接，用于将指令转发给各所述传感器以及所述负载，所述中心板包括通信接口和处理器，所述中心板通过所述通信接口与终端设备连接：
所述处理器，用于通过所述通信接口接收来自所述终端设备的第一信息，其中，所述第一信息用于指示待选指令的第一指令信息；
所述处理器，还用于根据所述第一信息，确定至少一个待选指令；
所述处理器，用于通过所述通信接口向所述终端设备发送第二信息，其中，所述第二信息包括所述至少一个待选指令。
第五方面，本申请实施例提供一种无人机，包括：飞行控制系统、多个传感器、负载和以及第四方面所述的中心板，
所述中心板分别与所述飞行控制系统、所述多个传感器、所述负载通信连接，以将指令转发给各所述传感器、所述负载以及所述飞行控制系统。
第六方面，本申请实施例提供一种无人机控制系统，包括：终端设备和无人机中心板，所述终端设备与所述中心板通信连接，所述终端设备为第三方面所述终端设备，所述中心板为第四方面所述中心板。
第七方面，本发明实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序包含至少一段代码，所述至 少一段代码可由计算机执行，以控制所述计算机执行本发明实施例第一方面所述的无人机指令的处理方法。
第八方面，本发明实施例提供一种计算机程序，当所述计算机程序被计算机执行时，用于实现本发明实施例第一方面所述的无人机指令的处理方法。
本申请实施例提供无人机指令的处理方法、终端设备及无人机中心板，通过终端设备向中心板发送第一信息，该第一信息用于指示待选指令的第一指令信息，中心板根据该第一信息，确定至少一个待选指令，并向所述终端设备发送第二信息，该第二信息包括确定的至少一个待选指令，终端设备根据该第二信息，获得至少一个待选指令。即本申请实施例的方法，通过命令行的方式，从中心板抓取待选指令，而不需要更改固件，其成本低，且效率高。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术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的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例涉及的应用场景示意图；
图2是根据本发明的实施例的无人飞行系统的示意性架构图；
图3为本申请实施例涉及的无人机的链路示意图；
图4为本申请实施例提供的无人机指令的处理方法的流程图；
图5为本申请实施例提供的无人机指令的处理方法的流程图；
图6为本申请实施例提供的无人机指令的处理方法的流程图；
图7本申请实施例涉及的云台切换示意图；
图8本申请实施例涉及的联动过程中指令数量的变化示意图；
图9为本申请实施例提供的终端设备的结构示意图；
图10为本申请实施例提供的无人机中心板的结构示意图；
图11为本申请实施例提供的无人机的结构示意图；
图12为本申请实施例提供的无人机控制系统的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，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、完整地描述，显然，所描述的实施例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作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。
在本申请的描述中，除非另有说明，“多个”是指两个或多于两个。
另外，为了便于清楚描述本申请实施例的技术方案，在本申请的实施例中，采用了“第一”、“第二”等字样对功能和作用基本相同的相同项或相似项进行区分。本领域技术人员可以理解“第一”、“第二”等字样并不对数量和执行次序进行限定，并且“第一”、“第二”等字样也并不限定一定不同。
本申请实施例应用于无人机的研发测试阶段，或者维护阶段，终端设备与无人机上的中心板进行交互，对无人机路由上的指令进行在线抓取分析，协助无人机上各模块进行分析和问题定位，整个过程无需对固件进行改进，且指令抓取效率高。
图1为本申请实施例涉及的应用场景示意图，如图1所示，本申请实施例涉及的是终端设备与无人机之间的交互，具体是终端设备与无人机上的中心板之间的交互，其中，
终端设备：可以是无线终端设备也可以是有线终端设备，无线终端设备可以是指一种具有无线收发功能的设备，可以部署在陆地上，包括室内或室外、手持或车载；也可以部署在水面上(如轮船等)；还可以部署在空中(例如飞机、气球和卫星上等)。所述终端设备可以是手机(mobile phone)、平板电脑(Pad)、带无线收发功能的电脑、虚拟现实(Virtual Reality，VR)终端设备、增强现实(Augmented Reality，AR)终端设备、工业控制(industrial control)中的无线终端设备、无人驾驶(self driving)中的无线终端设备、远程医疗(remote medical)中的无线终端设备、智能电网(smart grid)中的无线终端设备、运输安全(transportation safety)中的无线终端设备、智慧城市(smart city)中的无线终端设备、智慧家庭(smart home)中的无线终端设备等等，在此不作限定。可以理解的是，本申请实施例中，终端设备也可以称 为用户设备(user equipment，UE)。
无人机可以是旋翼飞行器(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼飞行器，本发明的实施例并不限于此。
图2是根据本发明的实施例的无人飞行系统的示意性架构图。本申请实施例以旋翼无人飞行器为例进行说明。
无人飞行系统100可以包括无人飞行器110、云台120、显示设备130和控制装置140。其中，无人飞行器110可以包括动力系统150、飞行控制系统160和机架。无人飞行器110可以与控制装置140和显示设备130进行无线通信。
机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接，用于在无人飞行器110着陆时起支撑作用。
动力系统150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152，其中电机152连接在电子调速器151与螺旋桨153之间，电机152和螺旋桨153设置在无人飞行器110的机臂上；电子调速器151用于接收飞行控制系统160产生的驱动信号，并根据驱动信号提供驱动电流给电机152，以控制电机152的转速。电机152用于驱动螺旋桨旋转，从而为无人飞行器110的飞行提供动力，该动力使得无人飞行器110能够实现一个或多个自由度的运动。在某些实施例中，无人飞行器110可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴、偏航轴和俯仰轴。应理解，电机152可以是直流电机，也可以交流电机。另外，电机152可以是无刷电机，也可以是有刷电机。
飞行控制系统160可以包括飞行控制器161和传感系统162。传感系统162用于测量无人飞行器的姿态信息，即无人飞行器110在空间的位置信息和状态信息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感系统162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit，IMU)、视觉传感器、全球导航卫星系统和气压计等传感器中的至少一种。例如，全球导航卫星系统可以是全球定位系统(Global Positioning System，GPS)。飞行控制器161用于控制无人飞 行器110的飞行，例如，可以根据传感系统162测量的姿态信息控制无人飞行器110的飞行。应理解，飞行控制器161可以按照预先编好的程序指令对无人飞行器110进行控制，也可以通过响应来自控制装置140的一个或多个控制指令对无人飞行器110进行控制。
云台120可以包括电机122。云台用于携带成像装置123或者麦克风(图中未示出)。飞行控制器161可以通过电机122控制云台120的运动。可选地，作为另一实施例，云台120还可以包括控制器，用于通过控制电机122来控制云台120的运动。应理解，云台120可以独立于无人飞行器110，也可以为无人飞行器110的一部分。应理解，电机122可以是直流电机，也可以是交流电机。另外，电机122可以是无刷电机，也可以是有刷电机。还应理解，云台可以位于无人飞行器的顶部，也可以位于无人飞行器的底部。
成像装置123例如可以是照相机或摄像机等用于捕获图像的设备，成像装置123可以与飞行控制器通信，并在飞行控制器的控制下进行拍摄。本申请实施例的成像装置123至少包括感光元件，该感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)传感器或电荷耦合元件(Charge-coupled Device，CCD)传感器。
显示设备130位于无人飞行系统100的地面端，可以通过无线方式与无人飞行器110进行通信，并且可以用于显示无人飞行器110的姿态信息。另外，还可以在显示设备130上显示成像装置拍摄的图像。应理解，显示设备130可以是独立的设备，也可以集成在控制装置140中。
控制装置140位于无人飞行系统100的地面端，可以通过无线方式与无人飞行器110进行通信，用于对无人飞行器110进行远程操纵。
应理解，上述对于无人飞行系统各组成部分的命名仅是出于标识的目的，并不应理解为对本发明的实施例的限制。需要说明的是，无人机可以包括上述的全部部件或者部分部件。
图3为本申请实施例涉及的无人机的链路示意图，如图3所示，本申请实施例的无人机还包括中心板，该中心板与无人机的多个传感器以及负载通信连接，用于将指令转发给各所述传感器以及所述负载。
可选的，上述与中心板通信连接的多个负载可以包括如下至少一种：云台、相机等。
可选的，上述与中心板通信连接的多个传感器可以包括如下至少一种：气压计、温度传感器、外置GPS等。
可选的，如图3所示，本申请实施例的中心板还设有电源管理电路，通过该电源电路给无人机的飞行控制器、各传感器以及各负载供电。
下面以具体地实施例对本申请的技术方案进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例不再赘述。
图4为本申请实施例提供的无人机指令的处理方法的流程图，如图4所示，本申请实施例的方法可以包括：
S101、终端设备向中心板发送第一信息。
其中，所述第一信息用于指示待选指令的第一指令信息。
无人机整机产品，包括几个模块或几十个模块，发送给各模块的指令，均由中心板进行转发，这样，在无人机的研发测试阶段或后期维护阶段，可以在中心板上抓取到指令。
首先，终端设备获取待选指令的指令信息，该待选指令的指令信息可以是用户输入的，也可以是终端设备根据预设规则确定的，本申请实施例对此不做限制。
例如，若需要抓取发送给模块A的指令，则该第一指令信息包括模块A的信息。或者，若需要抓取模块B发送给模块A的指令，则第一指令信息包括模块B和模块A的信息。
可选的，上述第一指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置、所述指令的标识和所述指令的原始数据中的至少一个。
例如，若需要抓取发送给模块A的指令，则第一指令信息包括：接收方为模块A。或者，若需要抓取模块B发送给模块A的指令，则第一指令信息包括：发送方为模块B，接收方为模块A。或者，若需要抓取模块B发送给模块A的指令1，则第一指令信息包括：发送方为模块B，接收方为模块A，指令的标识为1。
这样，通过上述各指令信息之间的自由组合，可以过滤出需要的指令，其组合方式本申请实施例不做限制，具体根据实际需要确定。
可选的，上述第一信息可以是命令行，即终端设备通过调试串口的命令 行可以直接与中心板进行交互，命令行解释器可以仿照linux下shell的机制编写，最大支持16个可填充选项字段，支持16进制和10进制参数互相转化，支持灵活的配置选项等。
可选的，上述第一信息可以为cmdcat命令，该cmdcat命令支持-a–b–c–d–e的可选配置，分别对应指令信息中的指令的发送方、指令的接收方、指令的设置、指令的标识和指令的原始数据选项。这种可配置选项的方式能够很方便的进行条件(该条件可以理解为指令信息)选择过滤，可以选择其中的一个或多个条件进行自由组合对指令过滤，这种方式给调试带来了极大的便利性。
例如，第一信息可以是：cmdcat-b/A，表示过滤接收方为模块A的指令。或者，第一信息可以是：cmdcat-a/B-b/A，表示过滤发送方为模块B、接收方为模块A的指令。或者，第一信息为cmdcat-a/B-b/A-d/1，表示过滤发送方为模块B、接收方为模块A、且指令的标识为1的指令。
这样，终端设备可以根据上述方式，确定出需要过滤的指令的指令信息，并根据该指令信息获得第一信息，并将该第一信息发送给中心板。
S102、中心板接收来自终端设备的第一信息。
S103、中心板根据所述第一信息，确定至少一个待选指令。
中心板接收到终端设备发送的第一信息后，解析该第一信息，获得第一信息指示的待选指令的第一指令信息。接着，根据第一指令信息，从多个指令中过滤出满足第一指令信息的至少一个指令，将这至少一个指令中的每个指令作为待选指令。
举例说明，假设第一信息为cmdcat-b/A，则中心板从经过其中的各指令中，过滤出所有接收方为模块A的指令作为待选指令，进而获得至少一个待选指令。假设第一信息为cmdcat-a/B-b/A，则中心板从经过其中的各指令中，过滤出所有发送方为模块B、接收方为模块A的指令作为待选指令，进而获得至少一个待选指令。假设第一信息为cmdcat-a/B-b/A-d/1，则中心板从经过其中的各指令中，过滤出所有发送方为模块B、接收方为模块A、且指令的标识为1的指令作为待选指令，进而获得至少一个待选指令。
S104、中心板向所述终端设备发送第二信息。
其中，所述第二信息包括所述至少一个待选指令。
S105、终端设备接收来自所述中心板的第二信息。
中心板根据上述S103的方法，根据第一信息，确定至少一个待选指令后，将确定的至少一个待选指令携带在第二信息中，发送给终端设备。
终端设备接收到第二信息后，解析该第二信息，获得至少一个待选指令，进而实现指令的过滤。
可选的，终端设备可以根据获得的至少一个待选指令进行问题分析和定位。或者，用户根据终端设备获得的至少一个待选指令，进行问题分析和定位，其中基于至少一个待选指令，进行问题分析和定位的具体过程可以参照已有技术，本实施实例在此不再赘述。
本申请实施例的方法，通过命令行的方式，抓取待选指令，在不改变硬件的前提下，实现对指令的准确抓取。
进一步的，在联调过程中大多是指令的交互，本申请实施例的方法，在联调的时候可以直接通过调试串口对待选指令进行抓包，提高联调的效率，进而方便分析解决联调过程中的各种问题以及在测试过程中的一些稳定复现的问题。
本申请实施例提供的无人机指令的处理方法，通过终端设备向中心板发送第一信息，该第一信息用于指示待选指令的第一指令信息，中心板根据该第一信息，确定至少一个待选指令，并向所述终端设备发送第二信息，该第二信息包括确定的至少一个待选指令，终端设备根据该第二信息，获得至少一个待选指令。即本申请实施例的方法，通过命令行的方式，从中心板抓取待选指令，而不需要更改固件，其成本低，且效率高。
在一些实施例中，若第一信息指示的第一指令信息包括所述指令的发送方、所述指令的接收方、所述指令的设置、所述指令的标识和所述指令的原始数据，此时，本申请实施例的方法还包括：终端设备根据所述第二信息，判断所述至少一个待选指令中每个待选指令的填充字段是否正确。
具体的，若终端设备发送给中心板的第一信息所指示的第一指令信息包括：指令的发送方、指令的接收方、指令的设置、指令的标识和指令的原始数据。中心板根据该第一指令信息，获得满足该第一指令信息的至少一个待选指令，其中，该至少一个待选指令中的每个待选指令均为满足上述第一指令信息的指令，可选的，该至少一个待选指令为一个待选指令。接着，中心 板将该至少一个待选指令携带在第二信息中发送给终端设备。
终端设备在接收到该第二信息后，解析该第二信息，获得至少一个待选指令。接着，终端设备判断至少一个待选指令中每个待选指令的填充字段是否正确。
图5为本申请实施例提供的无人机指令的处理方法的流程图，如图5所示，本申请实施例的方法可以包括：
S201、终端设备向所述中心板发送第三信息。
其中，所述第三信息用于指示待测试指令的第二指令信息。
本申请实施例提供一种测试指令丢包率的方法。
具体的，终端设备确定待测试指令的第二指令信息，接着，向中心板发送第三信息，该第三信息用于指示待测试指令的第二指令信息。
该待测试指令的第二指令信息可以是用户输入的，也可以是终端设备根据预设规则确定的，本申请实施例对此不做限制。
可选的，上述第二指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置和所述指令的标识。
即本申请实施例，第二指令信息包括上述各指令信息，即指令信息是完整后，对指令进行链路丢包率分析，保证测试结果的准确性。
可选的，上述第二信息可以是命令行，即终端设备通过调试串口的命令行可以直接与中心板进行交互，命令行解释器可以仿照linux下shell的机制编写，最大支持16个可填充选项字段，支持16进制和10进制参数互相转化，支持灵活的配置选项等。
可选的，上述第二信息可以为loss命令，该loss命令支持-a–b–c–d的配置，分别对应指令信息中的指令的发送方、指令的接收方、指令的设置和指令的标识。这种可配置选项的方式能够很方便的进行条件(该条件可以理解为上述各指令信息)选择过滤，可以选择其中的一个或多个条件进行自由组合对指令过滤，这种方式给调试带来了极大的便利性。
例如，第二信息可以是：loss-a/B-b/A-c/2-d/1，表示对发送方为模块B、接收方为模块A、指令的设置为2，且指令的标识为1的指令进行丢包率分析。
S202、中心板接收来自所述终端设备的第三信息。
S203、中心板根据所述第三信息，确定预设时间段内所述待测试指令的序列号。
需要说明的是，在测试丢包率时，需要基于一段时间内指令的传输情况来确定该指令的丢包率。
因此，中心板接收终端设备发送的第三信息后，解析该第三信息，获得该第三信息指示的待测试指令的第二指令信息。
接着，根据第二指令信息，获得预设时间段内，各指令中满足该第二指令信息的待测试指令，并获得该待测试指令的序列号。
可选的，该预设时间段可以是预先定义的，即中心板根据预先定义的预设时间段，获取该预设时间段内，各指令中满足第二指令信息的待测试指令。
可选的，上述预设时间段还可以终端设备发送的，例如终端设备发送的第三信息还指示了预设时间段。
可选的，该预设时间段还可以是中心板上电启动的时刻至中心板接收到第三信息的时刻之间的时间。
本申请实施例对预设时间段不做详细限定，具体可以根据实际需要进行确定。
S204、中心板向终端设备发送第四信息。
其中，所述第四信息包括所述待测试指令的序列号。
中心板根据上述步骤获得该待测试指令的序列号后，将该待测试指令的序列号携带在第四信息中发送给终端设备。
S205、终端设备接收来自所述中心板的第四信息。
S206、终端设备根据所述待测试指令的序列号，确定所述待分析指令的丢包率。
终端设备接收到第四信息后，解析该第四信息，获得该待测试指令的序列号。
接着，终端设备根据该待测试指令的序列号，确定该待分析指令的丢包率。
首先，终端设备根据该待测试指令的序列号，判断该待分析指令是否存在丢包。即若该待测试指令的序列号连续，则确定该待测试指令传输过程中没有出现丢包。若该待测试指令的序列号不连续，则确定该待测试指令传输 过程中出现了丢包。
在确定该待测试指令传输过程中出现了丢包时，根据该待测试指令的序列号确定待测试指令的丢包率，具体是根据该待测试指令的总传输量和总丢包量，确定该待测试指令的丢包率。例如，获得的待测试指令的序列号为：{1,2,4,5,7,9,10}，其中，该待测试指令的总传输量为10，总丢包量为3，则确定待测试指令的丢包率为3/10。需要说明的是，该序列号只是一种示例，本申请实施例不限于此。
本申请实施例的方法，通过终端设备向中心板发送第三信息，该第三信息用于指示待测试指令的第二指令信息，中心板根据第三信息，确定预设时间段内该待测试指令的序列号，并将该待测试指令的序列号发送给终端设备。终端设备根据该待测试指令的序列号，确定该待分析指令的丢包率，进而基于命令行的方式，实现对待测试指令的丢包率的准确确定，且方式简单。
图6为本申请实施例提供的无人机指令的处理方法的流程图，如图6所示，本申请实施例的方法可以包括：
S301、终端设备获取至少一个离线指令的日志文件。
在测试人员外测的时候，能够将所有通过中心板的至少一个离线指令的日志文件存储下来，例如存储在离线存储设备中。
其中离线指令的日志文件包括：离线指令的数量(count)和离线指令的指令信息，其中，离线指令的数量为uint32_t类型，占用多个字节，离线指令的指令信息，包括指令的发送方、指令的接收方、指令的设置、指令的标识合并一个uint32_t类型，占用多个字节。
可选的，中心板将至少一个离线指令的日志文件存储在离线存储设备。
可选的，该离线存储设备可以是无人机上的通信芯片，例如1860，也可以是SD卡。
终端设备可以获取至少一个离线指令的日志文件。
例如，将离线存储设备与终端设备连接，终端设备直接从离线存储设备中读取至少一个离线指令的日志文件。
可选的，上述S301还可以是：终端设备向离线存储设备发送第五信息，该离线存储设备中存储多个离线指令，该第五信息用于指示获取至少一个离 线指令的日志文件。终端设备接收来自离线存储设备的第六信息，该第六信息包括至少一个离线指令的日志文件。即终端设备与离线存储设备通信连接，终端设备向离线存储设备发送第五信息，离线存储设备根据该第五信息，从存储的多个离线指令的日志文件中，获得至少一个离线指令的日志文件，并将该至少一个离线指令的日志文件携带在第六信息中发送给终端设备，实现终端设备对至少一个离线指令的日志文件的准确、快速获得。
S302、终端设备根据所述至少一个离线指令的日志文件，确定存储所述至少一个离线指令的数据包的名称。
终端设备根据上述步骤，获得至少一个离线指令的日志文件后，根据该至少一个离线指令的日志文件，确定存储该至少一个离线指令的数据包的名称。
可选的，终端设备根据获取至少一个离线指令的日志文件的获取顺序，来确定存储该至少一个离线指令的数据包的名称。
可选的，上述S302还可以包括：终端设备从所述至少一个离线指令的日志文件中获取各离线指令的存储顺序；并根据所述存储顺序，确定所述数据包的名称。
具体的，终端设备解析该至少一个离线指令中各离线指令的日志文件后，对特定字段的指令信息进行解析，获得各离线指令的存储顺序，该存储顺序为各离线指令在离线存储设备上的存储顺序。
接着，根据存储顺序，确定所述数据包的名称。
可选的，将该存储顺序作为数据包的名称。
可选的，数据包的名称包括多个标号，一个标号用于表示一个离线指令，其中多个标号的排序与存储顺序一致。例如，上述至少一个离线指令包括：离线指令1、离线指令2和离线指令3，其存储顺序为：离线指令2、离线指令3和离线指令1，数据包的名称包括3个标号分别为A、B和C，其中，A与离线指令1对应，B与离线指令2对应，C与离线指令3对应，这样可以确定数据包的名称为：BCA。这样可以通过该数据包的名称BCA确定出离线指令的存储顺序。
S303、将所述至少一个离线指令存储在所述名称的数据包中。
根据上述方法，确定数据包的名称后，将至少一个离线指令存储在该名 称的数据包中，这样通过数据包的名称可以确定里面存储的离线指令的存储顺序，方便后续问题定位。
在一些实施例中，在上述各步骤的基础上，本申请实施例的方法还包括：
S304、终端设备从所述至少一个离线指令的日志文件中，获取所述至少一个离线指令中每个离线指令的数量。
需要说明的是，上述步骤S304与上述S302和S303没有先后顺序，即S304可以在S302和S303之前执行，也可以在S302和S303之后执行，或者S304在S302和S303之间执行。
S305、终端设备存储所述数据包和每个离线指令的数量。
其中，本申请实施例中至少一个离线指令中每个离线指令的数量的排列顺序与该至少一个离线指令中每个离线指令的存储顺序一致。这样，数据包的名称中每个标号与离线指令的数量对应。
例如，离线指令1、离线指令2和离线指令3，其存储顺序为：离线指令2、离线指令3和离线指令1，数据包的名称包括3个标号分别为A、B和C，其中，A与离线指令1对应，B与离线指令2对应，C与离线指令3对应，确定数据包的名称为：BCA，离线指令1的数量为n1、离线指令2的数量为n2和离线指令3的数量为n3，各离线指令的数量的排列顺序为：n2n3n1，这样，数据包的名称BCA与各离线指令的数量的排列顺序n2n3n1对应。
即本申请实施例的方法，通过上述步骤S305，使得数据包的名称与实际的离线指令数量对应起来，方便观察，不需要一个一个去查指令信息，进行提高了整体离线指令分析的效率。
可选的，上述数据包可以存储108条离线指令，可扩展至256条。
本申请实施例中离线指令的指令信息是动态添加的，因为一条指令包含8个字节长度，并且推送频率较慢，例如指令数量会1S推送一次，指令信息会3S推送一次，可以将链路带宽增加至600bytes/s，以提高传输效率。
可选的，上述离线指令包括周期性指令和/或触发性指令。
可选的，终端设备可以根据存储的所述数据包和每个离线指令的数量，进行问题分析。
例如，如图7所示，为云台1与云台2之间进行指令切换时，指令数量的变化示意图。正常情况下，在向云台1发送指令时，云台1对应的指令数 量按照稳定的斜率增大，此时，云台2没有接收到该指令，其指令数量保持不变。在图7中方框所示的区域内开始将该指令从云台1切换至云台2，此时云台1的指令数量不增长，云台2的指令数量按照稳定的斜率增大。在图7中方框后开始将该指令从云台2切换至云台1，但是，在图7所示的方框后的区域内，出现云台1的指令数量增长，云台2的指令数量也增长的问题，这样可以根据图7所示的指令数量的变化，来分析定位问题，容易定位到问题所在。
再例如图8所示，在420s之前，指令均是发给云台1的，云台1的指令数量按照稳定的斜率增大，在420s时打开联动控制，即打开云台2，此时云台2的指令数量按照稳定的斜率增大，在480s时关闭联动控制，即关闭云台2，此时云台2的指令数量不再增加。这样，可以通过指令数量的曲线斜率可以确定无人机的逻辑的变化和链路的情况。
在一些实施例中，本申请实施例还包括：获取黑名单，该黑名单包括非存储指令的标识。
即本申请实施例通过设置黑名单，对黑名单中的指令强制不进行存储，过滤掉，节省存储资源。
此时，上述S302中终端设备根据所述至少一个离线指令的日志文件，确定存储所述至少一个离线指令的数据包的名称，可以包括：终端设备解析至少一个离线指令中每个指令的日志文件，获得至少一个离线指令，并每个离线指令与黑名单中非存储指令的标识进行比对，获得不属于黑名单的各离线指令，接着根据不属于黑名单的各离线指令的日志文件，确定数据包的名称。其确定数据包的名称的过程可以参照上述S302的描述，在此不再赘述。
本申请实施例提供的无人机指令的处理方法，终端设备获取至少一个离线指令的日志文件，并根据该至少一个离线指令的日志文件，确定存储该至少一个离线指令的数据包的名称，将该至少一个离线指令存储在该名称的数据包中，同时，存储每个离线指令的数量，使得每个离线指令的数量与数据包的名称对应，方便指令查找。
图9为本申请实施例提供的终端设备的结构示意图。如图9所示，本申请实施例所述的终端设备400包括通信接口401和处理器402，终端设备400 通过该通信接口401与无人机上的中心板连接，所述中心板用于与所述无人机的多个传感器以及负载通信连接，用于将指令转发给各所述传感器以及所述负载；
所述处理器402，用于通过所述通信接口401向中心板发送第一信息，其中，所述第一信息用于指示待选指令的第一指令信息；并通过所述通信接口401接收来自所述中心板的第二信息，其中，所述第二信息包括所述中心板根据所述第一指令信息确定的至少一个待选指令。
本申请实施例的终端设备，可以用于执行上述各方法实施例中终端设备的技术方案，其实现原理和技术效果类似，此处不再赘述。
可选的，所述第一指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置、所述指令的标识和所述指令的原始数据中的至少一个。
可选的，当所述第一指令信息包括所述指令的发送方、所述指令的接收方、所述指令的设置、所述指令的标识和所述指令的原始数据；则所述处理器402，还用于根据所述第二信息，判断所述至少一个待选指令中每个待选指令的填充字段是否正确。
在一种实现方式中，所述处理器402，还用于通过所述通信接口401向所述中心板发送第三信息，其中，所述第三信息用于指示待测试指令的第二指令信息；并通过所述通信接口401接收来自所述中心板的第四信息，其中，所述第四信息包括所述中心板根据所述第二指令信息确定的所述待测试指令的序列号；并根据所述待测试指令的序列号，确定所述待分析指令的丢包率。
可选的，所述第二指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置和所述指令的标识。
在一种实现方式中，所述处理器402，还用于获取至少一个离线指令的日志文件；并根据所述至少一个离线指令的日志文件，确定存储所述至少一个离线指令的数据包的名称；将所述至少一个离线指令存储在所述名称的数据包中。
在一种实现方式中，所述处理器402，还用于通过所述通信接口401向离线存储设备发送第五信息，其中，所述离线存储设备中存储多个离线指令，所述第五信息用于指示获取至少一个离线指令的日志文件；并通过所述通信接口401接收来自所述离线存储设备的第六信息，其中所述第六信息包括所 述至少一个离线指令的日志文件。
在一种实现方式中，所述处理器402，具体用于从所述至少一个离线指令的日志文件中获取各离线指令的存储顺序；根据所述存储顺序，确定所述数据包的名称。
可选的，所述数据包的名称包括多个标号，一个标号用于表示一个离线指令，其中所述多个标号的排序与所述存储顺序一致。
在一种实现方式中，所述处理器402，还用于从所述至少一个离线指令的日志文件中，获取所述至少一个离线指令中每个离线指令的数量；存储所述数据包和每个离线指令的数量，其中，所述至少一个离线指令中每个离线指令的数量的排列顺序与所述至少一个离线指令中每个离线指令的存储顺序一致。
在一种实现方式中，所述处理器402，还用于根据存储的所述数据包和每个离线指令的数量，进行问题分析。
可选的，所述离线指令包括周期性指令和/或触发性指令。
在一种实现方式中，所述处理器402，具体用于获取黑名单，其中所述黑名单包括非存储指令的标识；解析所述至少一个离线指令中每个指令的日志文件，获得至少一个离线指令；将所述至少一个离线指令与所述黑名单进行比对，获得不属于所述黑名单的各离线指令；并根据不属于所述黑名单的各离线指令的日志文件，确定所述数据包的名称。
可选的，所述负载包括如下至少一种：云台，相机。
可选的，所述传感器包括如下至少一种：气压计，温度传感器，外置全球导航系统GPS。
可选的，所述中心板还设有电源管理电路，通过所述电源电路给所述无人机的飞行控制器、各所述传感器以及所述负载供电。
本申请实施例的终端设备，可以用于执行上述各方法实施例中终端设备的技术方案，其实现原理和技术效果类似，此处不再赘述。
图10为本申请实施例提供的无人机中心板的结构示意图。本申请实施例所述的无人机中心板500用于与所述无人机的多个传感器以及负载通信连接，用于将指令转发给各所述传感器以及所述负载，所述中心板500包括通 信接口501和处理器502，所述中心板500通过所述通信接口501与终端设备连接；
所述处理器502，用于通过所述通信接口501接收来自终端设备的第一信息，其中，所述第一信息用于指示待选指令的第一指令信息；根据所述第一信息，确定至少一个待选指令；并通过所述通信接口501向所述终端设备发送第二信息，其中，所述第二信息包括所述至少一个待选指令。
本申请实施例的中心板，可以用于执行上述各方法实施例中中心板的技术方案，其实现原理和技术效果类似，此处不再赘述。
可选的，所述第一指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置、所述指令的标识和所述指令的原始数据中的至少一个。
在一种实现方式中，所述处理器502，还用于通过所述通信接口501接收来自所述终端设备的第三信息，其中，所述第三信息用于指示待测试指令的第二指令信息；根据所述第三信息，确定预设时间段内所述待测试指令的序列号；并通过所述通信接口501向所述终端设备发送第四信息，其中，所述第四信息包括所述待测试指令的序列号。
可选的，所述第二指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置和所述指令的标识。
在一种实现方式中，所述处理器502，还用于将至少一个离线指令的日志文件存储在离线存储设备。
可选的，所述负载包括如下至少一种：云台，相机。
可选的，所述传感器包括如下至少一种：气压计，温度传感器，外置全球导航系统GPS。
可选的，所述中心板还设有电源管理电路，通过所述电源电路给所述无人机的飞行控制器、各所述传感器以及所述负载供电。
本申请实施例的无人机中心板，可以用于执行上述各方法实施例中中心板的技术方案，其实现原理和技术效果类似，此处不再赘述。
图11为本申请实施例提供的无人机的结构示意图，如图11所示，无人机700包括：飞行控制系统701、多个传感器702、负载703和以及图10所 述的无人机中心板500，
所述中心板500分别与所述飞行控制系统701、所述多个传感器702、所述负载703通信连接，以将指令转发给各所述传感器702、所述负载703以及所述飞行控制系统701。其对应地，可以上述无人机指令的处理方法对应实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图12为本申请实施例提供的无人机控制系统的结构示意图，如图12所述，该无人机控制系统800，包括：终端设备801和中心板802，所述终端设备801与所述中心板802通信连接，所述终端设备801为上述图9所述终端设备，所述中心板802为图10所述中心板。
可选的，终端设备801与中心板802有线通信连接，例如终端设备801与中心板802通过各自的通信接口连接。
可选的，终端设备801与中心板802无线通信连接，例如，终端设备801和中心板802通过WIFI、蓝牙等无线通信方式通信连接。
本申请实施例的无人机控制系统，可以执行上述无人机指令的处理方法对应实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(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。
本发明实施例中还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括上述各实施例中的无人机指令的处理方法的部分或全部步骤。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(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。
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 (51)

  1. 一种无人机指令的处理方法，其特征在于，所述无人机包括中心板，所述中心板用于与所述无人机的多个传感器以及负载通信连接，用于将指令转发给各所述传感器以及所述负载，所述方法包括：
    向中心板发送第一信息，其中，所述第一信息用于指示待选指令的第一指令信息；
    接收来自所述中心板的第二信息，其中，所述第二信息包括所述中心板根据所述第一指令信息确定的至少一个待选指令。
  2. 根据权利要求1所述的方法，其特征在于，所述第一指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置、所述指令的标识和所述指令的原始数据中的至少一个。
  3. 根据权利要求1所述的方法，其特征在于，所述第一指令信息包括所述指令的发送方、所述指令的接收方、所述指令的设置、所述指令的标识和所述指令的原始数据；
    所述方法还包括：
    根据所述第二信息，判断所述至少一个待选指令中每个待选指令的填充字段是否正确。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述方法还包括：
    向所述中心板发送第三信息，其中，所述第三信息用于指示待测试指令的第二指令信息；
    接收来自所述中心板的第四信息，其中，所述第四信息包括所述中心板根据所述第二指令信息确定的所述待测试指令的序列号；
    根据所述待测试指令的序列号，确定所述待分析指令的丢包率。
  5. 根据权利要求4所述的方法，其特征在于，所述第二指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置和所述指令的标识。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：
    获取至少一个离线指令的日志文件；
    根据所述至少一个离线指令的日志文件，确定存储所述至少一个离线指令的数据包的名称；
    将所述至少一个离线指令存储在所述名称的数据包中。
  7. 根据权利要求6所述的方法，其特征在于，所述获取指令的日志文件，包括：
    向离线存储设备发送第五信息，其中，所述离线存储设备中存储多个离线指令，所述第五信息用于指示获取至少一个离线指令的日志文件；
    接收来自所述离线存储设备的第六信息，其中所述第六信息包括所述至少一个离线指令的日志文件。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述日志文件，确定存储所述至少一个指令的数据包的名称；
    从所述至少一个离线指令的日志文件中获取各离线指令的存储顺序；
    根据所述存储顺序，确定所述数据包的名称。
  9. 根据权利要求7所述的方法，其特征在于，所述数据包的名称包括多个标号，一个标号用于表示一个离线指令，其中所述多个标号的排序与所述存储顺序一致。
  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：
    从所述至少一个离线指令的日志文件中，获取所述至少一个离线指令中每个离线指令的数量；
    存储所述数据包和每个离线指令的数量，其中，所述至少一个离线指令中每个离线指令的数量的排列顺序与所述至少一个离线指令中每个离线指令的存储顺序一致。
  11. 根据权利要求10所述的方法，其特征在于，所述方法还包括：
    根据存储的所述数据包和每个离线指令的数量，进行问题分析。
  12. 根据权利要求6-11任一项所述的方法，其特征在于，所述离线指令包括周期性指令和/或触发性指令。
  13. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    获取黑名单，其中所述黑名单包括非存储指令的标识；
    所述根据所述至少一个离线指令的日志文件，确定存储所述至少一个离线指令的数据包的名称，包括：
    解析所述至少一个离线指令中每个指令的日志文件，获得至少一个离线指令；
    将所述至少一个离线指令与所述黑名单进行比对，获得不属于所述黑名 单的各离线指令；
    根据不属于所述黑名单的各离线指令的日志文件，确定所述数据包的名称。
  14. 根据权利要求1所述的方法，其特征在于，所述负载包括如下至少一种：云台，相机。
  15. 根据权利要求1所述的方法，其特征在于，所述传感器包括如下至少一种：气压计，温度传感器，外置全球导航系统GPS。
  16. 根据权利要求1所述的方法，其特征在于，所述中心板还设有电源管理电路，通过所述电源电路给所述无人机的飞行控制器、各所述传感器以及所述负载供电。
  17. 一种无人机指令的处理方法，其特征在于，所述无人机包括中心板，所述中心板用于与所述无人机的多个传感器以及负载通信连接，用于将指令转发给各所述传感器以及所述负载，所述方法包括：
    接收来自终端设备的第一信息，其中，所述第一信息用于指示待选指令的第一指令信息；
    根据所述第一信息，确定至少一个待选指令；
    向所述终端设备发送第二信息，其中，所述第二信息包括所述至少一个待选指令。
  18. 根据权利要求17所述的方法，其特征在于，所述第一指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置、所述指令的标识和所述指令的原始数据中的至少一个。
  19. 根据权利要求17或18所述的方法，其特征在于，所述方法还包括：
    接收来自所述终端设备的第三信息，其中，所述第三信息用于指示待测试指令的第二指令信息；
    根据所述第三信息，确定预设时间段内所述待测试指令的序列号；
    向所述终端设备发送第四信息，其中，所述第四信息包括所述待测试指令的序列号。
  20. 根据权利要求19所述的方法，其特征在于，所述第二指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置和所述指令的标识。
  21. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    将至少一个离线指令的日志文件存储在离线存储设备。
  22. 根据权利要求17所述的方法，其特征在于，所述负载包括如下至少一种：云台，相机。
  23. 根据权利要求17所述的方法，其特征在于，所述传感器包括如下至少一种：气压计，温度传感器，外置全球导航系统GPS。
  24. 根据权利要求17所述的方法，其特征在于，所述中心板还设有电源管理电路，通过所述电源电路给所述无人机的飞行控制器、各所述传感器以及所述负载供电。
  25. 一种终端设备，其特征在于，所述终端设备包括通信接口和处理器，所述终端设备通过所述通信接口与无人机上的中心板连接，所述中心板用于与所述无人机的多个传感器以及负载通信连接，用于将指令转发给各所述传感器以及所述负载；
    所述处理器，用于通过所述通信接口向所述中心板发送第一信息，其中，所述第一信息用于指示待选指令的第一指令信息；
    所述处理器，还用于通过所述通信接口接收来自所述中心板的第二信息，其中，所述第二信息包括所述中心板根据所述第一指令信息确定的至少一个待选指令。
  26. 根据权利要求25所述的终端设备，其特征在于，所述第一指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置、所述指令的标识和所述指令的原始数据中的至少一个。
  27. 根据权利要求25所述的终端设备，其特征在于，所述第一指令信息包括所述指令的发送方、所述指令的接收方、所述指令的设置、所述指令的标识和所述指令的原始数据；
    所述处理器，还用于根据所述第二信息，判断所述至少一个待选指令中每个待选指令的填充字段是否正确。
  28. 根据权利要求27所述的终端设备，其特征在于，
    所述处理器，还用于通过所述通信接口向所述中心板发送第三信息，其中，所述第三信息用于指示待测试指令的第二指令信息；
    所述处理器，还用于通过所述通信接口接收来自所述中心板的第四信息，其中，所述第四信息包括所述中心板根据所述第二指令信息确定的所述待测试指令的序列号；
    所述处理器，还用于根据所述待测试指令的序列号，确定所述待分析指令的丢包率。
  29. 根据权利要求28所述的终端设备，其特征在于，所述第二指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置和所述指令的标识。
  30. 根据权利要求25-29任一项所述的终端设备，其特征在于，
    所述处理器，还用于获取至少一个离线指令的日志文件，并根据所述至少一个离线指令的日志文件，确定存储所述至少一个离线指令的数据包的名称；将所述至少一个离线指令存储在所述名称的数据包中。
  31. 根据权利要求30所述的终端设备，其特征在于，
    所述处理器，还用于通过所述通信接口向离线存储设备发送第五信息，其中，所述离线存储设备中存储多个离线指令，所述第五信息用于指示获取至少一个离线指令的日志文件；
    所述处理器，还用于通过所述通信接口接收来自所述离线存储设备的第六信息，其中所述第六信息包括所述至少一个离线指令的日志文件。
  32. 根据权利要求31所述的终端设备，其特征在于，
    所述处理器，具体用于从所述至少一个离线指令的日志文件中获取各离线指令的存储顺序；根据所述存储顺序，确定所述数据包的名称。
  33. 根据权利要求32所述的终端设备，其特征在于，所述数据包的名称包括多个标号，一个标号用于表示一个离线指令，其中所述多个标号的排序与所述存储顺序一致。
  34. 根据权利要求33所述的终端设备，其特征在于，
    所述处理器，还用于从所述至少一个离线指令的日志文件中，获取所述至少一个离线指令中每个离线指令的数量；存储所述数据包和每个离线指令的数量，其中，所述至少一个离线指令中每个离线指令的数量的排列顺序与所述至少一个离线指令中每个离线指令的存储顺序一致。
  35. 根据权利要求34所述的终端设备，其特征在于，
    所述处理器，还用于根据存储的所述数据包和每个离线指令的数量，进行问题分析。
  36. 根据权利要求30-35任一项所述的终端设备，其特征在于，所述离线指令包括周期性指令和/或触发性指令。
  37. 根据权利要求30所述的终端设备，其特征在于，
    所述处理器，具体用于获取黑名单，其中所述黑名单包括非存储指令的标识；解析所述至少一个离线指令中每个指令的日志文件，获得至少一个离线指令；将所述至少一个离线指令与所述黑名单进行比对，获得不属于所述黑名单的各离线指令；根据不属于所述黑名单的各离线指令的日志文件，确定所述数据包的名称。
  38. 根据权利要求25所述的终端设备，其特征在于，所述负载包括如下至少一种：云台，相机。
  39. 根据权利要求25所述的终端设备，其特征在于，所述传感器包括如下至少一种：气压计，温度传感器，外置全球导航系统GPS。
  40. 根据权利要求25所述的终端设备，其特征在于，所述中心板还设有电源管理电路，通过所述电源电路给所述无人机的飞行控制器、各所述传感器以及所述负载供电。
  41. 一种无人机中心板，其特征在于，所述中心板用于与所述无人机的多个传感器以及负载通信连接，用于将指令转发给各所述传感器以及所述负载，所述中心板包括通信接口和处理器，所述中心板通过所述通信接口与终端设备连接：
    所述处理器，用于通过所述通信接口接收来自所述终端设备的第一信息，其中，所述第一信息用于指示待选指令的第一指令信息；
    所述处理器，还用于根据所述第一信息，确定至少一个待选指令；
    所述处理器，用于通过所述通信接口向所述终端设备发送第二信息，其中，所述第二信息包括所述至少一个待选指令。
  42. 根据权利要求41所述的中心板，其特征在于，所述第一指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置、所述指令的标识和所述指令的原始数据中的至少一个。
  43. 根据权利要求41或42所述的中心板，其特征在于，
    所述处理器，还用于通过所述通信接口接收来自所述终端设备的第三信息，其中，所述第三信息用于指示待测试指令的第二指令信息；
    所述处理器，还用于根据所述第三信息，确定预设时间段内所述待测试指令的序列号；
    所述处理器，还用于通过所述通信接口向所述终端设备发送第四信息，其中，所述第四信息包括所述待测试指令的序列号。
  44. 根据权利要求43所述的中心板，其特征在于，所述第二指令信息包括：所述指令的发送方、所述指令的接收方、所述指令的设置和所述指令的标识。
  45. 根据权利要求41所述的中心板，其特征在于，
    所述处理器，还用于将至少一个离线指令的日志文件存储在离线存储设备。
  46. 根据权利要求41所述的中心板，其特征在于，所述负载包括如下至少一种：云台，相机。
  47. 根据权利要求41所述的中心板，其特征在于，所述传感器包括如下至少一种：气压计，温度传感器，外置全球导航系统GPS。
  48. 根据权利要求41所述的中心板，其特征在于，所述中心板还设有电源管理电路，通过所述电源电路给所述无人机的飞行控制器、各所述传感器以及所述负载供电。
  49. 一种无人机，其特征在于，包括：飞行控制系统、多个传感器、负载和以及权利要求41-48任意一项所述的无人机中心板，
    所述中心板分别与所述飞行控制系统、所述多个传感器、所述负载通信连接，以将指令转发给各所述传感器、所述负载以及所述飞行控制系统。
  50. 一种无人机控制系统，其特征在于，包括：终端设备和中心板，所述终端设备与所述中心板通信连接，所述终端设备为权利要求25-40任一项所述的终端设备，所述中心板为权利要求41-48任一项所述无人机中心板。
  51. 根据权利要求50所述的系统，其特征在于，终端设备与所述中心板有线通信连接，或着，所述终端设备与所述中心板无线通信连接。
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