WO2020107391A1

WO2020107391A1 - Load control method and apparatus, and movable platform

Info

Publication number: WO2020107391A1
Application number: PCT/CN2018/118508
Authority: WO
Inventors: 何昌昕; 王钧玉; 杨勇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-11-30
Filing date: 2018-11-30
Publication date: 2020-06-04
Also published as: CN110770672A

Abstract

A load control method and apparatus, and a movable platform. Said method comprises: receiving power request information sent by a target load, the target load being mounted on a movable platform; and according to the power request information, controlling the power outputted to the target load. In the embodiments of the present application, when a target load is mounted on a movable platform, power request information sent by the target load is received, and the power outputted to the target load is controlled according to the power request information, thereby automatically adapting to the requirements for power of different loads.

Description

Load control method, device and movable platform

Technical field

Embodiments of the present application relate to the field of electronic technology, and in particular, to load control methods, devices, and movable platforms.

Background technique

Mobile platforms such as unmanned aerial vehicles or unmanned vehicles can mount different loads through the gimbal, such as cameras or lidars, to achieve corresponding operations in different scenarios. Different loads may have different power requirements. If the power output to the load is too high or too low, the load will not work properly. Therefore, how to automatically adapt the power requirements of different loads is a technical problem that needs to be solved urgently.

Application content

The embodiments of the present application provide a load control method, device, and movable platform, which can automatically adapt to the power requirements of different loads.

On the one hand, an embodiment of the present application provides a load control method, characterized in that the method includes:

Receiving power request information sent by a target load, the target load being mounted on the movable platform;

According to the power request information, the power output to the target load is controlled.

On the other hand, an embodiment of the present application provides a load control device, characterized in that the device includes a memory and a processor, the memory and the processor are connected by a bus, and the memory is used to store program codes, The processor is used to call the program code, and when the program code is executed, it is used to perform the following operations:

In still another aspect, an embodiment of the present application provides a movable platform, wherein the movable platform includes a fuselage, a power system, and a load control device as described above. The power system is installed on the fuselage to provide power to the movable platform.

Correspondingly, the embodiments of the present application also provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and the computer program includes program instructions, and the program instructions are used by the processor During execution, the processor is allowed to execute the above load control method.

In the embodiment of the present application, when the target load is mounted on the movable platform, the power request information sent by the target load is received, and according to the power request information, the power output to the target load is controlled, which can automatically adapt the power of different loads to the power. demand.

BRIEF DESCRIPTION

In order to more clearly explain the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some of the applications For the embodiment, for those of ordinary skill in the art, without paying any creative labor, other drawings may be obtained based on these drawings.

FIG. 1 is an application scenario diagram of a mobile platform provided by an embodiment of the present application;

2 is an application scenario diagram of another mobile platform provided by an embodiment of the present application;

3 is a schematic flowchart of a load control method provided by an embodiment of the present application;

4 is a schematic flowchart of another load control method provided by an embodiment of the present application;

5 is a schematic flowchart of another load control method provided by an embodiment of the present application;

6 is a schematic structural diagram of a load control device provided in the implementation of the present application.

detailed description

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

An embodiment of the present application proposes a load control method, which can be applied to a mobile platform, and is mainly used to automatically adapt power requirements of different loads. The mobile platform here includes mobile devices controlled by wireless communication, which may be manned or unmanned, flying or ground, large or small, such as unmanned aerial vehicles, unmanned vehicles, mobile robots or For handheld devices, etc., the load may include a gimbal, and a camera or a measurement device is mounted on the gimbal, and the measurement device may include a laser radar or a millimeter wave radar. In addition, the load can also include searchlights, megaphones and other available loads, which are not limited here.

Taking the application scenario diagram of the mobile platform shown in FIG. 1 as an example, the mobile platform 10 can mount at least one load, for example, the mobile platform can mount at least one cloud platform, and different cloud platforms can mount different Camera or measuring device. Taking a mobile platform as an example of an aircraft, the aircraft supports dual and overhead PTZs, that is, the aircraft is equipped with three PTZs, namely PTZ 101, PTZ 102, and PTZ 103, of which PTZ 102 and The gimbal 103 is mounted under the aircraft, the gimbal 101 is mounted above the aircraft, and a camera or a measuring device is mounted on the gimbal, which can realize shooting at different angles or measurement in different directions.

Taking the application scenario diagram of the movable platform shown in FIG. 2 as an example, any camera or measurement device can be mounted on different gimbals in different application scenarios. For example, in an aerial photography scene, a wide-angle camera can be mounted on a gimbal. As another example, in a surveying and mapping scene, a lidar can be mounted on the gimbal.

Among them, different loads have different power requirements. If the mobile platform outputs fixed power to the load no matter what type of load is mounted on the mobile platform, the output power will not match the power required by the load If the output power of the mobile platform is too large or too small, it will affect the performance of the load. For example, a multi-line laser radar is mounted on the gimbal, and the multi-line laser radar has a high power requirement. If the power output from the movable platform to the multi-line laser radar is lower than the power required by the multi-line laser radar, the multi-line laser radar The radar will not function properly. Another example is that a camera is mounted on the gimbal, and the power requirement of the camera is low. If the power output from the movable platform to the camera is higher than the power required by the camera, the power consumption is high and resources are wasted. It can be seen that the traditional load control method can not automatically adapt to the power requirements of different loads.

The embodiment of the present application can receive the power request information sent by the target load, and control the power output to the target load according to the power request information. For example, when the power required by the target load is high, the mobile platform can be requested to output higher power to the target load ; When the power required by the target load is low, the mobile platform can be requested to output a lower power to the target load, so as to automatically adapt to the power requirements of different loads.

Please refer to FIG. 3, which is a load control method provided by an embodiment of the present application. With the load control method shown in FIG. 3, the power output to the target load can be switched according to the power request information sent by the target load. The method shown in FIG. 3 may be specifically executed by a load control device, and the load control device may be configured in a movable platform; or, the method shown in FIG. 3 may also be executed by a movable platform.

Step 301: Output first power to the target load, where the first power is the default output power provided by the movable platform for the target load.

Among them, the number of loads configured on the movable platform is one or more. For example, the mobile platform is configured with one or more loads, and the load may include a gimbal, and any gimbal may mount different types of cameras or measuring devices in different application scenarios. That is, the number of pan-tilt heads on which cameras or measurement devices are mounted may be one or more.

Among them, when the mobile platform is configured with multiple loads, the mobile platform can also be configured with multiple power management devices. The number of power management devices is the same as the number of loads that can be configured on the mobile platform. The power management device and the load are one by one. correspond. The movable platform can output the voltage to the target load through the power management device corresponding to the target load.

In the specific implementation, after the mobile platform is started, the parameters of each power management device can be initialized, and the hardware input/output system (input/output, I/O) can be used to detect whether the mobile platform is loaded, such as a camera or measurement The device, when a load is mounted on the movable platform, outputs a first power to the load. The first power may be the default output power provided by the mobile platform for the load, such as the power required by a load with a lower power requirement, such as 48 watts (W).

In one implementation, when it is detected that the movable platform does not mount the target load, the power supply to the target load is cut off. In the embodiments of the present application, when the target load is not mounted, the power supply to the target load is cut off, which can improve the safety of the movable platform and reduce unnecessary power consumption.

Step 302: Receive power request information sent by the target load.

In a specific implementation, after the movable platform outputs the first power to the target load, the target load may be initialized by self-test. After the self-test is initialized, the target load can decide whether to send power request information to the mobile platform according to the application scenario of the target load, and then the mobile platform can receive the power request information sent by the target load. For example, the target load includes a camera, and the movable platform outputs the first power to the target load. Since the power requirement of the camera is low and the first power is sufficient to maintain the normal operation of the camera, the target load may not send power request information to the movable platform. For another example, the target load includes a measurement device, and the movable platform outputs the first power to the target load. Since the measurement device has a high power demand and the first power is insufficient to maintain the normal operation of the measurement device, the target load can be sent to the movable platform Power request information to request the mobile platform to increase the power output to the target load. For another example, after the mobile platform increases the power output to the target load, if the target load is switched from the surveying and mapping scene to the aerial photography scene, the power demand of the target load in the aerial photography scene is lower than that in the surveying and mapping scene. The load may send power request information to the mobile platform to request the mobile platform to reduce the power output to the target load.

In one implementation, the mobile platform can receive the power request information sent by the target load through the wired communication connection established with the mobile platform. The wired communication connection may be a Universal Serial Bus (Universal Serial Bus, USB) data cable or a network cable.

In one implementation, the mobile platform can receive the power request information sent by the target load through the wireless communication connection established with the mobile platform. The wireless communication connection may be a WIFI connection, a Bluetooth connection, an infrared connection, a Near Field Communication (NFC) connection, or a data network connection.

For example, the target load may include a gimbal and a camera device mounted on the gimbal. Specifically, the target load may be mounted on a movable platform through a gimbal port. The gimbal port includes a communication interface. For example, the communication interface may be CAN port, the target load can send power request information to the mobile platform through the CAN port. As another example, the camera mounted on the gimbal can directly send power request information to the mobile platform through a wireless communication connection.

In one implementation, the mobile platform may receive another power request message sent by the target load, and the further power request message is sent when the target load detects that the mobile platform does not respond to the power request message within a preset time period. In the embodiment of the present application, if the mobile platform does not respond to the power request information sent by the target load within a preset time period, the target load may retransmit the information, for example, re-send the power request information to the mobile platform to avoid information loss To improve the reliability of power request information.

In an implementation manner, when the amount of power request information sent by the target load is greater than a preset number threshold, the mobile platform may send prompt information to the target load, and the prompt information is used to notify the target load that the power request has failed. In the embodiment of the present application, if the power request information sent by the target load to the mobile platform for multiple times has not been responded to, the mobile platform may notify the target load that the power request has failed, and the mobile platform will not adjust the power output to the target load , It can protect the whole power supply system of the mobile platform.

Step 303: Switch the power output to the target load from the first power to the second power, and the second power is the power requested by the power request information.

In a specific implementation, after receiving the power request information sent by the target load, the mobile platform may switch the power output to the target load from the first power to the second power. The second power is the power requested by the power request information. For example, if the target load determines that it needs less power than the first power according to its own actual situation, after the mobile platform receives the power request information sent by the target load, it can switch the power output to the target load from the first power to The second power, the second power is less than the first power. In another example, the target load determines that it needs more power than the first power according to its own actual situation. After the mobile platform receives the power request information sent by the target load, it can switch the power output to the target load by the first power The second power is greater than the first power.

In one implementation, the movable platform can control the power output to the target load to the maximum output power that the movable platform can support according to the power request information. The maximum output power is, for example, 72 watts (W).

In one implementation, the mobile platform can authenticate the target load according to the power request information before controlling the power output to the target load according to the power request information. If the authentication is passed, the mobile platform can use the power request information, Control the power output to the target load; if the authentication fails, the mobile platform can isolate the communication interface, for example, do not respond to the information sent by the target load, or refuse to receive the information sent by the target load, etc. In the embodiment of the present application, after the identity authentication of the target load is passed, the power output to the target load is controlled according to the power request information, which can improve the security of the mobile platform.

In one implementation, the target load includes a PTZ, and the mobile platform can authenticate the target load according to the power request information by acquiring the PTZ information carried in the power request information, and comparing the PTZ information with the first database Compare the PTZ information in, and determine that the authentication passes if the PTZ information is the same as the PTZ information in the first database. Among them, the PTZ information can be the type of PTZ.

In one implementation, the mobile platform can authenticate the target load according to the power request information by acquiring the identification information about the target load carried in the power request information, and comparing the identification information with the preset database The identification information is compared, and when the identification information is the same as the identification information in the preset database, it is determined that the authentication is passed. The identification information may be a product serial number (Serial Number, SN) or load name.

In one implementation, after the mobile platform receives the power request information sent by the target load, it can identify the power request information to determine that the power request information is used to request the mobile platform to control the power output to the target load. In the embodiment of the present application, the mobile platform may parse and filter the information sent by the target load. If the information sent by the target load is identified and used to request the mobile platform to control the power output to the target load, the mobile platform may respond to the The power request information can be filtered to increase the response speed of the power request information.

In one implementation, if the power request information is encrypted by a preset encryption algorithm, the mobile platform can decrypt the power request information by a preset decryption algorithm to obtain the decrypted power request information, and then according to the decrypted The power request information controls the power output to the target load. For example, the mobile platform can decrypt the power request information through a preset decryption algorithm. If the decryption is successful, the mobile platform can extract the relevant fields in the power request information. If the relevant field is "open", the mobile platform can control the target The power management device corresponding to the load outputs the second power or the maximum output power that the mobile platform can support; if the related field is "switching", the mobile platform can control the power output from the power management device corresponding to the target load to the target load by the current The power is switched to the target power. For example, if the current power is the second power or the maximum output power supported by the mobile platform, the mobile platform can control the power management device corresponding to the target load to output the first power.

The embodiments of the present application can ensure the security during the information transmission process through the encryption mechanism and the corresponding decryption mechanism.

In one implementation, after the mobile platform receives the power request information sent by the target load, it can authenticate the target load according to the power request information. If the authentication is passed, the mobile platform can parse and filter the power request information. When the power request information is recognized to request the mobile platform to control the power output to the target load, the mobile platform can decrypt and verify the power request information. If the verification is successful, the mobile platform can output the power to the target load Switch from the first power to the second power.

In one implementation, an isolation chip can be added to the mobile platform, and the isolation chip is connected between the control chip and the communication interface to prevent large current or load damage that may occur after the load is connected, or short circuit to the mobile platform The control chip of the system will affect the system stability of the mobile platform.

The embodiments of the present application can automatically adapt to loads with different power requirements, and can safely control the movable platform to output the desired power of the load to the load without changing the hardware structure, and can ensure the power supply system of the whole machine Safe and reliable.

Referring to FIG. 4, which is a schematic flowchart of another load control method provided by an embodiment of the present application, through the load control method shown in FIG. 4, the power output to the target load can be controlled to the power requested by the power request information. The method shown in FIG. 4 may be specifically executed by a load control device, and the load control device may be configured in a movable platform; or, the method shown in FIG. 4 may also be executed by a movable platform.

Step 401: Receive power request information sent by a target load, and the target load is mounted on a movable platform.

Among them, when the mobile platform is configured with multiple loads, the mobile platform can also be configured with multiple power management devices. The number of power management devices is the same as the number of configurable loads on the mobile platform. correspond. The movable platform can output the voltage to the target load through the power management device corresponding to the target load.

In the specific implementation, after the mobile platform is started, the parameters of each power management device can be initialized, and hardware I/O is used to detect whether the mobile platform is loaded, such as a camera or a measurement device, and mounted on the mobile platform When there is a load, it can receive the power request information sent by the load.

In one implementation, when it is detected that the movable platform is not mounted with a load, the movable platform can cut off the power supply to the load. In the embodiment of the present application, when the load is not mounted, the power supply to the load is cut off, which can improve the safety of the movable platform and reduce unnecessary power consumption.

In one implementation, the mobile platform can receive the power request information sent by the target load through the wired communication connection established with the mobile platform. Or the movable platform may receive the power request information sent by the target load through the wireless communication connection established with the movable platform.

Step 402: Control the power output to the target load to be the power requested by the power request information.

In a specific implementation, the mobile platform can build an H-bridge drive circuit through a MOS driver chip and a MOS tube device, and output a voltage of a specified power through PWM control. For example, when the power request information requests the movable platform to output 48W of power, the movable platform can control the power output to the target load to be 48W, and when the power request information requests the movable platform to output 34W of power, the movable platform can control to the target The output power of the load is 34W.

In one implementation, the mobile platform can authenticate the target load according to the power request information before controlling the power output to the target load to be the power requested by the power request information. If the authentication is passed, the mobile platform can control the power The power output by the target load is the power requested by the power request information; if the authentication fails, the mobile platform can isolate the communication interface, for example, do not respond to the information sent by the target load, or refuse to receive the information sent by the target load. In the embodiment of the present application, after the identity authentication of the target load is passed, the power output to the target load is controlled according to the power request information, which can improve the security of the mobile platform.

In one implementation, the target load includes a PTZ, and the mobile platform can authenticate the target load according to the power request information by acquiring the PTZ information carried in the power request information, and comparing the PTZ information with the first database Compare the PTZ information in, and determine that the authentication passes if the PTZ information is the same as the PTZ information in the first database.

In one implementation, the mobile platform can authenticate the target load according to the power request information by acquiring the identification information about the target load carried in the power request information, and comparing the identification information with the preset database The identification information is compared, and when the identification information is the same as the identification information in the preset database, it is determined that the authentication is passed.

In one implementation, if the power request information is encrypted by a preset encryption algorithm, the mobile platform can decrypt the power request information by a preset decryption algorithm to obtain the decrypted power request information, and then according to the decrypted The power request information controls the power output to the target load. For example, the mobile platform can decrypt the power request information through a preset decryption algorithm. If the decryption is successful, the mobile platform can extract the relevant fields in the power request information. If the relevant field is "48W", the mobile platform can control the target The power management device corresponding to the load outputs 48W; if the relevant field is "34W", the movable platform can control the power output from the power management device corresponding to the target load to the target load to be switched from the current power to 34W.

In one implementation, after the mobile platform receives the power request information sent by the target load, it can authenticate the target load according to the power request information. If the authentication is passed, the mobile platform can parse and filter the power request information. When the power request information is recognized to request the mobile platform to control the power output to the target load, the mobile platform can decrypt and verify the power request information. If the verification is successful, the mobile platform can control the power output to the target load The power requested for the power request information.

In an embodiment of the present application, the mobile platform can control the power output to the target load to be the power requested by the power request information, and the power output to the target load is more in line with the target load's power requirement, and the load's adaptability to power is improved.

Referring to FIG. 5, which is a schematic flowchart of another load control method provided by an embodiment of the present application, through the load control method shown in FIG. 5, identity authentication can be performed on the target load. The power output by the target load. The method shown in FIG. 5 may be specifically executed by a load control device, and the load control device may be configured in a movable platform; or, the method shown in FIG. 5 may also be executed by a movable platform.

Step 501: Receive power request information sent by a target load, and the target load is mounted on a movable platform.

Step 502: Perform identity authentication on the target load according to the power request information.

In a specific implementation, the mobile platform can authenticate the target load according to the power request information. If the authentication is passed, the mobile platform can control the power output to the target load according to the power request information; if the authentication fails, the mobile platform can isolate the communication The interface, for example, does not respond to the information sent by the target load, or refuses to receive the information sent by the target load.

Step 503: If the authentication is passed, control the power output to the target load according to the power request information.

If the authentication is passed, the mobile platform can control the power output to the target load according to the power request information. For example, controlling the power output to the target load is the power requested by the power request information. As another example, the power output controlled to the target load is the maximum output power that the movable platform can support. In another example, before receiving the power request information sent by the target load, the first power is output to the target load, and after the authentication is passed, the power output to the target load is switched from the first power to the second power. The first power is the default output power provided by the mobile platform for the target load, and the second power is the power requested by the power request information.

In the embodiment of the present application, the mobile platform authenticates the target load according to the power request information. If the authentication is passed, the power output to the target load is controlled according to the power request information, which can improve the security of the mobile platform and automatically adapt Loads with different power requirements.

6, a load control device provided by an embodiment of the present application, the device described in FIG. 6 may include: a memory 601 and a processor 602, wherein the memory 601 and the processor 602 are connected through a bus 603, and the memory 601 stores If there is a program code, the processor 602 calls the program code in the memory. When the program code is executed, the processor 602 performs the following operations: receives the power request information sent by the target load, and the target load is mounted on the mobile platform; Information to control the power output to the target load.

Optionally, when controlling the power output to the target load according to the power request information, the processor 602 performs the following operations:

The power controlled to the target load is the power requested by the power request information.

Optionally, the processor 602 performs the following operations when controlling the power output to the target load according to the power request information:

The power controlled to the target load is the maximum output power that the movable platform can support.

Optionally, before receiving the power request information sent by the target load, the processor 602 further performs the following operations:

A first power is output to the target load, and the first power is a default output power provided by the movable platform for the target load.

The power output to the target load is switched from the first power to a second power, and the second power is the power requested by the power request information.

Optionally, the processor 602 also performs the following operations:

When it is detected that the movable platform does not mount the target load, the power supply to the target load is cut off.

Optionally, before controlling the power output to the target load according to the power request information, the processor 602 further performs the following operations:

Perform identity authentication on the target load according to the power request information.

Optionally, the target load includes a gimbal, and the processor 602 performs the following operations when performing identity authentication on the target load according to the power request information:

Acquiring the PTZ information carried in the power request information;

Compare the PTZ information with the PTZ information in the first database;

When the PTZ information is the same as the PTZ information in the first database, it is determined that the authentication is passed.

Optionally, the processor 602 performs the following operations when performing identity authentication on the target load according to the power request information:

Acquiring identification information about the target load carried in the power request information;

Comparing the identification information with the identification information in the preset database;

When the identification information is the same as the identification information in the preset database, it is determined that the authentication is passed.

Optionally, after receiving the power request information sent by the target load, the processor 602 further performs the following operations:

Receiving further power request information sent by the target load, the further power request information is sent when the target load detects that the movable platform does not respond to the power request information within a preset time period.

Optionally, the processor 602 also performs the following operations:

When the amount of power request information sent by the target load is greater than a preset number threshold, sending prompt information to the target load, the prompt information is used to notify the target load that the power request has failed.

The power request information is identified to determine that the power request information is used to request the mobile platform to control the power output to the target load.

Optionally, the power request information is encrypted by a preset encryption algorithm;

Before controlling the power output to the target load according to the power request information, the processor 602 also performs the following operations:

Decrypt the power request information by a preset decryption algorithm to obtain the decrypted power request information;

The controlling the power output to the target load according to the power request information includes:

According to the decrypted power request information, control the power output to the target load.

Optionally, when receiving the power request information sent by the target load, the processor 602 performs the following operations:

Receiving power request information sent by the target load through a wired communication connection established with the movable platform; or

Receiving power request information sent by the target load through a wireless communication connection established with the movable platform.

Optionally, the number of loads configured on the movable platform is one or more.

Optionally, the device is applied to a movable platform, the movable platform is an unmanned aerial vehicle, an unmanned vehicle, a mobile robot, or a handheld device, the target load includes a gimbal, and the gimbal is mounted with a camera or A measuring device, which includes a laser radar or a millimeter wave radar.

It should be noted that, for the content not mentioned in the embodiment corresponding to FIG. 6 and the specific implementation manner of the execution steps of each device, reference may be made to the embodiment shown in FIGS. 3 to 5 and the foregoing content, and details are not described here.

An embodiment of the present application further provides a movable platform, the movable platform includes:

body;

A power system, installed on the fuselage, is used to provide power to the movable platform;

And the load control device provided by the above embodiment.

Optionally, the movable platform is an unmanned aerial vehicle, unmanned vehicle, mobile robot, or handheld device, and the target load includes a gimbal, and the gimbal is mounted with a camera or a measurement device, and the measurement device includes a laser radar or Millimeter wave radar.

It should be noted that, for the content not mentioned in the embodiments of the present application and the specific implementation manner of the execution steps of each device, reference may be made to the embodiments shown in FIGS. 3 to 5 and the foregoing content, and details are not described here.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a division of logical functions. In actual implementation, there may be other divisions, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

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, they may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, 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.

A person of ordinary skill in the art may understand that all or part of the processes in the method of the foregoing embodiments may be completed by instructing relevant hardware through a computer program, and the program may be stored in a computer-readable storage medium. During execution, the process of the above method embodiments may be included. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random storage memory (Random Access Memory, RAM), etc.

The above disclosure is only part of the embodiments of the present application, of course, it cannot be used to limit the scope of the rights of the application, so equivalent changes made according to the claims of the present application are still within the scope of the application.

Claims

A load control method, characterized in that the method is applied to a movable platform, the method includes:

Receiving power request information sent by a target load, the target load being mounted on the movable platform;

According to the power request information, the power output to the target load is controlled.
The method of claim 1, wherein the controlling the power output to the target load according to the power request information includes:

The power controlled to the target load is the power requested by the power request information.
The method of claim 1, wherein the controlling the power output to the target load according to the power request information includes:

The power controlled to the target load is the maximum output power that the movable platform can support.
The method according to claim 1, wherein before the receiving the power request information sent by the target load, the method further comprises:

A first power is output to the target load, and the first power is a default output power provided by the movable platform for the target load.
The method according to claim 4, wherein the controlling the power output to the target load according to the power request information includes:

The power output to the target load is switched from the first power to a second power, and the second power is the power requested by the power request information.
The method according to any one of claims 1 to 5, wherein the method further comprises:

When it is detected that the movable platform does not mount the target load, the power supply to the target load is cut off.
The method according to any one of claims 1 to 5, wherein before controlling the power output to the target load according to the power request information, the method further comprises:

Perform identity authentication on the target load according to the power request information.
The method of claim 7, wherein the target load comprises a pan/tilt, and the identity authentication of the target load according to the power request information comprises:

Acquiring the PTZ information carried in the power request information;

Compare the PTZ information with the PTZ information in the first database;

When the PTZ information is the same as the PTZ information in the first database, it is determined that the authentication is passed.
The method according to claim 7, wherein the identity authentication of the target load according to the power request information includes:

Acquiring identification information about the target load carried in the power request information;

Comparing the identification information with the identification information in the preset database;

When the identification information is the same as the identification information in the preset database, it is determined that the authentication is passed.
The method according to any one of claims 1-5, wherein after receiving the power request information sent by the target load, the method further comprises:

Receiving further power request information sent by the target load, the further power request information is sent when the target load detects that the movable platform does not respond to the power request information within a preset time period.
The method of claim 10, further comprising:

When the amount of power request information sent by the target load is greater than a preset number threshold, sending prompt information to the target load, the prompt information is used to notify the target load that the power request has failed.
The method according to any one of claims 1 to 5, wherein before controlling the power output to the target load according to the power request information, the method further comprises:

The power request information is identified to determine that the power request information is used to request the mobile platform to control the power output to the target load.
The method according to any one of claims 1-5, wherein the power request information is encrypted by a preset encryption algorithm;

Before controlling the power output to the target load according to the power request information, the method further includes:

Decrypt the power request information by a preset decryption algorithm to obtain the decrypted power request information;

The controlling the power output to the target load according to the power request information includes:

According to the decrypted power request information, control the power output to the target load.
The method according to any one of claims 1 to 5, wherein the receiving power request information sent by the target load includes:

Receiving power request information sent by the target load through a wired communication connection established with the movable platform; or

Receiving power request information sent by the target load through a wireless communication connection established with the movable platform.
The method according to any one of claims 1 to 5, wherein the number of loads configured on the movable platform is one or more.
The method according to any one of claims 1 to 5, wherein the movable platform is an unmanned aerial vehicle, an unmanned vehicle, a mobile robot, or a handheld device, and the target load includes a gimbal, and the gimbal A camera or a measurement device is mounted, and the measurement device includes a laser radar or a millimeter wave radar.
A load control device, characterized in that it includes a memory and a processor:

The memory is used to store program codes;

The processor calls the program code, and when the program code is executed, it is used to perform the following operations:

Receiving power request information sent by a target load, the target load being mounted on a movable platform;

According to the power request information, the power output to the target load is controlled.
The apparatus of claim 17, wherein the processor performs the following operations when controlling the power output to the target load according to the power request information:

The power controlled to the target load is the power requested by the power request information.
The apparatus of claim 17, wherein the processor performs the following operations when controlling the power output to the target load according to the power request information:

The power controlled to the target load is the maximum output power that the movable platform can support.
The apparatus of claim 17, wherein the processor further performs the following operations before receiving the power request information sent by the target load:

A first power is output to the target load, and the first power is a default output power provided by the movable platform for the target load.
The apparatus of claim 20, wherein the processor performs the following operations when controlling the power output to the target load according to the power request information:

The power output to the target load is switched from the first power to a second power, and the second power is the power requested by the power request information.
The apparatus according to any one of claims 17-21, wherein the processor further performs the following operations:

When it is detected that the movable platform does not mount the target load, the power supply to the target load is cut off.
The device according to any one of claims 17-21, wherein the processor further performs the following operations before controlling the power output to the target load according to the power request information:

Perform identity authentication on the target load according to the power request information.
The apparatus of claim 23, wherein the target load comprises a pan/tilt, and the processor performs the following operations when performing identity authentication on the target load according to the power request information:

Acquiring the PTZ information carried in the power request information;

Compare the PTZ information with the PTZ information in the first database;

When the PTZ information is the same as the PTZ information in the first database, it is determined that the authentication is passed.
The apparatus of claim 23, wherein the processor performs the following operations when performing identity authentication on the target load according to the power request information:

Acquiring identification information about the target load carried in the power request information;

Comparing the identification information with the identification information in the preset database;

When the identification information is the same as the identification information in the preset database, it is determined that the authentication is passed.
The apparatus according to any one of claims 17-21, wherein after receiving the power request information sent by the target load, the processor further performs the following operations:

Receiving further power request information sent by the target load, the further power request information is sent when the target load detects that the movable platform does not respond to the power request information within a preset time period.
The apparatus of claim 26, wherein the processor further performs the following operations:

When the amount of power request information sent by the target load is greater than a preset number threshold, sending prompt information to the target load, the prompt information is used to notify the target load that the power request has failed.
The device according to any one of claims 17-21, wherein the processor further performs the following operations before controlling the power output to the target load according to the power request information:

The power request information is identified to determine that the power request information is used to request the mobile platform to control the power output to the target load.
The device according to any one of claims 17 to 21, wherein the power request information is obtained by encrypting a preset encryption algorithm;

Before controlling the power output to the target load according to the power request information, the processor further performs the following operations:

Decrypt the power request information by a preset decryption algorithm to obtain the decrypted power request information;

The controlling the power output to the target load according to the power request information includes:

According to the decrypted power request information, control the power output to the target load.
The apparatus according to any one of claims 17-21, wherein the processor performs the following operations when receiving the power request information sent by the target load:

Receiving power request information sent by the target load through a wired communication connection established with the movable platform; or

Receiving power request information sent by the target load through a wireless communication connection established with the movable platform.
The device according to any one of claims 17-21, wherein the number of loads configured on the movable platform is one or more.
The device according to any one of claims 17 to 21, wherein the device is applied to a movable platform, the movable platform is an unmanned aerial vehicle, an unmanned automobile, a mobile robot, or a handheld device, and the target The load includes a gimbal, which is mounted with a camera or a measuring device, and the measuring device includes a laser radar or a millimeter wave radar.
A movable platform is characterized by including:

body;

A power system, installed on the fuselage, is used to provide power to the movable platform;

And the load control device according to any one of claims 17-32.
The movable platform of claim 33, wherein the movable platform is an unmanned aerial vehicle, unmanned vehicle, mobile robot, or hand-held device, and the target load includes a gimbal, and the gimbal is mounted with A camera or a measuring device. The measuring device includes a laser radar or a millimeter wave radar.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and the computer program includes program instructions, which when executed by a processor causes the processor to execute as rights The load control method according to any one of claims 1 to 16.