WO2020154890A1 - Movable platform control method and apparatus, and movable platform - Google Patents

Movable platform control method and apparatus, and movable platform Download PDF

Info

Publication number
WO2020154890A1
WO2020154890A1 PCT/CN2019/073678 CN2019073678W WO2020154890A1 WO 2020154890 A1 WO2020154890 A1 WO 2020154890A1 CN 2019073678 W CN2019073678 W CN 2019073678W WO 2020154890 A1 WO2020154890 A1 WO 2020154890A1
Authority
WO
WIPO (PCT)
Prior art keywords
control device
control
priority
target
instruction
Prior art date
Application number
PCT/CN2019/073678
Other languages
French (fr)
Chinese (zh)
Inventor
龚鼎
陈超彬
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/073678 priority Critical patent/WO2020154890A1/en
Priority to CN201980005032.1A priority patent/CN111247494A/en
Publication of WO2020154890A1 publication Critical patent/WO2020154890A1/en

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Definitions

  • the present invention relates to the field of communication technology, in particular to a control method and device of a movable platform, and a movable platform.
  • the movable platform can be controlled by multiple control devices.
  • the control device can include a remote control, a mobile phone, and so on. If multiple control devices respectively send control instructions to the movable platform, for example, the movable platform receives the first control instruction sent by the first control device and the second control instruction sent by the second control device, the first control instruction is used to indicate the The mobile platform turns 90 degrees to the left, and the second control instruction is used to instruct the movable platform to turn 45 degrees to the right.
  • the movable platform cannot determine how to respond to the above two control instructions, which makes the behavior of the movable platform uncontrollable. Therefore, how to manage the multiple control commands received by the movable platform has become a problem to be solved.
  • the embodiments of the present invention provide a control method and device for a movable platform, and a movable platform, which can manage multiple control commands received by the movable platform, avoid the behavior of the movable platform from being out of control, and improve the control efficiency of the movable platform .
  • an embodiment of the present invention provides a method for controlling a movable platform, including:
  • the target control instruction is determined according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction.
  • an embodiment of the present invention provides a control device for a movable platform, including a memory and a processor;
  • the memory is used to store program code
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the target control instruction is determined according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction.
  • an embodiment of the present invention provides a movable platform, including:
  • a power supply system installed in the fuselage, for providing power to the movable platform
  • a communication device installed in the body and used to receive a control instruction for the movable platform sent by the control device;
  • control device provided in the other aspect above;
  • the execution end is installed in the fuselage and used to execute the target control instruction.
  • the movable platform receives control instructions sent by multiple control devices, and determines a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices;
  • the control instruction sent by the target control device determines the target control instruction, so that the execution end of the movable platform responds to the target control instruction. It can be seen that the embodiment of the present invention can manage multiple control instructions received by the movable platform, avoid behavior loss of control when the movable platform executes multiple control instructions, and can improve the control efficiency of the movable platform.
  • FIG. 1 is an application scenario diagram of a method for controlling a movable platform provided by an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for controlling a movable platform provided by an embodiment of the present invention
  • FIG. 3 is a flowchart of another method for controlling a movable platform according to an embodiment of the present invention.
  • Figure 4 is a flowchart of another method for controlling a movable platform provided by an embodiment of the present invention.
  • Fig. 5 is a schematic diagram of a control device for a movable platform provided by an embodiment of the present invention.
  • the embodiment of the present invention provides a control method for a movable platform.
  • the movable platform accesses multiple control devices at the same time, it receives control instructions sent by the multiple control devices respectively, and according to the communication status of the multiple control devices and / Or priority, determine the target control device among the multiple control devices, and then determine the target control instruction according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction .
  • the mobile platform can access multiple control devices at the same time, and can manage the received control instructions sent by multiple control devices, avoiding behavior loss of control when the mobile platform executes multiple control instructions, which can improve The control efficiency of the movable platform.
  • the above control method can be applied to a movable platform, which can include, but is not limited to, unmanned aerial vehicles, unmanned vehicles, and mobile robots.
  • the control device may be an external control device of the movable platform.
  • the control device may establish a communication connection with the movable platform for controlling the movable platform, such as mobile phones, remote controls, smart car keys, and other external control devices; the control device may also It is the internal control equipment of the movable platform, such as the built-in controller of the movable platform.
  • the mobile platform needs to build the control device drivers that need to be supported in the software in advance, so that the control device can Establish a communication connection with the movable platform, so that the movable platform can obtain control instructions from multiple control devices.
  • the following will illustrate the application scenario of a mobile platform control method provided by an embodiment of the present invention.
  • Take the mobile platform as a drone, and the control device as a mobile phone and a remote controller as an example.
  • the equipment includes control equipment 1, control equipment 2, control equipment 3, and control equipment 4.
  • the drone can receive the control instructions of the above multiple control devices, and according to the communication status and/or priority of the multiple control devices, manage the multiple control devices, and control the execution end of the movable platform to respond Multiple control instructions to avoid control confusion.
  • the above-mentioned multiple control devices all establish a communication connection with the UAV and send corresponding control instructions to the UAV, including: the control device 1 sends an instruction 1 to the UAV to control the UAV to fly east 80 M; control device 2 sends instruction 2 to the drone to control the drone to fly northward for 50 meters; control device 3 sends instruction 3 to the drone to control the drone to flip 15 degrees upwards; control device 4 Send instruction 4 to the drone to control the drone to flip down 30 degrees horizontally.
  • the drone determines the target control device according to the communication status and/or priority of the multiple control devices.
  • control device 1 determines that instruction 1 is the target control instruction, and controls the drone to fly 80 meters eastward according to instruction 1. For example, if the priority of control device 2 is the highest, then it is determined that control device 2 is the target control device, and that instruction 2 is Target control instructions, according to instruction 2 to control the drone to fly 50 meters north.
  • control method of the movable platform provided by the embodiments of the present invention, and do not limit the specific execution steps of the control method.
  • the above-mentioned multiple control devices are part of an example description, and different control devices can be corresponded to different movable platforms specifically, and are not limited by the embodiments of the present application.
  • the working principle of the control method of the movable platform will be described in detail below. Please refer to Figure 2.
  • the method is executed by the movable platform. Specifically, it can be executed by the control device in the movable platform, and includes the following steps:
  • S201 Receive control instructions respectively sent by multiple control devices, where the multiple control devices are used to control the movable platform.
  • the control device driver that needs to communicate can be constructed in advance so that the mobile platform can obtain the control instructions of the corresponding control device; where the control device driver and the control device are One-to-one correspondence.
  • the mobile platform After the mobile platform establishes a communication connection with multiple control devices, it can receive control instructions sent by multiple control devices respectively.
  • the movable platform is a mobile robot
  • the multiple control devices are control device 1, control device 2, and control device 3.
  • the control device 1 sends a control instruction 1 to the mobile robot to control the mobile robot to walk 80 meters east.
  • the control device 2 sends instruction 2 to the mobile robot to control the mobile robot to walk 50 meters north
  • the control device 3 sends instruction 3 to the mobile robot to control the mobile robot to rotate 15 degrees west.
  • S202 Determine a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices.
  • the mobile platform can obtain the communication status and/or priority of multiple control devices, and compare the communication status and/or priority of the multiple control devices to determine the target control device.
  • the priority of the control device can be set by the movable platform according to the functions realized by the control device controlling the movable platform.
  • the movable platform can realize the movement function and the camera function, and the control device can realize the movement function.
  • the priority of the control device can also be set by the user.
  • the user can submit the priority setting information of the control device through the interactive interface of the control device, and send the priority setting information of the control device to the mobile platform .
  • the priority of the control device may also be preset.
  • the priority of the control device 1 is preset to the first priority
  • the priority of the control device 2 is preset to the second priority.
  • the communication status of the control device can be used to characterize the communication quality and connection status of the control device, where the communication status of the control device can be changed, for example, the control device has established a communication connection with the movable platform at the last moment, and the communication quality Stable; At the current moment, it maintains a communication connection with the mobile platform, but the communication quality is unstable.
  • the communication status of the control device can be obtained according to the communication quality parameters (such as bit error rate, transmission rate, etc.) between the control device and the movable platform.
  • the control device with the lowest bit error rate has the best communication state
  • the control device with the highest bit error rate has the worst communication state
  • another example is the control device with the highest transmission rate when the communication state is obtained according to the transmission rate of the communication between the movable platform and the control device
  • the communication status is the best, and the communication status of the control device with the lowest transmission rate is the worst.
  • S202 may include the following steps: obtaining the priorities of the multiple control devices; and using the control device with the highest priority as the target control device.
  • the mobile platform may use different methods to obtain the priority of multiple control devices according to different priority setting methods. For example, if the priority information of each control device is preset by the control device, the mobile platform can obtain the priority information of the control device from multiple control devices that establish communication connections; if the priority information of each control device is If the mobile platform is set according to the functions realized by the control device, the mobile platform can read the priority information stored in the corresponding device; if the priority information of each control device is set by the user, the mobile platform can obtain the priority set by the user information.
  • priority is used as the standard, the priorities of multiple control devices are compared, and the control device with the highest priority is determined as the target control device. For example, after the mobile platform establishes a communication connection with the control device 1, the control device 2, the control device 3, and the control device 4, it can obtain the priority of the control device 1 as the first priority and the priority of the control device 2 as the second priority. Priority, the priority of the control device 3 is the first priority, and the priority of the control device 4 is the third priority, then it is determined that the control device 1 and the control device 3 are the target control devices.
  • S202 may include the following steps: acquiring the communication status of the multiple control devices; and using the control device with the best communication status as the target control device.
  • the transmission rate of the communication between the movable platform and the control device is used to characterize the communication state of the control device, the transmission rate of the communication between the movable platform and multiple control devices is obtained, and the control device with the highest transmission rate is used as the target control device.
  • the mobile platform After the mobile platform establishes a communication connection with the control device 1, the control device 2, the control device 3, and the control device 4, it can obtain that the transmission rate of the control device 1 is 100000 bits per second (Bits per Second, bps), and the control device If the transmission rate of 2 is 80,000 bps, the transmission rate of control device 3 is 70,000 bps, and the transmission rate of control device 4 is 100,000 bps, it is determined that control device 1 and control device 4 are target control devices.
  • the transmission rate of the control device 1 is 100000 bits per second (Bits per Second, bps)
  • the control device If the transmission rate of 2 is 80,000 bps, the transmission rate of control device 3 is 70,000 bps, and the transmission rate of control device 4 is 100,000 bps, it is determined that control device 1 and control device 4 are target control devices.
  • S202 may include the following steps: acquiring the communication status and priority of the multiple control devices; taking the control device with the highest priority among the control devices whose communication state meets the preset condition as the target control device .
  • the step of obtaining a control device whose communication state meets a preset condition may include: the movable platform periodically generates and sends a test data packet to determine whether the communication state meets the preset condition; To the test data packet returned by the control device, it is determined that the communication state of the control device that returns the test data packet meets the preset condition.
  • the step of obtaining a control device whose communication state meets a preset condition may include: a detection device of the movable platform detecting whether the bit error rate of the communication between the control device and the movable platform is lower than a bit error rate threshold, such as a bit error rate threshold It can be 10 -4 Bit Error Rate (BER). If the bit error rate between the control device and the mobile platform is lower than the bit error rate threshold, the communication status of the control device below the bit error rate threshold is determined The preset condition is satisfied; if the bit error rate is higher than the bit error rate threshold, it is determined that the communication state of the control device higher than the bit error rate threshold does not meet the preset condition.
  • both priority and communication status are used as standards, and the control device with the highest priority is selected as the target control device from the control devices whose communication state meets the preset condition.
  • the steps of S202 provided in this embodiment are described below with examples.
  • the priority of acquiring the control devices 1 and 3 is the first priority
  • the priority of the control devices 2 and 4 All levels are the second priority
  • the movable platform receives the test data packets returned by the control devices 1, 2 and 4 within a predetermined time (such as 5s)
  • a predetermined time such as 5s
  • the control device 1 is determined to be the target control device.
  • S202 may include the following steps: acquiring the communication status and priority of the multiple control devices; taking the control device with the best communication status among the control devices with priority greater than the priority threshold as the target control equipment.
  • steps of acquiring the communication status of multiple control devices and acquiring the priority of multiple control devices please refer to the description of the step of acquiring the communication status of multiple control devices and acquiring the priority of multiple control devices in the above embodiment. Not repeat them here.
  • the priority of the control devices 1, 2, and 3 is obtained. All levels are the first priority, and the priority of the control device 4 is the third priority.
  • the transmission rate of the control device 1 is 100,000 bps
  • the transmission rate of the control device 2 is 80,000 bps
  • the transmission rate of the control device 3 is 70,000 bps.
  • the transmission rate of device 4 is 100000 bps. If the priority threshold is the second priority, the control devices whose priority is greater than the priority threshold are determined to be control devices 1, 2 and 3; according to the transmission rates of the control devices 1, 2 and 3, the control device 1 with the highest transmission rate is determined For the target control equipment.
  • S203 Determine a target control instruction according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction.
  • the movable platform may use the control instruction sent by the target control device as the target control instruction, and schedule the corresponding execution end to execute the target control instruction.
  • the target control device may include more than two control devices, and the movable platform determines the target control instruction according to the control instruction sent by the target control device, which specifically includes the following steps: acquiring control instructions respectively sent by the two or more control devices Integrate the control instructions sent by the two or more control devices separately to obtain the target control instruction. It is understandable that the instruction types of the control instructions of two or more control devices may be the same or different. When the instruction fusion is performed, different operations need to be performed according to the instruction type of the control instruction of the target control device to obtain the target. Control instruction.
  • control instructions sent by two or more control devices are of the same instruction type
  • the control instructions sent by the two or more control devices are combined to obtain the target control instruction.
  • the merging process may include, but is not limited to, superposition and arithmetic average operations.
  • the target control device is the control device 3 and the control device 4 shown in FIG. 1
  • the control instructions sent by the target control device are the instruction 3 and the instruction 4, respectively.
  • instruction 3 is to control the drone to flip up 15 degrees horizontally
  • instruction 4 is to control the drone to flip 30 degrees downwards.
  • the instruction types of instruction 3 and instruction 4 are the same.
  • Command fusion involves superimposing Command 3 and Command 4, and the target control command is to control the drone to flip 15 degrees downwards horizontally.
  • the target control instruction is to control the drone to flip 15 degrees downwards horizontally.
  • call the execution end corresponding to the movable platform to respond to the target control instruction to execute specific steps. For example, if the target control instruction is to control the drone to flip 15 degrees downwards horizontally, the power system of the movable platform is called to respond to the target control instruction to control the drone to flip 15 degrees downwards horizontally.
  • the target control command is determined, and the target control command is used to instruct the execution end to execute all commands in parallel.
  • the control instructions sent by two or more control devices respectively.
  • the control instructions sent by the target control device are instruction 1 and instruction 3 respectively.
  • instruction 1 is to control the unmanned The aircraft flies to the east for 80 meters
  • command 3 is to control the drone to turn 15 degrees upwards.
  • the command types of command 1 and command 3 are different.
  • the power system of the movable platform is called to respond to target control When instructed, execute the control drone to turn up 15 degrees horizontally and fly 80 meters east.
  • the control commands of the same command type are combined to obtain a fusion command; in the two or more control devices Obtain control instructions with different instruction types from the control instructions sent separately; determine the target control instruction, and the target control instruction is used to instruct parallel execution of the fusion instruction and control instructions with different instruction types.
  • the target control device is the control device 1, the control device 3, and the control device 4 shown in FIG. 1, and the control instructions sent by the target control device are instruction 1, instruction 3, and instruction 4, according to the description in the embodiment of FIG.
  • Instruction 1 is to control the UAV to fly 80 meters east
  • instruction 3 is to control the UAV to flip up 15 degrees horizontally
  • instruction 4 is to control the UAV to flip down 30 degrees
  • the instruction types of instruction 3 and instruction 4 Same, superimpose instruction 3 and instruction 4, and get the fusion instruction to control the drone horizontally flip 15 degrees; instruction 1 and the fusion instruction are not the same, then according to instruction 1 and the fusion instruction, call the mobile platform
  • the propulsion system controls the drone to tilt down 15 degrees horizontally while flying 80 meters east.
  • the movable platform receives control instructions sent by multiple control devices respectively; according to the communication status and/or priority of the multiple control devices, the target control device is determined among the multiple control devices; The control instruction sent by the target control device determines the target control instruction, so that the execution end of the movable platform responds to the target control instruction. It can be seen that the embodiments of the present invention can manage multiple received control instructions of the movable platform, avoid behavior loss of control when the movable platform executes multiple control instructions, and can improve the control efficiency of the movable platform.
  • the control method of the movable platform shown in FIG. 2 is further expanded below.
  • the embodiment of the present invention proposes another method for controlling a movable platform. Please refer to FIG. 3.
  • the method is executed by the movable platform and includes the following steps:
  • S301 Receive control instructions respectively sent by multiple control devices, where the multiple control devices are used to control the movable platform.
  • S301 in this embodiment reference may be made to S201 shown in FIG. 2, which is not repeated here.
  • S302 Determine a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices.
  • S302 in this embodiment reference may be made to S202 shown in FIG. 2, which will not be repeated here.
  • the communication connection between the movable platform and the target control device may be disconnected, for example, a drone and a remote control
  • the communication state between is affected by the external environment (such as thunderstorm weather).
  • the communication connection between the target control device and the movable platform is disconnected before the movable platform determines the target control instruction according to the control instruction sent by the target control device, the movable platform needs to be controlled according to multiple controls.
  • the communication status and/or priority of other control devices in the device except the target control device, and the target control device is re-determined.
  • the mobile platform re-determines the specific implementation steps of the target control device according to the communication status and/or priority of other control devices other than the target control device among the multiple control devices, please refer to S202 in the embodiment of FIG. 2 The description of specific embodiments will not be repeated here.
  • the mobile platform re-determines the specific implementation steps of the target control device according to the communication status and/or priority of other control devices other than the target control device among the multiple control devices, please refer to S202 in the embodiment of FIG. 2 The description of specific embodiments will not be repeated here.
  • the target control device if the communication connection between the target control device and the movable platform is disconnected, according to the communication status of other control devices among the plurality of control devices except the target control device And/or priority, re-determine the target control device. It can be seen that in the implementation of the embodiments of the present invention, when the communication connection between the target control device and the movable platform is disconnected, the target control device can be acquired again, which ensures the stability of the system.
  • the embodiment of the present invention proposes another method for controlling a movable platform, which further expands the method for controlling a movable platform shown in FIG. 2, please refer to FIG. 4.
  • the method is executed by the movable platform and includes the following steps:
  • S401 Receive control instructions respectively sent by multiple control devices, where the multiple control devices are used to control the movable platform.
  • S401 in this embodiment reference may be made to S201 shown in FIG. 2, which is not repeated here.
  • S402 Determine a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices.
  • S402 of this embodiment reference may be made to S202 shown in FIG. 2, which will not be repeated here.
  • the mobile platform When another control device accesses the mobile platform and receives a control instruction sent by the other control device, it can be re-determined according to the communication status and/or priority of the other control device and the target control device The target control device. It is understandable that the method for the mobile platform to re-determine the target control device according to the communication status and/or priority of the other control device and the target control device can refer to the description of the specific embodiment of S202 in the embodiment of FIG. 2.
  • the mobile platform when priority is the standard, the mobile platform will take the control device with the highest priority as the target control device; if another control device accesses and receives a control instruction sent by another control device, the mobile platform Still taking the priority as the standard, reselect another control device and the control device with a higher priority among the target control devices as the target control device.
  • priority is the standard
  • the mobile platform Still taking the priority as the standard, reselect another control device and the control device with a higher priority among the target control devices as the target control device.
  • S403 specifically includes the following steps: if a control instruction sent by the another control device is received, comparing the priority of the another control device with the priority of the target control device; if If the priority of the another control device is greater than the priority of the target control device, it is determined that the target control device is the another control device.
  • the target control device is the control device 1 and the control device 4 shown in FIG. 1, and the other control device is the control device 3 shown in FIG. 1. If the priority of the control device 3 is greater than the priority of the control device 1, and control The priority of the device 3 is greater than the control device 4, and the target control device is determined to be the control device 3 again.
  • priority is used as the standard, and the target control device can be re-determined by comparing the priorities of the another control device and the target control device.
  • S403 specifically includes the following steps: if a control instruction sent by the another control device is received, comparing the priority of the another control device with the priority of the target control device; if If the priority of the another control device is consistent with the priority of the target control device, it is determined that the target control device includes the another control device.
  • the target control device is the control device 1 shown in FIG. 1, and the other control device is the control device 4 shown in FIG. 1. If the priority of the control device 1 is the same as the priority of the control device 4, the The target control device includes a control device 1 and a control device 4.
  • priority is used as the standard, and the target control device can be re-determined by comparing the priorities of the another control device and the target control device.
  • the above two embodiments use priority as the standard. If a control instruction sent by another control device is received, the priority of the other control device and the target control device is determined again. Target control equipment.
  • the target control device is re-determined according to the communication state between the another control device and the target control device.
  • the communication status of the another control device is compared with the communication status of the target control device; if the communication status of the another control device is If it is consistent with the communication state of the target control device, it is determined that the target control device includes the another control device.
  • the target control device is the control device 1 shown in FIG. 1, and the other control device is the control device 4 shown in FIG. 1. If the communication state of the control device 1 is consistent with the communication state of the control device 4, then the The target control device includes a control device 1 and a control device 4.
  • the target control device is re-determined according to the communication status and priority of the another control device and the target control device.
  • the target control device is the control device with the highest priority among the control devices whose communication state meets the preset condition, it is determined whether the communication state of the another control device meets the preset condition. If it is satisfied, the priority of the target control device and the other control device is compared. If the priority of the another control device is greater than the priority of the target control device, determine that the target control device is the other control device; if the priority of the another control device is the same as the priority of the target control device If the priorities of the devices are the same, it is determined that the target control device includes the another control device.
  • the target control device is a control device with the best communication state among control devices with a priority greater than a priority threshold, it is determined whether the priority of the other control device is greater than the priority threshold. If it is greater than, then compare the communication status between the target control device and the other control device. If the communication state of the other control device is better than the communication state of the target control device (for example, the bit error rate of the other control device is lower than the bit error rate of the target control device), then the target control device is determined Is the other control device; if the communication state of the another control device is consistent with the communication state of the target control device, it is determined that the target control device includes the another control device. It can be understood that the foregoing embodiments are only partial examples, and do not limit the protection scope of the present invention.
  • the mobile platform after the mobile platform establishes a communication connection with another control device, if it receives a control instruction sent by the other control device, it will control according to the another control device and the target.
  • the communication status and/or priority of the device are re-determined for the target control device. It can be seen that, in the implementation of the embodiment of the present invention, when the mobile platform establishes a communication connection with another control device and receives a control instruction from the other control device, the target control device can be re-acquired, ensuring the stability of the system.
  • the embodiment of the present invention provides a control device of the movable platform, which can be applied to the control method of the movable platform shown in Figs. To execute the corresponding steps in the above-mentioned control method of the movable platform.
  • the device includes a memory 501 and a processor 502; the memory 501 is used to store program code; the processor 502 calls the program code, and when the program code is executed, it is used to perform the following operations:
  • the target control instruction is determined according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction.
  • the processor 502 is further configured to:
  • the control device with the highest priority is used as the target control device.
  • processor 502 is further configured to:
  • the control device with the best communication status is used as the target control device.
  • processor 502 is further configured to:
  • the control device with the highest priority among the control devices whose communication state meets the preset condition is taken as the target control device.
  • processor 502 is further configured to:
  • processor 502 is further configured to:
  • the control device with the best communication state among the control devices whose priority is greater than the priority threshold is used as the target control device.
  • processor 502 is further configured to:
  • control instructions respectively sent by the two or more control devices are fused to obtain the target control instruction.
  • processor 502 is further configured to:
  • control instructions sent by the two or more control devices are of the same instruction type, the control instructions sent by the two or more control devices are combined to obtain the target control instruction, and the combined processing includes superposition and Arithmetic average operation.
  • processor 502 is further configured to:
  • the target control instruction is determined, and the target control instruction is used to instruct the execution end to execute the two or more control devices in parallel.
  • processor 502 is further configured to:
  • the target control instruction is determined, and the target control instruction is used to instruct parallel execution of the fusion instruction and the control instruction of a different instruction type.
  • processor 502 is further configured to:
  • the target control device If the communication connection between the target control device and the movable platform is disconnected, according to the communication status and/or priority of other control devices among the plurality of control devices except the target control device, Re-determine the target control device.
  • processor 502 is further configured to:
  • processor 502 is further configured to:
  • processor 502 is further configured to:
  • the priority of the another control device is equal to the priority of the target control device, it is determined that the target control device includes the another control device.
  • processor 502 is further configured to:
  • processor 502 is further configured to:
  • the communication status of the multiple control devices is determined according to the communication quality parameter, where the communication quality parameter includes at least one of a bit error rate, a transmission rate, and a signal-to-noise ratio.
  • the embodiment of the present invention provides a control device for a movable platform.
  • the control device of the movable platform can receive control instructions respectively sent by multiple control devices, and the multiple control devices are used to control the movable platform; For the communication status and/or priority of the multiple control devices, determine the target control device among the multiple control devices; determine the target control instruction according to the control instruction sent by the target control device, so that the movable platform The execution end of responds to the target control instruction. It can be seen that the implementation of the embodiments of the present invention can manage multiple control instructions received by the movable platform, avoid behavior loss of control when the movable platform executes multiple control instructions, and improve the control efficiency of the movable platform.
  • an embodiment of the present invention provides a movable platform.
  • the movable platform includes a body, a power supply system, a communication device, an execution terminal, and the above-mentioned control device.
  • a power supply system is installed in the body to provide power to the movable platform;
  • a communication device is installed in the body to receive control of the movable platform sent by the control device Instruction;
  • execution end installed in the fuselage, used to execute the target control instruction.
  • the movable platform includes drones, unmanned vehicles, and mobile robots.
  • the program can be stored in a computer readable storage medium. When executed, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

Abstract

A movable platform control method and apparatus, and a movable platform. The method comprises: receiving control instructions respectively sent by a plurality of control devices, wherein the plurality of control devices are used for controlling a movable platform; according to the communication states and/or priorities of the plurality of control devices, determining a target control device from among the plurality of control devices; and determining a target control instruction according to the control instruction sent by the target control device, such that an execution end of the movable platform responds to the target control instruction. By means of the embodiments of the present invention, a plurality of control instructions that are received by a movable platform can be managed, such that the behavior of the movable platform is prevented from being out of control when same executes the plurality of control instructions, and the control efficiency of the movable platform can be improved.

Description

一种可移动平台的控制方法、装置及可移动平台Control method, device and movable platform of movable platform 技术领域Technical field
本发明涉及通信技术领域，尤其涉及一种可移动平台的控制方法、装置及可移动平台。The present invention relates to the field of communication technology, in particular to a control method and device of a movable platform, and a movable platform.
背景技术Background technique
可移动平台可以由多个控制设备来控制，例如，控制设备可以包括遥控器，手机等。若多个控制设备分别向可移动平台发出控制指令，例如可移动平台接收到第一控制设备发送的第一控制指令以及第二控制设备发送的第二控制指令，第一控制指令用于指示可移动平台向左转90度，第二控制指令用于指示可移动平台向右转45度，则可移动平台无法确定如何响应上述两个控制指令，会使可移动平台的行为不可控。因此，如何对可移动平台接收到的多个控制指令进行管理成为待解决的问题。The movable platform can be controlled by multiple control devices. For example, the control device can include a remote control, a mobile phone, and so on. If multiple control devices respectively send control instructions to the movable platform, for example, the movable platform receives the first control instruction sent by the first control device and the second control instruction sent by the second control device, the first control instruction is used to indicate the The mobile platform turns 90 degrees to the left, and the second control instruction is used to instruct the movable platform to turn 45 degrees to the right. The movable platform cannot determine how to respond to the above two control instructions, which makes the behavior of the movable platform uncontrollable. Therefore, how to manage the multiple control commands received by the movable platform has become a problem to be solved.
发明内容Summary of the invention
本发明实施例提供一种可移动平台的控制方法、装置及可移动平台，可以对可移动平台接收到的多个控制指令进行管理，避免可移动平台行为失控，可以提高可移动平台的控制效率。The embodiments of the present invention provide a control method and device for a movable platform, and a movable platform, which can manage multiple control commands received by the movable platform, avoid the behavior of the movable platform from being out of control, and improve the control efficiency of the movable platform .
一方面，本发明实施例提供一种可移动平台的控制方法，包括：On the one hand, an embodiment of the present invention provides a method for controlling a movable platform, including:
接收多个控制设备分别发送的控制指令，所述多个控制设备用于控制所述可移动平台；Receiving control instructions respectively sent by multiple control devices, where the multiple control devices are used to control the movable platform;
根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备；Determine a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices;
根据所述目标控制设备发送的控制指令确定目标控制指令，以使所述可移动平台的执行端响应所述目标控制指令。The target control instruction is determined according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction.
另一方面，本发明实施例提供一种可移动平台的控制装置，包括存储器、处理器；On the other hand, an embodiment of the present invention provides a control device for a movable platform, including a memory and a processor;
所述存储器用于存储程序代码；The memory is used to store program code;
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：The processor calls the program code, and when the program code is executed, is used to perform the following operations:
接收多个控制设备分别发送的控制指令，所述多个控制设备用于控制所述可移动平台；Receiving control instructions respectively sent by multiple control devices, where the multiple control devices are used to control the movable platform;
根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备；Determine a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices;
根据所述目标控制设备发送的控制指令确定目标控制指令，以使所述可移动平台的执行端响应所述目标控制指令。The target control instruction is determined according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction.
另一方面，本发明实施例提供一种可移动平台，包括：On the other hand, an embodiment of the present invention provides a movable platform, including:
机身；body;
电源系统，安装在所述机身，用于为所述可移动平台提供电源；A power supply system, installed in the fuselage, for providing power to the movable platform;
通信设备，安装在所述机身，用于接收所述控制设备发送的对所述可移动平台的控制指令；A communication device installed in the body and used to receive a control instruction for the movable platform sent by the control device;
如上述另一方面提供的控制装置；The control device provided in the other aspect above;
执行端，安装在所述机身，用于执行所述目标控制指令。The execution end is installed in the fuselage and used to execute the target control instruction.
本发明实施例中，可移动平台接收多个控制设备分别发送的控制指令，根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备；根据所述目标控制设备发送的控制指令确定目标控制指令，以使所述可移动平台的执行端响应所述目标控制指令。可见，本发明实施例可以对可移动平台接收到的多个控制指令进行管理，避免可移动平台执行多个控制指令时行为失控，可以提高可移动平台的控制效率。In the embodiment of the present invention, the movable platform receives control instructions sent by multiple control devices, and determines a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices; The control instruction sent by the target control device determines the target control instruction, so that the execution end of the movable platform responds to the target control instruction. It can be seen that the embodiment of the present invention can manage multiple control instructions received by the movable platform, avoid behavior loss of control when the movable platform executes multiple control instructions, and can improve the control efficiency of the movable platform.
附图说明Description of the drawings
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，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅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。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings may be obtained from these drawings.
图1是本发明实施例提供的一种可移动平台的控制方法的应用场景图；FIG. 1 is an application scenario diagram of a method for controlling a movable platform provided by an embodiment of the present invention;
图2是本发明实施例提供的一种可移动平台的控制方法的流程图；2 is a flowchart of a method for controlling a movable platform provided by an embodiment of the present invention;
图3是本发明实施例提供的另一种可移动平台的控制方法的流程图；FIG. 3 is a flowchart of another method for controlling a movable platform according to an embodiment of the present invention;
图4是本发明实施例提供的另一种可移动平台的控制方法的流程图；Figure 4 is a flowchart of another method for controlling a movable platform provided by an embodiment of the present invention;
图5是本发明实施例提供的一种可移动平台的控制装置的示意图。Fig. 5 is a schematic diagram of a control device for a movable platform provided by an embodiment of the present invention.
具体实施方式detailed description
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，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有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。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“多个”的含义为大于等于两个。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "plurality" as used herein means two or more.
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
本发明实施例提供一种可移动平台的控制方法，当可移动平台同时接入多个控制设备时，接收多个控制设备分别发送的控制指令，并根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备，再根据所述目标控制设备发送的控制指令确定目标控制指令，以使所述可移动平台的执行端响应所述目标控制指令。通过上述控制方法，可移动平台可以同时接入多个控制设备，并 且可以对接收到的多个控制设备所发送的控制指令进行管理，避免可移动平台执行多个控制指令时行为失控，可以提高可移动平台的控制效率。The embodiment of the present invention provides a control method for a movable platform. When the movable platform accesses multiple control devices at the same time, it receives control instructions sent by the multiple control devices respectively, and according to the communication status of the multiple control devices and / Or priority, determine the target control device among the multiple control devices, and then determine the target control instruction according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction . Through the above-mentioned control method, the mobile platform can access multiple control devices at the same time, and can manage the received control instructions sent by multiple control devices, avoiding behavior loss of control when the mobile platform executes multiple control instructions, which can improve The control efficiency of the movable platform.
上述控制方法可以应用于可移动平台，所述可移动平台可以包括但不限于无人机、无人车和移动机器人等。所述控制设备可以是可移动平台的外部控制设备，控制设备可以与可移动平台建立通信连接，用于控制可移动平台，如手机、遥控器、智能车钥匙等外部控制设备；控制设备也可以是可移动平台的内部控制设备，如可移动平台内置的控制器等。由于不同的控制设备与可移动平台的通信链路不一致，则在多个控制设备接入可移动平台之前，可移动平台需要在软件中预先将需要支持的控制设备驱动构建完成，使控制设备可以与可移动平台建立通信连接，从而使可移动平台可以获取多个控制设备的控制指令。The above control method can be applied to a movable platform, which can include, but is not limited to, unmanned aerial vehicles, unmanned vehicles, and mobile robots. The control device may be an external control device of the movable platform. The control device may establish a communication connection with the movable platform for controlling the movable platform, such as mobile phones, remote controls, smart car keys, and other external control devices; the control device may also It is the internal control equipment of the movable platform, such as the built-in controller of the movable platform. Since the communication links between different control devices and the mobile platform are inconsistent, before multiple control devices are connected to the mobile platform, the mobile platform needs to build the control device drivers that need to be supported in the software in advance, so that the control device can Establish a communication connection with the movable platform, so that the movable platform can obtain control instructions from multiple control devices.
下面将举例说明本发明实施例提供的一种可移动平台的控制方法的应用场景，以可移动平台为无人机，控制设备为手机和遥控器为例，如图1所示，多个控制设备包括控制设备1、控制设备2、控制设备3及控制设备4。其中，无人机可以接收上述多个控制设备的控制指令，并根据多个控制设备的通信状态和/或优先级，对所述多个控制设备进行管理，并控制可移动平台的执行端响应多个控制指令，避免控制混乱。例如，上述多个控制设备均与无人机建立通信连接，并且向无人机发送对应的控制指令，包括：控制设备1向无人机发送指令1，用于控制无人机向东飞行80米；控制设备2向无人机发送指令2，用于控制无人机向北飞行50米；控制设备3向无人机发送指令3，用于控制无人机水平向上翻转15度；控制设备4向无人机发送指令4，用于控制无人机水平向下翻转30度。无人机接收到上述控制指令后，根据所述多个控制设备的通信状态和/或优先级，确定目标控制设备，例如，若控制设备1的通信状态最好，则确定控制设备1为目标控制设备，确定指令1为目标控制指令，根据指令1控制无人机向东飞行80米；又例如，若控制设备2的优先级最高，则 确定控制设备2为目标控制设备，确定指令2为目标控制指令，根据指令2控制无人机向北飞行50米。The following will illustrate the application scenario of a mobile platform control method provided by an embodiment of the present invention. Take the mobile platform as a drone, and the control device as a mobile phone and a remote controller as an example. As shown in Figure 1, multiple controls The equipment includes control equipment 1, control equipment 2, control equipment 3, and control equipment 4. Among them, the drone can receive the control instructions of the above multiple control devices, and according to the communication status and/or priority of the multiple control devices, manage the multiple control devices, and control the execution end of the movable platform to respond Multiple control instructions to avoid control confusion. For example, the above-mentioned multiple control devices all establish a communication connection with the UAV and send corresponding control instructions to the UAV, including: the control device 1 sends an instruction 1 to the UAV to control the UAV to fly east 80 M; control device 2 sends instruction 2 to the drone to control the drone to fly northward for 50 meters; control device 3 sends instruction 3 to the drone to control the drone to flip 15 degrees upwards; control device 4 Send instruction 4 to the drone to control the drone to flip down 30 degrees horizontally. After the drone receives the above control instruction, it determines the target control device according to the communication status and/or priority of the multiple control devices. For example, if the communication status of the control device 1 is the best, then the control device 1 is determined to be the target The control device determines that instruction 1 is the target control instruction, and controls the drone to fly 80 meters eastward according to instruction 1. For example, if the priority of control device 2 is the highest, then it is determined that control device 2 is the target control device, and that instruction 2 is Target control instructions, according to instruction 2 to control the drone to fly 50 meters north.
可以理解的是，上述举例只是对本发明实施例提供的可移动平台的控制方法的部分示例说明，不限制所述控制方法的具体执行步骤。上述多个控制设备为部分示例说明，具体可根据不同的可移动平台对应不同的控制设备，不受本申请实施例的限制。It is understandable that the foregoing examples are only partial examples of the control method of the movable platform provided by the embodiments of the present invention, and do not limit the specific execution steps of the control method. The above-mentioned multiple control devices are part of an example description, and different control devices can be corresponded to different movable platforms specifically, and are not limited by the embodiments of the present application.
需要说明的是，上述以无人机为例对可移动平台的控制方法进行举例说明，不应理解为对可移动平台类型的限制。It should be noted that the above example takes the drone as an example to illustrate the control method of the movable platform, and it should not be understood as a restriction on the type of the movable platform.
下面将对可移动平台的控制方法的工作原理进行详细介绍，请参见图2，该方法由可移动平台执行，具体的，可由可移动平台中的控制装置执行，包括以下步骤：The working principle of the control method of the movable platform will be described in detail below. Please refer to Figure 2. The method is executed by the movable platform. Specifically, it can be executed by the control device in the movable platform, and includes the following steps:
S201，接收多个控制设备分别发送的控制指令，所述多个控制设备用于控制所述可移动平台。S201: Receive control instructions respectively sent by multiple control devices, where the multiple control devices are used to control the movable platform.
可移动平台接收多个控制设备分别发送的控制指令之前，可以预先将需要通信的控制设备驱动构建完成，以使可移动平台能够获取对应控制设备的控制指令；其中，控制设备驱动与控制设备为一一对应的关系。可移动平台与多个控制设备建立通信连接后，可以接收多个控制设备分别发送的控制指令。例如，可移动平台为移动机器人，多个控制设备分别为控制设备1、控制设备2和控制设备3；其中，控制设备1向移动机器人发送控制指令1，用于控制移动机器人向东行走80米；控制设备2向移动机器人发送指令2，用于控制移动机器人向北行走50米；控制设备3向移动机器人发送指令3，用于控制移动机器人向西转动15度。Before the mobile platform receives the control instructions sent by multiple control devices, the control device driver that needs to communicate can be constructed in advance so that the mobile platform can obtain the control instructions of the corresponding control device; where the control device driver and the control device are One-to-one correspondence. After the mobile platform establishes a communication connection with multiple control devices, it can receive control instructions sent by multiple control devices respectively. For example, the movable platform is a mobile robot, and the multiple control devices are control device 1, control device 2, and control device 3. Among them, the control device 1 sends a control instruction 1 to the mobile robot to control the mobile robot to walk 80 meters east. ; The control device 2 sends instruction 2 to the mobile robot to control the mobile robot to walk 50 meters north; the control device 3 sends instruction 3 to the mobile robot to control the mobile robot to rotate 15 degrees west.
S202，根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备。S202: Determine a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices.
可移动平台可以获取多个控制设备的通信状态和/或优先级，并将多个控制设备的通信状态和/或优先级进行比较，确定目标控制设备。可选的，控制设备的优先级可以由可移动平台根据控制设备控制可移动平台实现的功能来设置，例如，可移动平台可以实现运动功能 和拍照功能，其中，控制可移动平台实现运动功能的是控制设备1，控制可移动平台实现拍照功能的是控制设备2；可移动平台优先实现运动功能，则可移动平台设置控制设备1为第一优先级，控制设备2为第二优先级。可选的，控制设备的优先级也可以由用户设置，具体的，用户可以通过控制设备的交互界面提交控制设备的优先级设置信息，并将该控制设备的优先级设置信息发送至可移动平台。可选的，控制设备的优先级还可以是预先设置的，例如，控制设备1的优先级被预设为第一优先级，控制设备2的优先级被预设为第二优先级。The mobile platform can obtain the communication status and/or priority of multiple control devices, and compare the communication status and/or priority of the multiple control devices to determine the target control device. Optionally, the priority of the control device can be set by the movable platform according to the functions realized by the control device controlling the movable platform. For example, the movable platform can realize the movement function and the camera function, and the control device can realize the movement function. It is the control device 1. It is the control device 2 that controls the movable platform to realize the photographing function; the movable platform implements the motion function first, and the movable platform sets the control device 1 as the first priority and the control device 2 as the second priority. Optionally, the priority of the control device can also be set by the user. Specifically, the user can submit the priority setting information of the control device through the interactive interface of the control device, and send the priority setting information of the control device to the mobile platform . Optionally, the priority of the control device may also be preset. For example, the priority of the control device 1 is preset to the first priority, and the priority of the control device 2 is preset to the second priority.
控制设备的通信状态可以用于表征控制设备的通信质量和连接状态，其中，控制设备的通信状态可以是变化的，例如，控制设备在上一时刻与可移动平台建立了通信连接，并且通信质量稳定；在当前时刻与可移动平台保持通信连接，但是通信质量不稳定。控制设备的通信状态可以根据控制设备与可移动平台之间的通信质量参数(如误码率、传输速率等)得到，例如，根据可移动平台与控制设备通信的误码率得到通信状态时，误码率最低的控制设备的通信状态最好，误码率最高的控制设备通信状态最差；又例如，根据可移动平台与控制设备通信的传输速率得到通信状态时，传输速率最高的控制设备的通信状态最好，传输速率最低的控制设备的通信状态最差。The communication status of the control device can be used to characterize the communication quality and connection status of the control device, where the communication status of the control device can be changed, for example, the control device has established a communication connection with the movable platform at the last moment, and the communication quality Stable; At the current moment, it maintains a communication connection with the mobile platform, but the communication quality is unstable. The communication status of the control device can be obtained according to the communication quality parameters (such as bit error rate, transmission rate, etc.) between the control device and the movable platform. For example, when the communication status is obtained according to the bit error rate of the communication between the movable platform and the control device, The control device with the lowest bit error rate has the best communication state, and the control device with the highest bit error rate has the worst communication state; another example is the control device with the highest transmission rate when the communication state is obtained according to the transmission rate of the communication between the movable platform and the control device The communication status is the best, and the communication status of the control device with the lowest transmission rate is the worst.
在一种实施例中，S202可以包括以下步骤：获取所述多个控制设备的优先级；将优先级最高的控制设备作为所述目标控制设备。其中，可移动平台获取多个控制设备的优先级可以根据优先级的设置方法不同而采用不同的方法。例如，若各个控制设备的优先级信息是控制设备预先设置的，则可移动平台可以从多个建立通信连接的控制设备中获取该控制设备的优先级信息；若各个控制设备的优先级信息是可移动平台根据控制设备实现的功能设置的，则可移动平台可以读取相应设备存储的优先级信息；若各个控制设备的优先级信息是用户设置的，则可移动平台获取用户设置的优先级信息。本实施例中以优先级为标准，将多个控制设备的优先级进行比较，确定优先级最高的控制设备为目标控制设备。例如，可移动平台分别与控制设备1、控制 设备2、控制设备3和控制设备4建立通信连接后，可以获取控制设备1的优先级为第一优先级，控制设备2的优先级为第二优先级，控制设备3的优先级为第一优先级，控制设备4的优先级为第三优先级，则确定控制设备1和控制设备3为目标控制设备。In an embodiment, S202 may include the following steps: obtaining the priorities of the multiple control devices; and using the control device with the highest priority as the target control device. Among them, the mobile platform may use different methods to obtain the priority of multiple control devices according to different priority setting methods. For example, if the priority information of each control device is preset by the control device, the mobile platform can obtain the priority information of the control device from multiple control devices that establish communication connections; if the priority information of each control device is If the mobile platform is set according to the functions realized by the control device, the mobile platform can read the priority information stored in the corresponding device; if the priority information of each control device is set by the user, the mobile platform can obtain the priority set by the user information. In this embodiment, priority is used as the standard, the priorities of multiple control devices are compared, and the control device with the highest priority is determined as the target control device. For example, after the mobile platform establishes a communication connection with the control device 1, the control device 2, the control device 3, and the control device 4, it can obtain the priority of the control device 1 as the first priority and the priority of the control device 2 as the second priority. Priority, the priority of the control device 3 is the first priority, and the priority of the control device 4 is the third priority, then it is determined that the control device 1 and the control device 3 are the target control devices.
在一种实施例中，S202可以包括以下步骤：获取所述多个控制设备的通信状态；将通信状态最好的控制设备作为所述目标控制设备。可选的，采用可移动平台与控制设备通信的传输速率来表征控制设备的通信状态时，获取可移动平台与多个控制设备通信的传输速率，将传输速率最高的控制设备作为目标控制设备。例如，可移动平台分别与控制设备1、控制设备2、控制设备3和控制设备4建立通信连接后，可以获取控制设备1的传输速率为100000位/秒(Bits per Second，bps)，控制设备2的传输速率为80000bps，控制设备3的传输速率为70000bps，控制设备4的传输速率为100000bps，则确定控制设备1和控制设备4为目标控制设备。In an embodiment, S202 may include the following steps: acquiring the communication status of the multiple control devices; and using the control device with the best communication status as the target control device. Optionally, when the transmission rate of the communication between the movable platform and the control device is used to characterize the communication state of the control device, the transmission rate of the communication between the movable platform and multiple control devices is obtained, and the control device with the highest transmission rate is used as the target control device. For example, after the mobile platform establishes a communication connection with the control device 1, the control device 2, the control device 3, and the control device 4, it can obtain that the transmission rate of the control device 1 is 100000 bits per second (Bits per Second, bps), and the control device If the transmission rate of 2 is 80,000 bps, the transmission rate of control device 3 is 70,000 bps, and the transmission rate of control device 4 is 100,000 bps, it is determined that control device 1 and control device 4 are target control devices.
在一种实施例中，S202可以包括以下步骤：获取所述多个控制设备的通信状态和优先级；将通信状态满足预设条件的控制设备中优先级最高的控制设备作为所述目标控制设备。可选的，获取通信状态满足预设条件的控制设备的步骤可以包括：可移动平台周期性地生成并发送测试数据包，以确定所述通信状态是否满足预设条件；若在预定时间内接收到控制设备返回的测试数据包，则确定返回测试数据包的控制设备的通信状态满足预设条件。可选的，获取通信状态满足预设条件的控制设备的步骤可以包括：可移动平台的检测设备检测控制设备与可移动平台通信的误码率是否低于误码率阈值，如误码率阈值可以是10 -4误比特率(Bit Error Rate，BER)，若控制设备与可移动平台之间的误码率低于误码率阈值，则确定低于误码率阈值的控制设备的通信状态满足预设条件；若所述误码率高于误码率阈值，则确定高于误码率阈值的控制设备的通信状态不满足预设条件。本实施例中同时以优先级和通信状态为标准，从通信状态满足预设条件的控制设备中选取优先级最高的控制设备作为目标控制设备。 In an embodiment, S202 may include the following steps: acquiring the communication status and priority of the multiple control devices; taking the control device with the highest priority among the control devices whose communication state meets the preset condition as the target control device . Optionally, the step of obtaining a control device whose communication state meets a preset condition may include: the movable platform periodically generates and sends a test data packet to determine whether the communication state meets the preset condition; To the test data packet returned by the control device, it is determined that the communication state of the control device that returns the test data packet meets the preset condition. Optionally, the step of obtaining a control device whose communication state meets a preset condition may include: a detection device of the movable platform detecting whether the bit error rate of the communication between the control device and the movable platform is lower than a bit error rate threshold, such as a bit error rate threshold It can be 10 -4 Bit Error Rate (BER). If the bit error rate between the control device and the mobile platform is lower than the bit error rate threshold, the communication status of the control device below the bit error rate threshold is determined The preset condition is satisfied; if the bit error rate is higher than the bit error rate threshold, it is determined that the communication state of the control device higher than the bit error rate threshold does not meet the preset condition. In this embodiment, both priority and communication status are used as standards, and the control device with the highest priority is selected as the target control device from the control devices whose communication state meets the preset condition.
下面对本实施例提供的S202的步骤进行举例说明。例如，可移动平台分别与控制设备1、控制设备2、控制设备3和控制设备4建立通信连接后，获取控制设备1和3的优先级均为第一优先级，控制设备2和4的优先级均为第二优先级；若可移动平台在预定时间内(如5s)接收到控制设备1、2和4返回的测试数据包，则确定控制设备1、2和4的通信状态满足预设条件；根据控制设备1、2和4的优先级信息，确定控制设备1为目标控制设备。The steps of S202 provided in this embodiment are described below with examples. For example, after the mobile platform establishes a communication connection with the control device 1, the control device 2, the control device 3, and the control device 4, the priority of acquiring the control devices 1 and 3 is the first priority, and the priority of the control devices 2 and 4 All levels are the second priority; if the movable platform receives the test data packets returned by the control devices 1, 2 and 4 within a predetermined time (such as 5s), it is determined that the communication status of the control devices 1, 2 and 4 meets the preset Condition: According to the priority information of the control devices 1, 2 and 4, the control device 1 is determined to be the target control device.
在一种实施例中，S202可以包括以下步骤：获取所述多个控制设备的通信状态和优先级；将优先级大于优先级阈值的控制设备中通信状态最好的控制设备作为所述目标控制设备。其中，获取多个控制设备的通信状态，获取多个控制设备的优先级的步骤请参考上文实施例中获取多个控制设备的通信状态，获取多个控制设备的优先级的步骤的描述，在此不赘述。In an embodiment, S202 may include the following steps: acquiring the communication status and priority of the multiple control devices; taking the control device with the best communication status among the control devices with priority greater than the priority threshold as the target control equipment. For the steps of acquiring the communication status of multiple control devices and acquiring the priority of multiple control devices, please refer to the description of the step of acquiring the communication status of multiple control devices and acquiring the priority of multiple control devices in the above embodiment. Not repeat them here.
下面对本实施例提供的S202的步骤进行举例说明，例如，可移动平台分别与控制设备1、控制设备2、控制设备3和控制设备4建立通信连接后，获取控制设备1、2和3的优先级均为第一优先级，控制设备4的优先级为第三优先级。可选的，采用可移动平台与控制设备通信的传输速率来表示通信状态时，获取控制设备1的传输速率为100000bps，控制设备2的传输速率为80000bps，控制设备3的传输速率为70000bps，控制设备4的传输速率为100000bps。若优先级阈值为第二优先级，则确定优先级大于优先级阈值的控制设备为控制设备1、2和3；根据控制设备1、2和3的传输速率，确定传输速率最高的控制设备1为目标控制设备。The steps of S202 provided in this embodiment are described below with an example. For example, after the mobile platform establishes a communication connection with the control device 1, the control device 2, the control device 3, and the control device 4, the priority of the control devices 1, 2, and 3 is obtained. All levels are the first priority, and the priority of the control device 4 is the third priority. Optionally, when the transmission rate of the communication between the movable platform and the control device is used to indicate the communication status, the transmission rate of the control device 1 is 100,000 bps, the transmission rate of the control device 2 is 80,000 bps, and the transmission rate of the control device 3 is 70,000 bps. The transmission rate of device 4 is 100000 bps. If the priority threshold is the second priority, the control devices whose priority is greater than the priority threshold are determined to be control devices 1, 2 and 3; according to the transmission rates of the control devices 1, 2 and 3, the control device 1 with the highest transmission rate is determined For the target control equipment.
S203，根据所述目标控制设备发送的控制指令确定目标控制指令，以使所述可移动平台的执行端响应所述目标控制指令。S203: Determine a target control instruction according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction.
可选的，若目标控制设备为单个控制设备，则可移动平台可以将目标控制设备发送的控制指令作为目标控制指令，并调度对应的执行端执行所述目标控制指令。可选的，目标控制设备可以包括两个以上控制设备，则可移动平台根据目标控制设备发送的控制指令确定目标 控制指令，具体包括以下步骤：获取所述两个以上控制设备分别发送的控制指令；将所述两个以上控制设备分别发送的控制指令进行指令融合，得到所述目标控制指令。可以理解的是，两个以上控制设备的控制指令的指令类型可能相同，也可能不相同，则在进行指令融合时，需要根据目标控制设备的控制指令的指令类型而执行不同的操作以获取目标控制指令。Optionally, if the target control device is a single control device, the movable platform may use the control instruction sent by the target control device as the target control instruction, and schedule the corresponding execution end to execute the target control instruction. Optionally, the target control device may include more than two control devices, and the movable platform determines the target control instruction according to the control instruction sent by the target control device, which specifically includes the following steps: acquiring control instructions respectively sent by the two or more control devices Integrate the control instructions sent by the two or more control devices separately to obtain the target control instruction. It is understandable that the instruction types of the control instructions of two or more control devices may be the same or different. When the instruction fusion is performed, different operations need to be performed according to the instruction type of the control instruction of the target control device to obtain the target. Control instruction.
在一种实施例中，若两个以上控制设备分别发送的控制指令的指令类型相同，则将所述两个以上控制设备分别发送的控制指令进行合并处理，得到所述目标控制指令，所述合并处理可以包括但不限于叠加和算术平均运算。例如，目标控制设备为图1所示的控制设备3和控制设备4，则目标控制设备分别发送的控制指令为指令3和指令4。根据图1实施例中的描述，指令3为控制无人机水平向上翻转15度，指令4为控制无人机水平向下翻转30度，则指令3和指令4的指令类型相同，则所述指令融合包括将指令3和指令4进行叠加，得到目标控制指令为控制无人机水平向下翻转15度。得到目标控制指令后，根据目标控制指令的具体内容，调用可移动平台对应的执行端响应所述目标控制指令，执行具体的步骤。例如，目标控制指令为控制无人机水平向下翻转15度，则调用可移动平台的动力系统响应所述目标控制指令，控制无人机水平向下翻转15度。In an embodiment, if the control instructions sent by two or more control devices are of the same instruction type, the control instructions sent by the two or more control devices are combined to obtain the target control instruction. The merging process may include, but is not limited to, superposition and arithmetic average operations. For example, if the target control device is the control device 3 and the control device 4 shown in FIG. 1, the control instructions sent by the target control device are the instruction 3 and the instruction 4, respectively. According to the description in the embodiment of Fig. 1, instruction 3 is to control the drone to flip up 15 degrees horizontally, and instruction 4 is to control the drone to flip 30 degrees downwards. Then the instruction types of instruction 3 and instruction 4 are the same. Command fusion involves superimposing Command 3 and Command 4, and the target control command is to control the drone to flip 15 degrees downwards horizontally. After obtaining the target control instruction, according to the specific content of the target control instruction, call the execution end corresponding to the movable platform to respond to the target control instruction to execute specific steps. For example, if the target control instruction is to control the drone to flip 15 degrees downwards horizontally, the power system of the movable platform is called to respond to the target control instruction to control the drone to flip 15 degrees downwards horizontally.
另一种实施例中，若所述两个以上控制设备分别发送的控制指令的指令类型各不相同，则确定所述目标控制指令，所述目标控制指令用于指示所述执行端并行执行所述两个以上控制设备分别发送的控制指令。例如，目标控制设备为图1所示的控制设备1和控制设备3，则目标控制设备分别发送的控制指令为指令1和指令3，根据图1实施例中的描述，指令1为控制无人机向东飞行80米，指令3为控制无人机水平向上翻转15度，则指令1和指令3的指令类型各不相同，根据指令1和指令3，调用可移动平台的动力系统响应目标控制指令时，执行控制无人机水平向上翻转15度同时向东飞行80米。In another embodiment, if the command types of the control commands sent by the two or more control devices are different, the target control command is determined, and the target control command is used to instruct the execution end to execute all commands in parallel. The control instructions sent by two or more control devices respectively. For example, if the target control device is the control device 1 and the control device 3 shown in FIG. 1, the control instructions sent by the target control device are instruction 1 and instruction 3 respectively. According to the description in the embodiment of FIG. 1, instruction 1 is to control the unmanned The aircraft flies to the east for 80 meters, and command 3 is to control the drone to turn 15 degrees upwards. The command types of command 1 and command 3 are different. According to command 1 and command 3, the power system of the movable platform is called to respond to target control When instructed, execute the control drone to turn up 15 degrees horizontally and fly 80 meters east.
另一种实施例中，若所述两个以上控制设备分别发送的控制指令 的指令类型部分相同，则将指令类型相同的控制指令进行合并处理，得到融合指令；在所述两个以上控制设备分别发送的控制指令中获取指令类型不相同的控制指令；确定所述目标控制指令，所述目标控制指令用于指示并行执行所述融合指令和所述指令类型不相同的控制指令。例如，目标控制设备为图1所示的控制设备1、控制设备3和控制设备4，则目标控制设备分别发送的控制指令为指令1、指令3和指令4，根据图1实施例中的描述，指令1为控制无人机向东飞行80米，指令3为控制无人机水平向上翻转15度，指令4为控制无人机水平向下翻转30度，则指令3和指令4的指令类型相同，将指令3和指令4进行叠加，得到融合指令为控制无人机水平向下翻转15度；指令1和所述融合指令不相同，则根据指令1和所述融合指令，调用可移动平台的动力系统执行控制无人机水平向下翻转15度同时向东飞行80米。In another embodiment, if the command types of the control commands sent by the two or more control devices are the same, the control commands of the same command type are combined to obtain a fusion command; in the two or more control devices Obtain control instructions with different instruction types from the control instructions sent separately; determine the target control instruction, and the target control instruction is used to instruct parallel execution of the fusion instruction and control instructions with different instruction types. For example, the target control device is the control device 1, the control device 3, and the control device 4 shown in FIG. 1, and the control instructions sent by the target control device are instruction 1, instruction 3, and instruction 4, according to the description in the embodiment of FIG. , Instruction 1 is to control the UAV to fly 80 meters east, instruction 3 is to control the UAV to flip up 15 degrees horizontally, and instruction 4 is to control the UAV to flip down 30 degrees, then the instruction types of instruction 3 and instruction 4 Same, superimpose instruction 3 and instruction 4, and get the fusion instruction to control the drone horizontally flip 15 degrees; instruction 1 and the fusion instruction are not the same, then according to instruction 1 and the fusion instruction, call the mobile platform The propulsion system controls the drone to tilt down 15 degrees horizontally while flying 80 meters east.
本发明实施例中，可移动平台接收多个控制设备分别发送的控制指令；根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备；根据所述目标控制设备发送的控制指令确定目标控制指令，以使所述可移动平台的执行端响应所述目标控制指令。可见，本发明实施例可以对可移动平台的接收到的多个控制指令进行管理，避免可移动平台执行多个控制指令时行为失控，可以提高可移动平台的控制效率。In the embodiment of the present invention, the movable platform receives control instructions sent by multiple control devices respectively; according to the communication status and/or priority of the multiple control devices, the target control device is determined among the multiple control devices; The control instruction sent by the target control device determines the target control instruction, so that the execution end of the movable platform responds to the target control instruction. It can be seen that the embodiments of the present invention can manage multiple received control instructions of the movable platform, avoid behavior loss of control when the movable platform executes multiple control instructions, and can improve the control efficiency of the movable platform.
下面对图2所示的可移动平台的控制方法进行进一步的扩展。本发明实施例提出另一种可移动平台的控制方法，请参见图3，该方法由可移动平台执行，包括以下步骤：The control method of the movable platform shown in FIG. 2 is further expanded below. The embodiment of the present invention proposes another method for controlling a movable platform. Please refer to FIG. 3. The method is executed by the movable platform and includes the following steps:
S301，接收多个控制设备分别发送的控制指令，所述多个控制设备用于控制所述可移动平台。本实施例的S301可参考图2所示的S201，在此不赘述。S301: Receive control instructions respectively sent by multiple control devices, where the multiple control devices are used to control the movable platform. For S301 in this embodiment, reference may be made to S201 shown in FIG. 2, which is not repeated here.
S302，根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备。本实施例的S302可参考图2所 示的S202，在此不赘述。S302: Determine a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices. For S302 in this embodiment, reference may be made to S202 shown in FIG. 2, which will not be repeated here.
S303，若所述目标控制设备与所述可移动平台之间的通信连接断开，则根据所述多个控制设备中除所述目标控制设备之外的其他控制设备的通信状态和/或优先级，重新确定所述目标控制设备。S303: If the communication connection between the target control device and the movable platform is disconnected, according to the communication status and/or priority of other control devices among the plurality of control devices except the target control device Level, re-determine the target control device.
由于可移动平台与控制设备之间多采用无线通信，使可移动平台的运动范围不受限制，则可移动平台与目标控制设备之间的通信连接可能断开，例如，无人机与遥控器之间的通信状态受外界环境(如雷暴天气)影响。在一种可能的情况下，若可移动平台根据目标控制设备发送的控制指令确定目标控制指令之前，目标控制设备与可移动平台之间的通信连接断开，则可移动平台需要根据多个控制设备中除所述目标控制设备之外的其他控制设备的通信状态和/或优先级，重新确定目标控制设备。其中，可移动平台根据多个控制设备中除所述目标控制设备之外的其他控制设备的通信状态和/或优先级，重新确定目标控制设备的具体实施步骤可以参考图2实施例中S202的具体实施例的描述，在此不赘述。Since wireless communication is mostly used between the movable platform and the control device, so that the range of movement of the movable platform is not restricted, the communication connection between the movable platform and the target control device may be disconnected, for example, a drone and a remote control The communication state between is affected by the external environment (such as thunderstorm weather). In a possible situation, if the communication connection between the target control device and the movable platform is disconnected before the movable platform determines the target control instruction according to the control instruction sent by the target control device, the movable platform needs to be controlled according to multiple controls. The communication status and/or priority of other control devices in the device except the target control device, and the target control device is re-determined. Among them, the mobile platform re-determines the specific implementation steps of the target control device according to the communication status and/or priority of other control devices other than the target control device among the multiple control devices, please refer to S202 in the embodiment of FIG. 2 The description of specific embodiments will not be repeated here.
在另一种可能的情况下，若可移动平台的执行端响应所述目标控制指令之后，目标控制设备与可移动平台之间的通信连接断开，则可移动平台需要根据所述多个控制设备中除所述目标控制设备之外的其他控制设备的通信状态和/或优先级，重新确定目标控制设备。其中，可移动平台根据多个控制设备中除所述目标控制设备之外的其他控制设备的通信状态和/或优先级，重新确定目标控制设备的具体实施步骤可以参考图2实施例中S202的具体实施例的描述，在此不赘述。In another possible situation, if after the execution end of the movable platform responds to the target control instruction, the communication connection between the target control device and the movable platform is disconnected, the movable platform needs to control the The communication status and/or priority of other control devices in the device except the target control device, and the target control device is re-determined. Among them, the mobile platform re-determines the specific implementation steps of the target control device according to the communication status and/or priority of other control devices other than the target control device among the multiple control devices, please refer to S202 in the embodiment of FIG. 2 The description of specific embodiments will not be repeated here.
本发明实施例中，若所述目标控制设备与所述可移动平台之间的通信连接断开，则根据所述多个控制设备中除所述目标控制设备之外的其他控制设备的通信状态和/或优先级，重新确定所述目标控制设备。可见，实施本发明实施例，当目标控制设备与可移动平台之间的通信连接断开时，可以重新获取目标控制设备，确保了系统的稳定性。In the embodiment of the present invention, if the communication connection between the target control device and the movable platform is disconnected, according to the communication status of other control devices among the plurality of control devices except the target control device And/or priority, re-determine the target control device. It can be seen that in the implementation of the embodiments of the present invention, when the communication connection between the target control device and the movable platform is disconnected, the target control device can be acquired again, which ensures the stability of the system.
本发明实施例提出另一种可移动平台的控制方法，对图2所示的可移动平台的控制方法进行再一步的扩展，请参见图4，该方法由可移动平台执行，包括以下步骤：The embodiment of the present invention proposes another method for controlling a movable platform, which further expands the method for controlling a movable platform shown in FIG. 2, please refer to FIG. 4. The method is executed by the movable platform and includes the following steps:
S401，接收多个控制设备分别发送的控制指令，所述多个控制设备用于控制所述可移动平台。本实施例的S401可参考图2所示的S201，在此不赘述。S401: Receive control instructions respectively sent by multiple control devices, where the multiple control devices are used to control the movable platform. For S401 in this embodiment, reference may be made to S201 shown in FIG. 2, which is not repeated here.
S402，根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备。本实施例的S402可参考图2所示的S202，在此不赘述。S402: Determine a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices. For S402 of this embodiment, reference may be made to S202 shown in FIG. 2, which will not be repeated here.
S403，在建立与另一控制设备之间的通信连接之后，若接收到所述另一控制设备发送的控制指令，则根据所述另一控制设备和所述目标控制设备的通信状态和/或优先级，重新确定所述目标控制设备。S403: After establishing a communication connection with another control device, if a control instruction sent by the other control device is received, then according to the communication status and/or between the another control device and the target control device Priority, re-determine the target control device.
当可移动平台有另一控制设备接入，并且接收到所述另一控制设备发送的控制指令时，可以根据所述另一控制设备和目标控制设备的通信状态和/或优先级，重新确定所述目标控制设备。可以理解的是，可移动平台根据所述另一控制设备和目标控制设备的通信状态和/或优先级，重新确定目标控制设备的方法可以参考图2实施例中S202的具体实施例的描述，例如，以优先级为标准时，可移动平台将优先级最高的控制设备作为所述目标控制设备；若有另一控制设备接入，并且接收到另一控制设备发送的控制指令，则可移动平台仍以优先级为标准，重新选择另一控制设备和所述目标控制设备中优先级更高的控制设备作为目标控制设备。下面将对S403的实施方式进行详细描述。When another control device accesses the mobile platform and receives a control instruction sent by the other control device, it can be re-determined according to the communication status and/or priority of the other control device and the target control device The target control device. It is understandable that the method for the mobile platform to re-determine the target control device according to the communication status and/or priority of the other control device and the target control device can refer to the description of the specific embodiment of S202 in the embodiment of FIG. 2. For example, when priority is the standard, the mobile platform will take the control device with the highest priority as the target control device; if another control device accesses and receives a control instruction sent by another control device, the mobile platform Still taking the priority as the standard, reselect another control device and the control device with a higher priority among the target control devices as the target control device. The implementation of S403 will be described in detail below.
在一种实施例中，S403具体包括以下步骤：若接收到所述另一控制设备发送的控制指令，将所述另一控制设备的优先级和所述目标控制设备的优先级进行比较；若所述另一控制设备的优先级大于所述目标控制设备的优先级，则确定所述目标控制设备为所述另一控制设备。例如，目标控制设备为图1所示的控制设备1和控制设备4，另一控制设备为图1所示的控制设备3，若控制设备3的优先级大于控 制设备1的优先级，且控制设备3的优先级大于控制设备4，则重新确定所述目标控制设备为控制设备3。本实施例中以优先级为标准，通过比较所述另一控制设备和目标控制设备的优先级，可以重新确定所述目标控制设备。In an embodiment, S403 specifically includes the following steps: if a control instruction sent by the another control device is received, comparing the priority of the another control device with the priority of the target control device; if If the priority of the another control device is greater than the priority of the target control device, it is determined that the target control device is the another control device. For example, the target control device is the control device 1 and the control device 4 shown in FIG. 1, and the other control device is the control device 3 shown in FIG. 1. If the priority of the control device 3 is greater than the priority of the control device 1, and control The priority of the device 3 is greater than the control device 4, and the target control device is determined to be the control device 3 again. In this embodiment, priority is used as the standard, and the target control device can be re-determined by comparing the priorities of the another control device and the target control device.
在一种实施例中，S403具体包括以下步骤：若接收到所述另一控制设备发送的控制指令，将所述另一控制设备的优先级和所述目标控制设备的优先级进行比较；若所述另一控制设备的优先级与所述目标控制设备的优先级一致，则确定所述目标控制设备包括所述另一控制设备。例如，目标控制设备为图1所示的控制设备1，另一控制设备为图1所示的控制设备4，若控制设备1的优先级和控制设备4的优先级相同，则重新确定所述目标控制设备包括控制设备1和控制设备4。本实施例中以优先级为标准，通过比较所述另一控制设备和目标控制设备的优先级，可以重新确定所述目标控制设备。In an embodiment, S403 specifically includes the following steps: if a control instruction sent by the another control device is received, comparing the priority of the another control device with the priority of the target control device; if If the priority of the another control device is consistent with the priority of the target control device, it is determined that the target control device includes the another control device. For example, the target control device is the control device 1 shown in FIG. 1, and the other control device is the control device 4 shown in FIG. 1. If the priority of the control device 1 is the same as the priority of the control device 4, the The target control device includes a control device 1 and a control device 4. In this embodiment, priority is used as the standard, and the target control device can be re-determined by comparing the priorities of the another control device and the target control device.
可以理解的是，上述两个实施例以优先级为标准，若接收到另一控制设备发送的控制指令，则根据所述另一控制设备和所述目标控制设备的优先级，重新确定所述目标控制设备。可选的，以通信状态为标准时，若接收到另一控制设备发送的控制指令，则根据所述另一控制设备和所述目标控制设备的通信状态，重新确定所述目标控制设备。示例性的，若接收到所述另一控制设备发送的控制指令，将所述另一控制设备的通信状态和所述目标控制设备的通信状态进行比较；若所述另一控制设备的通信状态与所述目标控制设备的通信状态一致，则确定所述目标控制设备包括所述另一控制设备。例如，目标控制设备为图1所示的控制设备1，另一控制设备为图1所示的控制设备4，若控制设备1的通信状态和控制设备4的通信状态一致，则重新确定所述目标控制设备包括控制设备1和控制设备4。It is understandable that the above two embodiments use priority as the standard. If a control instruction sent by another control device is received, the priority of the other control device and the target control device is determined again. Target control equipment. Optionally, when the communication state is used as the standard, if a control instruction sent by another control device is received, the target control device is re-determined according to the communication state between the another control device and the target control device. Exemplarily, if a control instruction sent by the another control device is received, the communication status of the another control device is compared with the communication status of the target control device; if the communication status of the another control device is If it is consistent with the communication state of the target control device, it is determined that the target control device includes the another control device. For example, the target control device is the control device 1 shown in FIG. 1, and the other control device is the control device 4 shown in FIG. 1. If the communication state of the control device 1 is consistent with the communication state of the control device 4, then the The target control device includes a control device 1 and a control device 4.
可选的，以通信状态和优先级为标准时，根据所述另一控制设备和所述目标控制设备的通信状态和优先级，重新确定所述目标控制设备。示例性的，若所述目标控制设备为通信状态满足预设条件的控制设备中优先级最高的控制设备，则判断所述另一控制设备的通信状态 是否满足预设条件。若满足，再比较所述目标控制设备与所述另一控制设备的优先级。若所述另一控制设备的优先级大于所述目标控制设备的优先级，则确定所述目标控制设备为所述另一控制设备；若所述另一控制设备的优先级与所述目标控制设备的优先级相同，则确定所述目标控制设备包括所述另一控制设备。示例性的，若所述目标控制设备为优先级大于优先级阈值的控制设备中通信状态最好的控制设备，则判断所述另一控制设备的优先级是否大于优先级阈值。若大于，再比较所述目标控制设备与所述另一控制设备的通信状态。若所述另一控制设备的通信状态优于所述目标控制设备的通信状态(如另一控制设备的误码率低于所述目标控制设备的误码率)，则确定所述目标控制设备为所述另一控制设备；若所述另一控制设备的通信状态与所述目标控制设备的通信状态一致，则确定所述目标控制设备包括所述另一控制设备。可以理解的是，上述实施例为部分示例，不限制本发明的保护范围。Optionally, when the communication status and priority are used as the standard, the target control device is re-determined according to the communication status and priority of the another control device and the target control device. Exemplarily, if the target control device is the control device with the highest priority among the control devices whose communication state meets the preset condition, it is determined whether the communication state of the another control device meets the preset condition. If it is satisfied, the priority of the target control device and the other control device is compared. If the priority of the another control device is greater than the priority of the target control device, determine that the target control device is the other control device; if the priority of the another control device is the same as the priority of the target control device If the priorities of the devices are the same, it is determined that the target control device includes the another control device. Exemplarily, if the target control device is a control device with the best communication state among control devices with a priority greater than a priority threshold, it is determined whether the priority of the other control device is greater than the priority threshold. If it is greater than, then compare the communication status between the target control device and the other control device. If the communication state of the other control device is better than the communication state of the target control device (for example, the bit error rate of the other control device is lower than the bit error rate of the target control device), then the target control device is determined Is the other control device; if the communication state of the another control device is consistent with the communication state of the target control device, it is determined that the target control device includes the another control device. It can be understood that the foregoing embodiments are only partial examples, and do not limit the protection scope of the present invention.
本发明实施例中，可移动平台在建立与另一控制设备之间的通信连接之后，若接收到所述另一控制设备发送的控制指令，则根据所述另一控制设备和所述目标控制设备的通信状态和/或优先级，重新确定所述目标控制设备。可见，实施本发明实施例，当可移动平台与另一控制设备建立通信连接并且接收到另一控制设备的控制指令时，可以重新获取目标控制设备，确保了系统的稳定性。In the embodiment of the present invention, after the mobile platform establishes a communication connection with another control device, if it receives a control instruction sent by the other control device, it will control according to the another control device and the target. The communication status and/or priority of the device are re-determined for the target control device. It can be seen that, in the implementation of the embodiment of the present invention, when the mobile platform establishes a communication connection with another control device and receives a control instruction from the other control device, the target control device can be re-acquired, ensuring the stability of the system.
基于上述可移动平台的控制方法的实施例的描述，本发明实施例提供一种可移动平台的控制装置，可以被应用于图2-图4所示的可移动平台的控制方法中，以用于执行上述可移动平台的控制方法中的相应步骤。请参见图5，该装置包括存储器501和处理器502；存储器501用于存储程序代码；处理器502调用程序代码，当程序代码被执行时，用于执行以下操作：Based on the description of the embodiment of the control method of the movable platform, the embodiment of the present invention provides a control device of the movable platform, which can be applied to the control method of the movable platform shown in Figs. To execute the corresponding steps in the above-mentioned control method of the movable platform. Referring to FIG. 5, the device includes a memory 501 and a processor 502; the memory 501 is used to store program code; the processor 502 calls the program code, and when the program code is executed, it is used to perform the following operations:
接收多个控制设备分别发送的控制指令，所述多个控制设备用于控制所述可移动平台；Receiving control instructions respectively sent by multiple control devices, where the multiple control devices are used to control the movable platform;
根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备；Determine a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices;
根据所述目标控制设备发送的控制指令确定目标控制指令，以使所述可移动平台的执行端响应所述目标控制指令。The target control instruction is determined according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction.
在一种实施例中，处理器502还用于：In an embodiment, the processor 502 is further configured to:
获取所述多个控制设备的优先级；Acquiring the priorities of the multiple control devices;
将优先级最高的控制设备作为所述目标控制设备。The control device with the highest priority is used as the target control device.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
获取所述多个控制设备的通信状态；Acquiring the communication status of the multiple control devices;
将通信状态最好的控制设备作为所述目标控制设备。The control device with the best communication status is used as the target control device.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
获取所述多个控制设备的通信状态和优先级；Acquiring the communication status and priority of the multiple control devices;
将通信状态满足预设条件的控制设备中优先级最高的控制设备作为所述目标控制设备。The control device with the highest priority among the control devices whose communication state meets the preset condition is taken as the target control device.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
周期性地生成并发送测试数据包，以确定所述通信状态是否满足预设条件；若在预定时间内接收到返回的测试数据包，则确定所述通信状态满足预设条件。Periodically generate and send test data packets to determine whether the communication state meets a preset condition; if a returned test data packet is received within a predetermined time, it is determined that the communication state meets the preset condition.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
获取所述多个控制设备的通信状态和优先级；Acquiring the communication status and priority of the multiple control devices;
将优先级大于优先级阈值的控制设备中通信状态最好的控制设备作为所述目标控制设备。The control device with the best communication state among the control devices whose priority is greater than the priority threshold is used as the target control device.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
获取所述两个以上控制设备分别发送的控制指令；Acquiring control instructions respectively sent by the two or more control devices;
将所述两个以上控制设备分别发送的控制指令进行指令融合，得到所述目标控制指令。The control instructions respectively sent by the two or more control devices are fused to obtain the target control instruction.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
获取所述两个以上控制设备分别发送的控制指令的指令类型；Acquiring the instruction types of the control instructions respectively sent by the two or more control devices;
若所述两个以上控制设备分别发送的控制指令的指令类型相同， 则将所述两个以上控制设备分别发送的控制指令进行合并处理，得到所述目标控制指令，所述合并处理包括叠加和算术平均运算。If the control instructions sent by the two or more control devices are of the same instruction type, the control instructions sent by the two or more control devices are combined to obtain the target control instruction, and the combined processing includes superposition and Arithmetic average operation.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
若所述两个以上控制设备分别发送的控制指令的指令类型各不相同，则确定所述目标控制指令，所述目标控制指令用于指示所述执行端并行执行所述两个以上控制设备分别发送的控制指令。If the instruction types of the control instructions sent by the two or more control devices are different, the target control instruction is determined, and the target control instruction is used to instruct the execution end to execute the two or more control devices in parallel. The control command sent.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
若所述两个以上控制设备分别发送的控制指令的指令类型部分相同，则将指令类型相同的控制指令进行合并处理，得到融合指令；If the command types of the control commands respectively sent by the two or more control devices are the same, then the control commands with the same command type are merged to obtain the fusion command;
在所述两个以上控制设备分别发送的控制指令中获取指令类型不相同的控制指令；Acquiring control instructions with different instruction types among the control instructions sent by the two or more control devices;
确定所述目标控制指令，所述目标控制指令用于指示并行执行所述融合指令和所述指令类型不相同的控制指令。The target control instruction is determined, and the target control instruction is used to instruct parallel execution of the fusion instruction and the control instruction of a different instruction type.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
若所述目标控制设备与所述可移动平台之间的通信连接断开，则根据所述多个控制设备中除所述目标控制设备之外的其他控制设备的通信状态和/或优先级，重新确定所述目标控制设备。If the communication connection between the target control device and the movable platform is disconnected, according to the communication status and/or priority of other control devices among the plurality of control devices except the target control device, Re-determine the target control device.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
在建立与另一控制设备之间的通信连接之后，若接收到所述另一控制设备发送的控制指令，则根据所述另一控制设备和所述目标控制设备的通信状态和/或优先级，重新确定所述目标控制设备。After establishing a communication connection with another control device, if a control instruction sent by the other control device is received, then according to the communication status and/or priority of the another control device and the target control device , Re-determine the target control device.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
将所述另一控制设备的优先级和所述目标控制设备的优先级进行比较；Comparing the priority of the another control device with the priority of the target control device;
若所述另一控制设备的优先级大于所述目标控制设备的优先级，则确定所述目标控制设备为所述另一控制设备。If the priority of the another control device is greater than the priority of the target control device, determine that the target control device is the another control device.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
将所述另一控制设备的优先级和所述目标控制设备的优先级进行比较；Comparing the priority of the another control device with the priority of the target control device;
若所述另一控制设备的优先级等于所述目标控制设备的优先级，则确定所述目标控制设备包括所述另一控制设备。If the priority of the another control device is equal to the priority of the target control device, it is determined that the target control device includes the another control device.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
周期性地生成并发送测试数据包，以确定所述多个控制设备的通信状态。Periodically generate and send test data packets to determine the communication status of the plurality of control devices.
另一种实施例中，处理器502还用于：In another embodiment, the processor 502 is further configured to:
根据通信质量参数确定所述多个控制设备的通信状态，所述通信质量参数包括：误码率、传输速率、信噪比中的至少一个。The communication status of the multiple control devices is determined according to the communication quality parameter, where the communication quality parameter includes at least one of a bit error rate, a transmission rate, and a signal-to-noise ratio.
本发明实施例提供了一种可移动平台的控制装置，该可移动平台的控制装置可以接收多个控制设备分别发送的控制指令，所述多个控制设备用于控制所述可移动平台；根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备；根据所述目标控制设备发送的控制指令确定目标控制指令，以使所述可移动平台的执行端响应所述目标控制指令。可见，实施本发明实施例，可以对可移动平台接收到的多个控制指令进行管理，避免可移动平台执行多个控制指令时行为失控，可以提高可移动平台的控制效率。The embodiment of the present invention provides a control device for a movable platform. The control device of the movable platform can receive control instructions respectively sent by multiple control devices, and the multiple control devices are used to control the movable platform; For the communication status and/or priority of the multiple control devices, determine the target control device among the multiple control devices; determine the target control instruction according to the control instruction sent by the target control device, so that the movable platform The execution end of responds to the target control instruction. It can be seen that the implementation of the embodiments of the present invention can manage multiple control instructions received by the movable platform, avoid behavior loss of control when the movable platform executes multiple control instructions, and improve the control efficiency of the movable platform.
基于上述可移动平台的控制方法及控制装置的描述，本发明实施例提供了一种可移动平台，所述可移动平台包括机身、电源系统、通信设备、执行端和上述控制装置。其中，电源系统，安装在所述机身，用于为所述可移动平台提供电源；通信设备，安装在所述机身，用于接收所述控制设备发送的对所述可移动平台的控制指令；执行端，安装在所述机身，用于执行所述目标控制指令。Based on the description of the control method and control device of the above-mentioned movable platform, an embodiment of the present invention provides a movable platform. The movable platform includes a body, a power supply system, a communication device, an execution terminal, and the above-mentioned control device. Wherein, a power supply system is installed in the body to provide power to the movable platform; a communication device is installed in the body to receive control of the movable platform sent by the control device Instruction; execution end, installed in the fuselage, used to execute the target control instruction.
在一种实施例中，可移动平台包括无人机、无人车和移动机器人。In one embodiment, the movable platform includes drones, unmanned vehicles, and mobile robots.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、 只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. When executed, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.
以上所揭露的仅为本发明的部分实施例而已，当然不能以此来限定本发明之权利范围，本领域普通技术人员可以理解实现上述实施例的全部或部分流程，并依本发明权利要求所作的等同变化，仍属于发明所涵盖的范围。The above-disclosed are only part of the embodiments of the present invention. Of course, the scope of rights of the present invention cannot be limited by this. Those of ordinary skill in the art can understand all or part of the processes for implementing the above-mentioned embodiments and make them in accordance with the claims of the present invention. The equivalent changes of is still within the scope of the invention.

Claims (34)

  1. 一种可移动平台的控制方法，其特征在于，包括：A control method of a movable platform, characterized in that it comprises:
    接收多个控制设备分别发送的控制指令，所述多个控制设备用于控制所述可移动平台；Receiving control instructions respectively sent by multiple control devices, where the multiple control devices are used to control the movable platform;
    根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备；Determine a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices;
    根据所述目标控制设备发送的控制指令确定目标控制指令，以使所述可移动平台的执行端响应所述目标控制指令。The target control instruction is determined according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction.
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备，包括：The method according to claim 1, wherein the determining a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices comprises:
    获取所述多个控制设备的优先级；Acquiring the priorities of the multiple control devices;
    将优先级最高的控制设备作为所述目标控制设备。The control device with the highest priority is used as the target control device.
  3. 根据权利要求1所述的方法，其特征在于，所述根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备，包括：The method according to claim 1, wherein the determining a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices comprises:
    获取所述多个控制设备的通信状态；Acquiring the communication status of the multiple control devices;
    将通信状态最好的控制设备作为所述目标控制设备。The control device with the best communication status is used as the target control device.
  4. 根据权利要求1所述的方法，其特征在于，所述根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备，包括：The method according to claim 1, wherein the determining a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices comprises:
    获取所述多个控制设备的通信状态和优先级；Acquiring the communication status and priority of the multiple control devices;
    将通信状态满足预设条件的控制设备中优先级最高的控制设备作为所述目标控制设备。The control device with the highest priority among the control devices whose communication state meets the preset condition is taken as the target control device.
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：The method according to claim 4, wherein the method further comprises:
    周期性地生成并发送测试数据包，以确定所述通信状态是否满足预设条件；若在预定时间内接收到返回的测试数据包，则确定所述通信状态满足预设条件。Periodically generate and send test data packets to determine whether the communication state meets a preset condition; if a returned test data packet is received within a predetermined time, it is determined that the communication state meets the preset condition.
  6. 根据权利要求1所述的方法，其特征在于，所述根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备，包括：The method according to claim 1, wherein the determining a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices comprises:
    获取所述多个控制设备的通信状态和优先级；Acquiring the communication status and priority of the multiple control devices;
    将优先级大于优先级阈值的控制设备中通信状态最好的控制设备作为所述目标控制设备。The control device with the best communication state among the control devices whose priority is greater than the priority threshold is used as the target control device.
  7. 根据权利要求1所述的方法，其特征在于，所述目标控制设备包括两个以上的控制设备；所述根据所述目标控制设备发送的控制指令确定目标控制指令，包括：The method according to claim 1, wherein the target control device includes more than two control devices; the determining the target control instruction according to the control instruction sent by the target control device includes:
    获取所述两个以上控制设备分别发送的控制指令；Acquiring control instructions respectively sent by the two or more control devices;
    将所述两个以上控制设备分别发送的控制指令进行指令融合，得到所述目标控制指令。The control instructions respectively sent by the two or more control devices are fused to obtain the target control instruction.
  8. 根据权利要求7所述的方法，其特征在于，所述将所述两个以上控制设备分别发送的控制指令进行指令融合，得到所述目标控制指令，包括：The method according to claim 7, wherein said fusing the control instructions respectively sent by the two or more control devices to obtain the target control instruction comprises:
    获取所述两个以上控制设备分别发送的控制指令的指令类型；Acquiring the instruction types of the control instructions respectively sent by the two or more control devices;
    若所述两个以上控制设备分别发送的控制指令的指令类型相同，则将所述两个以上控制设备分别发送的控制指令进行合并处理，得到所述目标控制指令，所述合并处理包括叠加和算术平均运算。If the control instructions sent by the two or more control devices are of the same instruction type, the control instructions sent by the two or more control devices are merged to obtain the target control instruction, and the merge processing includes superposition and Arithmetic average operation.
  9. 根据权利要求8所述的方法，其特征在于，所述获取所述两个以上控制设备分别发送的控制指令的指令类型之后，还包括：The method according to claim 8, wherein after obtaining the instruction types of the control instructions respectively sent by the two or more control devices, the method further comprises:
    若所述两个以上控制设备分别发送的控制指令的指令类型各不相同，则确定所述目标控制指令，所述目标控制指令用于指示所述执行端并行执行所述两个以上控制设备分别发送的控制指令。If the instruction types of the control instructions sent by the two or more control devices are different, the target control instruction is determined, and the target control instruction is used to instruct the execution end to execute the two or more control devices in parallel. The control command sent.
  10. 根据权利要求8所述的方法，其特征在于，所述获取所述两个以上控制设备分别发送的控制指令的指令类型之后，还包括：The method according to claim 8, wherein after obtaining the instruction types of the control instructions respectively sent by the two or more control devices, the method further comprises:
    若所述两个以上控制设备分别发送的控制指令的指令类型部分相同，则将指令类型相同的控制指令进行合并处理，得到融合指令；If the command types of the control commands respectively sent by the two or more control devices are the same, then the control commands with the same command type are merged to obtain the fusion command;
    在所述两个以上控制设备分别发送的控制指令中获取指令类型不相同的控制指令；Acquiring control instructions with different instruction types among the control instructions sent by the two or more control devices;
    确定所述目标控制指令，所述目标控制指令用于指示并行执行所述融合指令和所述指令类型不相同的控制指令。The target control instruction is determined, and the target control instruction is used to instruct parallel execution of the fusion instruction and the control instruction of a different instruction type.
  11. 根据权利要求1所述的方法，其特征在于，所述根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备之后，还包括：The method according to claim 1, wherein after determining the target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices, the method further comprises:
    若所述目标控制设备与所述可移动平台之间的通信连接断开，则根据所述多个控制设备中除所述目标控制设备之外的其他控制设备的通信状态和/或优先级，重新确定所述目标控制设备。If the communication connection between the target control device and the movable platform is disconnected, according to the communication status and/or priority of other control devices among the plurality of control devices except the target control device, Re-determine the target control device.
  12. 根据权利要求1所述的方法，其特征在于，所述根据所述多个控制设备与所述可移动平台的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备之后，还包括：The method according to claim 1, wherein after the target control device is determined in the plurality of control devices according to the communication status and/or priority of the plurality of control devices and the movable platform ,Also includes:
    在建立与另一控制设备之间的通信连接之后，若接收到所述另一控制设备发送的控制指令，则根据所述另一控制设备和所述目标控制设备的通信状态和/或优先级，重新确定所述目标控制设备。After establishing a communication connection with another control device, if a control instruction sent by the other control device is received, then according to the communication status and/or priority of the another control device and the target control device , Re-determine the target control device.
  13. 根据权利要求12所述的方法，其特征在于，所述根据所述另一控制设备和所述目标控制设备的通信状态和/或优先级，重新确 定所述目标控制设备，包括：The method according to claim 12, wherein the re-determining the target control device according to the communication status and/or priority of the another control device and the target control device comprises:
    将所述另一控制设备的优先级和所述目标控制设备的优先级进行比较；Comparing the priority of the another control device with the priority of the target control device;
    若所述另一控制设备的优先级大于所述目标控制设备的优先级，则确定所述目标控制设备为所述另一控制设备。If the priority of the another control device is greater than the priority of the target control device, determine that the target control device is the another control device.
  14. 根据权利要求12所述的方法，其特征在于，所述根据所述另一控制设备和所述目标控制设备的通信状态和/或优先级，重新确定所述目标控制设备，包括：The method according to claim 12, wherein the re-determining the target control device according to the communication status and/or priority of the another control device and the target control device comprises:
    将所述另一控制设备的优先级和所述目标控制设备的优先级进行比较；Comparing the priority of the another control device with the priority of the target control device;
    若所述另一控制设备的优先级等于所述目标控制设备的优先级，则确定所述目标控制设备包括所述另一控制设备。If the priority of the another control device is equal to the priority of the target control device, it is determined that the target control device includes the another control device.
  15. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method of claim 1, wherein the method further comprises:
    周期性地生成并发送测试数据包，以确定所述多个控制设备的通信状态。Periodically generate and send test data packets to determine the communication status of the plurality of control devices.
  16. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method of claim 1, wherein the method further comprises:
    根据通信质量参数确定所述多个控制设备的通信状态，所述通信质量参数包括：误码率、传输速率、信噪比中的至少一个。The communication status of the multiple control devices is determined according to the communication quality parameter, where the communication quality parameter includes at least one of a bit error rate, a transmission rate, and a signal-to-noise ratio.
  17. 一种可移动平台的控制装置，其特征在于，包括存储器、处理器；A control device for a movable platform, characterized in that it comprises a memory and a processor;
    所述存储器用于存储程序代码；The memory is used to store program code;
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：The processor calls the program code, and when the program code is executed, is used to perform the following operations:
    接收多个控制设备分别发送的控制指令，所述多个控制设备用于控制所述可移动平台；Receiving control instructions respectively sent by multiple control devices, where the multiple control devices are used to control the movable platform;
    根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备；Determine a target control device among the multiple control devices according to the communication status and/or priority of the multiple control devices;
    根据所述目标控制设备发送的控制指令确定目标控制指令，以使所述可移动平台的执行端响应所述目标控制指令。The target control instruction is determined according to the control instruction sent by the target control device, so that the execution end of the movable platform responds to the target control instruction.
  18. 根据权利要求17所述的控制装置，其特征在于，所述处理器在根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备时，执行如下操作：The control device according to claim 17, wherein the processor executes when determining a target control device among the plurality of control devices according to the communication status and/or priority of the plurality of control devices Do as follows:
    获取所述多个控制设备的优先级；Acquiring the priorities of the multiple control devices;
    将优先级最高的控制设备作为所述目标控制设备。The control device with the highest priority is used as the target control device.
  19. 根据权利要求17所述的控制装置，其特征在于，所述处理器在根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备时，执行如下操作：The control device according to claim 17, wherein the processor executes when determining a target control device among the plurality of control devices according to the communication status and/or priority of the plurality of control devices Do as follows:
    获取所述多个控制设备的通信状态；Acquiring the communication status of the multiple control devices;
    将通信状态最好的控制设备作为所述目标控制设备。The control device with the best communication status is used as the target control device.
  20. 根据权利要求17所述的控制装置，其特征在于，所述处理器在根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备时，执行如下操作：The control device according to claim 17, wherein the processor executes when determining a target control device among the plurality of control devices according to the communication status and/or priority of the plurality of control devices Do as follows:
    获取所述多个控制设备的通信状态和优先级；Acquiring the communication status and priority of the multiple control devices;
    将通信状态满足预设条件的控制设备中优先级最高的控制设备作为所述目标控制设备。The control device with the highest priority among the control devices whose communication state meets the preset condition is taken as the target control device.
  21. 根据权利要求20所述的控制装置，其特征在于，所述处理器调用所述程序代码时，还执行如下操作：The control device according to claim 20, wherein when the processor calls the program code, it further performs the following operations:
    周期性地生成并发送测试数据包，以确定所述通信状态是否满足预设条件；若在预定时间内接收到返回的测试数据包，则确定所述通信状态满足预设条件。Periodically generate and send test data packets to determine whether the communication state meets a preset condition; if a returned test data packet is received within a predetermined time, it is determined that the communication state meets the preset condition.
  22. 根据权利要求17所述的控制装置，其特征在于，所述处理器在根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备时，执行如下操作：The control device according to claim 17, wherein the processor executes when determining a target control device among the plurality of control devices according to the communication status and/or priority of the plurality of control devices Do as follows:
    获取所述多个控制设备的通信状态和优先级；Acquiring the communication status and priority of the multiple control devices;
    将优先级大于优先级阈值的控制设备中通信状态最好的控制设备作为所述目标控制设备。The control device with the best communication state among the control devices whose priority is greater than the priority threshold is used as the target control device.
  23. 根据权利要求17所述的控制装置，其特征在于，所述目标控制设备包括两个以上的控制设备；所述处理器在根据所述目标控制设备发送的控制指令确定目标控制指令时，执行如下操作：The control device according to claim 17, wherein the target control device comprises more than two control devices; when the processor determines the target control instruction according to the control instruction sent by the target control device, executes the following operating:
    获取所述两个以上控制设备分别发送的控制指令；Acquiring control instructions respectively sent by the two or more control devices;
    将所述两个以上控制设备分别发送的控制指令进行指令融合，得到所述目标控制指令。The control instructions respectively sent by the two or more control devices are fused to obtain the target control instruction.
  24. 根据权利要求23所述的控制装置，其特征在于，所述处理器在将所述两个以上控制设备分别发送的控制指令进行指令融合，得到所述目标控制指令时，执行如下操作：23. The control device according to claim 23, wherein the processor performs the following operations when fusing the control instructions respectively sent by the two or more control devices to obtain the target control instruction:
    获取所述两个以上控制设备分别发送的控制指令的指令类型；Acquiring the instruction types of the control instructions respectively sent by the two or more control devices;
    若所述两个以上控制设备分别发送的控制指令的指令类型相同，则将所述两个以上控制设备分别发送的控制指令进行合并处理，得到所述目标控制指令，所述合并处理包括叠加和算术平均运算。If the control instructions sent by the two or more control devices are of the same instruction type, the control instructions sent by the two or more control devices are combined to obtain the target control instruction, and the combined processing includes superposition and Arithmetic average operation.
  25. 根据权利要求24所述的控制装置，其特征在于，所述处理器在获取所述两个以上控制设备分别发送的控制指令的指令类型之后，还执行如下操作：The control device according to claim 24, wherein the processor further executes the following operations after acquiring the instruction types of the control instructions respectively sent by the two or more control devices:
    若所述两个以上控制设备分别发送的控制指令的指令类型各不相同，则确定所述目标控制指令，所述目标控制指令用于指示所述执行端并行执行所述两个以上控制设备分别发送的控制指令。If the instruction types of the control instructions sent by the two or more control devices are different, the target control instruction is determined, and the target control instruction is used to instruct the execution end to execute the two or more control devices in parallel. The control command sent.
  26. 根据权利要求24所述的控制装置，其特征在于，所述处理器在获取所述两个以上控制设备分别发送的控制指令的指令类型之后，还执行如下操作：The control device according to claim 24, wherein the processor further executes the following operations after acquiring the instruction types of the control instructions respectively sent by the two or more control devices:
    若所述两个以上控制设备分别发送的控制指令的指令类型部分相同，则将指令类型相同的控制指令进行合并处理，得到融合指令；If the command types of the control commands respectively sent by the two or more control devices are the same, then the control commands with the same command type are merged to obtain the fusion command;
    在所述两个以上控制设备分别发送的控制指令中获取指令类型不相同的控制指令；Acquiring control instructions with different instruction types among the control instructions sent by the two or more control devices;
    确定所述目标控制指令，所述目标控制指令用于指示并行执行所述融合指令和所述指令类型不相同的控制指令。The target control instruction is determined, and the target control instruction is used to instruct parallel execution of the fusion instruction and the control instruction of a different instruction type.
  27. 根据权利要求17所述的控制装置，其特征在于，所述处理器在根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备之后，还执行如下操作：The control device according to claim 17, wherein the processor further determines the target control device among the plurality of control devices according to the communication status and/or priority of the plurality of control devices. Do the following:
    若所述目标控制设备与所述可移动平台之间的通信连接断开，则根据所述多个控制设备中除所述目标控制设备之外的其他控制设备的通信状态和/或优先级，重新确定所述目标控制设备。If the communication connection between the target control device and the movable platform is disconnected, according to the communication status and/or priority of other control devices among the plurality of control devices except the target control device, Re-determine the target control device.
  28. 根据权利要求17所述的控制装置，其特征在于，所述处理器在根据所述多个控制设备的通信状态和/或优先级，在所述多个控制设备中确定目标控制设备之后，还执行如下操作：The control device according to claim 17, wherein the processor further determines the target control device among the plurality of control devices according to the communication status and/or priority of the plurality of control devices. Do the following:
    在建立与另一控制设备之间的通信连接之后，若接收到所述另一控制设备发送的控制指令，则根据所述另一控制设备和所述目标控制设备的通信状态和/或优先级，重新确定所述目标控制设备。After establishing a communication connection with another control device, if a control instruction sent by the other control device is received, then according to the communication status and/or priority of the another control device and the target control device , Re-determine the target control device.
  29. 根据权利要求28所述的控制装置，其特征在于，所述处理器在根据所述另一控制设备和所述目标控制设备的通信状态和/或优先级，重新确定所述目标控制设备时，执行如下操作：The control device according to claim 28, wherein when the processor re-determines the target control device according to the communication state and/or priority of the another control device and the target control device, Do the following:
    将所述另一控制设备的优先级和所述目标控制设备的优先级进 行比较；Comparing the priority of the another control device with the priority of the target control device;
    若所述另一控制设备的优先级大于所述目标控制设备的优先级，则确定所述目标控制设备为所述另一控制设备。If the priority of the another control device is greater than the priority of the target control device, determine that the target control device is the another control device.
  30. 根据权利要求28所述的控制装置，其特征在于，所述处理器在根据所述另一控制设备和所述目标控制设备的通信状态和/或优先级，重新确定所述目标控制设备时，执行如下操作：The control device according to claim 28, wherein when the processor re-determines the target control device according to the communication state and/or priority of the another control device and the target control device, Do the following:
    将所述另一控制设备的优先级和所述目标控制设备的优先级进行比较；Comparing the priority of the another control device with the priority of the target control device;
    若所述另一控制设备的优先级等于所述目标控制设备的优先级，则确定所述目标控制设备包括所述另一控制设备。If the priority of the another control device is equal to the priority of the target control device, it is determined that the target control device includes the another control device.
  31. 根据权利要求17所述的控制装置，其特征在于，所述处理器调用所述程序代码时，还执行如下操作：The control device according to claim 17, wherein when the processor calls the program code, it further performs the following operations:
    周期性地生成并发送测试数据包，以确定所述多个控制设备的通信状态。Periodically generate and send test data packets to determine the communication status of the plurality of control devices.
  32. 根据权利要求17所述的控制装置，其特征在于，所述处理器调用所述程序代码时，还执行如下操作：The control device according to claim 17, wherein when the processor calls the program code, it further performs the following operations:
    根据通信质量参数确定所述多个控制设备的通信状态，所述通信质量参数包括：误码率、传输速率、信噪比中的至少一个。The communication status of the multiple control devices is determined according to the communication quality parameter, where the communication quality parameter includes at least one of a bit error rate, a transmission rate, and a signal-to-noise ratio.
  33. 一种可移动平台，其特征在于，包括：A movable platform, characterized in that it comprises:
    机身；body;
    电源系统，安装在所述机身，用于为所述可移动平台提供电源；A power supply system, installed in the fuselage, for providing power to the movable platform;
    通信设备，安装在所述机身，用于接收所述控制设备发送的对所述可移动平台的控制指令；A communication device installed in the body and used to receive a control instruction for the movable platform sent by the control device;
    如权利要求17-32中任一项所述的控制装置；The control device according to any one of claims 17-32;
    执行端，安装在所述机身，用于执行所述目标控制指令。The execution end is installed in the fuselage and used to execute the target control instruction.
  34. 根据权利要求33所述的可移动平台，其特征在于，所述可移动平台包括无人机、无人车和移动机器人。The movable platform according to claim 33, wherein the movable platform includes a drone, an unmanned vehicle, and a mobile robot.
PCT/CN2019/073678 2019-01-29 2019-01-29 Movable platform control method and apparatus, and movable platform WO2020154890A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/073678 WO2020154890A1 (en) 2019-01-29 2019-01-29 Movable platform control method and apparatus, and movable platform
CN201980005032.1A CN111247494A (en) 2019-01-29 2019-01-29 Control method and device for movable platform and movable platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/073678 WO2020154890A1 (en) 2019-01-29 2019-01-29 Movable platform control method and apparatus, and movable platform

Publications (1)

Publication Number Publication Date
WO2020154890A1 true WO2020154890A1 (en) 2020-08-06

Family

ID=70879119

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/073678 WO2020154890A1 (en) 2019-01-29 2019-01-29 Movable platform control method and apparatus, and movable platform

Country Status (2)

Country Link
CN (1) CN111247494A (en)
WO (1) WO2020154890A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023028830A1 (en) * 2021-08-31 2023-03-09 深圳市大疆创新科技有限公司 Method and device for controlling unmanned aerial vehicle, and unmanned aerial vehicle and storage medium
CN114895613B (en) * 2022-07-12 2022-10-21 三一重型装备有限公司 Control method and device for mining equipment, storage medium and computer equipment

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105334863A (en) * 2015-11-23 2016-02-17 杨珊珊 Multi-control end unmanned aerial vehicle as well as consoles and control switching method thereof
CN107380443A (en) * 2017-09-08 2017-11-24 深圳市道通智能航空技术有限公司 Unmanned aerial vehicle control system and implementation method, GCU and relay station
CN108700891A (en) * 2017-08-30 2018-10-23 深圳市大疆创新科技有限公司 Control method, unmanned plane and the machine readable storage medium of unmanned plane
CN109087494A (en) * 2018-08-21 2018-12-25 广州极飞科技有限公司 Control method, the control method of control terminal, apparatus and system of equipment end

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104571970A (en) * 2013-10-24 2015-04-29 西安造新电子信息科技有限公司 Printing control system
CN108700893A (en) * 2017-04-07 2018-10-23 深圳市大疆创新科技有限公司 Body-sensing remote control method, control device, holder and unmanned vehicle
CN108983636B (en) * 2018-06-20 2020-07-17 浙江大学 Man-machine intelligent symbiotic platform system
CN109223453B (en) * 2018-09-28 2021-02-09 北京精密机电控制设备研究所 Power-assisted exoskeleton device based on regular walking gait learning

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105334863A (en) * 2015-11-23 2016-02-17 杨珊珊 Multi-control end unmanned aerial vehicle as well as consoles and control switching method thereof
CN108700891A (en) * 2017-08-30 2018-10-23 深圳市大疆创新科技有限公司 Control method, unmanned plane and the machine readable storage medium of unmanned plane
CN107380443A (en) * 2017-09-08 2017-11-24 深圳市道通智能航空技术有限公司 Unmanned aerial vehicle control system and implementation method, GCU and relay station
CN109087494A (en) * 2018-08-21 2018-12-25 广州极飞科技有限公司 Control method, the control method of control terminal, apparatus and system of equipment end

Also Published As

Publication number Publication date
CN111247494A (en) 2020-06-05

Similar Documents

Publication Publication Date Title
US10476581B2 (en) Extending wireless signal coverage with drones
US11454989B2 (en) Unmanned aerial vehicle control system and implementation method therefor, ground control device and relay station
US20200066063A1 (en) Unmanned aerial vehicle communications methods and systems
EP3852077A1 (en) Robot control method, device, and remote control system
WO2019041874A1 (en) Aerial vehicle control method and device
CN105682158A (en) Communication control method and apparatus for unmanned aerial vehicle
WO2020154890A1 (en) Movable platform control method and apparatus, and movable platform
WO2019100249A1 (en) Method of controlling gimbal, gimbal, and unmanned aerial vehicle
CN107968692B (en) Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle
US20220053079A1 (en) System and method for supporting movable object application development
CN110471443A (en) Transmission method, device and system, unmanned plane, earth station and the computer readable storage medium of route information
US20190285433A1 (en) Aerial vehicle heading control method and apparatus and electronic device
WO2020010730A1 (en) Data transmission method, device and system for unmanned aerial vehicle system, and ground image transmission module
WO2022166501A1 (en) Unmanned aerial vehicle control
US20160198285A1 (en) Method And Internet Of Things System For Controlling An Electronic Device
JP2019523605A (en) Network policy update trigger method, management function entity and core network device
US20230397040A1 (en) Communication method and apparatus applied to remote driving, medium, and electronic device
WO2020192473A1 (en) Unmanned aerial vehicle control method and related apparatus
CN108429576A (en) UAV Communication method, control terminal and unmanned aerial vehicle control system
JP2019195144A (en) Information display method relating to flying object
US11620913B2 (en) Movable object application framework
CN109690439A (en) Unmanned aerial vehicle (UAV) control method and system
JP2019195169A (en) Information display method regarding control of flight vehicle
EP3340687A1 (en) Method for connecting communication device, and communication device
WO2021081815A1 (en) Video transmission method and device, and computer-readable storage medium

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19912848

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19912848

Country of ref document: EP

Kind code of ref document: A1