WO2020154937A1

WO2020154937A1 - Method and device for controlling loads, and control apparatus

Info

Publication number: WO2020154937A1
Application number: PCT/CN2019/073811
Authority: WO
Inventors: 刘启明; 陈超彬
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-01-30
Filing date: 2019-01-30
Publication date: 2020-08-06
Also published as: CN113973176A; CN111247791B; CN111247791A

Abstract

A method and device for controlling loads, and a control apparatus. A mobile platform is mounted with multiple loads. The method comprises: acquiring a current load execution task comprising at least one piece of load execution information, the load execution information expressing a correlation between a trigger event and load execution action information. Furthermore, when a target trigger event in target load execution information occurs, a target load can be controlled to execute an action indicated by target load execution action information corresponding to the target trigger event. With the employment of the embodiments of the present invention, the execution of the action indicated by the target load execution action information relies on the occurrence of the target trigger event and does not rely on displacement points corresponding to a path of movement of the mobile platform, thus favoring an expansion in the range of applications of the mobile platform.

Description

Load control method, device and control equipment

Technical field

The embodiments of the present invention relate to the technical field of mobile platforms, and in particular to a load control method, device and control equipment.

Background technique

As mobile platforms (such as unmanned vehicles, unmanned aerial vehicles, etc.) gradually mature in corresponding mobile technologies, mobile platforms are being widely used in more fields, such as surveying and mapping, agriculture, and inspection.

Illustratively, assuming that the mobile platform is an aircraft, when planning the aircraft to perform a corresponding operation task, the operation task usually consists of two parts: route planning and load execution. Among them, the route planning can specifically designate several waypoints to generate route planning information (such as position, speed, attitude, etc.); the load execution can specifically set the load execution actions that need to be executed at each waypoint, such as taking photos, Video etc. Furthermore, when the mobile platform moves along the planned route, when it reaches the target waypoint, it executes the load execution action corresponding to the target waypoint. If the mobile platform is other mobile devices, such as self-driving cars or ships, when planning these mobile devices to perform corresponding tasks, adopt a similar method to that of an aircraft, and also need to perform corresponding load execution actions in conjunction with displacement points. It can be seen that the current task of the mobile platform to perform operations relies on the displacement points (such as waypoints) of the mobile platform, which severely limits the application range of the mobile platform.

Summary of the invention

The embodiment of the present invention provides a load control method, device, control equipment and storage medium, which can separate the current load execution task from the displacement point corresponding to the moving route, which is beneficial to expand the application range of the mobile platform and is beneficial to expand the mobile platform The scope of application.

On the one hand, an embodiment of the present invention provides a load control method. A plurality of the loads are mounted on a mobile platform, and the method includes:

Acquiring a current load execution task of the mobile platform, where the current load execution task includes at least one load execution information, and the load execution information represents a correspondence between a trigger event and load execution action information;

When the target trigger event in the target load execution information occurs, control the target load to execute the action indicated by the target load execution action information corresponding to the target trigger event;

The target load is determined from a plurality of loads based on the target load execution action information, and the target load execution information is any one of at least one of the load execution information

On the other hand, an embodiment of the present invention provides a load control device, a plurality of the loads are mounted on a mobile platform, and the control device includes:

An acquiring module, configured to acquire a current load execution task of the mobile platform, the current load execution task includes at least one load execution information, and the load execution information characterizes the correspondence between a trigger event and load execution action information;

The processing module is used to control the target load to execute the action indicated by the target load execution action information corresponding to the target trigger event when the target trigger event in the target load execution information occurs;

The target load is determined from a plurality of loads based on the target load execution action information, and the target load execution information is any one of at least one of the load execution information.

In another aspect, an embodiment of the present invention provides a load control device, a plurality of the loads are mounted on a mobile platform, the control device includes a processor and a communication interface, and the processor and the communication interface are connected to each other, wherein: The communication interface is controlled by the processor for sending and receiving instructions, and the processor is used for:

In another aspect, an embodiment of the present invention provides a computer storage medium that stores computer program instructions, and when the computer program instructions are executed, they are used to implement the above-mentioned load control method.

In the embodiment of the present invention, the mobile platform can obtain the current load execution task including at least one load execution information, which represents the corresponding relationship between the trigger event and the load execution action information. Further, when the target trigger event in the target load execution information occurs, the target load can be controlled to execute the action indicated by the target load execution action information corresponding to the target trigger event. With the embodiment of the present invention, the execution of the action indicated by the target load execution action information depends on the occurrence of the target trigger event, and may not depend on the displacement point corresponding to the moving route of the mobile platform. In this way, the current load execution task can be separated from the displacement point corresponding to the moving route, which is beneficial to expand the application range of the mobile platform.

Description of the drawings

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 description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Figure 1a is a schematic structural diagram of a load control system provided by an embodiment of the present invention;

Figure 1b is a schematic structural diagram of a mobile platform provided by an embodiment of the present invention;

2 is a schematic flowchart of a load control method provided by an embodiment of the present invention;

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

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

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

Figure 6 is a schematic structural diagram of a control device provided by an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a control device provided by an embodiment of the present invention.

detailed description

The embodiment of the present invention provides a load control method, and multiple loads may be mounted on a mobile platform. Among them, the mobile platform can be a flying device flying in the sky, such as a drone, aerial photography aircraft, etc.; it can also be some mobile device that can move on the ground, such as autonomous vehicles, smart electric vehicles, scooters, Vehicles such as a balance car; it can also be a control device installed on these flying devices or mobile devices.

In one embodiment, the load can be built into the mobile platform or externally placed on the mobile platform. At the same time, a communication port can be reserved on the mobile platform so that the user can mount a third-party load. Exemplarily, when the mobile platform is a flying device, the basic system of the flying device includes: a frame, a power system, and an avionics system. In addition, there are some devices or modules that are connected to the mobile platform in various ways and can perform certain specific actions. These actions can ultimately produce valuable effects. Such devices or modules can all be called loads. , The common ones are camera devices, pan-tilts, spraying devices, etc. Among them, the specific actions performed by the load may be, for example, taking pictures by the camera device, video recording by the camera device, zooming of the camera device, rotation of the pan/tilt, spraying by the spray device, etc. In one embodiment, the mobile platform may be a flying device, and the flying device is equipped with a flight control system. In this case, the flight device can issue the current load execution task to the flight control system, and the flight control system controls the flight device to fly along the route, and controls each load during the flight to complete the current load execution task.

In an embodiment, the load control method can also be applied to a terminal, and the terminal can perform data interaction with the mobile platform, thereby realizing control of the load mounted on the mobile platform. For ease of understanding, the embodiments of the present invention are described by taking an application on a mobile platform as an example.

Exemplarily, referring to a load control system 10 shown in FIG. 1a, the control system 10 includes a terminal 101 and a mobile platform 102. The mobile platform 102 is mounted with a plurality of loads 103, and the terminal 101 can be used to transfer the load to the mobile platform. 102 issues a current load execution task, the load execution task includes at least one piece of load execution information, and the load execution information represents a correspondence between a trigger event and load execution action information. Further, when the mobile platform 102 obtains the current load execution task and detects that the target trigger event in the target load execution information occurs, it can control the target load to execute the target load execution action information corresponding to the target trigger event. action. For example, a target trigger event is that the mobile platform 102 moves to a designated area, and the target load execution action information corresponding to the target trigger event includes the target load type and the target execution action type, the target load type is a camera device, and the target execution action type is Take pictures. In this case, if the mobile platform detects that it has moved to the designated area during the movement, it can determine that the target trigger event in the target load execution information has occurred, and the camera device can be set based on the target load type and target execution action type. Determine as the target load, and control the camera to take pictures, that is, control the target load to perform the action indicated by the action information.

FIG. 1b shows a mobile platform 11 with a camera device 110 mounted thereon. It can be seen that the camera device 110 is fixed on the main structure of the mobile platform 11 and can be used to collect images (photographs, videos, etc.). In one embodiment, a plurality of load execution information is stored in the preset storage device of the mobile platform 11, and the load execution information is pre-configured and can represent the corresponding relationship between the trigger event and the load execution action information. Further, before the mobile platform 11 starts to move, at least one load execution information can be selected from the above multiple load execution information and assembled together to form a complete current load execution task during the current movement of the mobile platform. The execution task includes at least one piece of load execution information.

Wherein, the at least one piece of load execution information may be determined from the plurality of load execution information based on a user's selection, or may be determined from the plurality of load execution information based on task requirements input by the user. In one embodiment, before the mobile platform 11 starts to move, the external device may display the multiple load execution information on the display screen for the user to select. Further, the mobile platform 11 may determine at least one load execution information from the foregoing multiple load execution information based on the user's selection, and assemble the determined at least one load execution information together to form the mobile platform 11 this time. The current load execution tasks that need to be executed during the process. Wherein, the external device may be, for example, a control device with a display function.

In another embodiment, before the mobile platform 11 starts to move, the user can input task requirements to the mobile platform 11 through an external device, and the mobile platform 11 can determine the task requirements from the multiple load execution information based on the task requirements. At least one piece of load execution information that is required to match is assembled, and the determined at least one piece of load execution information is assembled together to form a current load execution task that needs to be executed during the current movement of the mobile platform 11. Illustratively, assuming that the task requirement is used to instruct the mobile platform 11 to perform the spraying task during the movement, the mobile platform may determine the load execution information corresponding to the spraying action to be the load execution information matching the spraying task.

Further, in one embodiment, when the mobile platform 11 starts to move along a pre-planned moving route, the current load of the mobile platform can be obtained to perform tasks. Further, the mobile platform 11 can periodically detect various load execution information of the current load execution task according to a certain frequency during the movement. When the target trigger event in the target load execution information is detected, the target load is controlled to execute the target trigger event corresponding The target load performs the action indicated by the action information. The target load execution information is any one of the foregoing at least one load execution information, and the target load is determined from multiple loads based on the target load execution action information. It can be seen that the execution of the action indicated by the target load execution action information depends on the occurrence of the target trigger event, and may not depend on the displacement point corresponding to the moving route. Therefore, in this way, the current load execution task can be separated from the displacement point corresponding to the moving route, which is beneficial to expand the application range of the mobile platform.

Exemplarily, the target load execution action information includes a target load type and a target execution action type. The target load type is the camera 110; the target trigger event is when the mobile platform 110 moves between the displacement point A and the displacement point B, An interval of time t triggers the execution of the corresponding target load execution action information, the target load type is the camera 110, and the target execution action corresponding to the target load type is photographing. In this case, when the mobile platform moves between the displacement point A and the displacement point B, a timer can be started for timing. Every time t, it can be checked whether the current position of the mobile platform is between the displacement point A and the displacement point B. In the meantime, if it is, it can be determined that the target trigger time occurs, and then the camera device 110 is determined as the target load, and the camera device 110 is controlled to take pictures.

Among them, the mobile platform 11 in Figure 1b is only an example. In other examples, the mobile platform shown in Figure 1b can also be other mobile devices, and can also be mounted on competitive robots, drones, and unmanned vehicles. On mobile devices, the present invention does not limit this.

Referring to FIG. 2, FIG. 2 is a schematic flowchart of a load control method provided by an embodiment of the present invention. The method in the embodiment of the present invention may be executed by a mobile platform on which multiple loads are mounted.

In the load control method shown in FIG. 2, the mobile platform may obtain the current load execution task of the mobile platform in S201, and the current load execution task includes at least one load execution information, and the load execution information represents a trigger event and a load execution action. Correspondence between information. In one embodiment, the above-mentioned load execution information is configured based on the expected load execution task of the mobile platform. Wherein, the expected load execution task is a load execution task that needs to be executed when the mobile platform moves along the planned route in advance. For example, the expected load execution task is used to instruct the mobile platform to spray while moving along the planned route, then the load execution information can be configured based on controlling the spraying device to spray. For another example, the expected load execution task is used to instruct the mobile platform to perform inspections while moving along the planned route, and the load execution information can be configured based on controlling the camera device to shoot.

Among them, in the process of load execution information configuration, a preset identifier for indicating the load execution action may be added to each load execution information, and the preset identifier corresponding to each load execution information is different. In this way, during a task execution process, each preset identifier can uniquely identify the load execution information, that is, each preset identifier can uniquely identify the load execution action corresponding to the load execution information, and the mobile platform passes Recognizing the preset identifier can accurately distinguish the execution actions of each load, which is beneficial to improve the effectiveness of load control.

Further, the mobile platform can store multiple load execution information that have been configured into a preset storage device. Before the mobile platform starts to move along the planned route, it can select at least one load execution information from the multiple load execution information to generate the current The load performs the task, and then obtains the current load to perform the task. Wherein, the acquisition time of the current load execution task may be before the mobile platform starts to move, or when the mobile platform starts to move, or may be determined based on a preset acquisition rule. Exemplarily, the preset acquisition rule may be, for example, s (s greater than 0) seconds after the mobile platform moves. In this case, the acquisition time is s seconds after the mobile platform moves. In addition, the acquisition time of the current load execution task can also be determined in other ways, which is not specifically limited in the present invention.

In one embodiment, one piece of load execution information includes at least one trigger event and at least one piece of load execution action information. At present, the execution of the load action depends on the displacement points in the moving route of the mobile platform, and complex actions cannot be performed, which severely limits the flexibility and scalability of the execution of the load action, thereby severely limiting the application range of the mobile platform. For the load execution information described in the present invention, one load execution information may include at least one trigger event and at least one load execution action information. On the one hand, it can be seen that each load execution information is based on the corresponding trigger event and the load corresponding to the trigger event. The execution action information is determined. The length of each load execution information is not fixed. It can be adjusted according to the specific load execution requirements (that is, the trigger event and the load execution action information corresponding to the trigger event); on the other hand, the target load is As for the target action that needs to be executed under a specific event, even if the target action is more complicated, it can be divided and described according to the trigger event and the load execution action information. Therefore, the load execution information adopts the above-mentioned setting method, which can effectively increase the flexibility and scalability of the load execution information, thereby increasing the application range of the mobile platform.

Among them, one load execution action information corresponds to one or more trigger events. Exemplarily, the relationship represented by each load execution information may be as shown in Table 1-1.

Table 1-1

Preset logo

trigger event

Load execution information

Among them, the trigger event in each load execution information includes a trigger type and a trigger parameter corresponding to the trigger type. For example, the description of the trigger event can be referred to Table 1-2.

Table 1-2

Wherein, the load execution action information in each load execution information includes the load type and/or the communication port of the third-party load, the execution action type corresponding to the load type and/or the communication port, and the execution action parameter corresponding to the execution action type.

In one embodiment, the load mounted on the mobile platform may be the load originally configured on the mobile platform, or it may be a third-party load that is not originally configured on the mobile platform, and the mobile platform reserves a communication port corresponding to the third-party load. The mobile platform can exchange data with the third-party load through the communication port. Exemplarily, the load execution action information corresponding to the load of the mobile platform may be as shown in Table 1-3, for example. Among them, the load may include, for example, a camera, a pan-tilt, and spraying. It can be seen that the load execution action information shown in Table 1-3 includes the load type, the execution action type corresponding to the load type, and the execution action parameter corresponding to the execution action type.

Table 1-3

For another example, the load execution action information corresponding to the third-party load of the mobile platform may be as shown in Table 1-4. Among them, the third-party load may be, for example, infrared detectors, searchlights, and other equipment that can be adapted to the mobile platform. It can be seen that the load execution action information shown in Table 1-4 includes the load type and the communication port of the third-party load, the execution action type corresponding to the load type, and the execution action parameters corresponding to the execution action type. It can be seen that the mobile platform of the present invention adds support for third-party loads. Since there are various application scenarios for mobile platforms (such as infrared detection, inspection, etc.), different application scenarios may have many different loads. Therefore, increasing support for third-party loads is conducive to further expanding the application range of mobile platforms .

Table 1-4

From the contents described in Table 1-1 to Table 1-4, it can be seen that the load execution information described in the present invention can target actions that the target load needs to execute under a specific event, according to the trigger event and the way the load executes the action information Splitting description can effectively increase the flexibility and scalability of load execution information, thereby increasing the application scope of the mobile platform.

In one embodiment, in a trigger type, the trigger parameter includes one or more, and the trigger parameter is determined according to the trigger type. Illustratively, assuming that the mobile platform is a drone, please refer to Table 1-5, which lists common trigger types and trigger parameters corresponding to each trigger type.

Table 1-5

In one embodiment, in a load type, the execution action type includes one or more, and the execution action parameter corresponding to the execution action type includes one or more. The execution action parameter is determined according to the execution action type. Illustratively, take the load execution action information corresponding to a common load as an example, as shown in Table 1-6. It can be seen that in a load type camera, the execution action types corresponding to the camera include the execution action types such as photographing, video recording, and video recording, and the execution action parameters corresponding to each execution action type include one or more.

Table 1-6

Wherein, in one embodiment, in one load type, the above-mentioned execution action types may include multiple, and the execution order between at least two of the multiple execution action types is related. In an embodiment, it is assumed that a load type includes two execution action types, which are the first execution action type and the second action execution type, respectively. The association relationship of the execution order between the first execution action type and the second execution action type may include the following: the first execution action type and the second execution action type are executed simultaneously; after the execution of the first execution action type ends, the first execution action type is executed. The execution of the second execution action type starts; after the execution of the second execution action type ends, the first execution action type starts execution.

Wherein, the foregoing current load execution task is formed by at least one load execution information selected from a plurality of load execution information. In one embodiment, since the preset identifier can uniquely identify the load execution action in a load execution task, the preset identifier corresponding to each load execution information is different, and the current load execution task may be based on the preset identifier. Multiple loads execute the selection operation in the information. For example, the preset storage device stores n (n is an integer greater than 1) load execution information, which are load execution information 1, load execution information 2, load execution information 3, load execution load execution information n. Wherein, the preset identification corresponding to the load execution information 1 is ID1, the preset identification corresponding to the load execution information 2 is ID2, and the preset identification corresponding to the load execution information 3 is ID3.. The load execution information n corresponds to The preset identifier is IDn. In this case, if the developer wants to select load execution information 1, load execution information 2 and load execution information 3 for executing this load execution task, they can target the preset identification ID1, preset identification ID2, and preset identification ID3 input selection operation, the mobile platform can obtain load execution information 1, load execution information 2 and load execution information 3 from n load execution information according to the selection operation, and based on the load execution information 1, load execution information 2 And load execution information 3 generate the current load execution task (that is, the current load execution task).

Exemplarily, the foregoing current load execution task may also be obtained from the foregoing multiple load execution information based on the task requirements input by the user. In specific implementation, before the mobile platform starts to move, the user can input his own task requirements for the load execution task. In this case, the mobile platform can determine at least one piece of load execution information that matches the task requirement from the foregoing multiple load execution information based on the task requirement, and assemble the determined at least one piece of load execution information together to obtain The current load execution tasks that the mobile platform needs to perform during this movement. Exemplarily, assuming that the task requirements are used to instruct the mobile platform to perform inspections during the movement, the mobile platform can determine the load execution information corresponding to the inspection actions (such as taking pictures, videos, etc.) as corresponding to the inspection Load execution information for task matching.

In an embodiment, the plurality of load execution information stored in the foregoing preset storage device may be updated based on a designated operation instruction. Wherein, the designated operation instruction includes at least one of the following: deleting the first load execution information in the plurality of load execution information, replacing the second load execution information in the plurality of load execution information, and modifying the load execution information in the plurality of load execution information. The third load execution information and the fourth load execution information are added to the multiple load execution information. In this way, it is possible to update the load execution information in the preset storage device, and increase the flexibility of load execution information storage.

After acquiring the current load execution task, the mobile platform can control the target load to execute the action indicated by the target load execution action information corresponding to the target trigger event when it detects that the target trigger event in the target load execution information occurs in step S202. The target load is determined from multiple loads based on target load execution action information, and the target load execution information is any one of at least one load execution information.

In one embodiment, before the target load is determined from multiple loads based on the target load execution action information, the mobile platform may obtain its own movement route planning information, and in the process of controlling the movement of the mobile platform according to the movement route planning information, it is detected Whether the target trigger event occurs. Wherein, the movement route planning information includes multiple displacement points, and the target trigger event can be unrelated to the multiple displacement points. The target trigger event includes a target trigger type and target trigger parameters corresponding to the target trigger type. In one embodiment, when the target trigger type is not associated with the displacement point, it can be determined that the target trigger event is not associated with the displacement point. Exemplarily, the target trigger type that is not associated with the displacement point may include timing trigger or designated area trigger, etc., where the specific meaning of the timing trigger or designated area trigger can be referred to the relevant description in Table 1-5 above. Repeat.

In one embodiment, the trigger event in each load execution information includes a trigger type and a trigger parameter corresponding to the trigger type. Among them, in a trigger type, the trigger parameter includes one or more, and the trigger parameter is determined according to the trigger type. The mobile platform can determine the corresponding detection parameters according to the above-mentioned trigger types, and according to the detection parameters and the trigger parameters, detect whether the trigger event corresponding to the load execution information in the current load execution task occurs. In one embodiment, in the process of controlling the movement of the mobile platform according to the movement route planning information, the mobile platform may poll each load execution information in the current load execution task according to a predetermined frequency, and when any load execution information is polled, The corresponding detection parameter can be determined according to the trigger type in the any load execution information, and according to the detection parameter and the trigger parameter, it is detected whether the trigger event corresponding to the any load execution information occurs. Further, if the mobile platform detects the occurrence of a trigger event corresponding to any load execution information, it can determine any load execution information as target load execution information, and determine the trigger event corresponding to any load execution information as the target A trigger event, the load execution action information corresponding to any load execution information is determined as the target load execution action information, and then the target load is controlled to execute the action indicated by the target load execution action information corresponding to the target trigger event.

Wherein, the detection parameters include at least one of time parameters, location parameters of the mobile platform, working state parameters of the mobile platform, and environmental parameters of the environment where the mobile platform is located. In one embodiment, the detection parameter is associated with the trigger type. For example, if the trigger type is a designated area trigger, and the trigger parameters corresponding to the designated area trigger are longitude ll, latitude l2, height h, and radius r, then the detection parameters corresponding to the trigger type may include the position parameters of the mobile platform and the mobile platform Working parameters. The position parameter may include the longitude, latitude, and height of the current position of the mobile platform, and the distance from the point (l1, 12, h), and the working parameter is used to indicate whether the mobile platform is working normally.

Exemplarily, the mobile platform is a drone, and load execution information 1 represents the corresponding relationship between trigger event 1 and load execution action information 1. The trigger type included in trigger event 1 is timing trigger, and the trigger event 1 corresponds to the trigger It is described as when the UAV flies between the waypoint index1 and index2 to trigger the execution of the corresponding load execution action information at every time t. The trigger parameters of this timing trigger are the waypoint index index1 and index2 and the time interval t. In this case, in the process of controlling the movement of the mobile platform according to the moving route planning information, the mobile platform polls the load execution information in the current load execution task according to a predetermined frequency. When the load execution information 1 is polled, it can be based on the load. The trigger event in the execution information 1 determines that the trigger type is a timing trigger type, and the trigger parameters corresponding to the timing trigger type are waypoint index index1, index2 and time interval t, then the position parameters of the mobile platform and the work of the mobile platform can be obtained State parameters and time parameters (that is, the detection parameters corresponding to the timing trigger), based on the working state to determine whether the mobile platform is working normally, if so, compare the position parameters with the trigger parameters to determine whether the mobile platform is currently at waypoint index1 and Index2, and start the timer, every time t, check again whether the mobile platform is currently between index1 and index2. If it is, it is determined that the trigger event 1 corresponding to load execution information 1 occurs. At this time, you can The load execution information 1 is determined as the target load execution information.

In one embodiment, since the target load execution information represents the corresponding relationship between the target trigger event and the target load execution action information, the target load execution action information further includes the load type and/or the target communication port. In this case, when the mobile platform detects that the target trigger event in the target load execution information occurs, it can determine the target load type and/or target communication port in the target load execution action information corresponding to the target trigger event, and combine multiple The load corresponding to the target load type and/or the load corresponding to the target communication port is determined as the target load. Exemplarily, multiple loads pre-mounted on the mobile platform include cameras, pan-tilts, and spraying devices. In the target load execution information, the target execution action information includes the load type as the pan-tilt, and the execution action type corresponding to the load type is Pitch 1, rotate the pitch angle θ degrees on the current basis. In this case, when the target trigger event in the target load execution information occurs, the mobile platform can first determine the target load execution action information based on the correspondence between the target trigger event in the target load execution information and the target load execution action information The target load type in is PTZ. Further, the mobile platform can determine the pan/tilt as the target load from the pre-mounted cameras, pan/tilt, and spraying device, and then control the pan/tilt to rotate the pitch angle θ degrees on the current basis, that is, control the target load to execute the target The load performs the action indicated by the action information.

In one embodiment, when the target load is a third-party load, the target load execution action information can be sent to the third-party load through the communication port of the third-party load, so as to control the third-party load to execute the target trigger The target load corresponding to the event executes the action indicated by the action information.

In the embodiment of the present invention, the mobile platform can obtain the current load execution task including at least one load execution information, and the load execution information represents the corresponding relationship between the trigger event and the load execution action information. Further, when the target trigger event in the target load execution information occurs, the target load can be controlled to execute the action indicated by the target load execution action information corresponding to the target trigger event. With the embodiment of the present invention, the execution of the action indicated by the target load execution action information depends on the occurrence of the target trigger event, and may not depend on the displacement point corresponding to the moving route of the mobile platform. In this way, the current load execution task can be separated from the displacement point corresponding to the moving route, which is beneficial to expand the application range of the mobile platform.

Referring to FIG. 3, FIG. 3 is a schematic flowchart of another load control method provided by an embodiment of the present invention. The method in the embodiment of the present invention may be executed by a mobile platform that carries multiple loads.

In the load control method shown in FIG. 3, the mobile platform may obtain the current load execution task of the mobile platform in S301, the current load execution task includes at least one load execution information, and the load execution information represents a trigger event and a load execution action Correspondence between information. For the specific implementation of step S301, reference may be made to the related description of step S201 in the foregoing embodiment, which will not be repeated here.

In an embodiment, the load execution information in the current load execution task may be arranged according to the execution order of the actions indicated by the load execution information. For example, the current load execution task includes load execution information 1, load execution information 2 and load execution information 3. The execution order of the actions indicated by these three load execution information are: load execution information 2, load execution information 1, and load Execution information 3, then the above three load execution information can be sorted in the order of load execution information 2, load execution information 1, and load execution information 3 in the current load task according to the execution order of the action.

In another embodiment, the action indicated by each load execution information in the current load execution task is executed at least once, and the load execution information in the current load execution task is arranged according to the first execution order of the actions indicated by the load execution information. In one embodiment, the actions indicated by each load execution information in the current load execution task are executed at least once, and the order of the load execution information in the current load execution task is the same as the first execution order of the actions indicated by the load execution information. For example, suppose that the current load execution task includes only load execution information 1, load execution information 2 and load execution information 3. The actions indicated by each load execution information in these 3 load execution information are executed at least once, and these 3 load execution information The first execution sequence of the indicated actions are: load execution information 2, load execution information 1, and load execution information 3. Then, the order of the various load execution information in the current load execution task is the same as the first execution order, which is still: load execution information 2, load execution information 1, and load execution information 3. In this case, the mobile platform can continuously detect load execution information 2, load execution information 1, and load execution information 3, and then execute the actions indicated by load execution information 2, load execution information 1 and load execution information 3 in a loop.

In one embodiment, the action indicated by each load execution information in the current load execution task is executed once, assuming that the current load execution task includes m1 (m1 is an integer greater than 2) * m2 (m2 is an integer greater than 1) Load execution information, the current load execution task is formed by repeatedly assembling m2 different load execution information m1 times. Exemplarily, assuming that m1 is 2 and m2 is 3, the m1*m2 load execution information included in the current load execution task may be as shown in Table 2-1. It can be seen from Table 2-1 that the current load execution task is formed by repeated assembly of load execution information 1, load execution information 2 and load execution information 3 twice.

table 2-1

When the current load execution task is formed by repeatedly assembling m2 different load execution information m1 times, the m1*m2 load execution information in the current load execution task can follow the actions indicated by each load execution information in the m2 load execution information The order of execution is sorted. In this way, when the mobile platform executes the current load execution task, the m2 pieces of load execution information can be sequentially detected m1 times, and then the actions indicated by the respective load execution information are repeatedly executed m1 times.

Illustratively, suppose that m1 is 2 and m2 is 3. The current load execution task is shown in Table 2-1. The current load execution task is formed by repeated assembly of load execution information 1, load execution information 2 and load execution information 3 twice. , The execution sequence of the actions indicated by the three load execution information are: load execution information 2, load execution information 1, and load execution information 3. In this case, the mobile platform can use the execution order of the actions indicated by the load execution information 1, the load execution information 2 and the load execution information 3 as the sorting reference, and the load execution information 1, the load execution information 2 and the load execution information 3. Perform cyclic sorting. The current load execution tasks after sorting can be seen in Table 2-1. . Further, when the mobile platform executes the current load execution tasks as shown in Table 2-1, after the load execution information 1, load execution information 2 and load execution information 3 are detected for the first time, the load execution information 1 can be repeatedly detected again. Load execution information 2 and load execution information 3.

After the mobile platform obtains the current load execution task, it can detect whether the trigger event corresponding to the load execution information in the current load execution task occurs in S302 according to the preset order rule. Wherein, the preset order and the rule are pre-configured. In an embodiment, the preset sequence rule may be associated with the sequence of the various load execution information in the current load execution task. Exemplarily, the detection order of the load execution information indicated by the preset order rule may be the same as the arrangement order. For example, the current load execution task includes load execution information 1, load execution information 2 and load execution information 3. In the current load task, the above three load execution information are divided into load execution information 2, load execution information 1 and load execution information 3. The sort order is sorted. In this case, the mobile platform can generate a preset order rule based on the arrangement order, and the detection order of each load execution information indicated by the preset order rule is still: load execution information 2, load execution information 1, and load execution information 3. .

In one embodiment, the mobile platform may also divide the load execution information in the current load execution task based on a preset division principle to obtain at least one load execution information set, and each load execution information set includes at least one load execution information. Further, it is possible to detect whether a trigger event corresponding to the load execution information in the target load execution information set in the at least one load execution information set occurs according to the aforementioned preset order rule.

In one embodiment, the load execution information in the current load execution task may be divided based on the correspondence between the displacement points in the moving route of the mobile platform and the load execution information to obtain at least one load execution information set. Among them, different load execution information sets correspond to load execution information between different displacement points. In one embodiment, one displacement point may correspond to at least one load execution information. When the mobile platform divides the load execution information in the current load execution task, it may divide at least one load execution information corresponding to the same displacement point into the same load. The execution set, and then at least one load execution information set is obtained.

Among them, since the movement route of the mobile platform is planned in advance, the movement sequence of each displacement point in the movement route is also predetermined. In an embodiment, the mobile platform may determine the detection order of each load execution information set in the at least one load execution information set according to the movement sequence of each displacement point in the movement route. For example, displacement point A corresponds to load execution information set 01, and displacement point B corresponds to load execution information set 02. In this case, when the mobile platform moves to the displacement point A, the load execution information set 01 is determined as the target load execution information set, and whether a trigger event corresponding to the load execution information in the load execution information set 01 occurs is detected. Further, when the mobile platform moves to the displacement point B, the load execution information set 02 is determined as the target load execution information set, and it is detected whether a trigger event corresponding to the load execution information in the load execution information set 02 occurs.

In one embodiment, the mobile platform may divide the load execution information in the current load execution task according to the time sequence of the actions indicated by the load execution information and the corresponding relationship between the load execution information to obtain at least one load execution information set. Among them, different load execution information sets correspond to load execution information in different occurrence time sequences. In one embodiment, the occurrence time may be a time period, at least one piece of load execution information may be corresponding to the same time period, and there is a time sequence of occurrence between one time period and another time period. Exemplarily, suppose the corresponding relationship between the occurrence time sequence of the actions indicated by the load execution information and the load execution information is shown in Table 2-2. In this case, based on the corresponding relationship shown in Table 2-2, the load Divide execution information 1 and load execution information 2 into the first load execution information set, divide load execution information 3, load execution information 4, and load execution information 5 into the second load execution information set, and divide load execution information 6 and load execution information 7 is divided into the third load execution information set, and the load execution information 8 and the load execution information 9 are divided into the fourth load execution information set.

Table 2-2

In an embodiment, the mobile platform may also determine the detection sequence of each load execution information set in the at least one load execution information set according to the aforementioned time sequence of occurrence. Taking the first load execution information set, the second load execution information set, the third load execution information set, and the fourth load execution information set divided based on the corresponding relationship represented by Table 2-2 as an example, it can be based on The time sequence of occurrence shown in Table 2-2 determines the detection sequence of the four load execution information sets as: a load execution information set, a second load execution information set, a third load execution information set, and a fourth load execution information set. In this case, when the mobile platform starts to move, a timer can be started for timing. When the corresponding time of the timer is less than 10 minutes, the first load execution information set can be determined as the target load execution information set, and the first load can be detected Whether the trigger event corresponding to the load execution information in the execution information set occurs. When the duration corresponding to the timer is greater than 10 minutes and less than 20 minutes, the second load execution information set is determined as the target load execution information set, and whether a trigger event corresponding to the load execution information in the second load execution information set occurs is detected. The subsequent third load execution information set and the fourth load execution information set can be deduced by analogy, which will not be repeated here.

After the mobile platform detects whether the trigger event corresponding to the load execution information in the current load execution task occurs according to the preset order rule, when the target trigger event in the target load execution information is detected in step S303, it can control the target load execution The target load corresponding to the target trigger event performs the action indicated by the action information. For the specific implementation of step S303, reference may be made to the related description of step S202 in the foregoing embodiment, which will not be repeated here.

In one embodiment, there are at least two actions indicated by the load execution information in the current load execution task that are the same and have different execution orders. Exemplarily, suppose that the target load corresponding to the load execution information 1 and the load execution information are both cameras, the action 1 indicated by the load execution information 1 is to control the camera to take pictures, and the action 2 indicated by the load execution information 2 is to control the camera to take pictures. , The execution order of the two actions is different. Action 1 is executed before Action 2. The camera that executes Action 1 and Action 2 can be the same camera or two different cameras. In this case, when the mobile platform detects that the trigger event corresponding to load execution information 1 occurs, it can control the camera to take pictures. Further, when the mobile platform detects that the trigger event corresponding to the load execution information 2 occurs, it can control the camera to take pictures again.

In the embodiment of the present invention, the mobile platform can obtain the current load execution task including at least one load execution information, and the load execution information represents the corresponding relationship between the trigger event and the load execution action information. Further, according to the preset sequence rules, it is detected whether the trigger event corresponding to the load execution information in the current load execution task occurs. When the target trigger event in the target load execution information occurs, the target load can be controlled to execute the target corresponding to the target trigger event. The load performs the action indicated by the action information. By adopting the embodiment of the present invention, it is possible to poll and detect each load execution information in the current load execution task according to the preset order rule, which is beneficial to improve the execution efficiency of the current load execution task.

Referring to FIG. 4, FIG. 4 is a schematic flowchart of another load control method provided by an embodiment of the present invention. The method in the embodiment of the present invention may be executed by a mobile platform that has multiple loads mounted on the mobile platform.

In the load control method shown in FIG. 4, the mobile platform may obtain the current load execution task of the mobile platform in S401. In the current load execution task, at least two load execution information corresponding to the load execution action information indicate The execution time of the action is associated.

In one embodiment, it is assumed that there is an association relationship between the execution time of the action indicated by the load execution information 1 and the execution time of the action indicated by the load execution information 2. The association relationship is shown in Table 3-1, which can be seen There may be multiple associations between the execution time of the action indicated by the load execution information 1 and the execution time of the action indicated by the load execution information 2.

Table 3-1

After acquiring the current load execution task, the mobile platform can control the target load to execute the action indicated by the target load execution action information corresponding to the target trigger event when it detects that the target trigger event in the target load execution information occurs.

Among them, the execution time of the action indicated by the target load execution information and the execution time of the action indicated by the other load execution information may exist among the first, second, third, and fourth associations. at least one. Wherein, the first association relationship is used to indicate that the action indicated by the target load execution information can be started when the action indicated by other load execution information starts to be executed; the second association relationship is used to indicate the action indicated by other load execution information When the execution ends, only the action indicated by the target load execution information can start execution; the third association is used to indicate that when the action indicated by other load execution information starts to execute, the execution of the action indicated by the target load execution information can end; The four-association relationship is used to indicate that when the action indicated by other load execution information ends, the execution of the action indicated by the target load execution information can end.

In one embodiment, when the mobile platform detects that the target trigger event in the target load execution information occurs, it can detect the execution time of the action indicated by the target load execution information and the execution time of the action indicated by other load execution information. Whether there is a first association relationship or a second association relationship between. Further, if the mobile platform detects that there is a first correlation between the execution time of the action indicated by the target load execution information and the execution time of the action indicated by other load execution information, it can detect the execution time indicated by the other load execution information Whether the action starts to be executed, and if so, execute the step of controlling the target load to execute the action indicated by the action information by the target load corresponding to the target trigger event. If not, wait until the action indicated by the other load execution information starts to execute, and then execute the step of controlling the target load to execute the action indicated by the target load execution action information corresponding to the target trigger event.

Or, if the mobile platform detects that there is a second correlation between the execution time of the action indicated by the target load execution information and the execution time of the action indicated by other load execution information, it can detect the action indicated by the other load execution information Whether to end the execution, and if the execution has ended, execute the step of controlling the target load to execute the action indicated by the target load corresponding to the target trigger event. If the execution is not finished, wait until the action indicated by the other load execution information ends execution, and then execute the step of controlling the target load to execute the target load corresponding to the target trigger event to execute the action indicated by the action information.

In one embodiment, after the mobile platform controls the target load to execute the action indicated by the target load corresponding to the target trigger event, it can detect the execution time of the action indicated by the target load execution information and the execution time indicated by other load execution information. Whether there is a third relationship or a fourth relationship between the execution times of the actions. If the mobile platform detects that there is a third correlation between the execution time of the action indicated by the target load execution information and the execution time of the action indicated by other load execution information, it can detect whether the action indicated by the other load execution information has started Execution, if the execution has started, the control target load is ended to execute the action indicated by the target load execution action information corresponding to the target trigger event. If the execution has not started, wait until the action indicated by the other load execution information starts to execute, and then stop controlling the target load to execute the action indicated by the target load corresponding to the target trigger event.

Or, if the mobile platform detects that there is a fourth correlation between the execution time of the action indicated by the target load execution information and the execution time of the action indicated by other load execution information, it can detect the action indicated by the other load execution information Whether to end the execution, if the execution has ended, the control target load will end to execute the action indicated by the target load execution action information corresponding to the target trigger event. If the execution has not ended, wait until the action indicated by the other load execution information ends execution, and then end the control target load to execute the action indicated by the target load corresponding to the target trigger event.

Exemplarily, assuming that there is an association between the execution time of the action indicated by the load execution information 1 and the execution time of the action indicated by the load execution information 2: After the execution of the action indicated by the load execution information 1 ends, the load execution information 2 The indicated action can be executed. The action indicated by the load execution information 1 is to control the tilt angle of the pan/tilt to rotate by θ degrees, and the action indicated by the load execution information 2 is to control the camera to take pictures. In this case, when the mobile platform detects that the trigger event of load execution information 2 occurs, it detects that the action execution time indicated by load execution information 2 and the action execution time indicated by load execution information 1 have the above-mentioned correlation, then It is detected whether the pitch angle of the control pan/tilt has been rotated by θ degrees, and if so, it can be determined that the action indicated by the load execution information 1 has been executed. Further, the mobile platform may determine the camera as the target load based on the load execution information 1 and control the camera to take pictures.

In the embodiment of the present invention, the mobile platform may obtain the current load execution task including at least one load execution information. In the current load execution task, the execution time of the action indicated by the load execution action information corresponding to the at least two load execution information is related United. Further, when the target trigger event in the target load execution information occurs, the target load can be controlled to execute the action indicated by the target load execution action information corresponding to the target trigger event. The embodiment of the present invention increases the correlation between the execution time of the action indicated by the load execution action information. On the one hand, the correlation execution of multiple actions can be automatically realized without user operation, which is beneficial to improve the intelligence of load control. On the other hand, it can also increase the complexity of the mobile platform to control the target load to perform corresponding actions, which is beneficial to further expand the application range of the mobile platform.

Referring to FIG. 5, FIG. 5 is a schematic flowchart of yet another load control method provided by an embodiment of the present invention. The method in the embodiment of the present invention may be executed by a mobile platform with multiple loads mounted on the mobile platform.

In the load control method shown in FIG. 5, the current load execution task including at least one load execution information may be acquired in S501. For the specific implementation of step S501, reference may be made to the related description in step S201 in the foregoing embodiment, and details are not repeated here.

After the mobile platform obtains the current load execution task, it can detect whether the current load execution task is abnormal in S502. If there is no abnormality, when the target trigger event in the target load execution information occurs in S503, the target load is determined from multiple loads based on the target load execution action information corresponding to the target trigger event, and the target load is controlled to execute the target trigger event The corresponding target load performs the action indicated by the action information. If it is abnormal, execute the corresponding preset strategy according to the abnormal result. Wherein, in one embodiment, the preset strategy may be to output the abnormal result, so that the developer can handle the abnormal result in time after viewing the abnormal result. In another embodiment, the preset strategy may further include outputting abnormal prompt information, and the abnormal prompt information is used to prompt the user that the current load execution task is abnormal.

In one embodiment, the current load execution task includes at least one load execution information. In this case, the mobile platform can detect whether the load execution information in the current load execution task is abnormal, and if any load execution information is abnormal, it can determine that the current load execution task is abnormal.

Wherein, the method of determining the abnormality of the load execution information includes at least one of the following: abnormal content of the load execution information, abnormal data format of the load execution information, incomplete load execution information, invalid load corresponding to the load execution information, and corresponding load execution information The preset ID of is not unique. In one embodiment, the load execution information is incomplete, which may refer to the lack of load execution information, for example, the lack of a certain field (such as a preset identifier) in the load execution information, the lack of a certain trigger parameter, and so on. The preset identifier corresponding to the load execution information is not unique, and may mean that there are multiple repeated preset identifiers in the current load execution task. For example, the preset identifier corresponding to load execution information 1 is the same as the preset identifier corresponding to load execution information 2.

In one embodiment, the load corresponding to the load execution information is invalid, which may mean that the load corresponding to the load execution information is not mounted on the mobile platform or has no communication connection with the mobile platform. In another embodiment, if the target load corresponding to the load execution information is a third-party load connected by the mobile platform through a communication port, the load corresponding to the load execution information is invalid, which can also mean that the communication port is abnormal (for example, the communication port fails) .

In one embodiment, the method for determining abnormality of load execution information may further include at least one of the following: abnormal trigger type in load execution information, abnormal trigger parameter in load execution information, abnormal load type in load execution information , The execution action type in the load execution information is abnormal and the execution action parameter in the load execution information is abnormal.

In one embodiment, the multiple loads mounted on the mobile platform include at least two loads of the same type. For example, the multiple loads mounted on the mobile platform may include two cameras.

In one embodiment, in the foregoing current load execution task, trigger events corresponding to at least two load execution information are the same. For example, the trigger event corresponding to load execution information 1 is arrival at waypoint A, the load type corresponding to the load execution action information in the load execution information 1 is PTZ, and the action indicated by the load execution action information is pitching based on the current basis. Angle θ degrees; the trigger event corresponding to the load execution information 2 is also the arrival at waypoint A, the load type corresponding to the load execution action information in the load execution information 2 is a camera, and the action indicated by the load execution action information is a photo. In this case, when the mobile platform detects that it has reached waypoint A, it can be determined that the trigger events corresponding to load execution information 1 and load execution information 2 have occurred, and the pan/tilt and camera are determined as the target load, and then the cloud is controlled The station rotates the pitch angle θ degrees on the current basis and controls the camera to take pictures.

In one embodiment, in the foregoing current load execution task, the load execution action information corresponding to the at least two load execution information is the same. Wherein, in one embodiment, the load execution action information corresponding to the at least two load execution information is the same, but the trigger events of the at least two load execution information are different. For example, the trigger event corresponding to the load execution information 1 is entering the designated area P1, the load type corresponding to the load execution action information 1 in the load execution information 1 is a camera, and the action indicated by the load execution action information is a photo; load execution information 2 The corresponding trigger event is entering the designated area P2, and the load execution action information in the load execution information 2 is the same as the load execution action information 1 described above. In this case, when the mobile platform enters the designated area P1, it can control the camera to take pictures, and when it enters the designated area P2, it can control the camera to take pictures again.

In the embodiment of the present invention, the mobile platform can detect whether the current load execution task is abnormal. If there is no abnormality, when the target trigger event in the target load execution information occurs, the target load execution action information corresponding to the target trigger event is obtained from multiple loads. Determine the target load and control the target load to perform the action indicated by the target load corresponding to the target trigger event. With the embodiment of the present invention, the abnormal detection of the current load execution task is increased, and the accuracy of the load control is ensured.

Based on the description of the foregoing method embodiment, in one embodiment, the embodiment of the present invention also provides a load control device as shown in FIG. 6. Wherein, the control device may be configured on but not limited to a mobile platform with multiple loads mounted on the mobile platform, and the control device includes:

The acquiring module 60 is configured to acquire the current load execution task of the mobile platform, the current load execution task includes at least one load execution information, and the load execution information represents the corresponding relationship between the trigger event and the load execution action information;

The processing module 61 is configured to, when the target trigger event in the target load execution information occurs, control the target load to execute the action indicated by the target load execution action information corresponding to the target trigger event;

In one embodiment, the acquisition module 60 is further used to acquire the mobile platform planning information of the mobile platform; the processing module 61 is also used to control the movement of the mobile platform according to the mobile platform planning information. In the process, it is detected whether the target trigger event occurs.

In an embodiment, the movement route planning information includes a plurality of displacement points, and the target trigger event can be unrelated to the plurality of displacement points.

In one embodiment, the load execution information is configured based on expected load execution tasks of the mobile platform.

In one embodiment, a plurality of load execution information is stored in the preset storage device, and the current load execution task is formed by at least one load execution information selected from the plurality of load execution information.

In one embodiment, each of the load execution information has a preset identifier for indicating a load execution action, and each of the load execution information corresponds to a different preset identifier.

In an embodiment, the current load execution task is obtained based on a selection operation of the preset identifier in the plurality of load execution information.

In an embodiment, the plurality of load execution information stored in the preset storage device is updated based on a specified operation instruction.

In an embodiment, the specified operation instruction includes at least one of the following: deleting the first load execution information in the plurality of load execution information, and replacing the second load execution information in the plurality of load execution information , Modify the third load execution information in the plurality of load execution information, and add the fourth load execution information to the plurality of load execution information.

In one embodiment, one piece of load execution information includes at least one of the trigger events and at least one piece of load execution action information; wherein, one piece of the load execution action information corresponds to one or more of the trigger events.

In an embodiment, the trigger event includes a trigger type and a trigger parameter corresponding to the trigger type.

In one embodiment, in one of the trigger types, the trigger parameters include one or more; the trigger parameters are determined according to the trigger type.

In one embodiment, the processing module 61 is further configured to determine corresponding detection parameters according to the trigger type; according to the detection parameters and the trigger parameters, detect that the load execution information in the current load execution task corresponds to Whether the trigger event of the event occurs.

In one embodiment, the detection parameters include at least one of time parameters, location parameters of the mobile platform, working state parameters of the mobile platform, and environmental parameters of the environment where the mobile platform is located.

In one embodiment, the load execution action information includes the load type and/or the communication port of the third-party load, the load type and/or the execution action type corresponding to the communication port, and the execution corresponding to the execution action type Action parameters.

In one embodiment, in one of the load types, the execution action type includes one or more, and the execution action parameter corresponding to the execution action type includes one or more; the execution action parameter is based on the execution action type determine.

In one embodiment, in one load type, the execution action type includes multiple, and the execution order between at least two of the multiple execution action types is associated.

In an embodiment, the processing module is further configured to determine the target load type and/or the target communication port in the target load execution action information corresponding to the target trigger event; The load type and/or the load corresponding to the target communication port is determined as the target load.

In one embodiment, in the current load execution task, at least two trigger events corresponding to the load execution information are the same.

In one embodiment, in the current load execution task, load execution action information corresponding to at least two pieces of load execution information is the same.

In one embodiment, in the current load execution task, at least two execution times of the actions indicated by the load execution action information corresponding to the load execution information are associated.

In one embodiment, the plurality of loads includes at least two loads of the same type.

In an embodiment, the load execution information in the current load execution task is arranged according to the execution order of the actions indicated by the load execution information.

In one embodiment, the action indicated by each load execution information in the current load execution task is executed at least once; the load execution information in the current load execution task is the first time according to the action indicated by the load execution information The order of execution.

In an embodiment, there are at least two actions indicated by the load execution information in the current load execution task that are the same and have different execution orders.

In one embodiment, the processing module 61 is further configured to detect whether a trigger event corresponding to the load execution information in the current load execution task occurs according to a preset order rule.

In one embodiment, the processing module 61 is further configured to divide the load execution information in the current load execution task based on a preset division principle to obtain at least one load execution information set, and each load execution The information set includes at least one piece of the load execution information; the processing module 61 is specifically configured to detect a trigger corresponding to the load execution information in the target load execution information set in the at least one load execution information set according to the preset order rule Whether the event occurred.

In one embodiment, the processing module 61 is further specifically configured to perform load execution information in the current load execution task based on the correspondence between the displacement points in the moving route of the mobile platform and the load execution information Divide to obtain at least one load execution information set.

In one embodiment, different load execution information sets correspond to load execution information between different displacement points.

In one embodiment, the processing module 61 is further configured to determine the detection sequence of each load execution information set in the at least one load execution information set according to the movement sequence of each displacement point in the movement route.

In one embodiment, the processing module 61 is further specifically configured to perform the load in the current load according to the time sequence of the actions indicated by the load execution information and the corresponding relationship between the load execution information. The execution information is divided to obtain at least one load execution information set.

In one embodiment, different load execution information sets correspond to load execution information in different occurrence time sequences.

In an embodiment, the processing module 61 is further configured to determine the detection sequence of each load execution information set in the at least one load execution information set according to the time sequence of occurrence.

In one embodiment, the processing module 61 is also used to detect whether the current load execution task is abnormal; if there is no abnormality, execute the target trigger event in the target load execution information based on the target The target load execution action information corresponding to the trigger event determines the step of the target load from the plurality of loads; if it is abnormal, the corresponding preset strategy is executed according to the abnormal result.

In an embodiment, the processing module 61 is further specifically configured to detect whether the load execution information in the current load execution task is abnormal.

In one embodiment, the method for determining that the load execution information is abnormal includes at least one of the following: the content of the load execution information is abnormal, the data format of the load execution information is abnormal, the load execution information is incomplete, The load corresponding to the load execution information is invalid, and the preset identifier corresponding to the load execution information is not unique.

In the embodiment of the present invention, for the specific implementation of the above-mentioned modules, reference may be made to the description of related content in the embodiment corresponding to FIG. 2, FIG. 3, FIG. 4 or FIG. 5.

Refer to FIG. 7, which is a schematic block diagram of the structure of a load control device according to an embodiment of the present invention. Wherein, the control device may be configured on but not limited to a mobile platform, the mobile platform is mounted with multiple loads, the control device may include a processor 70, a communication interface 71 and a memory 72, the processor 70, the communication interface 71 It is connected to a memory 72 through a bus, and the memory 72 is used to store program instructions and load execution tasks.

The memory 72 may include a volatile memory (volatile memory), such as a random-access memory (RAM); the memory 72 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), solid-state drive (SSD), etc.; the memory 72 may also be a double-rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR); the memory 72 may also include a combination of the foregoing types of memories.

In the embodiment of the present invention, the memory 72 is used to store a computer program, the computer program includes program instructions, and the processor 70 is configured to execute when the program instructions are called: obtain the current load execution of the mobile platform Task, the current load execution task includes at least one load execution information, and the load execution information represents the corresponding relationship between the trigger event and the load execution action information; when the target trigger event in the target load execution information occurs, the target load is controlled Execute the action indicated by the target load execution action information corresponding to the target trigger event; wherein the target load is determined from a plurality of loads based on the target load execution action information, and the target load execution information is at least Any one of the load execution information.

In one embodiment, the processor 70 is further configured to obtain the mobile platform planning information of the mobile platform; the processor 70 is further configured to control the movement of the mobile platform according to the mobile platform planning information. In the process, it is detected whether the target trigger event occurs.

In an embodiment, one piece of load execution information includes at least one of the trigger events and at least one piece of load execution action information; wherein, one piece of the load execution action information corresponds to one or more of the trigger events.

In one embodiment, the processor 70 is further configured to determine corresponding detection parameters according to the trigger type; according to the detection parameters and the trigger parameters, detect that the load execution information in the current load execution task corresponds to Whether the trigger event of the event occurs.

In one embodiment, the processor 70 is further configured to detect whether a trigger event corresponding to the load execution information in the current load execution task occurs according to a preset order rule.

In one embodiment, the processor 70 is further configured to divide the load execution information in the current load execution task based on a preset division principle to obtain at least one load execution information set, and each load execution The information set includes at least one piece of the load execution information; the processor 70 is specifically configured to detect a trigger corresponding to the load execution information in the target load execution information set in the at least one load execution information set according to the preset order rule Whether the event occurred.

In one embodiment, the processor 70 is further specifically configured to perform load execution information in the current load execution task based on the corresponding relationship between the displacement point in the moving route of the mobile platform and the load execution information Divide to obtain at least one load execution information set.

In an embodiment, the processor 70 is further configured to determine the detection sequence of each load execution information set in the at least one load execution information set according to the movement sequence of each displacement point in the movement route.

In one embodiment, the processor 70 is further specifically configured to perform the load in the current load according to the time sequence of the actions indicated by the load execution information and the corresponding relationship between the load execution information. The execution information is divided to obtain at least one load execution information set.

In an embodiment, the processor 70 is further configured to determine the detection sequence of each load execution information set in the at least one load execution information set according to the time sequence of occurrence.

In one embodiment, the processor 70 is further configured to detect whether the current load execution task is abnormal; if there is no abnormality, execute the target trigger event in the target load execution information based on the target The target load execution action information corresponding to the trigger event determines the step of the target load from the plurality of loads; if it is abnormal, the corresponding preset strategy is executed according to the abnormal result.

In an embodiment, the processor 70 is further specifically configured to detect whether the load execution information in the current load execution task is abnormal.

In the embodiment of the present invention, the specific implementation of the above-mentioned processor 70 may refer to the description of related content in the embodiment corresponding to FIG. 2, FIG. 3, FIG. 4, or FIG. 5.

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. During execution, 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.

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

A load control method, wherein a plurality of the loads are mounted on a mobile platform, characterized in that the method includes:

Acquiring a current load execution task of the mobile platform, where the current load execution task includes at least one load execution information, and the load execution information represents a correspondence between a trigger event and load execution action information;

When the target trigger event in the target load execution information occurs, control the target load to execute the action indicated by the target load execution action information corresponding to the target trigger event;

The target load is determined from a plurality of loads based on the target load execution action information, and the target load execution information is any one of at least one of the load execution information.
The method according to claim 1, characterized in that, before the target load is determined from a plurality of loads based on the execution action information of the target load, the method further comprises:

Acquiring mobile route planning information of the mobile platform;

In the process of controlling the movement of the mobile platform according to the movement route planning information, it is detected whether the target trigger event occurs.
The method according to claim 2, wherein the moving route planning information includes a plurality of displacement points, and the target trigger event can be unrelated to the plurality of displacement points.
The method according to claim 1, wherein the load execution information is configured based on the expected load execution task of the mobile platform.
The method according to claim 4, wherein a plurality of load execution information is stored in a preset storage device, and the current load execution task is at least one selected from the plurality of load execution information Load execution information is formed.
The method according to claim 5, wherein each of the load execution information has a preset identifier for indicating the load execution action, and each of the load execution information corresponds to a different preset identifier.
The method according to claim 6, wherein the current load execution task is obtained based on a selection operation of the preset identifier in the plurality of load execution information.
The method according to claim 5, wherein the plurality of load execution information stored in the preset storage device is updated based on a designated operation instruction.
The method according to claim 8, wherein the designated operation instruction includes at least one of the following:

Delete the first load execution information in the plurality of load execution information, replace the second load execution information in the plurality of load execution information, modify the third load execution information in the plurality of load execution information, and add the first load execution information. Four load execution information into a plurality of said load execution information.
The method according to claim 1, wherein one piece of load execution information includes at least one of the trigger events and at least one piece of load execution action information;

Wherein, one piece of load execution action information corresponds to one or more of the trigger events.
The method according to claim 10, wherein the trigger event includes a trigger type and a trigger parameter corresponding to the trigger type.
The method according to claim 11, wherein in one of the trigger types, the trigger parameters include one or more; the trigger parameters are determined according to the trigger type.
The method according to claim 11, wherein the method further comprises:

Determine corresponding detection parameters according to the trigger type;

According to the detection parameter and the trigger parameter, detect whether a trigger event corresponding to the load execution information in the current load execution task occurs.
The method according to claim 13, wherein the detection parameters include at least one of time parameters, location parameters of the mobile platform, working status parameters of the mobile platform, and environmental parameters of the environment where the mobile platform is located. One kind.
The method according to claim 10, wherein the load execution action information includes a load type and/or a communication port of a third-party load, the load type and/or the execution action type corresponding to the communication port, and all Describe the execution action parameters corresponding to the execution action type.
The method according to claim 15, wherein in one load type, the execution action type includes one or more, and the execution action parameter corresponding to the execution action type includes one or more; the execution action parameter It is determined based on the type of execution action.
The method according to claim 16, wherein in one load type, the execution action type includes multiple, and the execution order between at least two of the multiple execution action types is related.
The method according to claim 14, wherein the target load is determined from a plurality of loads based on information about the execution of the target load, and comprises:

Determine the target load type and/or target communication port in the target load execution action information corresponding to the target trigger event;

Determine the load corresponding to the target load type and/or the target communication port among the plurality of loads as the target load.
The method according to claim 1, wherein in the current load execution task, trigger events corresponding to at least two of the load execution information are the same.
The method according to claim 1, wherein in the current load execution task, load execution action information corresponding to at least two of the load execution information is the same.
The method according to claim 1, wherein in the current load execution task, at least two execution times of the action indicated by the load execution action information corresponding to the load execution information are associated.
The method of claim 1, wherein the plurality of loads includes at least two loads of the same type.
The method according to claim 1, wherein the load execution information in the current load execution task is arranged according to the execution order of the actions indicated by the load execution information.
The method according to claim 23, wherein the actions indicated by each load execution information in the current load execution task are executed at least once;

The load execution information in the current load execution task is arranged according to the first execution order of the actions indicated by the load execution information.
The method according to claim 23, wherein there are at least two actions indicated by the load execution information in the current load execution task that are the same and have different execution orders.
The method of claim 1, wherein the method further comprises:

According to a preset sequence rule, it is detected whether a trigger event corresponding to the load execution information in the current load execution task occurs.
The method of claim 26, wherein the method further comprises:

Based on a preset division principle, divide the load execution information in the current load execution task to obtain at least one load execution information set, and each load execution information set includes at least one load execution information;

The detecting whether a trigger event corresponding to the load execution information in the current load execution task occurs according to a preset order rule includes:

According to the preset order rule, it is detected whether a trigger event corresponding to the load execution information in the target load execution information set in the at least one load execution information set occurs.
The method according to claim 27, wherein the dividing the load execution information in the current load execution task based on a preset dividing rule to obtain at least one load execution information set comprises:

Based on the corresponding relationship between the displacement points in the moving route of the mobile platform and the load execution information, the load execution information in the current load execution task is divided to obtain at least one load execution information set.
The method according to claim 28, wherein different load execution information sets correspond to load execution information between different displacement points.
The method according to claim 27 or 28, characterized in that, according to the preset order rule, it is detected whether the trigger event corresponding to the load execution information in the target load execution information set in the at least one load execution information set is Before it happens, the method also includes:

According to the movement sequence of each displacement point in the moving route, the detection sequence of each load execution information set in the at least one load execution information set is determined.
The method according to claim 27, wherein the dividing the load execution information in the current load execution task based on a preset dividing rule to obtain at least one load execution information set comprises:

According to the occurrence time sequence of the actions indicated by the load execution information and the corresponding relationship between the load execution information, the load execution information in the current load execution task is divided to obtain at least one load execution information set.
The method according to claim 31, wherein different load execution information sets correspond to load execution information of different occurrence time sequences.
The method according to claim 31 or 32, wherein, in accordance with the preset order rule, it is detected whether the trigger event corresponding to the load execution information in the target load execution information set in the at least one load execution information set is Before it happens, the method also includes:

According to the sequence of occurrence time, the detection sequence of each load execution information set in at least one load execution information set is determined.
The method of claim 1, wherein the method further comprises:

Detecting whether the current load execution task is abnormal;

If there is no abnormality, execute the step of determining a target load from a plurality of loads based on the target load execution action information corresponding to the target trigger event when the target trigger event in the target load execution information occurs;

If it is abnormal, execute the corresponding preset strategy according to the abnormal result.
The method according to claim 34, wherein the detecting whether the current load execution task is abnormal comprises:

It is detected whether the load execution information in the current load execution task is abnormal.
The method according to claim 34, wherein the method of determining that the load execution information is abnormal comprises at least one of the following:

The content of the load execution information is abnormal, the data format of the load execution information is abnormal, the load execution information is incomplete, the load corresponding to the load execution information is invalid, and the preset identifier corresponding to the load execution information is not unique.
A load control device, a plurality of said loads are mounted on a mobile platform, characterized in that the control device includes:

An acquiring module, configured to acquire a current load execution task of the mobile platform, the current load execution task includes at least one load execution information, and the load execution information characterizes the correspondence between a trigger event and load execution action information;

The processing module is used to control the target load to execute the action indicated by the target load execution action information corresponding to the target trigger event when the target trigger event in the target load execution information occurs;

The target load is determined from a plurality of loads based on the target load execution action information, and the target load execution information is any one of at least one of the load execution information.
A load control device, a plurality of said loads are mounted on a mobile platform, characterized in that the control device includes a processor and a communication interface, the processor and the communication interface are connected to each other, wherein the communication interface is The control of the processor is used to send and receive instructions, and the processor is used to:

Acquiring a current load execution task of the mobile platform, where the current load execution task includes at least one load execution information, and the load execution information represents a correspondence between a trigger event and load execution action information;

When the target trigger event in the target load execution information occurs, control the target load to execute the action indicated by the target load execution action information corresponding to the target trigger event;

The target load is determined from a plurality of loads based on the target load execution action information, and the target load execution information is any one of at least one of the load execution information.
The control device according to claim 38, wherein the processor is further configured to:

Acquiring mobile route planning information of the mobile platform;

In the process of controlling the movement of the mobile platform according to the movement route planning information, it is detected whether the target trigger event occurs.
The control device according to claim 39, wherein the movement route planning information includes a plurality of displacement points, and the target trigger event can be unrelated to the plurality of displacement points.
The control device according to claim 38, wherein the load execution information is configured based on expected load execution tasks of the mobile platform.
The control device according to claim 41, wherein a plurality of the load execution information is stored in the preset storage device, and the current load execution task is at least one selected from the plurality of load execution information. The load execution information is formed.
The control device according to claim 42, wherein each of the load execution information has a preset identifier for indicating a load execution action, and each of the load execution information corresponds to a different preset identifier.
The control device according to claim 43, wherein the current load execution task is obtained based on a selection operation of the preset identifier in the plurality of load execution information.
The control device according to claim 42, wherein the plurality of load execution information stored in the preset storage device is updated based on a designated operation instruction.
The control device according to claim 45, wherein the designated operation instruction includes at least one of the following:

Delete the first load execution information in the plurality of load execution information, replace the second load execution information in the plurality of load execution information, modify the third load execution information in the plurality of load execution information, and add the first load execution information. Four load execution information into a plurality of said load execution information.
The control device according to claim 38, wherein one piece of load execution information includes at least one of the trigger events and at least one piece of load execution action information;

Wherein, one piece of load execution action information corresponds to one or more of the trigger events.
The control device according to claim 47, wherein the trigger event includes a trigger type and a trigger parameter corresponding to the trigger type.
The control device according to claim 48, wherein in one of the trigger types, the trigger parameters include one or more; the trigger parameters are determined according to the trigger type.
The control device according to claim 48, wherein the processor is further configured to:

Determine corresponding detection parameters according to the trigger type;

According to the detection parameter and the trigger parameter, detect whether a trigger event corresponding to the load execution information in the current load execution task occurs.
The control device according to claim 50, wherein the detection parameters include time parameters, position parameters of the mobile platform, working status parameters of the mobile platform, and environmental parameters of the environment where the mobile platform is located. At least one.
The control device according to claim 47, wherein the load execution action information includes a load type and/or a communication port of a third-party load, the load type and/or the execution action type corresponding to the communication port, and The execution action parameter corresponding to the execution action type.
The control device according to claim 52, wherein in one load type, the execution action type includes one or more, and the execution action parameter corresponding to the execution action type includes one or more; the execution action The parameters are determined according to the type of execution action.
The control device according to claim 53, wherein in one load type, the execution action type includes multiple, and the execution order between at least two of the multiple execution action types is related.
The control device according to claim 51, wherein the processor is specifically configured to:

Determine the target load type and/or target communication port in the target load execution action information corresponding to the target trigger event;

Determine the load corresponding to the target load type and/or the target communication port among the plurality of loads as the target load.
The control device according to claim 38, wherein in the current load execution task, trigger events corresponding to at least two of the load execution information are the same.
The control device according to claim 38, wherein in the current load execution task, load execution action information corresponding to at least two of the load execution information is the same.
The control device according to claim 38, wherein in the current load execution task, at least two execution times of the actions indicated by the load execution action information corresponding to the load execution information are associated.
The control device according to claim 38, wherein the plurality of loads includes at least two loads of the same type.
The control device according to claim 38, wherein the load execution information in the current load execution task is arranged according to the execution order of the actions indicated by the load execution information.
The control device according to claim 60, wherein the action indicated by each load execution information in the current load execution task is executed at least once;

The load execution information in the current load execution task is arranged according to the first execution order of the actions indicated by the load execution information.
The control device according to claim 60, wherein there are at least two actions indicated by the load execution information in the current load execution task that are the same and have different execution sequences.
The control device according to claim 38, wherein the processor is further configured to:

According to a preset sequence rule, it is detected whether a trigger event corresponding to the load execution information in the current load execution task occurs.
The control device according to claim 63, wherein the processor is further configured to:

Based on a preset division principle, divide the load execution information in the current load execution task to obtain at least one load execution information set, and each load execution information set includes at least one load execution information;

The detecting whether a trigger event corresponding to the load execution information in the current load execution task occurs according to a preset order rule includes:

According to the preset sequence rule, it is detected whether a trigger event corresponding to the load execution information in the target load execution information set in the at least one load execution information set occurs.
The control device according to claim 64, wherein the processor is specifically configured to:

Based on the corresponding relationship between the displacement points in the moving route of the mobile platform and the load execution information, the load execution information in the current load execution task is divided to obtain at least one load execution information set.
The control device according to claim 65, wherein different load execution information sets correspond to load execution information between different displacement points.
The control device according to claim 64 or 65, wherein the processor is further configured to:

According to the movement sequence of each displacement point in the moving route, the detection sequence of each load execution information set in the at least one load execution information set is determined.
The control device according to claim 64, wherein the processor is specifically configured to:

According to the occurrence time sequence of the actions indicated by the load execution information and the corresponding relationship between the load execution information, the load execution information in the current load execution task is divided to obtain at least one load execution information set.
The control device according to claim 68, wherein different load execution information sets correspond to load execution information in different occurrence time sequences.
The control device according to claim 68 or 69, wherein the processor is further configured to:

According to the sequence of occurrence time, the detection sequence of each load execution information set in at least one load execution information set is determined.
The control device according to claim 38, wherein the processor is further configured to:

Detecting whether the current load execution task is abnormal;

If there is no abnormality, execute the step of determining a target load from a plurality of loads based on the target load execution action information corresponding to the target trigger event when the target trigger event in the target load execution information occurs;

If it is abnormal, execute the corresponding preset strategy according to the abnormal result.
The control device according to claim 71, wherein the processor is specifically configured to:

It is detected whether the load execution information in the current load execution task is abnormal.
The control device according to claim 71, wherein the manner of determining that the load execution information is abnormal comprises at least one of the following:

The content of the load execution information is abnormal, the data format of the load execution information is abnormal, the load execution information is incomplete, the load corresponding to the load execution information is invalid, and the preset identifier corresponding to the load execution information is not unique.
A computer storage medium, wherein the computer storage medium stores program instructions, and when the program instructions are executed, they are used to implement the method according to any one of claims 1-36.