WO2020154948A1 - 一种负载的控制方法及装置 - Google Patents

一种负载的控制方法及装置 Download PDF

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Publication number
WO2020154948A1
WO2020154948A1 PCT/CN2019/073891 CN2019073891W WO2020154948A1 WO 2020154948 A1 WO2020154948 A1 WO 2020154948A1 CN 2019073891 W CN2019073891 W CN 2019073891W WO 2020154948 A1 WO2020154948 A1 WO 2020154948A1
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WO
WIPO (PCT)
Prior art keywords
load
preset
loads
action
working state
Prior art date
Application number
PCT/CN2019/073891
Other languages
English (en)
French (fr)
Inventor
刘启明
陈超彬
周伟
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202111260418.2A priority Critical patent/CN113873169A/zh
Priority to CN201980004916.5A priority patent/CN111213367B/zh
Priority to PCT/CN2019/073891 priority patent/WO2020154948A1/zh
Publication of WO2020154948A1 publication Critical patent/WO2020154948A1/zh
Priority to US17/388,759 priority patent/US20210354846A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D43/00—Arrangements or adaptations of instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D43/00—Arrangements or adaptations of instruments
    • B64D43/02—Arrangements or adaptations of instruments for indicating aircraft speed or stalling conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

Definitions

  • the invention relates to the technical field of mobile platforms, in particular to a load control method and device.
  • mobile platforms can perform corresponding tasks according to preset task information.
  • the aircraft can automatically perform flight guidance and route action control according to preset mission information.
  • the aircraft will be equipped with a load with specific functions, such as a camera or a sprayer, etc., to perform route actions during the voyage.
  • a camera arrives at the first waypoint to take pictures, or the above-mentioned sprayer reaches the first Spray pesticides at the second waypoint.
  • the relevant instructions of the mobile platform directly reach the specified specific load, and when the load occurs such as a failure, the corresponding task cannot be completed, resulting in a low task execution rate.
  • the embodiment of the present invention provides a load control method, which can select a preset load from a plurality of loads, and schedule the specified load to execute the preset action according to the working state of the preset load indicated by the task information, so as to improve the task of the mobile platform.
  • the success rate of execution can select a preset load from a plurality of loads, and schedule the specified load to execute the preset action according to the working state of the preset load indicated by the task information, so as to improve the task of the mobile platform.
  • an embodiment of the present invention provides a load control method.
  • a plurality of the loads are mounted on a mobile platform, including:
  • an embodiment of the present invention provides a load control device, and a plurality of the loads are mounted on the mobile platform, including a memory and a processor;
  • the memory is used to store program code
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • task information of the mobile platform is acquired, where the task information is used to instruct a preset load to perform a preset action; according to the task information, the preset load is determined among a plurality of loads ; Based on the working state of the preset load, control a specified load of the plurality of loads to perform a corresponding operation on the preset action.
  • Fig. 1 is a schematic diagram of a load control system provided by an embodiment of the present invention
  • FIG. 2 is a flowchart of a load control method provided by an embodiment of the present invention.
  • FIG. 3 is a flowchart of another load control method provided by an embodiment of the present invention.
  • FIG. 5 is a flowchart of another load control method provided by an embodiment of the present invention.
  • FIG. 6 is a flowchart of another load control method provided by an embodiment of the present invention.
  • FIG. 7 is a flowchart of another load control method provided by an embodiment of the present invention.
  • Fig. 8 is a schematic diagram of a load control device provided by an embodiment of the present invention.
  • the embodiment of the present invention provides a load control method, which can be applied to a mobile platform mounted with multiple loads, and can also be applied to an electronic device, wherein the electronic device is used to control the mobile platform, and the electronic device
  • the electronic device This can include, but is not limited to, ground stations, remote control equipment, etc.
  • the mobile platform may include, but is not limited to, aircraft, unmanned vehicles, unmanned ships, and mobile robots.
  • the control method can obtain the preset load indicated by the task information of the mobile platform, and based on the working state of the preset load, specify the load among the multiple loads mounted on the mobile platform to complete the preset action.
  • a preset load can be selected from multiple loads, and the specified load among the multiple loads can be scheduled to execute the preset action according to the working status of the preset load indicated by the task information, which improves the task execution of the mobile platform The success rate.
  • the above load control method can be applied to a load control system.
  • the control system includes an electronic device 101 and a mobile platform 102.
  • the mobile platform 102 has multiple loads 103 mounted on it, and the electronic device 101 can be used for Control multiple loads 103 on the mobile platform 102 to perform preset actions.
  • multiple loads can be built-in on the mobile platform or externally placed on the mobile platform.
  • the load placed on the mobile platform and the mobile platform can exchange data through the communication port.
  • Common loads placed on the mobile platform include cameras, pan-tilts, sprinklers, etc.
  • the specific behaviors performed by the above loads can include: Camera photography, camera video, pan/tilt rotation, sprayer spraying, etc.
  • the load control method may be applied to a mobile platform.
  • the aircraft is equipped with a flight control system.
  • the aircraft can send the task information to the flight control system.
  • the flight control system determines the preset load among multiple loads according to the task information, and controls the task information based on the working status of the preset load.
  • the specified load among multiple loads performs corresponding operations on the preset actions.
  • the way of obtaining mission information may also include others.
  • mission information is stored in the local storage device of the aircraft, which is not specifically limited here.
  • the load control method can also be applied to the electronic device 101, and the electronic device 101 can exchange data with the mobile platform 102, thereby realizing control of the load mounted on the mobile platform 102.
  • the electronic device 101 may obtain task information input by the user, or the electronic device 101 may obtain task information from the mobile platform 102.
  • the electronic device 101 can determine the preset load among multiple loads according to the task information.
  • the electronic device 101 receives the working status of the preset load sent by the mobile platform 102, and controls the specified of the multiple loads based on the working status of the preset load.
  • the load performs corresponding operations on the preset actions.
  • the way of acquiring the task information may also include others.
  • the task information is stored in the local storage device of the electronic device, which is not specifically limited here.
  • the load control method shown in this embodiment is executed by the interaction between the mobile platform and the electronic device. Please refer to Figure 2.
  • the specific implementation steps are as follows:
  • the mobile platform receives task information sent by an electronic device, where the task information is used to instruct a preset load to perform a preset action.
  • the mobile platform may receive task information sent by the electronic device, and the task information is used to instruct the load of the mobile platform to perform related operations.
  • the task information may include the movement route information of the mobile platform and the execution action information of the load.
  • the execution action information of the load may include, but is not limited to, the type and identification of each load, the preset action to be executed, the execution parameter of the preset action, etc. .
  • the mobile platform can support the mounting of multiple different types of loads to achieve diversified functions (such as mounting a camera to achieve the camera function, mounting a sprayer to achieve the spraying function, etc.); at the same time, the mobile platform also It supports mounting multiple loads of the same type to schedule multiple loads of the same type to work together (for example, after the first camera takes five pictures, the second camera starts recording) and realizes the redundant backup function.
  • the movement route information of the mobile platform and the execution action information of the load may not be associated, that is, the action indicated by the execution action information of the load can be independent of the setting of the movement route information of the mobile platform, but can be moved on the mobile platform. The process can be executed.
  • the mobile platform can identify the currently connected load, obtain the parameter information of the load, and send the obtained parameter information of the load to the electronic device, which is based on the currently connected load.
  • Parameter information such as the type, quantity and installation location of the load determines the preset actions that the mobile platform can support, and combines the tasks that the user expects to perform to generate corresponding task information.
  • the preset actions that the mobile platform can support can be that camera 1 and camera 2 take photos of different angles together
  • Camera 2 can also be used as a redundant backup of camera 1.
  • the execution parameter of the preset action of camera 1 may be to take a picture with a shooting angle of the northeast direction of the aircraft when the aircraft reaches the first waypoint.
  • the execution parameter of the preset action of the camera 2 may be a photo taken when the aircraft reaches the first waypoint with a shooting angle in the direction of true north of the aircraft.
  • the mission information of the aircraft includes part of the content as shown in Table 1 below:
  • Table 1 Task information table
  • the above task information table is only an example, and the recording method of task information is not limited to the form of a table, and the embodiment of the present invention sets no limitation.
  • the specific content of the above task information table can be generated correspondingly according to the load currently connected to the mobile platform and the preset actions that the load can support. For example, when camera 2 is used as the redundant backup of camera 1, camera 1 and camera 2’s
  • the execution parameters of the preset action can all be a photo taken when the aircraft reaches the first waypoint with a shooting angle in the northeast direction of the aircraft, which is not limited in the embodiment of the present invention.
  • the execution parameters can be determined based on preset actions, and at the same time, they can be customized by the user.
  • the execution action is the same and the execution parameters are different, the final execution result of the execution action can be different.
  • the user uses the interactive interface of the electronic device to view that the mobile platform has four sprayers mounted in the four directions, south, east, and northwest.
  • sprayer 3 and sprayer 4 are used to spray 100 ml of pesticide to the south and north of the mobile platform at the same time, and the execution time of the preset actions of sprayer 3 and sprayer 4 is modified according to the user's functional requirements After the preset actions of sprayer 1 and sprayer 2 are completed, the functional requirements of users can be realized.
  • S202 The mobile platform determines the preset load among a plurality of loads according to the task information.
  • the mobile platform determines the preset load for executing the related task among the multiple loads currently accessed by the mobile platform.
  • the task information is used to instruct a preset load to perform a preset action
  • the preset load may be a part of the load mounted on the mobile platform.
  • the load mounted on the mobile platform may include, but is not limited to, cameras, sprayers, pan-tilts or radars, etc. If the task information is to control the camera to take photos and control the sprayer to spray pesticides, the preset determined among multiple loads The load is the camera and sprayer.
  • S203 The mobile platform controls a designated load among the multiple loads to perform a corresponding operation on the preset action based on the working state of the preset load.
  • the working state of the load may include, but is not limited to, normal use state, idle state, fault state or suspended state, etc.
  • the normal use state means that the load is performing the specified action, that is, it is in the busy state; the idle state means that the load is not performing any action; the fault state means that the load is faulty and cannot continue to perform any action; the pause state means that the load is suspended to perform the specified action and can continue or not Continue to perform the preset action.
  • the mobile platform can control a designated load among multiple loads to perform corresponding operations on the predetermined action, where the designated load among the multiple loads may be a preset load, It may also be the same type of load as the preset load. Performing the corresponding operation on the preset action can be to execute the preset action or not to execute the preset action.
  • the mobile platform can detect that the preset load is in a fault state, and the preset load cannot Continue to perform the preset actions, thereby affecting the overall task execution of the mobile platform.
  • the mobile platform can control the backup load of the preset load through the redundant backup function to perform corresponding operations on the preset actions.
  • the embodiment of the present invention proposes that the multiple loads mounted on the mobile platform may include at least two loads of the same type.
  • the aircraft may mount at least two cameras or at least two sprinklers. In order to realize the redundant backup function.
  • the mobile platform controls camera 1 to perform the preset action (such as shooting the southeast of the aircraft).
  • the mobile platform control is the same as the type of camera 1 and the working state meets the requirements for performing the preset action
  • the load such as camera 2
  • the mobile platform can also control the camera 1 not to perform a preset action, the mission of the aircraft is terminated and the aircraft can return home.
  • the multiple loads mounted on the mobile platform may include loads of the same type.
  • the aircraft may mount two cameras.
  • camera 1 can be scheduled to take photos and camera 2 to record videos.
  • the load executes different preset actions to achieve different functions.
  • the multiple loads mounted on the mobile platform may also include loads of different types.
  • the aircraft can mount two cameras and two sprinklers at the same time.
  • the camera 1 is scheduled to be in the first position. Take photos at the waypoint, and camera 2 will record video at the second waypoint.
  • sprayer 1 is scheduled to spray pesticides at the first waypoint, and sprayer 2 sprays pesticides at the second waypoint, so that the aircraft can achieve multiple designations during the flight Function.
  • the preset load may include multiple loads of the same type, or multiple loads of different types.
  • multiple preset loads of different types can respectively execute the preset actions indicated by the task information, and the mobile platform completes the task when the execution is completed.
  • the preset actions performed by multiple preset loads of the same type can be the same, but the execution parameters of the preset actions are different, for example, the preset loads are sprayer 1 and sprayer 2, and the preset action of sprayer 1 It is spraying pesticides in the first sailing area, and the preset action of sprayer 2 is spraying pesticides in the second sailing area.
  • the preset actions of sprayer 1 and sprayer 2 are the same (pesticide spraying), but the execution of the preset action
  • the parameters are different (sprayer 1 sprays 100 ml of pesticide to the lower right of the aircraft in the first sailing area, and sprayer 2 sprays 50 ml of pesticide to the lower left of the aircraft in the second sailing area).
  • the preset actions performed by multiple preset loads of the same type may be different.
  • the preset loads are camera 1 and camera 2, the preset action of camera 1 is taking photos, and the preset action of camera 2 is recording. Then the two cameras can achieve different functions.
  • the execution times of multiple preset loads may be associated, that is, they are executed simultaneously, or the execution time of one execution action determines the execution time of another or more execution actions.
  • the preset load includes sprayer 1 and sprayer 2.
  • the preset action of sprayer 1 is to spray 100 ml of pesticide to the lower right of the aircraft at the first waypoint, and the preset action of sprayer 2 is at After sprayer 1 completes the preset action and sprays 100 ml of pesticide to the lower right of the aircraft, it can be seen that the execution time of sprayer 1 and sprayer 2 are related.
  • the mobile platform through the interaction between the electronic device and the mobile platform, the mobile platform receives task information sent by the electronic device, and the mobile platform determines a preset load among multiple loads according to the task information, and is based on the preset load.
  • Working status controlling the designated load among multiple loads to perform corresponding operations on the preset actions.
  • the mobile platform can select a preset load from multiple loads, and schedule the specified load to execute the preset action according to the working status of the preset load indicated by the task information, which can improve the task execution performance of the mobile platform. Success rate.
  • the preset load when the working state of the preset load is the first working state, the preset load is controlled to perform a preset action, where the first working state includes a normal use state or an idle state. It is understandable that when the preset load is in a normal use state or an idle state, the mobile platform can directly control the preset load to perform a preset action.
  • the mobile platform is an aircraft, and the preset load includes camera 1.
  • the preset actions of camera 1 include taking a photo with a shooting angle in the northeast of the aircraft every five seconds in the designated area 1 and every two seconds in the designated area 2. A photo taken from the aircraft's true north direction.
  • the camera 1 During the flight of the aircraft, when the camera 1 reaches the designated area 2, if the working state of the camera 1 is idle, the camera 1 is controlled to perform the corresponding preset action; if the working state of the camera 1 is the normal use state (if still If you haven’t finished taking a photo with the shooting angle in the northeast of the aircraft in the designated area 1 every five seconds), wait until the camera 1 completes the current preset action before executing the next preset action. Optionally, you can also force the camera 1Stop the current action and execute the next preset action.
  • the mobile platform when the working state of the preset load is the second working state, a backup load of the same type as the preset load among the plurality of loads is determined, and the backup load is controlled to execute the preset action, wherein,
  • the second working state includes a normal use state or a fault state.
  • the mobile platform can schedule the backup load of the preset load to perform the preset action through the redundant backup function.
  • the mobile platform is an aircraft, and the preset load includes camera 1.
  • the preset actions of camera 1 include taking a photo with a shooting angle in the northeast of the aircraft every five seconds in the designated area 1 and every two seconds in the designated area 2. A photo taken from the aircraft's true north direction.
  • the aircraft also mounts camera 2 as the backup load of camera 1, and the preset action of camera 2 is the same as the preset action of camera 1.
  • camera 2 will be controlled and executed. The default action.
  • the mobile platform controls the camera 2 as the backup of the camera 1 to continue to perform the preset action of the camera 1 taking a photo with the shooting angle in the direction of the aircraft's true north every two seconds in the designated area 2.
  • the working state of the camera 1 is a fault state (for example, the connection with the aircraft is interrupted)
  • the mobile platform controls the camera 2 as a backup of the camera 1 to perform the preset action.
  • the preset load when the working state of the preset load is the third working state, the preset load is controlled to refuse to perform the preset action, wherein the third working state includes a normal use state and a fault state , Any one of the suspended state.
  • the mobile platform can control the preset load to refuse to perform the preset action.
  • the mobile platform is an aircraft, and the preset load includes camera 1.
  • the preset actions of camera 1 include taking a photo with a shooting angle in the northeast of the aircraft every five seconds in the designated area 1 and every two seconds in the designated area 2. A photo taken from the aircraft's true north direction.
  • the aircraft can directly control the camera 1 not to perform a preset action, and the mission is terminated, and the aircraft can return home or continue to fly forward.
  • the task information is also used to instruct the preset load to perform a preset action when a preset trigger event occurs, that is, before the preset load executes the preset action, the mobile platform will determine that the preset load performs the preset action When the corresponding preset trigger event occurs, if the preset trigger event occurs, the mobile platform controls the designated load among the multiple loads to perform the preset action based on the working state of the preset load.
  • the preset trigger event indicates a trigger type and a trigger parameter, where the trigger type includes but is not limited to at least one of an on-point trigger, a time trigger, and a designated area trigger.
  • the corresponding trigger parameters are different depending on the trigger type; among them, the trigger parameter corresponding to the point-to-point trigger can be a predetermined location; the trigger parameter corresponding to the time trigger includes the first movement index parameter and the second movement index Parameters and time interval; the trigger parameters corresponding to the specified area trigger include the longitude parameter, the latitude parameter and the altitude parameter.
  • the mobile platform is an aircraft
  • the load includes two cameras and two gimbals.
  • the two cameras are installed on two gimbals respectively, that is, camera 1 is installed on gimbal 1, and camera 2 is installed on gimbal 2.
  • the preset load includes camera 1 and gimbal 1
  • the preset action of camera 1 is to record images in the southeast direction of the aircraft in the first navigation area
  • the preset action of gimbal 1 is to arrive at the first waypoint from due south Turn to the southeast direction, where the first waypoint is the boundary point where the aircraft enters the first navigation area.
  • the preset trigger event of the camera 1 is entering the first navigation area and the gimbal rotates to the southeast direction of the aircraft, and the preset trigger event of the gimbal 1 is reaching the first waypoint.
  • the preset trigger event corresponding to the preset load may be a single trigger event or a trigger event associated with other preset loads, which is not limited in the embodiment of the present invention.
  • the mobile platform controls a designated load among multiple loads to perform a preset action based on the working state of the preset load. Specifically, when the preset load is in any one of the first working state, the second working state, and the third working state, the mobile platform controls the specified load among the plurality of loads to execute the preset based on the working state of the preset load.
  • the mobile platform controls the specified load among the plurality of loads to execute the preset based on the working state of the preset load.
  • the mobile platform controls a specified load among multiple loads to perform corresponding operations on the preset actions according to the working state of the preset loads.
  • the specified load may be a preset load or a load of the same type as the preset load; performing a corresponding operation on the preset action may be to perform the preset action or to refuse to perform the preset action.
  • the above-mentioned embodiments provide various implementation schemes for the mobile platform to control multiple loads to perform preset actions.
  • the mobile platform can be controlled to implement corresponding functions, which improves the task of the mobile platform. The success rate of execution.
  • the embodiment of the present invention provides another embodiment of the load control method.
  • the load control method shown in this embodiment is executed by the interaction between the mobile platform and the electronic device, wherein the task information is based on multiple loads by the electronic device.
  • the function configuration permission configuration is obtained, please refer to Figure 3.
  • the specific implementation steps are as follows:
  • S301 The electronic device obtains parameter information of each of the multiple loads from the mobile platform.
  • the electronic device can obtain parameter information of each load mounted on the mobile platform.
  • the parameter information of each load includes the type of each load, the installation position of each load on the mobile platform, the performance parameters of each load, and the number of loads of the same type, etc. information.
  • the parameter information of each load is used to prompt the electronic device of the functions that the mobile platform can implement and the actions that need to be performed to implement the functions.
  • the mobile platform is an aircraft
  • the load includes two cameras and two pan-tilts.
  • PTZ 1 and PTZ 2 are installed on the nose of the aircraft
  • Camera 1 and Camera 2 are installed on PTZ 1 and PTZ 2
  • the functions that the mobile platform can achieve include camera 1 and camera 2 to take pictures together.
  • camera 2 serves as the redundant backup of camera 1, and realizes multi-angle shooting of the camera by controlling the rotation of the pan-tilt.
  • S302 The electronic device obtains the function configuration authority of each load according to the parameter information of each load.
  • the electronic device can obtain the preset actions that can be supported by each load by acquiring the parameter information of each load, and request the mobile platform for the function configuration authority of each load according to the preset actions that can be supported by each load.
  • the mobile platform is an aircraft, and the payload includes two cameras and two gimbals.
  • PTZ 1 and PTZ 2 are installed on the nose of the aircraft, and Camera 1 and Camera 2 are installed on PTZ 1 and PTZ 2, then the functions that the mobile platform can achieve include camera 1 and camera 2 to take pictures together.
  • camera 2 serves as the redundant backup of camera 1, and realizes multi-angle shooting of the camera by controlling the rotation of the pan-tilt.
  • the electronic device can obtain the configuration authority of the camera's collaborative photographing function, the configuration authority of the camera's redundant backup function, and the configuration authority of the rotation function of the pan/tilt.
  • the parameter information of each load may also be updated according to the specified operation instruction and/or the change of the load.
  • the electronic device can display the parameter information of each load on the interactive interface. The user can view the parameter information of each load and enter the specified operation according to actual functional requirements.
  • the electronic device sends the designated operation instruction to the mobile platform, and the mobile platform modifies the parameter information of the load to realize the designated function.
  • the designated operation instruction may include modifying the parameter information of the first load in the multiple loads, deleting the parameter information of the second load in the multiple loads, replacing the third load in the multiple loads and saving the parameter information of the replaced load,
  • the parameter information of the fourth load is added, and the change of load refers to the replacement of one or more loads in multiple loads, the decrease in the number of multiple loads, the increase in the number of multiple loads, and the appearance of invalid loads in multiple loads ( Invalid loads include but are not limited to hardware failure loads, loads that cannot establish a communication connection with the mobile platform).
  • the mobile platform will update according to the load change and delete the parameters corresponding to the disconnected load information.
  • the mobile platform will be updated according to the load change, and the deleted The parameter information corresponding to the replaced load and the parameter information corresponding to the replaced load are added.
  • steps S301 to S302 can also be executed by the mobile platform, and the mobile platform outputs the function configuration authority to the electronic device, and the electronic device provides the user with the configuration of task information in an output manner such as display.
  • S303 The electronic device generates task information of the mobile platform according to the function configuration authority of each load.
  • the electronic device can configure permissions according to the acquired functions of each load, and combine the user's functional requirements to generate task information for the mobile platform. For example, if the mobile platform is an aircraft, multiple loads include two cameras, and the functional configuration permissions of camera 1 and camera 2 both include taking photos and videos. At the same time, the electronic equipment receives the user's functional requirements including one camera to take multiple photos in the designated sailing area, and the other camera to record the entire sailing. Then the electronic device generates task information of the mobile platform according to the functional configuration authority of the camera and the functional requirements of the user, including the camera 1 taking five photos in the first sailing area, and the camera 2 recording video in the first sailing area and the second sailing area.
  • the electronic device in the process of configuring task information, when an abnormal task information is detected, the electronic device outputs second prompt information, wherein the second prompt information is used to prompt the task information abnormality. It is understandable that the electronic device will determine the correctness of the configuration of the task information. If the task information is abnormal, it will give corresponding prompts until all actions are correctly configured; among them, the task information abnormality includes the pre-defined task information. Set whether the load and/or preset action is valid. For example, the preset loads indicated in the task information are camera 1 and camera 2, the preset action of camera 1 is to take a photo, camera 2 is used as a backup of camera 1, and the preset action is also to take a photo.
  • the electronic device detects that the preset action of the camera 2 is video recording, the configuration of the backup function of the camera 1 fails, and the preset action of the camera 2 is invalid.
  • the electronic device will output a prompt message that the task information is abnormal, modify the configuration information of the camera 2, and modify the preset action of the camera 2 to take a photo.
  • the electronic device generates task information of the mobile platform according to the acquired function configuration permissions of each load and combined with the user's functional requirements, and the task information is used to instruct the preset load of the mobile platform to perform a preset action.
  • the mobile platform can receive task information sent by the electronic device and perform corresponding operations according to the task information.
  • S305 The mobile platform determines the preset load among a plurality of loads according to the task information.
  • S305 in the embodiment of the present invention reference may be made to S202 shown in FIG. 2, which is not repeated here.
  • S306 The mobile platform controls a designated load among multiple loads to perform a corresponding operation on the preset action based on the working state of the preset load.
  • S306 in the embodiment of the present invention reference may be made to S203 shown in FIG. 2, which is not repeated here.
  • the embodiment of the present invention provides another embodiment of the load control method.
  • the electronic device first obtains the parameter information of each load of the mobile platform, and according to each The parameter information of the load obtains the functions that the mobile platform can implement, thereby obtaining the function configuration authority of each load, and generates task information of the mobile platform according to the function configuration authority, and the mobile platform controls multiple loads to perform corresponding operations according to the task information .
  • the electronic device can pre-configure the functions of multiple loads of the mobile platform according to the functions that the mobile platform can implement, and generate task information and send it to the mobile platform; the mobile platform controls the preset according to the preset task information The load executes preset actions to achieve corresponding functions.
  • the embodiment of the present invention provides another load control method.
  • the mobile platform controls a designated load among multiple loads to perform a corresponding operation on the preset action or after the operation is completed
  • the electronic device can obtain the execution of the preset action As a result, to detect whether the specified load correctly performs the preset action.
  • FIG. 4 A flowchart of another load control method provided by an embodiment of the present invention is shown in FIG. 4.
  • the load control method shown in this embodiment is executed by the interaction between the mobile platform and the electronic device, and specifically includes the following steps:
  • S401 The mobile platform receives task information sent by the electronic device, where the task information is used to instruct a preset load to perform a preset action.
  • the task information is used to instruct a preset load to perform a preset action.
  • S401 in the embodiment of the present invention reference may be made to S201 shown in FIG. 2, which is not repeated here.
  • S402 The mobile platform determines the preset load among a plurality of loads according to the task information.
  • S402 in the embodiment of the present invention reference may be made to S202 shown in FIG. 2, which is not repeated here.
  • S403 Based on the working state of the preset load, the mobile platform controls a designated load among the plurality of loads to perform a corresponding operation on the preset action.
  • S403 in the embodiment of the present invention reference may be made to S203 shown in FIG. 2, which is not repeated here.
  • S404 The mobile platform sends the execution result of the preset action to the electronic device.
  • the mobile platform may send the execution result of the preset action to the control device, and output the execution result of the preset action.
  • the electronic device receives the execution status of the preset action of the preset load in real time and displays it on the interactive interface, and the user can view the execution result of the preset action in real time.
  • the mobile platform sends the execution result of the preset action to the electronic device, and the electronic device displays the execution result on the interactive interface for the user to view.
  • S405 The electronic device controls the mobile platform to perform corresponding operations according to the execution result of the preset action.
  • the electronic device can obtain the execution result of the preset action to determine whether the mobile platform completes the task as required. If the mobile platform completes the task as required, the electronic device displays the execution result of the mobile platform according to the task information to control the specified load to execute the preset action on the interactive interface, and the user can view it through the interactive interface. If the mobile platform does not work as required, the user can also send a control instruction to the mobile platform through an electronic device.
  • the control instruction is used to control the specified load that does not work as required to stop performing the preset action, that is, interrupt the execution of the preset action, or Pause the execution of the preset action, and modify the execution parameters of the preset action according to user instructions, and then control the designated load to continue to execute the preset action.
  • the aircraft is equipped with two sprayers, the preset load is sprayer 1, and the preset action of sprayer 1 is to spray pesticides in the first sailing area.
  • sprayer 1 is not executed
  • the electronic device displays the execution status of the sprayer 1 on the interactive interface. The user can choose to send the task interruption instruction to the mobile platform through the electronic device and control the aircraft to return home, or choose to send it to the mobile platform via the electronic device Task pause instruction, call sprayer 2 to execute the preset action of sprayer 1.
  • the electronic device when the mobile platform controls a designated load among the plurality of loads to perform a corresponding operation on the preset action or after the operation is completed, the electronic device can obtain the execution result of the preset action. The electronic device can also control the mobile platform to perform corresponding operations according to the execution result of the preset action. If the preset load does not perform the preset action as required, it can control the mobile platform to use redundant backup to complete the task. It can be seen that implementing the embodiments of the present invention can monitor the task execution status of the mobile platform, and improve the success rate of the task execution of the mobile platform.
  • the embodiment of the present invention provides another load control method.
  • the load control method shown in this embodiment is executed by the interaction between the mobile platform and the electronic device. Please refer to Figure 5.
  • the specific implementation steps are as follows:
  • S501 The electronic device generates task information, where the task information is used to instruct a preset load to perform a preset action.
  • S502 The electronic device determines the preset load among multiple loads according to the task information.
  • the specific method for the electronic device to determine the preset load among multiple loads according to the task information may refer to the specific description of the mobile platform determining the preset load among the multiple loads according to the task information in S202 in the embodiment of FIG. 2 , I won’t go into details here.
  • S503 The electronic device obtains the working state of the preset load from the mobile platform.
  • S504 The electronic device controls a specified load among the multiple loads to perform a corresponding operation on the preset action based on the working state of the preset load.
  • the electronic device sends a control instruction to the mobile platform, where the control instruction includes the identification of the specified load and the preset action, so as to control the specified load to perform a corresponding operation on the preset action.
  • the mobile platform controls the designated load to perform corresponding operations on the preset actions according to the control instructions sent by the electronic device.
  • the electronic device can obtain task information of the mobile platform, and according to the task information, determine a preset load among multiple loads, and work based on the preset load State, control the specified load among multiple loads to perform corresponding operations on the preset actions. It can be seen that implementing the embodiments of the present invention can schedule a specified load to execute a preset action according to the working state of the preset load indicated by the task information, so as to improve the success rate of task execution of the mobile platform.
  • the embodiment of the present invention provides another load control method.
  • the load control method shown in this embodiment is executed by the interaction between the mobile platform and the electronic device. Please refer to FIG. 6, the specific implementation steps are as follows:
  • S601 The electronic device acquires parameter information of each load among the multiple loads.
  • the user can input the parameter information of each load mounted on the mobile platform in the user interface of the electronic device, and then the electronic device can obtain the parameter information of each of the multiple loads.
  • S602 The electronic device obtains the function configuration authority of each load according to the parameter information of each load.
  • S603 The electronic device generates task information of the mobile platform according to the acquired function configuration authority of each load.
  • S604 The electronic device determines a preset load among the multiple loads according to the task information.
  • S605 The electronic device obtains the working state of the preset load from the mobile platform.
  • S606 The electronic device controls a specified load among the multiple loads to perform a corresponding operation on the preset action based on the working state of the preset load.
  • the embodiment of the present invention provides another embodiment of the load control method.
  • the electronic device obtains the parameter information of each load of the mobile platform, obtains the function configuration authority of each load according to the parameter information of each load, and configures the authority according to the function Generate task information for the mobile platform. It can be seen that in implementing the embodiments of the present invention, the electronic device can pre-configure multiple loads of the mobile platform according to the functions that the mobile platform can implement. During the movement, the mobile platform controls the preset load to perform preset actions according to preset task information. In order to realize the corresponding function.
  • the execution body of each step in the above embodiment may also be other.
  • the execution body of each step may be the same or different, such as via a mobile platform and electronic For communication connections between devices, corresponding steps are executed alternately.
  • the above-mentioned embodiments are only examples for illustration and are not specifically limited.
  • the embodiment of the present invention provides another load control method, please refer to FIG. 7, which may specifically include the following steps:
  • the mobile platform can receive task information sent by the electronic device.
  • the mobile platform can identify the currently connected load, obtain the parameter information of the load, and send the obtained parameter information of the load to the electronic device, which is based on the currently connected load.
  • Parameter information such as the type, quantity and installation location of the load determines the preset actions that the mobile platform can support, and combines the tasks that the user expects to perform to generate corresponding task information.
  • S702 Determine the preset load among a plurality of loads according to the task information.
  • the mobile platform determines the preset load for executing the related task among the multiple loads currently accessed by the mobile platform.
  • the task information is used to instruct a preset load to perform a preset action
  • the preset load may be a part of the load mounted on the mobile platform.
  • the load mounted on the mobile platform may include, but is not limited to, cameras, sprayers, pan-tilts or radars, etc. If the task information is to control the camera to take photos and control the sprayer to spray pesticides, the preset determined among multiple loads The load is the camera and sprayer.
  • S703 Based on the working state of the preset load, control a designated load among the plurality of loads to perform a corresponding operation on the preset action.
  • the working state of the load may include, but is not limited to, normal use state, idle state, fault state or suspended state, etc.
  • the normal use state means that the load is performing the specified action, that is, it is in the busy state; the idle state means that the load is not performing any action; the fault state means that the load is faulty and cannot continue to perform any action; the pause state means that the load is suspended to perform the specified action and can continue or not Continue to perform the preset action.
  • the mobile platform can control a designated load among multiple loads to perform corresponding operations on the predetermined action, where the designated load among the multiple loads may be a preset load, It may also be the same type of load as the preset load. Performing the corresponding operation on the preset action can be to execute the preset action or not to execute the preset action.
  • the preset load when the working state of the preset load is the first working state, the preset load is controlled to perform a preset action, where the first working state includes a normal use state or an idle state. It is understandable that when the preset load is in a normal use state or an idle state, the mobile platform can directly control the preset load to perform a preset action.
  • the mobile platform is an aircraft, and the preset load includes camera 1.
  • the preset actions of camera 1 include taking a photo with a shooting angle in the northeast of the aircraft every five seconds in the designated area 1 and every two seconds in the designated area 2. A photo taken from the aircraft's true north direction.
  • the camera 1 During the flight of the aircraft, when the camera 1 reaches the designated area 2, if the working state of the camera 1 is idle, the camera 1 is controlled to perform the corresponding preset action; if the working state of the camera 1 is the normal use state (if still If it is not completed to take a photo with a shooting angle in the northeast of the aircraft in the designated area 1 every five seconds), the next preset action will be executed after the camera 1 completes the current preset action.
  • the mobile platform when the working state of the preset load is the second working state, a backup load of the same type as the preset load among the plurality of loads is determined, and the backup load is controlled to execute the preset action, wherein,
  • the second working state includes a normal use state or a fault state.
  • the mobile platform can schedule the backup load of the preset load to perform the preset action through the redundant backup function.
  • the mobile platform is an aircraft, and the preset load includes camera 1.
  • the preset actions of camera 1 include taking a photo with a shooting angle in the northeast of the aircraft every five seconds in the designated area 1 and every two seconds in the designated area 2. A photo taken from the aircraft's true north direction.
  • the aircraft also mounts camera 2 as the backup load of camera 1, and the preset action of camera 2 is the same as the preset action of camera 1.
  • camera 2 will be controlled and executed. The default action.
  • the mobile platform controls the camera 2 as the backup of the camera 1 to continue to perform the preset action of the camera 1 taking a photo with the shooting angle in the direction of the aircraft's true north every two seconds in the designated area 2.
  • the working state of the camera 1 is a fault state (for example, the connection with the aircraft is interrupted)
  • the mobile platform controls the camera 2 as a backup of the camera 1 to perform the preset action.
  • the preset load when the working state of the preset load is the third working state, the preset load is controlled to refuse to perform the preset action, wherein the third working state includes a normal use state and a fault state , Any one of the suspended state.
  • the mobile platform can control the preset load to refuse to perform the preset action.
  • the mobile platform is an aircraft, and the preset load includes camera 1.
  • the preset actions of camera 1 include taking a photo with a shooting angle in the northeast of the aircraft every five seconds in the designated area 1 and every two seconds in the designated area 2. A photo taken from the aircraft's true north direction.
  • the aircraft can directly control the camera 1 not to perform a preset action, and the mission is terminated, and the aircraft can return home or continue to fly forward.
  • the embodiment of the present invention can support selecting a preset load from a plurality of loads, and scheduling a designated load to execute a preset action according to the working status of the preset load indicated by the task information, so as to improve the success rate of task execution of the mobile platform.
  • an embodiment of the present invention provides a load control device, and a plurality of the loads are mounted on a mobile platform.
  • the device can be applied to the load control method shown in FIGS. 2-7 to execute the corresponding steps in the load control method described above.
  • the device includes a memory 801 and a processor 802; the memory 801 is used to store program codes; the processor 802 calls the program codes, and when the program codes are executed, they are used to perform the following operations:
  • the plurality of loads includes at least two loads of the same type.
  • the preset loads include multiple, at least two of the multiple preset loads are of the same type, and the preset actions corresponding to the at least two preset loads of the same type are different.
  • the preset loads include multiple, at least two of the multiple preset loads are of the same type, and the preset actions corresponding to the at least two preset loads of the same type are the same.
  • execution parameters of execution actions corresponding to at least two of the preset loads of the same type are different.
  • the execution times of the execution actions corresponding to at least two of the preset loads are associated.
  • processor 802 is further configured to:
  • the first working state includes a normal use state or an idle state.
  • processor 802 is further configured to:
  • the second working state includes a normal use state or a fault state.
  • processor 802 is further configured to:
  • processor 802 is further configured to:
  • the third working state includes any one of a normal use state, a fault state, and a suspended state.
  • the task information is configured based on multiple functional configuration permissions of the load.
  • processor 802 is further configured to:
  • processor 802 is further configured to:
  • the parameter information includes the type of each load, the installation position of each load on the mobile platform, the performance parameters of each load, and the number of loads of the same type. At least one of.
  • the preset storage device stores parameter information of each of the loads, and the parameter information is updated based on a designated operation instruction and/or a change in the load.
  • processor 802 is further configured to:
  • second prompt information is output, and the second prompt information is used to prompt the task information to be abnormal.
  • processor 802 is further configured to:
  • processor 802 is further configured to:
  • the task information is used to instruct a preset load to perform a preset action when a preset trigger event occurs; the processor 802 is further configured to:
  • processor 802 is further configured to:
  • processor 802 is further configured to:
  • control device is applied to a mobile platform or an electronic device
  • the mobile platform includes an aircraft, an unmanned vehicle, an unmanned ship, and a mobile robot
  • the electronic device includes a ground station or a remote control device.
  • the load includes at least one of a pan-tilt, a spray device, an imaging device, and a distance measuring device.
  • the load control device can obtain task information, and according to the task information, determine a preset load among multiple loads, and based on the working status of the preset load, control the specified load pair among the multiple loads. Let the action execute the corresponding operation. It can be seen that implementing the embodiments of the present invention can improve the success rate of task execution of the mobile platform.
  • the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

一种负载的控制方法及装置，该方法包括：获取所述移动平台的任务信息，所述任务信息用于指示预设负载执行预设动作；根据所述任务信息，在多个所述负载中确定出所述预设负载；基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。采用本发明实施例，可以根据任务信息所指示的预设负载的工作状态调度指定负载执行预设动作，以提高移动平台的任务执行的成功率。

Description

一种负载的控制方法及装置 技术领域
本发明涉及移动平台技术领域，尤其涉及一种负载的控制方法及装置。
背景技术
目前，移动平台(如飞行器、移动机器人等)可以根据预先设置的任务信息执行相应的任务。以飞行器为例，飞行器可以按照预先设置的任务信息自动进行飞行引导和航线动作控制。一般情况下，飞行器会安装具备特定功能的负载，例如一个相机或者一个喷洒器等，用于在航行过程中执行航线动作，例如，上述相机到达第一航点进行拍照，或者上述喷洒器到达第二航点喷洒农药等。然而，移动平台的相关指令均是直接到达指定的具体负载，且在负载发生诸如故障时，无法完成相应的任务，导致任务的执行率低下。
发明内容
本发明实施例提供一种负载的控制方法，可以实现从多个负载中选取预设负载，根据任务信息所指示的预设负载的工作状态调度指定负载执行预设动作，以提高移动平台的任务执行的成功率。
一方面，本发明实施例提供一种负载的控制方法，多个所述负载挂载于移动平台，包括：
获取所述移动平台的任务信息，所述任务信息用于指示预设负载执行预设动作；
根据所述任务信息，在多个所述负载中确定出所述预设负载；
基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
另一方面，本发明实施例提供一种负载的控制装置，多个所述负载挂载于所述移动平台，包括存储器和处理器；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操 作：
获取移动平台的任务信息，所述任务信息用于指示预设负载执行预设动作；
根据所述任务信息，在多个所述负载中确定出所述预设负载；
基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
本发明实施例中，获取所述移动平台的任务信息，所述任务信息用于指示预设负载执行预设动作；根据所述任务信息，在多个所述负载中确定出所述预设负载；基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。实施本发明实施例，可以实现从多个负载中选取预设负载，根据任务信息所指示的预设负载的工作状态调度多个负载中的指定负载执行预设动作，以提高移动平台的任务执行的成功率。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种负载的控制系统的示意图；
图2是本发明实施例提供的一种负载的控制方法的流程图；
图3是本发明实施例提供的另一种负载的控制方法的流程图；
图4是本发明实施例提供的另一种负载的控制方法的流程图；
图5是本发明实施例提供的另一种负载的控制方法的流程图；
图6是本发明实施例提供的另一种负载的控制方法的流程图；
图7是本发明实施例提供的另一种负载的控制方法的流程图；
图8是本发明实施例提供的一种负载的控制装置的示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是 全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“多个”的含义为大于等于两个。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供一种负载的控制方法，可以应用于挂载了多个负载的移动平台，也可以应用于电子设备，其中，所述电子设备用于控制所述移动平台，所述电子设备可以包括但不限于地面站、遥控设备等。所述移动平台可以包括但不限于飞行器、无人车、无人船和移动机器人。该控制方法可以获取移动平台的任务信息所指示的预设负载，并基于预设负载的工作状态，在移动平台挂载的多个负载中指定负载以完成预设动作。采用上述负载的控制方法，可以从多个负载中选取预设负载，并根据任务信息所指示的预设负载的工作状态调度多个负载中的指定负载执行预设动作，提高了移动平台执行任务的成功率。
上述负载的控制方法可以应用于一种负载的控制系统，请参见图1，该控制系统包括电子设备101和移动平台102，其中移动平台102挂载了多个负载103，电子设备101可以用于控制移动平台102上的多个负载103执行预设动作。在一个实施例中，多个负载可以内置于移动平台上，也可以外置于移动平台。外置于移动平台的负载与移动平台之间可以通过通讯端口进行数据交互，常见的外置于移动平台的负载有相机、云台、喷洒器等，上述负载所执行的特定行为，可以包括：相机拍照、相机录像、云台转动、喷洒器喷洒等。
可选的，所述负载的控制方法可以应用于移动平台，以飞行器为例，所述飞行器配置有飞行控制系统。飞行器可以在接收到电子设备101发送的任务信息之后，将任务信息下发至飞行控制系统，飞行控制系统根据任务信息在多个负载中确定出预设负载，基于预设负载的工作状态，控制多个负载中的指定负载对预设动作执行相应的操作。当然，可以理解，任务信息的获取方式除了上述说明的内容，也可以包括其它，例如，任务信息存储于飞行器的本地存储装 置中，此处不做具体限定。
可选的，所述负载的控制方法还可以应用于电子设备101，电子设备101可以与移动平台102进行数据交互，进而实现对移动平台102挂载的负载的控制。例如，电子设备101可以获取用户输入的任务信息，或者电子设备101可以从移动平台102获取任务信息。电子设备101可以根据任务信息，在多个负载中确定出预设负载，电子设备101接收移动平台102发送的预设负载的工作状态，基于预设负载的工作状态，控制多个负载中的指定负载对预设动作执行相应的操作。当然，可以理解，任务信息的获取方式除了上述说明的内容，也可以包括其它，例如，任务信息存储于电子设备的本地存储装置中，此处不作具体限定。
下面将详细介绍所述负载的控制方法的一种实施例，该实施例所示的负载的控制方法由移动平台与电子设备之间的交互执行，请参见图2，具体实施步骤如下：
S201，移动平台接收电子设备发送的任务信息，所述任务信息用于指示预设负载执行预设动作。
本发明实施例中，移动平台可以接收电子设备发送的任务信息，所述任务信息用于指示移动平台的负载执行相关操作。任务信息可以包括移动平台的移动路线信息和负载的执行动作信息，其中，负载的执行动作信息可以包括但不限于各个负载的类型、标识、需要执行的预设动作、预设动作的执行参数等。可以理解的是，移动平台可以支持挂载多个不同类型的负载，以实现多样化的功能(如通过挂载相机实现拍照功能，通过挂载喷洒器实现喷洒功能等)；同时，移动平台还支持挂载多个相同类型的负载，以调度多个相同类型的负载协同工作(如第一相机拍摄五张图片之后，第二相机开始录像)以及实现冗余备份功能。可以理解，移动平台的移动路线信息和负载的执行动作信息可以不相关联，即负载的执行动作信息所指示的动作能够不依赖于移动平台的移动路线信息的设置，但能够在移动平台的移动过程中可以得到执行。
示例性的，当负载接入移动平台后，移动平台可以对当前接入的负载进行识别，得到负载的参数信息，并将获取的负载的参数信息发送至电子设备，电 子设备根据当前接入的负载的类型、数量和安装位置等参数信息判断移动平台可以支持的预设动作，并结合用户期望执行的任务，生成对应的任务信息。
例如，移动平台为飞行器，飞行器挂载了两个相机，相机1和相机2分别位于飞行器的机头下方，则移动平台可以支持的预设动作可以是相机1和相机2协同拍摄不同角度的照片，也可以是相机2作为相机1的冗余备份。进一步的，当相机1和相机2的预设动作为协同拍摄不同角度的照片时，相机1的预设动作的执行参数可以是飞行器到达第一航点时拍摄一张拍摄角度为飞行器东北方向的照片，相机2的预设动作的执行参数可以是飞行器到达第一航点时拍摄一张拍摄角度为飞行器正北方向的照片。当飞行器的任务是获取飞行过程中的多个角度的影像信息时，飞行器的任务信息包括的部分内容如下表1所示：
表1：任务信息表
Figure PCTCN2019073891-appb-000001
可以理解的是，上述任务信息表只是一种示例，任务信息的记录方式不限于表格形式，本发明实施例不作限制。上述任务信息表的具体内容可以根据移动平台当前接入的负载以及负载可以支持的预设动作等信息对应地生成，例如，当相机2作为相机1的冗余备份时，相机1和相机2的预设动作的执行参数均可以是飞行器到达第一航点时拍摄一张拍摄角度为飞行器东北方向的照片，本发明实施例不作限制。
其中，执行参数可以基于预设动作确定，同时，其可以由用户自定义。执行动作相同，执行参数不同时，执行动作的最终执行结果可以不同。例如，用户通过电子设备的交互界面查看移动平台的东南西北四个方向分别挂载了四 个喷洒器，若用户的功能需求为采用喷洒器1和喷洒器2同时向移动平台的东方和西方喷洒50毫升的农药后，再采用喷洒器3和喷洒器4同时向移动平台的南方和北方喷洒100毫升的农药，则根据用户的功能需求修改喷洒器3和喷洒器4的预设动作的执行时间为喷洒器1和喷洒器2的预设动作完成后，以实现用户的功能需求。
S202，移动平台根据所述任务信息，在多个所述负载中确定出所述预设负载。
移动平台根据任务信息所包含的负载的执行动作信息，在移动平台当前接入的多个负载中确定执行相关任务的预设负载。可以理解的是，所述任务信息用于指示预设负载执行预设动作，所述预设负载可以是移动平台挂载的部分负载。例如，移动平台挂载的负载可以包括但不限于相机、喷洒器、云台或雷达等，若任务信息为控制相机拍摄照片以及控制喷洒器喷洒农药，则在多个负载中确定出的预设负载为相机和喷洒器。
S203，移动平台基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
负载的工作状态可以包括但不限于正常使用状态、空闲状态、故障状态或暂停状态等。正常使用状态表示负载正在执行指定动作，即处于忙碌状态；空闲状态表示负载未执行任何动作；故障状态表示负载出现故障，不能继续执行任何动作；暂停状态表示负载暂停执行指定动作，可以继续或者不继续执行预设动作。根据上述几种预设负载可能的工作状态，移动平台可以控制多个负载中的指定负载执行对所述预设动作执行相应的操作，其中，多个负载中的指定负载可以是预设负载，也可以是与预设负载的类型相同的负载。对预设动作执行相应的操作可以是执行预设动作，也可以是不执行预设动作。
在一种实施例中，在移动平台的运行过程中，预设负载发生故障(如设备掉线、设备硬件故障等)时，移动平台可以检测到预设负载处于故障状态，则预设负载不能继续执行预设动作，从而影响移动平台的整体任务执行。为了保证移动平台执行任务的成功率，可以通过冗余备份功能，移动平台控制预设负载的备份负载来对预设动作执行相应的操作。为了实现冗余备份功能，本发明实施例提出移动平台挂载的多个负载可以包括至少两个类型相同的负载，例如， 飞行器可以挂载至少两个相机，或者挂载至少两个喷洒器，以实现冗余备份功能。例如，若预设负载为相机1，当相机1的工作状态满足执行预设动作的条件时(如相机1的工作状态为空闲状态)，移动平台控制相机1执行预设动作(如拍摄飞行器东南方向的照片)；当相机1的工作状态不满足执行预设动作的条件时(如相机1的工作状态为故障状态)，移动平台控制与相机1的类型相同且工作状态满足执行预设动作的条件的指定负载(如相机2)来执行预设动作，以确保任务成功。当相机1的工作状态为故障状态时，移动平台也可以控制相机1不执行预设动作，则飞行器的任务终止，飞行器可以返航。
在一种实施例中，移动平台挂载的多个负载可以包括类型相同的负载，例如，飞行器可以挂载两个相机，在飞行过程中调度相机1拍摄照片、相机2进行录像，相同类型的负载执行不同的预设动作以实现不同的功能。
在一种实施例中，移动平台挂载的多个负载也可以包括类型不同的负载，例如，飞行器可以同时挂载两个相机和两个喷洒器，在飞行过程中，调度相机1在第一航点拍摄照片，相机2在第二航点进行录像，同时调度喷洒器1在第一航点喷洒农药，喷洒器2在第二航点喷洒农药，以使飞行器在航行过程中实现多种指定的功能。
可以理解的是，预设负载可以包括多个类型相同的负载，也可以包括多个类型不同的负载。其中，多个类型不同的预设负载可以分别执行任务信息所指示的预设动作，执行完成则移动平台完成任务。可选的，多个类型相同的预设负载执行的预设动作可以相同，但预设动作的执行参数不同，例如，预设负载为喷洒器1和喷洒器2，喷洒器1的预设动作是在第一航行区域喷洒农药，喷洒器2的预设动作是在第二航行区域喷洒农药，则可知喷洒器1和喷洒器2的预设动作相同(喷洒农药)，但是预设动作的执行参数不同(喷洒器1在第一航行区域向飞行器的右下方喷洒100毫升的农药，喷洒器2在第二航行区域向飞行器的左下方喷洒50毫升的农药)。可选的，多个类型相同的预设负载执行的预设动作可以不同，例如，预设负载为相机1和相机2，相机1的预设动作为拍照，相机2的预设动作为录影，则两个相机可以实现不同的功能。
可选的，多个预设负载的执行时间可以相关联，即同时执行，或一个执行动作的执行时间决定另一个或多个执行动作的时间。例如，预设负载包括喷洒 器1和喷洒器2，其中，喷洒器1的预设动作为在第一航点处向飞行器的右下方喷洒100毫升的农药，喷洒器2的预设动作为在喷洒器1完成预设动作之后再向飞行器的右下方喷洒100毫升农药，则可知喷洒器1和喷洒器2的执行时间相关联。
本发明实施例中，通过电子设备与移动平台间的交互，移动平台接收电子设备发送的任务信息，移动平台根据所述任务信息，在多个负载中确定预设负载，并基于预设负载的工作状态，控制多个负载中的指定负载对预设动作执行相应的操作。可见，实施本发明实施例，移动平台可以从多个负载中选取预设负载，并根据任务信息所指示的预设负载的工作状态调度指定负载执行预设动作，可以提高移动平台的任务执行的成功率。
下面通过具体的实施例对图2实施例中的基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作的步骤进行进一步的扩展。
在一种实施例中，当预设负载的工作状态为第一工作状态时，控制预设负载执行预设动作，其中，第一工作状态包括正常使用状态或空闲状态。可以理解的是，当预设负载处于正常使用状态或空闲状态时，移动平台可以直接控制预设负载执行预设动作。例如，移动平台为飞行器，预设负载包括相机1，相机1的预设动作包括在指定区域1每隔五秒拍摄一张拍摄角度为飞行器东北方向的照片和在指定区域2每隔两秒拍摄一张拍摄角度为飞行器正北方向的照片。在飞行器的航行过程中，当相机1到达指定区域2时，若相机1的工作状态为空闲状态，则控制相机1执行相应的预设动作；若相机1的工作状态为正常使用状态(如还未完成在指定区域1每隔五秒拍摄一张拍摄角度为飞行器东北方向的照片)，则待相机1执行完成当前预设动作后再执行下一个预设动作，可选的，也可以强制相机1中止当前的动作而执行下一个预设动作。
在一种实施例中，当预设负载的工作状态为第二工作状态时，确定多个负载中与预设负载的类型相同的备份负载，并控制备份负载执行所述预设动作，其中，第二工作状态包括正常使用状态或故障状态。可以理解的是，当预设负载处于正常使用或故障状态时，移动平台可以通过冗余备份功能调度预设负载 的备份负载执行预设动作。例如，移动平台为飞行器，预设负载包括相机1，相机1的预设动作包括在指定区域1每隔五秒拍摄一张拍摄角度为飞行器东北方向的照片和在指定区域2每隔两秒拍摄一张拍摄角度为飞行器正北方向的照片。飞行器还挂载了相机2作为相机1的备份负载，则相机2的预设动作与相机1的预设动作相同，当相机1处于正常使用状态或故障状态时，相机2才会被控制执行所述预设动作。在飞行器的航行过程中，当相机1到达指定区域2时，若相机1的工作状态为正常使用状态(如还未完成在指定区域1每隔五秒拍摄一张拍摄角度为飞行器东北方向的照片)，则移动平台控制相机2作为相机1的备份继续执行相机1在指定区域2每隔两秒拍摄一张拍摄角度为飞行器正北方向的照片的预设动作。若相机1的工作状态为故障状态(如与飞行器的连接中断)，则移动平台控制相机2作为相机1的备份执行所述预设动作。
在一种实施例中，当所述预设负载的工作状态为第三工作状态时，控制所述预设负载拒绝执行所述预设动作，其中，第三工作状态包括正常使用状态，故障状态、暂停状态中的任一种。可以理解的是，当预设负载处于正常使用状态，故障状态、暂停状态中的任一种状态时，移动平台可以控制所述预设负载拒绝执行预设动作。例如，移动平台为飞行器，预设负载包括相机1，相机1的预设动作包括在指定区域1每隔五秒拍摄一张拍摄角度为飞行器东北方向的照片和在指定区域2每隔两秒拍摄一张拍摄角度为飞行器正北方向的照片。当相机1处于正常使用状态、故障状态或者暂停状态中的任一种状态时，飞行器可以直接控制相机1不执行预设动作，则任务终止，飞行器可以返航或继续向前飞行。
在一种实施例中，任务信息还用于指示预设负载在发生预设触发事件时执行预设动作，即预设负载在执行预设动作之前，移动平台将判断预设负载执行预设动作时对应的预设触发事件是否发生，若发生预设触发事件，则移动平台基于所述预设负载的工作状态，控制多个负载中的指定负载执行预设动作。所述预设触发事件指示了触发类型和触发参数，其中，触发类型包括但不限于到点触发、时间触发和指定区域触发中的至少一种。可以理解的是，根据触发类型的不同，对应的触发参数也不同；其中，到点触发对应的触发参数可以是预 定的地点；时间触发对应的触发参数包括第一移动索引参数、第二移动索引参数和时间间隔；指定区域触发对应的触发参数包括经度参数、纬度参数和高度参数。
例如，移动平台为飞行器，负载包括两个相机和两个云台，其中，两个相机分别安装在两个云台上，即相机1安装在云台1上，相机2安装在云台2上。若预设负载包括相机1和云台1，相机1的预设动作为在第一航行区域内录制飞行器东南方向的影像，云台1的预设动作为到达第一航点处由正南方向转动至东南方向，其中，第一航点为飞行器进入第一航行区域的边界点。那么相机1的预设触发事件为进入第一航行区域以及云台转动至飞行器的东南方向，云台1的预设触发事件为到达第一航点。可以理解的是，预设负载对应的预设触发事件可以是单一触发事件，也可以是与其他预设负载相关联的触发事件，本发明实施例不作限制。
若发生预设触发事件，移动平台基于所述预设负载的工作状态，控制多个负载中的指定负载执行预设动作。具体的，当预设负载处于第一工作状态、第二工作状态、第三工作状态中的任一种工作状态时，移动平台基于预设负载的工作状态控制多个负载中的指定负载执行预设动作的具体实施方式可以参考上文中各实施例的描述，在此不赘述。
上述实施例提供了当预设负载处于不同的工作状态时，移动平台根据预设负载的工作状态控制多个负载中的指定负载对预设动作执行相应的操作。可以理解的是，指定负载可以是预设负载，也可以是与预设负载类型相同的负载；对预设动作执行相应的操作，可以是执行预设动作，也可以是拒绝执行预设动作。可见，上述实施例提供了移动平台控制多个负载执行预设动作的多种实施方案，当预设负载处于不同的工作状态时，都可以控制移动平台实现相应的功能，提高了移动平台的任务执行的成功率。
本发明实施例提供了负载的控制方法的另一种实施例，该实施例所示的负载的控制方法由移动平台与电子设备之间的交互执行，其中，任务信息由电子设备基于多个负载的功能配置权限配置得到，请参见图3，具体实施步骤如下：
S301，电子设备从移动平台获取多个所述负载中各个负载的参数信息。
电子设备可以获取移动平台挂载的各个负载的参数信息，所述各个负载的参数信息包括各个负载的类型、各个负载在移动平台的安装位置、各个负载的性能参数及相同类型的负载的数量等信息。各个负载的参数信息用于向电子设备提示所述移动平台可以实现的功能以及实现所述功能需要执行的动作，例如，移动平台为飞行器，负载包括相机两个和云台两个。其中，云台1和云台2分别安装在飞行器的机头位置，相机1和相机2分别安装在云台1和云台2上，那么移动平台可以实现的功能包括相机1和相机2协同拍照并拼接照片，相机2作为相机1的冗余备份，通过控制云台旋转从而实现相机的多角度拍摄等。
S302，电子设备根据各个所述负载的参数信息，获取各个所述负载的功能配置权限。
电子设备通过获取的各个负载的参数信息，可以获取各个负载可支持的预设动作，并根据各个负载可支持的预设动作向移动平台请求各个负载的功能配置权限。例如，移动平台为飞行器，负载包括两个相机和两个云台。其中，云台1和云台2分别安装在飞行器的机头位置，相机1和相机2分别安装在云台1和云台2上，那么移动平台可以实现的功能包括相机1和相机2协同拍照并拼接照片，相机2作为相机1的冗余备份，通过控制云台旋转从而实现相机的多角度拍摄等。根据上述负载可支持的预设动作，电子设备可以获取相机的协同拍照功能的配置权限，相机的冗余备份功能配置权限以及云台的旋转功能配置权限。
在一种实施例中，各个负载的参数信息还可以根据指定操作指令和/或所述负载的变化进行更新。可选的，电子设备获取多个所述负载中各个负载的参数信息后，可以将各个负载的参数信息显示在交互界面上，用户可以查看各个负载的参数信息，并根据实际功能需求输入指定操作指令，电子设备将指定操作指令发送至移动平台，移动平台修改负载的参数信息以实现指定的功能。其中，指定操作指令可以包括修改多个负载中第一负载的参数信息、删除多个负载中第二负载的参数信息、替换多个负载中的第三负载并保存替换后的负载的参数信息、增加第四负载的参数信息，负载的变化则是指多个负载中一个或以上负载的替换、多个负载的数量的减少、多个负载的数量的增加、多个负载中无效负载的出现(无效负载包括但不限于硬件故障负载、无法与移动平台建立 通信连接的负载)。
可选的，移动平台的任务信息配置完成后，移动平台检测到一个或多个负载与移动平台的连接断开，则移动平台将根据负载的变化进行更新，删除连接断开的负载对应的参数信息。例如，移动平台的任务信息配置完成后，一个或多个负载被替换(如不带有录像功能的相机被带有录像功能的相机替换)，则移动平台将根据负载的变化进行更新，删除被替换的负载对应的参数信息并添加替换后的负载对应的参数信息。
可以理解，步骤S301至S302也可以由移动平台执行，并由移动平台输出功能配置权限至电子设备，再由电子设备以诸如显示的输出方式提供给用户进行任务信息的配置。
S303，电子设备根据各个负载的功能配置权限，生成移动平台的任务信息。
电子设备可以根据获取的各个负载的功能配置权限，并结合用户的功能需求，生成移动平台的任务信息。例如，移动平台为飞行器，多个负载包括两个相机，相机1和相机2的功能配置权限均包括拍照和录像。同时，电子设备接收到用户的功能需求包括一个相机在指定航行区域拍摄多张照片，另一个相机在航行全程录像。那么电子设备根据相机的功能配置权限以及用户的功能需求，生成移动平台的任务信息包括相机1在第一航行区域拍摄五张照片，相机2在第一航行区域以及第二航行区域录像。
在一种实施例中，在任务信息的配置过程中，当检测到任务信息异常时，电子设备输出第二提示信息，其中，所述第二提示信息用于提示所述任务信息异常。可以理解的是，电子设备将对任务信息的配置进行正确性判定，若任务信息异常，则给出相应的提示，直至所有动作都被正确配置；其中，任务信息异常包括任务信息中指示的预设负载和/或预设动作是否有效。例如，任务信息中指示的预设负载为相机1和相机2，相机1的预设动作为拍照，相机2作为相机1的备份，预设动作也为拍照。但是电子设备检测到相机2的预设动作为录像，则相机1的备份功能配置失败，相机2的预设动作无效。电子设备将输出任务信息异常的提示信息，并修改相机2的配置信息，将相机2的预设动作修改为拍照。
S304，电子设备向所述移动平台发送的任务信息。
根据S303，电子设备根据获取的各个负载的功能配置权限，并结合用户的功能需求，生成移动平台的任务信息，所述任务信息用于指示移动平台的预设负载执行预设动作。移动平台可以接收电子设备发送的任务信息，并根据任务信息执行相应的操作。
S305，移动平台根据所述任务信息，在多个所述负载中确定出所述预设负载。本发明实施例的S305可以参考图2所示的S202，在此不赘述。
S306，移动平台基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。本发明实施例的S306可以参考图2所示的S203，在此不赘述。
本发明实施例提供了负载的控制方法的另一种实施例，在任务信息是基于多个负载的功能配置权限进行配置得到的前提下，电子设备首先获取移动平台各个负载的参数信息，根据各个负载的参数信息获取移动平台可以实现的功能，从而获取各个负载的功能配置权限，根据所述功能配置权限生成移动平台的任务信息，移动平台再根据所述任务信息控制多个负载执行相应的操作。可见，实施本发明实施例，电子设备可以根据移动平台可实现的功能对移动平台的多个负载预先进行功能配置，并生成任务信息发送至移动平台；移动平台根据预设的任务信息控制预设负载执行预设动作，以实现相应的功能。
本发明实施例提供了另一种负载的控制方法，在移动平台控制多个负载中的指定负载对所述预设动作执行相应的操作时或者操作完成后，电子设备可以获取预设动作的执行结果，以检测所述指定负载是否正确执行所述预设动作。本发明实施例提供的另一种负载的控制方法的流程图如图4所示，该实施例所示的负载的控制方法由移动平台与电子设备之间的交互执行，具体包括以下步骤：
S401，移动平台接收所述电子设备发送的任务信息，所述任务信息用于指示预设负载执行预设动作。本发明实施例的S401可以参考图2所示的S201，在此不赘述。
S402，移动平台根据所述任务信息，在多个所述负载中确定出所述预设负载。本发明实施例的S402可以参考图2所示的S202，在此不赘述。
S403，移动平台基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。本发明实施例的S403可以参考图2所示的S203，在此不赘述。
S404，移动平台向电子设备发送预设动作的执行结果。
在移动平台控制指定负载对所述预设动作执行相应的操作的过程中或者执行完成时，移动平台可以向控制设备发送预设动作的执行结果，并且输出所述预设动作的执行结果。可选的，电子设备实时接收预设负载的预设动作的执行情况，并显示在交互界面上，用户可以实时查看预设动作的执行结果。可选的，移动平台控制执行负载对所述预设动作执行相应的操作后，移动平台将预设动作的执行结果发送至电子设备，电子设备将执行结果显示在交互界面上以供用户查看。
S405，电子设备根据预设动作的执行结果，控制移动平台执行相应的操作。
电子设备可以获取预设动作的执行结果，以判断移动平台是否按照要求完成任务。若移动平台按照要求完成任务，则电子设备将移动平台按照任务信息控制指定负载执行预设动作的执行结果显示在交互界面上，用户可以通过交互界面查看。根据移动平台若未按照要求工作，用户还可以通过电子设备向移动平台发送控制指令，所述控制指令用于控制未按照要求工作的指定负载停止执行预设动作，即中断执行预设动作，或者暂停执行预设动作，并根据用户指令修改预设动作的执行参数后再控制指定负载继续执行预设动作。例如，飞行器挂载了两个喷洒器，预设负载为喷洒器1，喷洒器1的预设动作为在第一航行区域喷洒农药，当飞行器航行至第一航行区域时，喷洒器1没有执行喷洒农药的预设动作，则电子设备将喷洒器1的执行情况显示在交互界面，用户可以选择通过电子设备向移动平台发送任务中断指令并控制飞行器返航，也可以选择通过电子设备向移动平台发送任务暂停指令，调用喷洒器2执行喷洒器1的预设动作。
本发明实施例中，在移动平台控制多个负载中的指定负载对所述预设动作执行相应的操作时或者操作完成后，电子设备可以获取预设动作的执行结果。电子设备还可以根据预设动作的执行结果，控制移动平台执行相应的操作，如预设负载未按照要求执行预设动作，可以控制移动平台采用冗余备份完成任务。 可见，实施本发明实施例，可以监控移动平台的任务执行情况，提高了移动平台的任务执行的成功率。
本发明实施例提供另一种负载的控制方法，该实施例所示的负载的控制方法由移动平台与电子设备之间的交互执行，请参见图5，具体实施步骤如下：
S501，电子设备生成任务信息，所述任务信息用于指示预设负载执行预设动作。
电子设备生成任务信息的具体方法可以参考图2实施例的S201中生成任务信息的具体描述，在此不赘述。
S502，电子设备根据所述任务信息，在多个负载中确定出所述预设负载。
电子设备根据所述任务信息，在多个负载中确定出所述预设负载的具体方法可以参考图2实施例的S202中移动平台根据任务信息，在多个负载中确定出预设负载的具体描述，在此不赘述。
S503，电子设备从移动平台获取预设负载的工作状态。
S504，电子设备基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
具体的，电子设备通过向移动平台发送控制指令，所述控制指令包括指定负载的标识及预设动作，以实现控制指定负载对所述预设动作执行相应的操作。在实际操作中，由移动平台根据电子设备发送的控制指令控制指定负载对预设动作执行相应的操作。
本发明实施例中，通过电子设备与移动平台间的交互，电子设备可以获取移动平台的任务信息，并根据所述任务信息，在多个负载中确定预设负载，并基于预设负载的工作状态，控制多个负载中的指定负载对预设动作执行相应的操作。可见，实施本发明实施例，可以根据任务信息所指示的预设负载的工作状态调度指定负载执行预设动作，以提高移动平台的任务执行的成功率。
本发明实施例提供了另一种负载的控制方法，该实施例所示的负载的控制方法由移动平台与电子设备之间的交互执行，请参见图6，具体实施步骤如下：
S601，电子设备获取多个所述负载中各个负载的参数信息。
用户可以在电子设备的用户界面中输入移动平台挂载的各个负载的参数信息，进而电子设备可以获取多个所述负载中各个负载的参数信息。
S602，电子设备根据各个所述负载的参数信息，获取各个所述负载的功能配置权限。
S603，电子设备根据获取的各个负载的功能配置权限生成移动平台的任务信息。
本发明实施例的S603可以参考图3所示的S303，在此不赘述。
S604，电子设备根据所述任务信息，在多个所述负载中确定出预设负载。
S605，电子设备从移动平台获取预设负载的工作状态。
S606，电子设备基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
本发明实施例提供了负载的控制方法的另一种实施例，电子设备获取所述移动平台各个负载的参数信息，根据各个负载的参数信息获取各个负载的功能配置权限，根据所述功能配置权限生成移动平台的任务信息。可见，实施本发明实施例，电子设备可以根据移动平台可实现的功能对移动平台的多个负载预先进行功能配置，在移动过程中移动平台根据预设的任务信息控制预设负载执行预设动作，以实现相应的功能。
可以理解，上述实施例中各个步骤的执行主体除了上述说明的内容，还可以为其它，同时，在一个实施例中，各个步骤的执行主体可以相同，也可以不相同，如经由移动平台与电子设备之间的通信连接，交叉执行相应的步骤，上述实施例仅为举例说明，并不做具体限定。
本发明实施例提供了另一种负载的控制方法，请参见图7，具体可以包括以下步骤：
S701，获取所述移动平台的任务信息，所述任务信息用于指示预设负载执行预设动作。
移动平台可以接收电子设备发送的任务信息。示例性的，当负载接入移动平台后，移动平台可以对当前接入的负载进行识别，得到负载的参数信息，并将获取的负载的参数信息发送至电子设备，电子设备根据当前接入的负载的类 型、数量和安装位置等参数信息判断移动平台可以支持的预设动作，并结合用户期望执行的任务，生成对应的任务信息。
S702，根据所述任务信息，在多个所述负载中确定出所述预设负载。
移动平台根据任务信息所包含的负载的执行动作信息，在移动平台当前接入的多个负载中确定执行相关任务的预设负载。可以理解的是，所述任务信息用于指示预设负载执行预设动作，所述预设负载可以是移动平台挂载的部分负载。例如，移动平台挂载的负载可以包括但不限于相机、喷洒器、云台或雷达等，若任务信息为控制相机拍摄照片以及控制喷洒器喷洒农药，则在多个负载中确定出的预设负载为相机和喷洒器。
S703，基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
负载的工作状态可以包括但不限于正常使用状态、空闲状态、故障状态或暂停状态等。正常使用状态表示负载正在执行指定动作，即处于忙碌状态；空闲状态表示负载未执行任何动作；故障状态表示负载出现故障，不能继续执行任何动作；暂停状态表示负载暂停执行指定动作，可以继续或者不继续执行预设动作。根据上述几种预设负载可能的工作状态，移动平台可以控制多个负载中的指定负载执行对所述预设动作执行相应的操作，其中，多个负载中的指定负载可以是预设负载，也可以是与预设负载的类型相同的负载。对预设动作执行相应的操作可以是执行预设动作，也可以是不执行预设动作。
在一种实施例中，当预设负载的工作状态为第一工作状态时，控制预设负载执行预设动作，其中，第一工作状态包括正常使用状态或空闲状态。可以理解的是，当预设负载处于正常使用状态或空闲状态时，移动平台可以直接控制预设负载执行预设动作。例如，移动平台为飞行器，预设负载包括相机1，相机1的预设动作包括在指定区域1每隔五秒拍摄一张拍摄角度为飞行器东北方向的照片和在指定区域2每隔两秒拍摄一张拍摄角度为飞行器正北方向的照片。在飞行器的航行过程中，当相机1到达指定区域2时，若相机1的工作状态为空闲状态，则控制相机1执行相应的预设动作；若相机1的工作状态为正常使用状态(如还未完成在指定区域1每隔五秒拍摄一张拍摄角度为飞行器东北方向的照片)，则待相机1执行完成当前预设动作后再执行下一个预设动 作。
在一种实施例中，当预设负载的工作状态为第二工作状态时，确定多个负载中与预设负载的类型相同的备份负载，并控制备份负载执行所述预设动作，其中，第二工作状态包括正常使用状态或故障状态。可以理解的是，当预设负载处于正常使用或故障状态时，移动平台可以通过冗余备份功能调度预设负载的备份负载执行预设动作。例如，移动平台为飞行器，预设负载包括相机1，相机1的预设动作包括在指定区域1每隔五秒拍摄一张拍摄角度为飞行器东北方向的照片和在指定区域2每隔两秒拍摄一张拍摄角度为飞行器正北方向的照片。飞行器还挂载了相机2作为相机1的备份负载，则相机2的预设动作与相机1的预设动作相同，当相机1处于正常使用状态或故障状态时，相机2才会被控制执行所述预设动作。在飞行器的航行过程中，当相机1到达指定区域2时，若相机1的工作状态为正常使用状态(如还未完成在指定区域1每隔五秒拍摄一张拍摄角度为飞行器东北方向的照片)，则移动平台控制相机2作为相机1的备份继续执行相机1在指定区域2每隔两秒拍摄一张拍摄角度为飞行器正北方向的照片的预设动作。若相机1的工作状态为故障状态(如与飞行器的连接中断)，则移动平台控制相机2作为相机1的备份执行所述预设动作。
在一种实施例中，当所述预设负载的工作状态为第三工作状态时，控制所述预设负载拒绝执行所述预设动作，其中，第三工作状态包括正常使用状态，故障状态、暂停状态中的任一种。可以理解的是，当预设负载处于正常使用状态，故障状态、暂停状态中的任一种状态时，移动平台可以控制所述预设负载拒绝执行预设动作。例如，移动平台为飞行器，预设负载包括相机1，相机1的预设动作包括在指定区域1每隔五秒拍摄一张拍摄角度为飞行器东北方向的照片和在指定区域2每隔两秒拍摄一张拍摄角度为飞行器正北方向的照片。当相机1处于正常使用状态、故障状态或者暂停状态中的任一种状态时，飞行器可以直接控制相机1不执行预设动作，则任务终止，飞行器可以返航或继续向前飞行。
本发明实施例可以支持从多个负载中选取预设负载，根据任务信息所指示的预设负载的工作状态调度指定负载执行预设动作，以提高移动平台的任务执 行的成功率。
基于上述负载的控制方法的实施例的描述，本发明实施例提供一种负载的控制装置，多个所述负载挂载于移动平台。该装置可以被应用于上述图2-图7所示的负载的控制方法中，以用于执行上述负载的控制方法中的相应步骤。请参见图8，该装置包括存储器801和处理器802；存储器801用于存储程序代码；处理器802调用程序代码，当程序代码被执行时，用于执行以下操作：
获取所述移动平台的任务信息，所述任务信息用于指示预设负载执行预设动作；
根据所述任务信息，在多个所述负载中确定出所述预设负载；
基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
在一种实施例中，多个所述负载包括至少两个类型相同的负载。
另一种实施例中，所述预设负载包括多个，多个所述预设负载中的至少两个的类型相同，至少两个类型相同的所述预设负载对应的预设动作不同。
另一种实施例中，所述预设负载包括多个，多个所述预设负载中的至少两个的类型相同，至少两个类型相同的所述预设负载对应的预设动作相同。
另一种实施例中，至少两个类型相同的所述预设负载对应的执行动作的执行参数不同。
另一种实施例中，至少两个所述预设负载对应的执行动作的执行时间相关联。
另一种实施例中，所述处理器802还用于：
当所述预设负载的工作状态为第一工作状态时，控制所述预设负载执行所述预设动作。
另一种实施例中，所述第一工作状态包括正常使用状态或空闲状态。
另一种实施例中，所述处理器802还用于：
当所述预设负载的工作状态为第二工作状态时，确定多个所述负载中与所述预设负载的类型相同的备份负载；
控制所述备份负载执行所述预设动作。
另一种实施例中，所述第二工作状态包括正常使用状态或故障状态。
另一种实施例中，所述处理器802还用于：
当所述预设负载的工作状态为第三工作状态时，控制所述预设负载拒绝执行所述预设动作。
另一种实施例中，所述处理器802还用于：
当所述预设负载的工作状态为第三工作状态时，输出第一提示信息，所述第一提示信息用于提示所述预设负载拒绝执行所述预设动作。
另一种实施例中，所述第三工作状态包括正常使用状态、故障状态、暂停状态中的任一种。
另一种实施例中，所述任务信息是基于多个所述负载的功能配置权限进行配置得到。
另一种实施例中，所述处理器802还用于：
获取多个所述负载中各个负载的参数信息；
根据各个所述负载的参数信息，获取各个所述负载的功能配置权限；
输出所述功能配置权限。
另一种实施例中，所述处理器802还用于：
根据各个所述负载的参数信息，获取各个所述负载可支持的预设动作；
根据各个所述负载可支持的预设动作，获取各个所述负载的功能配置权限。
另一种实施例中，所述参数信息包括各个所述负载的类型、各个所述负载在所述移动平台中的安装位置、各个所述负载的性能参数以及相同类型的所述负载的数量中的至少一种。
另一种实施例中，预设存储装置中存储有各个所述负载的参数信息，所述参数信息为基于指定操作指令和/或所述负载的变化进行更新。
另一种实施例中，所述处理器802还用于：
检测所述任务信息是否异常；
当所述任务信息异常时，输出第二提示信息，所述第二提示信息用于提示所述任务信息异常。
另一种实施例中，所述处理器802还用于：
在所述任务信息的配置过程中，检测所述任务信息是否异常。
另一种实施例中，所述处理器802还用于：
检测所述任务信息中指示的所述预设负载和/或所述预设动作是否有效；
若所述预设负载无效或所述预设动作无效，则确定所述任务信息异常。
另一种实施例中，所述任务信息用于指示预设负载在发生预设触发事件时执行预设动作；所述处理器802还用于：
在发生所述预设触发事件时，基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
另一种实施例中，所述处理器802还用于：
输出所述预设动作的执行结果。
另一种实施例中，所述处理器802还用于：
当所述预设动作的执行结果不满足预期结果时，控制所述移动平台停止执行所述预设动作。
另一种实施例中，所述控制装置应用于移动平台或电子设备，所述移动平台包括飞行器、无人车、无人船和移动机器人，所述电子设备包括地面站或遥控设备。
另一种实施例中，所述负载包括云台、喷洒装置、成像装置、测距装置中的至少一种。
本发明实施例中，负载的控制装置可以获取任务信息，并根据所述任务信息，在多个负载中确定预设负载，基于预设负载的工作状态，控制多个负载中的指定负载对预设动作执行相应的操作。可见，实施本发明实施例，可以提高移动平台的任务执行的成功率。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (51)

  1. 一种负载的控制方法，多个所述负载挂载于移动平台，其特征在于，包括：
    获取所述移动平台的任务信息，所述任务信息用于指示预设负载执行预设动作；
    根据所述任务信息，在多个所述负载中确定出所述预设负载；
    基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
  2. 根据权利要求1所述的方法，其特征在于，多个所述负载包括至少两个类型相同的负载。
  3. 根据权利要求2所述的方法，其特征在于，所述预设负载包括多个，多个所述预设负载中的至少两个的类型相同，至少两个类型相同的所述预设负载对应的预设动作不同。
  4. 根据权利要求2所述的方法，其特征在于，所述预设负载包括多个，多个所述预设负载中的至少两个的类型相同，至少两个类型相同的所述预设负载对应的预设动作相同。
  5. 根据权利要求4所述的方法，其特征在于，至少两个类型相同的所述预设负载对应的执行动作的执行参数不同。
  6. 根据权利要求3至5中任一项所述的方法，其特征在于，至少两个所述预设负载对应的执行动作的执行时间相关联。
  7. 根据权利要求1或2所述的方法，其特征在于，所述基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操 作，包括：
    当所述预设负载的工作状态为第一工作状态时，控制所述预设负载执行所述预设动作。
  8. 根据权利要求7所述的方法，其特征在于，所述第一工作状态包括正常使用状态或空闲状态。
  9. 根据权利要求1或2所述的方法，其特征在于，所述基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作，包括：
    当所述预设负载的工作状态为第二工作状态时，确定多个所述负载中与所述预设负载的类型相同的备份负载；
    控制所述备份负载执行所述预设动作。
  10. 根据权利要求9所述的方法，其特征在于，所述第二工作状态包括正常使用状态或故障状态。
  11. 根据权利要求1或2所述的方法，其特征在于，所述基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作，包括：
    当所述预设负载的工作状态为第三工作状态时，控制所述预设负载拒绝执行所述预设动作。
  12. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    当所述预设负载的工作状态为第三工作状态时，输出第一提示信息，所述第一提示信息用于提示所述预设负载拒绝执行所述预设动作。
  13. 根据权利要求11所述的方法，其特征在于，所述第三工作状态包括正常使用状态、故障状态、暂停状态中的任一种。
  14. 根据权利要求1所述的方法，其特征在于，所述任务信息是基于多个所述负载的功能配置权限进行配置得到。
  15. 根据权利要求14所述的方法，其特征在于，在所述获取所述任务信息之前，所述方法还包括：
    获取多个所述负载中各个负载的参数信息；
    根据各个所述负载的参数信息，获取各个所述负载的功能配置权限；
    输出所述功能配置权限。
  16. 根据权利要求15所述的方法，其特征在于，所述根据各个所述负载的参数信息，获取各个所述负载的功能配置权限，包括：
    根据各个所述负载的参数信息，获取各个所述负载可支持的预设动作；
    根据各个所述负载可支持的预设动作，获取各个所述负载的功能配置权限。
  17. 根据权利要求15或16所述的方法，其特征在于，所述参数信息包括各个所述负载的类型、各个所述负载在所述移动平台中的安装位置、各个所述负载的性能参数以及相同类型的所述负载的数量中的至少一种。
  18. 根据权利要求15或16所述的方法，其特征在于，预设存储装置中存储有各个所述负载的参数信息，所述参数信息为基于指定操作指令和/或所述负载的变化进行更新。
  19. 根据权利要求14所述的方法，其特征在于，所述方法还包括：
    检测所述任务信息是否异常；
    当所述任务信息异常时，输出第二提示信息，所述第二提示信息用于提示所述任务信息异常。
  20. 根据权利要求19所述的方法，其特征在于，所述检测所述任务信息 是否异常，包括：
    在所述任务信息的配置过程中，检测所述任务信息是否异常。
  21. 根据权利要求19或20所述的方法，其特征在于，所述检测所述任务信息是否异常，包括：
    检测所述任务信息中指示的所述预设负载和/或所述预设动作是否有效；
    若所述预设负载无效或所述预设动作无效，则确定所述任务信息异常。
  22. 根据权利要求1所述的方法，其特征在于，所述任务信息用于指示预设负载在发生预设触发事件时执行预设动作；
    所述基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作，包括：
    在发生所述预设触发事件时，基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
  23. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    输出所述预设动作的执行结果。
  24. 根据权利要求23所述的方法，其特征在于，所述输出所述预设动作的执行结果之后，所述方法还包括：
    当所述预设动作的执行结果不满足预期结果时，控制所述移动平台停止执行所述预设动作。
  25. 根据权利要求1所述的方法，其特征在于，所述负载包括云台、喷洒装置、成像装置、测距装置中的至少一种。
  26. 一种负载的控制装置，多个所述负载挂载于所述移动平台，其特征在于，包括存储器和处理器；
    所述存储器用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    获取移动平台的任务信息，所述任务信息用于指示预设负载执行预设动作；
    根据所述任务信息，在多个所述负载中确定出所述预设负载；
    基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
  27. 根据权利要求26所述的控制装置，其特征在于，多个所述负载包括至少两个类型相同的负载。
  28. 根据权利要求27所述的控制装置，其特征在于，所述预设负载包括多个，多个所述预设负载中的至少两个的类型相同，至少两个类型相同的所述预设负载对应的预设动作不同。
  29. 根据权利要求27所述的控制装置，其特征在于，所述预设负载包括多个，多个所述预设负载中的至少两个的类型相同，至少两个类型相同的所述预设负载对应的预设动作相同。
  30. 根据权利要求29所述的控制装置，其特征在于，至少两个类型相同的所述预设负载对应的执行动作的执行参数不同。
  31. 根据权利要求28-30中任一项所述的控制装置，其特征在于，至少两个所述预设负载对应的执行动作的执行时间相关联。
  32. 根据权利要求26或27所述的控制装置，其特征在于，所述处理器在基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作时，执行如下操作：
    当所述预设负载的工作状态为第一工作状态时，控制所述预设负载执行所述预设动作。
  33. 根据权利要求32所述的控制装置，其特征在于，所述第一工作状态包括正常使用状态或空闲状态。
  34. 根据权利要求26或27所述的控制装置，其特征在于，所述处理器在基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作时，执行如下操作：
    当所述预设负载的工作状态为第二工作状态时，确定多个所述负载中与所述预设负载的类型相同的备份负载；
    控制所述备份负载执行所述预设动作。
  35. 根据权利要求34所述的控制装置，其特征在于，所述第二工作状态包括正常使用状态或者故障状态。
  36. 根据权利要求26或27所述的控制装置，其特征在于，所述处理器在基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作时，执行如下操作：
    当所述预设负载的工作状态为第三工作状态时，控制所述预设负载拒绝执行所述预设动作。
  37. 根据权利要求36所述的控制装置，其特征在于，所述处理器调用所述程序代码时，还执行如下操作：
    当所述预设负载的工作状态为第三工作状态时，输出第一提示信息，所述第一提示信息用于提示所述预设负载拒绝执行所述预设动作。
  38. 根据权利要求36所述的控制装置，其特征在于，所述第三工作状态包括正常使用状态、故障状态、暂停状态中的任一种。
  39. 根据权利要求26所述的控制装置，其特征在于，所述任务信息是基 于多个所述负载的功能配置权限进行配置得到。
  40. 根据权利要求39所述的控制装置，其特征在于，所述处理器在获取所述任务信息之前，还执行如下操作：
    获取多个所述负载中各个负载的参数信息；
    根据各个所述负载的参数信息，获取各个所述负载的功能配置权限；
    输出所述功能配置权限。
  41. 根据权利要求40所述的方法，其特征在于，所述处理器在根据各个所述负载的参数信息，获取各个所述负载的功能配置权限时，执行如下操作：
    根据各个所述负载的参数信息，获取各个所述负载可支持的预设动作；
    根据各个所述负载可支持的预设动作，获取各个所述负载的功能配置权限。
  42. 根据权利要求40或41所述的控制装置，其特征在于，所述参数信息包括各个所述负载的类型、各个所述负载在所述移动平台中的安装位置、各个所述负载的性能参数以及相同类型的所述负载的数量中的至少一种。
  43. 根据权利要求40或41所述的控制装置，其特征在于，预设存储装置中存储有各个所述负载的参数信息，所述参数信息为基于指定操作指令和/或所述负载的变化进行更新。
  44. 根据权利要求39所述的控制装置，其特征在于，所述处理器调用所述程序代码时，还执行如下操作：
    检测所述任务信息是否异常；
    当所述任务信息异常时，输出第二提示信息，所述第二提示信息用于提示所述任务信息异常。
  45. 根据权利要求44所述的控制装置，其特征在于，所述处理器在检测所述任务信息是否异常时，执行如下操作：
    在所述任务信息的配置过程中，检测所述任务信息是否异常。
  46. 根据权利要求44或45所述的控制装置，其特征在于，所述处理器在检测所述任务信息是否异常时，执行如下操作：
    检测所述任务信息中指示的所述预设负载和/或所述预设动作是否有效；
    若所述预设负载无效或所述预设动作无效，则确定所述任务信息异常。
  47. 根据权利要求26所述的控制装置，其特征在于，所述任务信息用于指示预设负载在发生预设触发事件时执行预设动作；
    所述处理器在基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作时，执行如下操作：
    在发生所述预设触发事件时，基于所述预设负载的工作状态，控制多个所述负载中的指定负载对所述预设动作执行相应的操作。
  48. 根据权利要求26所述的控制装置，其特征在于，所述处理器在调用所述程序代码时，还执行如下操作：
    输出所述预设动作的执行结果。
  49. 根据权利要求48所述的控制装置，其特征在于，所述处理器在输出所述预设动作的执行结果之后，还执行如下操作：
    当所述预设动作的执行结果不满足预期结果时，控制所述移动平台停止执行所述预设动作。
  50. 根据权利要求26所述的控制装置，其特征在于，所述控制装置应用于移动平台或电子设备，所述移动平台包括飞行器、无人车、无人船和移动机器人，所述电子设备包括地面站或遥控设备。
  51. 根据权利要求26所述的控制装置，其特征在于，所述负载包括云台、喷洒装置、成像装置、测距装置中的至少一种。
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