WO2020237429A1 - 遥控设备的控制方法和遥控设备 - Google Patents

遥控设备的控制方法和遥控设备 Download PDF

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Publication number
WO2020237429A1
WO2020237429A1 PCT/CN2019/088350 CN2019088350W WO2020237429A1 WO 2020237429 A1 WO2020237429 A1 WO 2020237429A1 CN 2019088350 W CN2019088350 W CN 2019088350W WO 2020237429 A1 WO2020237429 A1 WO 2020237429A1
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WIPO (PCT)
Prior art keywords
remote control
control device
time slot
control signal
user
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PCT/CN2019/088350
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English (en)
French (fr)
Inventor
吴旭科
孔世超
贾磊
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/088350 priority Critical patent/WO2020237429A1/zh
Priority to CN201980012206.7A priority patent/CN111712861A/zh
Publication of WO2020237429A1 publication Critical patent/WO2020237429A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/50—Receiving or transmitting feedback, e.g. replies, status updates, acknowledgements, from the controlled devices

Definitions

  • the embodiments of the present application relate to the field of control technology, and in particular to a method for controlling a remote control device and a remote control device.
  • users can remotely control the mobile platform (such as unmanned aerial vehicles, unmanned ground robots, unmanned ships, handheld PTZ, etc.) by operating remote control devices to perform corresponding actions, that is, remote control devices can
  • the remote control signal is acquired by detecting the user's operation according to the self-configured sensing device, and the wireless communication device of the remote control device can send the remote control signal to the movable platform, and the movable platform performs corresponding actions according to the received remote control signal.
  • the sensing device and the wireless communication device work asynchronously, the wireless communication device needs to wait until the wireless transmission time slot arrives before sending the remote control signal to the movable platform. Therefore, the wireless communication device needs to wait from 0 to the wireless transmission time slot.
  • the random length of time between periods can send remote control signals, which causes a long transmission delay of remote control signals.
  • the embodiments of the present application provide a method for controlling a remote control device and a remote control device, which are used to reduce the transmission delay of a remote control signal.
  • an embodiment of the present application provides a method for controlling a remote control device.
  • the remote control device includes a sensor device and a wireless communication device for detecting a user's control operation.
  • the method includes:
  • controlling the sensing device to detect the control operation of the user, and acquiring the sensing data output by the sensing device;
  • the wireless communication device is controlled to send the remote control signal to the movable platform, so that the movable platform performs a corresponding operation according to the remote control signal.
  • inventions of the present application provide a method for controlling a remote control device.
  • the remote control device includes a sensor device and a wireless communication device.
  • the sensor device detects a user's control operation at a preset operating frequency, and the method include:
  • the wireless communication device is controlled to send the remote control signal to the movable platform, so that the movable platform performs a corresponding operation according to the remote control signal.
  • an embodiment of the present application provides a remote control device, including: a sensor device, a wireless communication device, and a processor;
  • the sensor device is a sensor device used to detect a user's control operation and output sensor data
  • the wireless communication device is used to send a remote control signal to a movable platform
  • the processor is configured to control the sensing device to detect the control operation of the user at a target time before the start of the sending time slot of the remote control device, and to obtain the sensing data output by the sensing device;
  • the sensing data acquires a remote control signal; in the sending time slot, the wireless communication device is controlled to send the remote control signal to a movable platform, so that the movable platform performs a corresponding operation according to the remote control signal.
  • an embodiment of the present application provides a remote control device, including: a sensor device, a wireless communication device, and a processor;
  • the sensing device is used to detect a user's control operation and output sensing data at a preset operating frequency
  • the wireless communication device is used to send a remote control signal to a movable platform
  • the processor is configured to acquire the sensor data output by the sensor device at a target time before the start of the transmission time slot of the remote control device; acquire a remote control signal according to the sensor data; and in the transmission time slot , Controlling the wireless communication device to send the remote control signal to the movable platform, so that the movable platform performs a corresponding operation according to the remote control signal.
  • an embodiment of the present application provides a readable storage medium with a computer program stored on the readable storage medium; when the computer program is executed, the embodiment of the present application is implemented as in the first aspect or the second aspect.
  • the control method of the remote control device when the computer program is executed, the embodiment of the present application is implemented as in the first aspect or the second aspect.
  • an embodiment of the present application provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of a remote control device can read from the readable storage medium Taking the computer program, the at least one processor executes the computer program to enable the remote control device to implement the control method of the remote control device described in the embodiment of the present application in the first aspect.
  • the remote control device control method and remote control device provided by the embodiments of the present application detect the user's control operation by the sensor device that controls the remote control device at the target time before the start of the transmission time slot of the remote control device, and obtain the sensor The sensor data output by the device; the remote control signal is acquired according to the sensor data; in the sending time slot, the wireless communication device that controls the remote control device sends the remote control signal to the movable platform, so that the movable platform is The remote control signal performs the corresponding operation.
  • the sensing device is controlled to detect the user's control operation to obtain the remote control signal, so that the interval between the time of acquiring the remote control signal and the sending time slot can be reduced as much as possible Time, thereby reducing the transmission delay of the remote control signal.
  • Figure 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application.
  • FIG. 2 is a flowchart of a method for controlling a remote control device provided by an embodiment of the application
  • FIG. 3 is a flowchart of a method for controlling a remote control device according to another embodiment of the application.
  • FIG. 4 is a schematic structural diagram of a remote control device provided by an embodiment of the application.
  • Fig. 5 is a schematic structural diagram of a remote control device provided by another embodiment of the application.
  • the embodiments of the present application provide a method for controlling a remote control device and a remote control device, wherein the remote control device can be used to control a movable platform, which can be a drone, an unmanned boat, an unmanned car, a robot, etc.
  • a movable platform which can be a drone, an unmanned boat, an unmanned car, a robot, etc.
  • the following description of the mobile platform of this application uses drones as an example. It will be obvious to those skilled in the art that other types of drones can be used without restriction, and the embodiments of the present application can be applied to various types of drones.
  • the drone can be a small or large drone.
  • the drone may be a rotorcraft, for example, a multi-rotor drone that is propelled through the air by multiple propulsion devices.
  • the embodiments of the present application are not limited to this. It can also be other types of drones.
  • Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application.
  • a rotary wing drone is taken as an example for description.
  • the unmanned aerial system 100 may include a drone 110, a display device 130, and a remote control device 140.
  • the UAV 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame.
  • the drone 110 can wirelessly communicate with the remote control device 140 and the display device 130.
  • the frame may include a fuselage and a tripod (also called a landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame.
  • the tripod is connected with the fuselage, and is used for supporting the UAV 110 when landing.
  • the power system 150 may include one or more electronic speed regulators (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152.
  • the motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to realize one or more degrees of freedom of movement.
  • the drone 110 may rotate about one or more rotation axes.
  • the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch).
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brushed motor.
  • the flight control system 160 may include a flight controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the UAV, that is, the position information and state information of the UAV 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be a global positioning system (Global Positioning System, GPS).
  • the flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more remote control signals from the remote control device 140.
  • the pan/tilt head 120 may include a motor 122.
  • the pan/tilt is used to carry the camera 123.
  • the flight controller 161 can control the movement of the pan-tilt 120 through the motor 122.
  • the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122.
  • the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110.
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the pan-tilt may be located on the top of the drone or on the bottom of the drone.
  • the photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller.
  • the imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 can also be directly fixed to the drone 110, so the pan/tilt 120 can be omitted.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge-coupled Device
  • the display device 130 is located at the ground end of the unmanned aerial system 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110.
  • the image taken by the photographing device may also be displayed on the display device 130.
  • the display device 130 may be an independent device or integrated in the remote control device 140.
  • the remote control device 140 is located on the ground end of the unmanned aerial system 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.
  • Fig. 2 is a flowchart of a method for controlling a remote control device according to an embodiment of the application. As shown in Fig. 2, the method of this embodiment may include:
  • S201 At the target time before the start of the sending time slot of the remote control device, control the sensor device to detect the user's control operation, and obtain the sensor data output by the sensor device.
  • the remote control device in this embodiment may include a sensor device and a wireless communication device.
  • the sensor device is used to detect the user's control operation. After the sensor device detects the user's control operation, the sensor device will The control operation outputs sensor data.
  • the wireless communication device is used to communicate with the movable platform, for example, sending a remote control signal to the movable platform, where the wireless communication device sends a remote control signal to the drone in the sending time slot of the remote control device.
  • the sensing device that controls the remote control device detects the user's control operation, and obtains that the remote control device detects the user's control operation according to the detected user control operation. Operate the output sensor data.
  • the remote control device includes an interactive device, wherein the sensing device detects a control operation of the user by detecting a mechanical movement of the interactive device. If the user wants to control the movable platform through the remote control device, the user can perform operations on the interactive device to make the interactive device produce mechanical movement. Accordingly, the sensing device can detect the mechanical movement of the interactive device through the mechanical movement of the interactive device. To detect the user's control operation.
  • the interaction device includes a rocker, a lever or a button.
  • the remote control signal that can be sent out by the wireless communication device is acquired according to the sensor data.
  • the wireless communication device controlling the remote control device sends the remote control signal obtained in S202 to the movable platform.
  • the movable platform receives the remote control signal sent by the wireless communication device of the remote control device, and performs corresponding operations according to the remote control signal, for example: if the remote control signal is used to control the acceleration of the movable platform, the movable platform performs the acceleration action If the remote control signal is used to control the movable platform to adjust the posture, the movable platform performs the posture adjustment action.
  • the sensor device that controls the remote control device detects the control operation of the user at the target time before the start of the transmission time slot of the remote control device, and obtains the transmission output from the sensor device. Sensing data; acquiring remote control signals according to the sensing data; in the sending time slot, the wireless communication device that controls the remote control device sends the remote control signal to the movable platform, so that the movable platform executes according to the remote control signal The corresponding operation.
  • the sensing device is controlled to detect the user's control operation to obtain the remote control signal, so that the interval between the time of acquiring the remote control signal and the sending time slot can be reduced as much as possible Time, thereby reducing the transmission delay of the remote control signal.
  • the detection setting duration is also acquired, and the target time before the start of the sending time slot is determined according to the detection setting duration.
  • the target time before the start of the transmission time slot is determined by the detection setting time length.
  • the interval time between the target time and the start time of the transmission time slot may be greater than or equal to the detection setting time length.
  • the detection setting time length is obtained from a storage device of the remote control device or determined in response to a user's setting operation.
  • the storage device of the remote control device stores the detection setting time length, and accordingly, a possible implementation manner of obtaining the detection setting time length is: obtaining the detection setting time length from the storage device of the remote control device.
  • a possible implementation method for obtaining the detection setting duration is: the user performs a setting operation on the remote control device, and the setting operation is used to set the detection setting duration. Accordingly, the remote control device can detect the user's setting operation and then respond The setting operation determines the detection setting duration.
  • the detection setting duration may also be stored in the storage device of the remote control device, so that the detection setting duration can be directly obtained from the storage device next time.
  • the remote control device includes an interactive device, and in this embodiment, the user's setting operation can be detected by detecting the interactive device.
  • the detection setting duration includes the interval duration between the target time and the start time of the transmission time slot, for example: the interval duration between the target time and the start time of the transmission time slot is equal to The detection setting time.
  • the detection setting duration includes the interval duration between the target time and the start time of the reception time slot before the transmission time slot, for example: the time between the target time and the reception time slot before the transmission time slot The length of the interval between the start times is equal to the length of the detection setting.
  • a possible implementation for controlling the sensing device to detect the user's control operation is: in each sending time slot of the remote control device At the target time before the start, the control sensor device detects the user's control operation. Therefore, in this embodiment, at the target time before the start of each transmission time slot of the remote control device, the sensing device is controlled to detect the user's control operation to obtain the remote control signal, so as to ensure that the time when the remote control signal is acquired each time corresponds to each transmission.
  • the interval between time slots is the same, and the interval between the time when each remote control signal is acquired and each transmission time slot is reduced as much as possible, thereby reducing the transmission delay of the remote control signal.
  • a possible implementation manner of controlling the sensing device to detect the control operation of the user is: sending detection instruction information to the sensing device, wherein the detection instruction information is used to indicate The sensing device starts to detect the control operation of the user. That is, at the target time before the start of the sending time slot of the remote control device, the detection instruction information is sent to the sensing device of the remote control device. Accordingly, the sensing device receives the detection instruction information and starts to detect the user's status based on the detection instruction information.
  • the control operation for example, the sensing device starts to detect the user's control operation when receiving the detection instruction information.
  • the detection indication information is, for example, a synchronization signal.
  • a possible implementation of S202 is: preprocessing the sensor data to obtain the remote control signal.
  • the sensor data is preprocessed to obtain a remote control signal suitable for the wireless communication device.
  • the sum of the preprocessing duration and the detection duration of the sensing device is less than or equal to the interval duration between the target time and the start time of the sending time slot.
  • a step of controlling operation of the user by the sensor device and a step of preprocessing the sensor data are required, so In order to ensure that the above steps have enough time to process, the sum of the preprocessing time length and the detection time length of the sensing device should be less than or equal to the interval between the target time and the start time of the sending time slot duration.
  • the sum of the duration of the preprocessing and the detection duration of the sensing device may be equal to the duration of the interval between the target time and the start time of the transmission time slot.
  • the preprocessing includes: one or more of Analog-to-Digital (AD) sampling, coding compression, and modulation processing.
  • AD Analog-to-Digital
  • the preprocessing includes: AD sampling, coding compression and modulation processing.
  • a possible implementation manner of preprocessing the sensor data to obtain the remote control signal is: AD sampling the remote control data (belonging to the analog signal) to obtain the remote control digital signal, and then the remote control data
  • the word signal is encoded and compressed to obtain a compressed remote control digital signal, and then the remote control digital signal is modulated to obtain the remote control signal.
  • the preprocessing of the sensor data to obtain the remote control signal includes: according to the communication between the remote control device and the movable platform
  • the communication system modulates the remote control data to obtain the remote control signal, so that the mobile platform can successfully receive and analyze the remote control signal.
  • the communication format of the communication between the remote control device and the movable platform may be, for example, a 4G communication format, a 5G communication format, or a wifi communication format, which is not limited in this embodiment.
  • FIG. 3 is a flowchart of a method for controlling a remote control device according to another embodiment of the application. As shown in FIG. 3, the method in this embodiment may include:
  • S301 Acquire sensor data output by the sensor device at the target time before the start of the sending time slot of the remote control device, where the sensor device detects the user's control operation at a preset operating frequency.
  • the remote control device in this embodiment may include a sensor device and a wireless communication device, where the sensor device is used to detect a user's control operation, and the sensor device in this embodiment detects the user's control operation at a preset operating frequency ,
  • the preset operating frequency can be greater than a reference frequency, such as 100 Hz or 60 Hz.
  • the sensing device obtains sensor data according to the detected user's control operation.
  • the wireless communication device is used to communicate with the movable platform, for example, sending a remote control signal to the movable platform, where the wireless communication device sends a remote control signal to the drone in the sending time slot of the remote control device.
  • the sensing device detects the user's control operation at a preset operating frequency to acquire sensing data and output the sensing data.
  • this embodiment does not acquire the sensing data output by the sensing device in real time, but in the remote control Obtain the sensor data output by the sensor device at the current time before the start of the sending time slot of the device.
  • the remote control device includes an interactive device, wherein the sensing device detects a control operation of the user by detecting a mechanical movement of the interactive device. If the user wants to control the movable platform through the remote control device, the user can perform operations on the interactive device to make the interactive device produce mechanical movement. Accordingly, the sensing device can detect the mechanical movement of the interactive device through the mechanical movement of the interactive device. To detect the user's control operation.
  • the interaction device includes a rocker, a lever or a button.
  • S302 Acquire a remote control signal according to the sensor data.
  • the remote control signal that can be sent out by the wireless communication device is acquired according to the sensor data.
  • the wireless communication device that controls the remote control device sends the remote control signal obtained in S302 to the movable platform.
  • the movable platform receives the remote control signal sent by the wireless communication device of the remote control device, and performs corresponding operations according to the remote control signal, for example: if the remote control signal is used to control the acceleration of the movable platform, the movable platform performs the acceleration action If the remote control signal is used to control the movable platform to adjust the posture, the movable platform performs the posture adjustment action.
  • the sensor device detects the user's control operation at a preset operating frequency, and obtains the control operation of the sensor device due to the detection of the user at the target time before the start of the transmission time slot of the remote control device.
  • the remote control data output by operation; the remote control signal is acquired according to the sensor data; in the transmission time slot, the wireless communication device that controls the remote control device sends the remote control signal to the movable platform, so that the movable platform is The remote control signal performs the corresponding operation.
  • this embodiment is to obtain the remote control data output by the sensing device at the target time before the start of the transmission time slot of the remote control device, and then obtain the remote control signal, the time between the time of acquiring the remote control signal and the transmission time slot can be reduced as much as possible. The length of the interval, thereby reducing the transmission delay of the remote control signal.
  • the detection setting duration is also acquired, and the target time before the start of the sending time slot is determined according to the detection setting duration.
  • the target time before the start of the transmission time slot is determined by the detection setting time length.
  • the interval time between the target time and the start time of the transmission time slot may be greater than or equal to the detection setting time length.
  • the detection setting time length is obtained from a storage device of the remote control device or determined in response to a user's setting operation.
  • the storage device of the remote control device stores the detection setting time length, and accordingly, a possible implementation manner of obtaining the detection setting time length is: obtaining the detection setting time length from the storage device of the remote control device.
  • a possible implementation method for obtaining the detection setting duration is: the user performs a setting operation on the remote control device, and the setting operation is used to set the detection setting duration. Accordingly, the remote control device can detect the user's setting operation and then respond The setting operation determines the detection setting duration.
  • the detection setting duration may also be stored in the storage device of the remote control device, so that the detection setting duration can be directly obtained from the storage device next time.
  • the remote control device includes an interactive device, and in this embodiment, the user's setting operation can be detected by detecting the interactive device.
  • the detection setting duration includes the interval duration between the target time and the start time of the transmission time slot, for example: the interval duration between the target time and the start time of the transmission time slot is equal to The detection setting time.
  • the detection setting duration includes the interval duration between the target time and the start time of the reception time slot before the transmission time slot, for example: the time between the target time and the reception time slot before the transmission time slot The length of the interval between the start times is equal to the length of the detection setting.
  • a possible implementation manner of acquiring the sensor data output by the sensor device is: At the target time before the start of the time slot, the sensor data output by the sensor device is acquired. Therefore, in this embodiment, the sensor data output by the sensing device is acquired at the target time before each transmission time slot of the remote control device starts, so as to ensure that the time when the remote control signal is acquired each time corresponds to each transmission time slot.
  • the length of the interval is the same, and the length of the interval between the time when each remote control signal is acquired and each transmission time slot is reduced as much as possible, thereby reducing the transmission delay of the remote control signal.
  • a possible implementation of S302 is: preprocessing the sensor data to obtain the remote control signal.
  • the sensor data is preprocessed to obtain a remote control signal suitable for the wireless communication device.
  • the duration of the preprocessing is less than or equal to the duration of the interval between the target moment and the start moment of the transmission time slot.
  • a step of preprocessing the sensor data is required between the target time before the start of the transmission time slot of the remote control device and the start time of the transmission time slot. Therefore, in order to ensure that the above steps have enough time to process , The duration of the preprocessing should be less than or equal to the duration of the interval between the target time and the start time of the transmission time slot.
  • the duration of the preprocessing may be equal to the duration of the interval between the target time and the start time of the transmission time slot.
  • the preprocessing includes: one or more of AD sampling, coding compression, and modulation processing.
  • the preprocessing includes: AD sampling, coding compression and modulation processing.
  • a possible implementation manner of preprocessing the sensor data to obtain the remote control signal is: AD sampling the remote control data (belonging to the analog signal) to obtain the remote control digital signal, and then the remote control data
  • the word signal is encoded and compressed to obtain a compressed remote control digital signal, and then the remote control digital signal is modulated to obtain the remote control signal.
  • the preprocessing of the sensor data to obtain the remote control signal includes: according to the communication between the remote control device and the movable platform
  • the communication system modulates the remote control data to obtain the remote control signal, so that the mobile platform can successfully receive and analyze the remote control signal.
  • the communication format of the communication between the remote control device and the movable platform may be, for example, a 4G communication format or a 5G communication format or a wifi communication format, which is not limited in this embodiment.
  • An embodiment of the present application also provides a computer storage medium, the computer storage medium stores program instructions, and the program execution may include part or all of the control method of the remote control device in FIG. 2 and its corresponding embodiments. Steps, or, the execution of the program may include part or all of the steps of the remote control device control method as shown in FIG. 3 and its corresponding embodiments.
  • Fig. 4 is a schematic structural diagram of a remote control device provided by an embodiment of the application.
  • the remote control device 400 of this embodiment may include a sensor device 401, a wireless communication device 402, and a processor 403.
  • the device 401, the wireless communication device 402, and the processor 403 may be connected by a bus.
  • the remote control device 400 may further include a storage device 404.
  • the remote control device 400 may further include an interaction device 405.
  • the sensor device 401 is used to detect a user's control operation and output sensor data.
  • the wireless communication device 402 is used to send a remote control signal to a movable platform
  • the processor 403 is configured to control the sensor device 401 to detect the control operation of the user at a target time before the start of the transmission time slot of the remote control device 400, and obtain the transmission output from the sensor device 401 Sense data; acquire remote control signals according to the sensor data; in the sending time slot, control the wireless communication device 402 to send the remote control signal to the movable platform, so that the movable platform executes according to the remote control signal The corresponding operation.
  • the processor 403 is further configured to: obtain the detection setting time length; and determine the target time before the start of the sending time slot according to the detection setting time length.
  • the storage device 404 is configured to store the detection setting time length, where the processor 403 is specifically configured to obtain the detection setting time length from the storage device 404; or,
  • the processor 403 is specifically configured to determine the detection setting duration in response to a user's setting operation.
  • the user's setting operation may be detected by the interactive device 405.
  • the detection setting duration includes the interval duration between the target time and the start time of the transmission time slot.
  • the processor 403 is specifically configured to: control the sensing device 401 to detect the control operation of the user at a target time before each transmission time slot of the remote control device 400 starts.
  • the processor 403 is specifically configured to: preprocess the sensor data to obtain the remote control signal.
  • the sum of the preprocessing duration and the detection duration of the sensing device 401 is less than or equal to the interval duration between the target time and the start time of the transmission time slot.
  • the preprocessing includes one or more of AD sampling, coding compression, and modulation processing.
  • the processor 403 is specifically configured to: send detection instruction information to the sensing device 401, where the detection instruction information is used to instruct the sensing device 401 to start detecting the user's Control operation.
  • the sensing device 401 is specifically configured to detect the user's control operation by detecting the mechanical movement of the interaction device 405.
  • the interaction device 405 includes a rocker, a lever, or a button.
  • the remote control device of this embodiment can be used to implement the technical solutions of the embodiment of FIG. 2 and its corresponding method, and its implementation principles and technical effects are similar, and will not be repeated here.
  • Fig. 5 is a schematic structural diagram of a remote control device provided by another embodiment of the application.
  • the remote control device 500 of this embodiment may include: a sensor device 501, a wireless communication device 502, and a processor 503.
  • the sensing device 501, the wireless communication device 502, and the processor 503 may be connected by a bus.
  • the remote control device 500 may further include a storage device 504.
  • the remote control device 500 may further include an interaction device 505.
  • the sensing device 501 is used to detect a user's control operation and output sensor data at a preset operating frequency.
  • the wireless communication device 502 is used to send a remote control signal to a movable platform.
  • the processor 503 is configured to obtain the sensor data output by the sensor device 501 at a target time before the start of the transmission time slot of the remote control device 500; obtain a remote control signal according to the sensor data; The time slot is sent, and the wireless communication device 502 is controlled to send the remote control signal to the movable platform, so that the movable platform performs corresponding operations according to the remote control signal.
  • the processor 503 is further configured to: obtain the detection setting time length; and, according to the detection setting time length, determine the target time before the start of the sending time slot.
  • the storage device 504 is configured to store the detection setting time length
  • the processor 503 is specifically configured to obtain the detection setting time length from the storage device 504.
  • the processor 503 is specifically configured to determine the detection setting duration in response to a user's setting operation.
  • the user's setting operation may be detected by the interaction device 505.
  • the detection setting duration includes the interval duration between the target time and the start time of the transmission time slot.
  • the processor 503 is specifically configured to obtain the sensor data output by the sensor device 501 at a target time before the start of each transmission time slot of the remote control device 500.
  • the processor 503 is specifically configured to: preprocess the sensor data to obtain the remote control signal.
  • the duration of the preprocessing is less than or equal to the duration of the interval between the target time and the start time of the transmission time slot.
  • the preprocessing includes one or more of AD sampling, encoding compression processing, and modulation processing.
  • the sensing device 501 is specifically configured to detect the user's control operation by detecting the mechanical movement of the interaction device 505.
  • the interaction device 505 includes a rocker, a lever, or a button.
  • the remote control device of this embodiment can be used to implement the technical solutions of FIG. 3 and the corresponding method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.
  • a person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware.
  • the foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

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Abstract

一种遥控设备的控制方法和遥控设备，遥控设备（400）包括用于检测用户的控制操作的传感设备（401）和无线通信设备（402），控制方法包括：在遥控设备（400）的发送时隙开始前的目标时刻，控制遥控设备（400）的传感设备（401）检测用户的控制操作，并获取传感设备（401）输出的传感数据(S201)；根据传感数据获取遥控信号(S202)；在发送时隙，控制无线通信设备（402）向可移动平台发送遥控信号，以使可移动平台根据遥控信号执行相应的操作(S203)。由于在遥控设备（400）的发送时隙开始前的目标时刻，控制传感设备（400）检测用户的控制操作以获取遥控信号，从而尽可能降低获取遥控信号的时刻与发送时隙之间的间隔时长，进而降低遥控信号的传输延时。

Description

遥控设备的控制方法和遥控设备 技术领域
本申请实施例涉及控制技术领域，尤其涉及一种遥控设备的控制方法和遥控设备。
背景技术
在可移动平台技术领域中，用户可以通过操作遥控设备来远程控制可移动平台(例如无人飞行器、无人地面机器人、无人船、手持云台等等)执行相应的动作，即遥控设备可以根据自身配置的传感设备检测用户的操作而获取遥控信号，所述遥控设备的无线通信设备可以将所述遥控信号发送给可移动平台，可移动平台根据接收的遥控信号执行相应的动作。然而，由于传感设备和无线通信设备是异步工作的，无线通信设备需要等到无线发送时隙到达时才将该遥控信号发送给可移动平台，因此，无线通信设备需等待0至无线发送时隙周期之间的随机时长才能发送遥控信号，从而造成遥控信号的传输延时较大。
发明内容
本申请实施例提供一种遥控设备的控制方法和遥控设备，用于降低遥控信号的传输延时。
第一方面，本申请实施例提供一种遥控设备的控制方法，所述遥控设备包括用于检测用户的控制操作的传感设备和无线通信设备，所述方法包括：
在所述遥控设备的发送时隙开始前的目标时刻，控制所述传感设备检测所述用户的控制操作，并获取所述传感设备输出的传感数据；
根据所述传感数据获取遥控信号；
在所述发送时隙，控制所述无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
第二方面，本申请实施例提供一种遥控设备的控制方法，所述遥控设备包括传感设备和无线通信设备，所述传感设备以预设的工作频率检测用户的 控制操作，所述方法包括：
在所述遥控设备的发送时隙开始前的目标时刻，获取所述传感设备输出的传感数据；
根据所述传感数据获取遥控信号；
在所述发送时隙，控制所述无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
第三方面，本申请实施例提供一种遥控设备，包括：传感设备、无线通信设备和处理器；
所述传感设备，用于检测用户的控制操作的传感设备及输出传感数据；
所述无线通信设备，用于向可移动平台发送遥控信号；
所述处理器，用于在所述遥控设备的发送时隙开始前的目标时刻，控制所述传感设备检测所述用户的控制操作，并获取所述传感设备输出的传感数据；根据所述传感数据获取遥控信号；在所述发送时隙，控制所述无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
第四方面，本申请实施例提供一种遥控设备，包括：传感设备、无线通信设备和处理器；
所述传感设备，用于以预设的工作频率检测用户的控制操作及输出传感数据；
所述无线通信设备，用于向可移动平台发送遥控信号；
所述处理器，用于在所述遥控设备的发送时隙开始前的目标时刻，获取所述传感设备输出的传感数据；根据所述传感数据获取遥控信号；在所述发送时隙，控制所述无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
第五方面，本申请实施例提供一种可读存储介质，所述可读存储介质上存储有计算机程序；所述计算机程序在被执行时，实现如第一方面或第二方面本申请实施例所述的遥控设备的控制方法。
第六方面，本申请实施例提供一种程序产品，所述程序产品包括计算机程序，所述计算机程序存储在可读存储介质中，遥控设备的至少一个处理器可以从所述可读存储介质读取所述计算机程序，所述至少一个处理器执行所 述计算机程序使得遥控设备实施如第一方面本申请实施例所述的遥控设备的控制方法。
本申请实施例提供的遥控设备的控制方法和遥控设备，通过在遥控设备的发送时隙开始前的目标时刻，控制遥控设备的传感设备检测所述用户的控制操作，并获取所述传感设备输出的传感数据；根据所述传感数据获取遥控信号；在所述发送时隙，控制遥控设备的无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。由于本实施例是在遥控设备的发送时隙开始前的目标时刻，控制传感设备检测用户的控制操作以获取遥控信号，从而可以尽可能降低获取遥控信号的时刻与发送时隙之间的间隔时长，进而降低遥控信号的传输延时。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，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是根据本申请的实施例的无人飞行系统的示意性架构图；
图2为本申请一实施例提供的遥控设备的控制方法的流程图；
图3为本申请另一实施例提供的遥控设备的控制方法的流程图；
图4为本申请一实施例提供的遥控设备的结构示意图；
图5为本申请另一实施例提供的遥控设备的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，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，都属于本申请保护的范围。
下面结合附图，对本申请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。
本申请的实施例提供了遥控设备的控制方法和遥控设备，其中，遥控设备可以用于控制可移动平台，可移动平台可以是无人机、无人船、无人驾驶汽车、机器人等。以下对本申请可移动平台的描述使用无人机作为示例。对于本领域技术人员将会显而易见的是，可以不受限制地使用其他类型的无人机，本申请的实施例可以应用于各种类型的无人机。例如，无人机可以是小型或大型的无人机。在某些实施例中，无人机可以是旋翼无人机(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼无人机，本申请的实施例并不限于此，无人机也可以是其它类型的无人机。
图1是根据本申请的实施例的无人飞行系统的示意性架构图。本实施例以旋翼无人机为例进行说明。
无人飞行系统100可以包括无人机110、显示设备130和遥控设备140。其中，无人机110可以包括动力系统150、飞行控制系统160、机架和承载在机架上的云台120。无人机110可以与遥控设备140和显示设备130进行无线通信。
机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接，用于在无人机110着陆时起支撑作用。
动力系统150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152，其中电机152连接在电子调速器151与螺旋桨153之间，电机152和螺旋桨153设置在无人机110的机臂上；电子调速器151用于接收飞行控制系统160产生的驱动信号，并根据驱动信号提供驱动电流给电机152，以控制电机152的转速。电机152用于驱动螺旋桨旋转，从而为无人机110的飞行提供动力，该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中，无人机110可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴(Roll)、偏航轴(Yaw)和俯仰轴(pitch)。应理解，电机152可以是直流电机，也可以交流电机。另外，电机152可以是无刷电机，也可以是有刷电机。
飞行控制系统160可以包括飞行控制器161和传感系统162。传感系统162用于测量无人机的姿态信息，即无人机110在空间的位置信息和状态信 息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感系统162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit，IMU)、视觉传感器、全球导航卫星系统和气压计等传感器中的至少一种。例如，全球导航卫星系统可以是全球定位系统(Global Positioning System，GPS)。飞行控制器161用于控制无人机110的飞行，例如，可以根据传感系统162测量的姿态信息控制无人机110的飞行。应理解，飞行控制器161可以按照预先编好的程序指令对无人机110进行控制，也可以通过响应来自遥控设备140的一个或多个遥控信号对无人机110进行控制。
云台120可以包括电机122。云台用于携带拍摄装置123。飞行控制器161可以通过电机122控制云台120的运动。可选地，作为另一实施例，云台120还可以包括控制器，用于通过控制电机122来控制云台120的运动。应理解，云台120可以独立于无人机110，也可以为无人机110的一部分。应理解，电机122可以是直流电机，也可以是交流电机。另外，电机122可以是无刷电机，也可以是有刷电机。还应理解，云台可以位于无人机的顶部，也可以位于无人机的底部。
拍摄装置123例如可以是照相机或摄像机等用于捕获图像的设备，拍摄装置123可以与飞行控制器通信，并在飞行控制器的控制下进行拍摄。本实施例的拍摄装置123至少包括感光元件，该感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)传感器或电荷耦合元件(Charge-coupled Device，CCD)传感器。可以理解，拍摄装置123也可直接固定于无人机110上，从而云台120可以省略。
显示设备130位于无人飞行系统100的地面端，可以通过无线方式与无人机110进行通信，并且可以用于显示无人机110的姿态信息。另外，还可以在显示设备130上显示拍摄装置拍摄的图像。应理解，显示设备130可以是独立的设备，也可以集成在遥控设备140中。
遥控设备140位于无人飞行系统100的地面端，可以通过无线方式与无人机110进行通信，用于对无人机110进行远程操纵。
应理解，上述对于无人飞行系统各组成部分的命名仅是出于标识的目的，并不应理解为对本申请的实施例的限制。
图2为本申请一实施例提供的遥控设备的控制方法的流程图，如图2所示，本实施例的方法可以包括：
S201、在遥控设备的发送时隙开始前的目标时刻，控制传感设备检测用户的控制操作，并获取所述传感设备输出的传感数据。
本实施例中的遥控设备可以包括传感设备和无线通信设备，其中，传感设备用于检测用户的控制操作，传感设备检测到用户的控制操作后，该传感设备根据检测到的用户的控制操作输出传感数据。无线通信设备用于与可移动平台进行通信，例如向可移动平台发送遥控信号，其中，无线通信设备在遥控设备的发送时隙向无人机发送遥控信号。
本实施例中，在遥控设备的发送时隙开始前的目前时刻，控制遥控设备的传感设备检测用户的控制操作，并获取该遥控设备检测到用户的控制操作后根据检测到的用户的控制操作输出的传感数据。
可选地，所述遥控设备包括交互装置，其中，所述传感设备通过检测所述交互装置的机械运动以检测所述用户的控制操作。若用户想要通过遥控设备控制可移动平台，用户可以对交互装置执行操作以使交互装置产生机械运动，相应地，传感设备可以检测到该交互装置的机械运动，通过该交互装置的机械运动来检测用户的控制操作。可选地，所述交互装置包括摇杆、拨杆或按扭。
S202、根据所述传感数据获取遥控信号。
本实施例中，获取传感设备输出的传感数据之后，根据该传感数据获取可供无线通信设备向外发送的遥控信号。
S203、在所述发送时隙，控制所述无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
本实施例中，在遥控设备的发送时隙，控制该遥控设备的无线通信设备向可移动平台发送上述S202获取的遥控信号。相应地，可移动平台接收该遥控设备的无线通信设备发送的遥控信号，并根据该遥控信号执行相应的操作，例如：若该遥控信号用于控制可移动平台加速，则可移动平台执行加速动作，若该遥控信号用于控制可移动平台调整姿态，则可移动平台执行姿态调整动作。
本实施例提供的遥控设备的控制方法，通过在遥控设备的发送时隙开始 前的目标时刻，控制遥控设备的传感设备检测所述用户的控制操作，并获取所述传感设备输出的传感数据；根据所述传感数据获取遥控信号；在所述发送时隙，控制遥控设备的无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。由于本实施例是在遥控设备的发送时隙开始前的目标时刻，控制传感设备检测用户的控制操作以获取遥控信号，从而可以尽可能降低获取遥控信号的时刻与发送时隙之间的间隔时长，进而降低遥控信号的传输延时。
在一些实施例中，本实施例在执行上述S201之前，还获取检测设置时长，并根据所述检测设置时长确定所述发送时隙开始前的目标时刻。本实施例中，上述发送时隙开始前的目标时刻是由检测设置时长来确定的，例如：目标时刻与发送时隙的开始时刻的间隔时长可以大于等于该检测设置时长。
可选地，所述检测设置时长是从所述遥控设备的存储装置获取的或者响应于用户的设置操作确定的。
例如：遥控设备的存储装置中存储有检测设置时长，相应地，获取检测设置时长的一种可能的实现方式为：从遥控设备的存储装置中获取检测设置时长。
又例如：获取检测设置时长的一种可能的实现方式为：用户对遥控设备执行设置操作，该设置操作用于设置检测设置时长，相应地，遥控设备可以检测到用户的设置操作，然后响应于该设置操作以确定该检测设置时长。可选地，遥控设备响应于用户的设置操作确定检测设置时长之后，还可以将该检测设置时长存储在该遥控设备的存储装置中，以便下次直接从存储装置中获取检测设置时长。可选地，所述遥控设备包括交互装置，其中，本实施例可以通过检测所述交互装置以检测所述用户的设置操作。
可选地，所述检测设置时长包括所述目标时刻与所述发送时隙的开始时刻之间的间隔时长，例如：所述目标时刻与所述发送时隙的开始时刻之间的间隔时长等于该检测设置时长。或者，所述检测设置时长包括所述目标时刻与所述发送时隙前一个接收时隙的开始时刻之间的间隔时长，例如：所述目标时刻与所述发送时隙前一个接收时隙的开始时刻之间的间隔时长等于该检测设置时长。
在一些实施例中，上述S201中的在遥控设备的发送时隙开始前的目标时 刻，控制传感设备检测用户的控制操作的一种可能的实现方式为：在遥控设备的每一个发送时隙开始前的目标时刻，控制传感设备检测用户的控制操作。因此，本实施例是在遥控设备的每一个发送时隙开始前的目标时刻，控制传感设备检测用户的控制操作以获取遥控信号，从而可以保证每次获取遥控信号的时刻与对应每个发送时隙之间的间隔时长相同，且尽可能降低每次获取遥控信号的时刻与每一个发送时隙之间的间隔时长，进而降低遥控信号的传输延时。
在一些实施例中，上述控制所述传感设备检测所述用户的控制操作的一种可能的实现方式为：向所述传感设备发送检测指示信息，其中，所述检测指示信息用于指示所述传感设备开始检测所述用户的控制操作。也就是，在遥控设备的发送时隙开始前的目标时刻，向遥控设备的传感设备发送检测指示信息，相应地，传感设备接收到该检测指示信息并根据该检测指示信息开始检测用户的控制操作，例如：传感设备在接收到该检测指示信息时开始检测用户的控制操作。可选地，该检测指示信息例如为同步信号。
在一些实施例中，上述S202的一种可能的实现方式为：对所述传感数据进行预处理以获得所述遥控信号。本实施例中，获取传感设备输出的传感数据之后，对该传感数据进行预处理以获得适合无线通信设备发送的遥控信号。
可选地，所述预处理的时长与所述传感设备的检测时长之和小于或等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。本实施例中，在遥控设备的发送时隙开始前的目标时刻与发送时隙的开始时刻之间，需要传感设备对用户的控制操作的步骤以及对传感数据进行预处理的步骤，因此，为了保证上述步骤具有足够的时间来处理，所述预处理的时长与所述传感设备的检测时长之和应该小于或等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。其中，为了进一步降低遥控信号的传输延时，所述预处理的时长与所述传感设备的检测时长之和可以等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
可选地，所述预处理包括：模数(Analog-to-Digital，AD)采样、编码压缩和调制处理中的一种或多种。
可选地，若所述预处理包括：AD采样、编码压缩和调制处理。相应地，所述对所述传感数据进行预处理以获得所述遥控信号的一种可能的实现方式 为：对遥控数据(属于模拟信号)进行AD采样，获得遥控数字信号，再对遥控数据字信号进行编码压缩处理，获得压缩后的遥控数字信号，然后再对遥控数字信号进行调制处理，获得所述遥控信号。
可选地，若所述预处理包括：调制处理，则所述对所述传感数据进行预处理以获得所述遥控信号，包括：根据所述遥控设备与所述可移动平台之间通信的通信制式，对所述遥控数据进行调制处理，获得所述遥控信号，从而使得可移动平台可以成功接收并解析该遥控信号。所述遥控设备与所述可移动平台之间通信的通信制式例如可以是4G通信制式或5G通信制式或wifi通信制式，本实施例对此不做限定。
图3为本申请另一实施例提供的遥控设备的控制方法的流程图，如图3所示，本实施例的方法可以包括：
S301、在遥控设备的发送时隙开始前的目标时刻，获取传感设备输出的传感数据，其中，传感设备以预设的工作频率检测用户的控制操作。
本实施例中的遥控设备可以包括传感设备和无线通信设备，其中，传感设备用于检测用户的控制操作，并且本实施例的传感设备是以预设的工作频率检测用户的控制操作，该预设的工作频率可以大于一基准频率，例如为100Hz或60Hz等。传感设备检测到用户的控制操作后，该传感设备根据检测到的用户的控制操作获取传感数据。无线通信设备用于与可移动平台进行通信，例如向可移动平台发送遥控信号，其中，无线通信设备在遥控设备的发送时隙向无人机发送遥控信号。
本实施例中，传感设备以预设的工作频率检测用户的控制操作获取传感数据并输出传感数据，而本实施例并不是实时获取传感设备输出的传感数据，而是在遥控设备的发送时隙开始前的目前时刻，获取传感设备输出的传感数据。
可选地，所述遥控设备包括交互装置，其中，所述传感设备通过检测所述交互装置的机械运动以检测所述用户的控制操作。若用户想要通过遥控设备控制可移动平台，用户可以对交互装置执行操作以使交互装置产生机械运动，相应地，传感设备可以检测到该交互装置的机械运动，通过该交互装置的机械运动来检测用户的控制操作。可选地，所述交互装置包括摇杆、拨杆或按扭。
S302、根据所述传感数据获取遥控信号。
本实施例中，获取传感设备输出的传感数据之后，根据该传感数据获取可供无线通信设备向外发送的遥控信号。
S303、在所述发送时隙，控制所述无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
本实施例中，在遥控设备的发送时隙，控制该遥控设备的无线通信设备向可移动平台发送上述S302获取的遥控信号。相应地，可移动平台接收该遥控设备的无线通信设备发送的遥控信号，并根据该遥控信号执行相应的操作，例如：若该遥控信号用于控制可移动平台加速，则可移动平台执行加速动作，若该遥控信号用于控制可移动平台调整姿态，则可移动平台执行姿态调整动作。
本实施例提供的遥控设备的控制方法，传感设备以预设的工作频率检测用户的控制操作，通过在遥控设备的发送时隙开始前的目标时刻，获取传感设备因检测到用户的控制操作而输出的遥控数据；根据所述传感数据获取遥控信号；在所述发送时隙，控制遥控设备的无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。由于本实施例是在遥控设备的发送时隙开始前的目标时刻，才去获取传感设备输出的遥控数据，再获取遥控信号，从而可以尽可能降低获取遥控信号的时刻与发送时隙之间的间隔时长，进而降低遥控信号的传输延时。
在一些实施例中，本实施例在执行上述S301之前，还获取检测设置时长，并根据所述检测设置时长确定所述发送时隙开始前的目标时刻。本实施例中，上述发送时隙开始前的目标时刻是由检测设置时长来确定的，例如：目标时刻与发送时隙的开始时刻的间隔时长可以大于等于该检测设置时长。
可选地，所述检测设置时长是从所述遥控设备的存储装置获取的或者响应于用户的设置操作确定的。
例如：遥控设备的存储装置中存储有检测设置时长，相应地，获取检测设置时长的一种可能的实现方式为：从遥控设备的存储装置中获取检测设置时长。
又例如：获取检测设置时长的一种可能的实现方式为：用户对遥控设备执行设置操作，该设置操作用于设置检测设置时长，相应地，遥控设备可以 检测到用户的设置操作，然后响应于该设置操作以确定该检测设置时长。可选地，遥控设备响应于用户的设置操作确定检测设置时长之后，还可以将该检测设置时长存储在该遥控设备的存储装置中，以便下次直接从存储装置中获取检测设置时长。可选地，所述遥控设备包括交互装置，其中，本实施例可以通过检测所述交互装置以检测所述用户的设置操作。
可选地，所述检测设置时长包括所述目标时刻与所述发送时隙的开始时刻之间的间隔时长，例如：所述目标时刻与所述发送时隙的开始时刻之间的间隔时长等于该检测设置时长。或者，所述检测设置时长包括所述目标时刻与所述发送时隙前一个接收时隙的开始时刻之间的间隔时长，例如：所述目标时刻与所述发送时隙前一个接收时隙的开始时刻之间的间隔时长等于该检测设置时长。
在一些实施例中，上述S301中的在遥控设备的发送时隙开始前的目标时刻，获取所述传感设备输出的传感数据的一种可能的实现方式为：在遥控设备的每一个发送时隙开始前的目标时刻，获取所述传感设备输出的传感数据。因此，本实施例是在遥控设备的每一个发送时隙开始前的目标时刻，获取所述传感设备输出的传感数据，从而可以保证每次获取遥控信号的时刻与对应每个发送时隙之间的间隔时长相同，且尽可能降低每次获取遥控信号的时刻与每一个发送时隙之间的间隔时长，进而降低遥控信号的传输延时。
在一些实施例中，上述S302的一种可能的实现方式为：对所述传感数据进行预处理以获得所述遥控信号。本实施例中，获取传感设备输出的传感数据之后，对该传感数据进行预处理以获得适合无线通信设备发送的遥控信号。
可选地，所述预处理的时长小于或等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。本实施例中，在遥控设备的发送时隙开始前的目标时刻与发送时隙的开始时刻之间，需要对传感数据进行预处理的步骤，因此，为了保证上述步骤具有足够的时间来处理，所述预处理的时长应该小于或等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。其中，为了进一步降低遥控信号的传输延时，所述预处理的时长可以等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
可选地，所述预处理包括：AD采样、编码压缩和调制处理中的一种或多种。
可选地，若所述预处理包括：AD采样、编码压缩和调制处理。相应地，所述对所述传感数据进行预处理以获得所述遥控信号的一种可能的实现方式为：对遥控数据(属于模拟信号)进行AD采样，获得遥控数字信号，再对遥控数据字信号进行编码压缩处理，获得压缩后的遥控数字信号，然后再对遥控数字信号进行调制处理，获得所述遥控信号。
可选地，若所述预处理包括：调制处理，则所述对所述传感数据进行预处理以获得所述遥控信号，包括：根据所述遥控设备与所述可移动平台之间通信的通信制式，对所述遥控数据进行调制处理，获得所述遥控信号，从而使得可移动平台可以成功接收并解析该遥控信号。所述遥控设备与所述可移动平台之间通信的通信制式例如可以是4G通信制式或5G通信制式或wifi通信制式，本实施例对此不做限定。
本申请实施例中还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括如图2及其对应实施例中的遥控设备的控制方法的部分或全部步骤，或者，所述程序执行时可包括如图3及其对应实施例中的遥控设备的控制方法的部分或全部步骤。
图4为本申请一实施例提供的遥控设备的结构示意图，如图4所示，本实施例的遥控设备400可以包括：传感设备401、无线通信设备402和处理器403，其中，传感设备401、无线通信设备402和处理器403可以通过总线连接。可选地，遥控设备400还可以包括存储装置404。可选地，遥控设备400还可以包括交互装置405。
其中，所述传感设备401，用于检测用户的控制操作及输出传感数据。
所述无线通信设备402，用于向可移动平台发送遥控信号；
所述处理器403，用于在所述遥控设备400的发送时隙开始前的目标时刻，控制所述传感设备401检测所述用户的控制操作，并获取所述传感设备401输出的传感数据；根据所述传感数据获取遥控信号；在所述发送时隙，控制所述无线通信设备402向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
在一些实施例中，所述处理器403，还用于：获取检测设置时长；以及根据所述检测设置时长确定所述发送时隙开始前的目标时刻。
在一些实施例中，所述存储装置404用于存储所述检测设置时长，其中，所述处理器403，具体用于从所述存储装置404获取所述检测设置时长；或者，
在一些实施例中，所述处理器403，具体用于响应于用户的设置操作确定所述检测设置时长。可选地，该用户的设置操作可以由交互装置405检测到。
在一些实施例中，所述检测设置时长包括所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
在一些实施例中，所述处理器403，具体用于：在所述遥控设备400的每一个发送时隙开始前的目标时刻，控制所述传感设备401检测所述用户的控制操作。
在一些实施例中，所述处理器403，具体用于：对所述传感数据进行预处理以获得所述遥控信号。
在一些实施例中，所述预处理的时长与所述传感设备401的检测时长之和小于或等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
在一些实施例中，所述预处理包括：AD采样、编码压缩和调制处理中的一种或多种。
在一些实施例中，所述处理器403，具体用于：向所述传感设备401发送检测指示信息，其中，所述检测指示信息用于指示所述传感设备401开始检测所述用户的控制操作。
在一些实施例中，所述传感设备401，具体用于通过检测所述交互装置405的机械运动以检测所述用户的控制操作。
在一些实施例中，所述交互装置405包括摇杆、拨杆或按扭。
本实施例的遥控设备，可以用于执行图2及其对应方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图5为本申请另一实施例提供的遥控设备的结构示意图，如图5所示，本实施例的遥控设备500可以包括：传感设备501、无线通信设备502和处理器503，其中，传感设备501、无线通信设备502和处理器503可以通过总线连接。可选地，遥控设备500还可以包括存储装置504。可选地，遥控设备500还可以包括交互装置505。
其中，所述传感设备501，用于以预设的工作频率检测用户的控制操作及输出传感数据。
所述无线通信设备502，用于向可移动平台发送遥控信号。
所述处理器503，用于在所述遥控设备500的发送时隙开始前的目标时刻，获取所述传感设备501输出的传感数据；根据所述传感数据获取遥控信号；在所述发送时隙，控制所述无线通信设备502向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
在一些实施例中，所述处理器503，还用于：获取检测设置时长；以及根据所述检测设置时长确定所述发送时隙开始前的目标时刻。
在一些实施例中，所述存储装置504用于存储所述检测设置时长，其中，所述处理器503，具体用于从所述存储装置504获取所述检测设置时长。
在一些实施例中，所述处理器503，具体用于响应于用户的设置操作确定所述检测设置时长。可选地，该用户的设置操作可以由交互装置505检测到。
在一些实施例中，所述检测设置时长包括所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
在一些实施例中，所述处理器503，具体用于：在所述遥控设备500的每一个发送时隙开始前的目标时刻，获取所述传感设备501输出的传感数据。
在一些实施例中，所述处理器503，具体用于：对所述传感数据进行预处理以获得所述遥控信号。
在一些实施例中，所述预处理的时长小于或等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
在一些实施例中，所述预处理包括：AD采样、编码压缩处理和调制处理中的一种或多种。
在一些实施例中，所述传感设备501，具体用于通过检测所述交互装置505的机械运动以检测所述用户的控制操作。
在一些实施例中，所述交互装置505包括摇杆、拨杆或按扭。
本实施例的遥控设备，可以用于执行图3及对应方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤 可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (43)

  1. 一种遥控设备的控制方法，所述遥控设备包括用于检测用户的控制操作的传感设备和无线通信设备，其特征在于，所述方法包括：
    在所述遥控设备的发送时隙开始前的目标时刻，控制所述传感设备检测所述用户的控制操作，并获取所述传感设备输出的传感数据；
    根据所述传感数据获取遥控信号；
    在所述发送时隙，控制所述无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取检测设置时长；
    根据所述检测设置时长确定所述发送时隙开始前的目标时刻。
  3. 根据权利要求2所述的方法，其特征在于，所述检测设置时长是从所述遥控设备的存储装置获取的或者响应于用户的设置操作确定的。
  4. 根据权利要求2或3所述的方法，其特征在于，所述检测设置时长包括所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述在所述遥控设备的发送时隙开始前的目标时刻，控制所述传感设备检测所述用户的控制操作，包括：
    在所述遥控设备的每一个发送时隙开始前的目标时刻，控制所述传感设备检测所述用户的控制操作。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述根据所述传感数据获取遥控信号，包括：
    对所述传感数据进行预处理以获得所述遥控信号。
  7. 根据权利要求6所述的方法，其特征在于，所述预处理的时长与所述传感设备的检测时长之和小于或等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
  8. 根据权利要求6或7所述的方法，其特征在于，所述预处理包括：AD采样、编码压缩和调制处理中的一种或多种。
  9. 根据权利要求1-8任一项所述的方法，其特征在于，所述控制所述传感设备检测所述用户的控制操作，包括：向所述传感设备发送检测指示信息， 其中，所述检测指示信息用于指示所述传感设备开始检测所述用户的控制操作。
  10. 根据权利要求1-9任一项所述的方法，其特征在于，所述遥控设备包括交互装置，其中，所述传感设备通过检测所述交互装置的机械运动以检测所述用户的控制操作。
  11. 根据权利要求10所述的方法，其特征在于，所述交互装置包括摇杆、拨杆或按扭。
  12. 一种遥控设备的控制方法，所述遥控设备包括传感设备和无线通信设备，其特征在于，所述传感设备以预设的工作频率检测用户的控制操作，所述方法包括：
    在所述遥控设备的发送时隙开始前的目标时刻，获取所述传感设备输出的传感数据；
    根据所述传感数据获取遥控信号；
    在所述发送时隙，控制所述无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
  13. 根据权利要求12所述的方法，其特征在于，所述方法还包括：
    获取检测设置时长；
    根据所述检测设置时长确定所述发送时隙开始前的目标时刻。
  14. 根据权利要求13所述的方法，其特征在于，所述检测设置时长是从所述遥控设备的存储装置获取的或者响应于用户的设置操作确定的。
  15. 根据权利要求13或14所述的方法，其特征在于，所述检测设置时长包括所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
  16. 根据权利要求12-15任一项所述的方法，其特征在于，所述在所述遥控设备的发送时隙开始前的目标时刻，获取所述传感设备输出的传感数据，包括：
    在所述遥控设备的每一个发送时隙开始前的目标时刻，获取所述传感设备输出的传感数据。
  17. 根据权利要求12-16任一项所述的方法，其特征在于，所述根据所述传感数据获取遥控信号，包括：
    对所述传感数据进行预处理以获得所述遥控信号。
  18. 根据权利要求17所述的方法，其特征在于，所述预处理的时长小于或等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
  19. 根据权利要求17或18所述的方法，其特征在于，所述预处理包括：AD采样、编码压缩处理和调制处理中的一种或多种。
  20. 根据权利要求12-19任一项所述的方法，其特征在于，所述遥控设备包括交互装置，其中，所述传感设备通过检测所述交互装置的机械运动以检测所述用户的控制操作。
  21. 根据权利要求20所述的方法，其特征在于，所述交互装置包括摇杆、拨杆或按扭。
  22. 一种遥控设备，其特征在于，包括：传感设备、无线通信设备和处理器；
    所述传感设备，用于检测用户的控制操作的传感设备及输出传感数据；
    所述无线通信设备，用于向可移动平台发送遥控信号；
    所述处理器，用于：
    在所述遥控设备的发送时隙开始前的目标时刻，控制所述传感设备检测所述用户的控制操作，并获取所述传感设备输出的传感数据；
    根据所述传感数据获取遥控信号；
    在所述发送时隙，控制所述无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
  23. 根据权利要求22所述的遥控设备，其特征在于，所述处理器，还用于：
    获取检测设置时长；以及
    根据所述检测设置时长确定所述发送时隙开始前的目标时刻。
  24. 根据权利要求23所述的遥控设备，其特征在于，所述遥控设备还包括存储装置，所述存储装置用于存储所述检测设置时长，其中，
    所述处理器，具体用于从所述存储装置获取所述检测设置时长；或者，
    所述处理器，具体用于响应于用户的设置操作确定所述检测设置时长。
  25. 根据权利要求23或24所述的遥控设备，其特征在于，所述检测设置时长包括所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
  26. 根据权利要求22-25任一项所述的遥控设备，其特征在于，所述处 理器，具体用于：
    在所述遥控设备的每一个发送时隙开始前的目标时刻，控制所述传感设备检测所述用户的控制操作。
  27. 根据权利要求22-26任一项所述的遥控设备，其特征在于，所述处理器，具体用于：对所述传感数据进行预处理以获得所述遥控信号。
  28. 根据权利要求27所述的遥控设备，其特征在于，所述预处理的时长与所述传感设备的检测时长之和小于或等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
  29. 根据权利要求27或28所述的遥控设备，其特征在于，所述预处理包括：AD采样、编码压缩和调制处理中的一种或多种。
  30. 根据权利要求22-29任一项所述的遥控设备，其特征在于，所述处理器，具体用于：
    向所述传感设备发送检测指示信息，其中，所述检测指示信息用于指示所述传感设备开始检测所述用户的控制操作。
  31. 根据权利要求22-30任一项所述的遥控设备，其特征在于，所述遥控设备包括交互装置，其中，
    所述传感设备，具体用于通过检测所述交互装置的机械运动以检测所述用户的控制操作。
  32. 根据权利要求31所述的遥控设备，其特征在于，所述交互装置包括摇杆、拨杆或按扭。
  33. 一种遥控设备，其特征在于，包括：传感设备、无线通信设备和处理器；
    所述传感设备，用于以预设的工作频率检测用户的控制操作及输出传感数据；
    所述无线通信设备，用于向可移动平台发送遥控信号；
    所述处理器，用于在所述遥控设备的发送时隙开始前的目标时刻，获取所述传感设备输出的传感数据；根据所述传感数据获取遥控信号；在所述发送时隙，控制所述无线通信设备向可移动平台发送所述遥控信号，以使所述可移动平台根据所述遥控信号执行相应的操作。
  34. 根据权利要求33所述的遥控设备，其特征在于，所述处理器，还用 于：
    获取检测设置时长；以及
    根据所述检测设置时长确定所述发送时隙开始前的目标时刻。
  35. 根据权利要求34所述的遥控设备，其特征在于，所述遥控设备还包括存储装置，所述存储装置用于存储所述检测设置时长，其中，
    所述处理器，具体用于从所述存储装置获取所述检测设置时长；或者，
    所述处理器，具体用于响应于用户的设置操作确定所述检测设置时长。
  36. 根据权利要求34或35所述的遥控设备，其特征在于，所述检测设置时长包括所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
  37. 根据权利要求33-36任一项所述的遥控设备，其特征在于，所述处理器，具体用于：在所述遥控设备的每一个发送时隙开始前的目标时刻，获取所述传感设备输出的传感数据。
  38. 根据权利要求33-37任一项所述的遥控设备，其特征在于，所述处理器，具体用于：对所述传感数据进行预处理以获得所述遥控信号。
  39. 根据权利要求38所述的遥控设备，其特征在于，所述预处理的时长小于或等于所述目标时刻与所述发送时隙的开始时刻之间的间隔时长。
  40. 根据权利要求38或39所述的遥控设备，其特征在于，所述预处理包括：AD采样、编码压缩处理和调制处理中的一种或多种。
  41. 根据权利要求33-40任一项所述的遥控设备，其特征在于，所述遥控设备包括交互装置，其中，所述传感设备，具体用于通过检测所述交互装置的机械运动以检测所述用户的控制操作。
  42. 根据权利要求41所述的遥控设备，其特征在于，所述交互装置包括摇杆、拨杆或按扭。
  43. 一种可读存储介质，其特征在于，所述可读存储介质上存储有计算机程序；所述计算机程序在被执行时，实现如权利要求1-11任一项或12-21任一项所述的遥控设备的控制方法。
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