WO2021223167A1

WO2021223167A1 - Control method and device, mobile platform, and computer-readable storage medium

Info

Publication number: WO2021223167A1
Application number: PCT/CN2020/089003
Authority: WO
Inventors: 戴劲; 尹小俊
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2021-11-11
Also published as: CN113767596A

Abstract

A control method and device, a mobile platform, and a computer-readable storage medium. The method comprises: according to a working mode, a control device (11) selects to broadcast a first access message or search for a second access message; a mobile platform (10) broadcasts the second access message and searches for the first access message within one communication cycle, and establishes a connection with the control device (11) according to a received access request or accesses the control device (11) according to a searched message request, thereby achieving compatability of a one-to-many mode and a many-to-one mode.

Description

Control method and equipment, movable platform and computer readable storage medium

Technical field

This application relates to the field of communication technology, and in particular to a control method and device, a movable platform, and a computer-readable storage medium.

Background technique

In the field of movable platforms (such as unmanned aerial vehicles, unmanned vehicles, etc.), the movable platform is usually controlled by a control device to perform operations. The communication system of the mobile platform includes one-control-multi-mode and multiple-control-one-mode. Multi-control-one mode means that multiple control devices simultaneously control a movable platform to perform operations. One-control-multi-mode means that one control device controls multiple movable platforms to perform operations at the same time. However, the current communication system of the mobile platform can only support one control mode, and cannot realize the compatibility of one-control-multi-mode and multi-control-one mode. Therefore, how to realize the compatibility of one-control-multi-mode and multi-control-one-mode in a communication system of a mobile platform is a problem to be solved urgently at present.

Summary of the invention

The embodiments of the present application provide a control method and device, a movable platform, and a computer-readable storage medium, which can realize the compatibility of one control multi-mode and multi-control one mode in the communication system of the movable platform.

In the first aspect, an embodiment of the present application provides a control method, which is applied to a control device, the control device is used to control one or more movable platforms, and the method includes:

If the control device is configured in the first working mode, wherein in the first working mode, the control device controls a plurality of movable platforms communicatively connected with the control device, and performs the following operations:

Broadcast the first access message;

Receive a first access request sent by any one of the plurality of movable platforms, and establish a communication connection with the movable platform, the first access request is the movable platform in response to the search Sent by the first access message;

If the control device is configured in the second working mode, wherein in the second working mode, the control device controls a movable platform communicatively connected with the control device, and performs the following operations:

Search for the second access message broadcast by the mobile platform;

In response to searching for the second access message, sending a second access request to the movable platform to establish a communication connection with the movable platform;

If the communication connection is established with the mobile platform, stop searching for the second access message broadcast by other mobile platforms.

In the second aspect, the embodiments of the present application provide a control method, which is applied to a movable platform that is controlled by one or more control devices with which a communication connection is established, and the method includes:

If the communication connection with the control device is not established, search for the first access message broadcast by the control device, and broadcast the second access message;

If the first access message is found, the following operations are performed:

In response to the first access message, sending a first access request to the control device to establish a communication connection with the control device;

If a communication connection is established with the control device broadcasting the first access message, stop searching for the first access message, and stop broadcasting the second access message;

After receiving a second access request sent by a control device, perform the following operations:

Establishing a communication connection with the control device that sends the second access request;

Stop searching for the first access message;

Continue to broadcast the second access message to receive a second access request sent by another control device and establish a communication connection with the other control device, where the second access request is that the control device responds to the search The received second access message is sent.

In the third aspect, an embodiment of the present application provides a control system, which includes a control device and a movable platform;

The control device is configured to broadcast a first access message if the control device is configured in the first working mode;

The mobile platform is configured to search for the first access message and broadcast a second access message if a communication connection is not established with the control device;

The movable platform is further configured to send a first access request to the control device in response to the first access message if the first access message is searched, so as to communicate with the control device Establish a communication connection;

The control device is further configured to receive a first access request sent by any one of the multiple movable platforms, and establish a communication connection with the movable platform;

The mobile platform is further configured to stop searching for the first access message and stop broadcasting the second access message if a communication connection is established with the control device broadcasting the first access message;

The control device is further configured to search for a second access message broadcast by the mobile platform if the control device is configured in the second working mode;

The control device is further configured to send a second access request to the movable platform in response to searching for the second access message, so as to establish a communication connection with the movable platform;

The movable platform is further configured to establish a communication connection with the control device that sent the second access request after receiving a second access request sent by a control device;

The mobile platform is also used to stop searching for the first access message;

The movable platform is further configured to continue broadcasting the second access message, so as to receive a second access request sent by another control device and establish a communication connection with the other control device;

The control device is further configured to stop searching for the second access message broadcast by other mobile platforms if the communication connection is established with the mobile platform.

In a fourth aspect, an embodiment of the present application provides a control device, the control device including a processing unit, a sending unit, and a receiving unit;

The sending unit is configured to broadcast a first access message if the control device is configured in the first working mode;

The receiving unit is further configured to receive a first access request sent by any one of a plurality of movable platforms, and establish a communication connection with the movable platform, and the first access request is Sent by the mobile platform in response to the searched first access message;

The processing unit is configured to search for a second access message broadcasted by the mobile platform if the control device is configured in the second working mode;

The sending unit is further configured to send a second access request to the movable platform in response to the search for the second access message, so as to establish a communication connection with the movable platform;

The processing unit is further configured to stop searching for the second access message broadcast by other mobile platforms if the communication connection is established with the mobile platform.

In a fifth aspect, an embodiment of the present application provides a movable platform, the movable platform including a processing unit, a sending unit, and a receiving unit;

The processing unit is configured to search for the first access message broadcast by the control device and broadcast the second access message when the communication connection with the control device is not established;

The sending unit is configured to send a first access request to the control device in response to the first access message if the processing unit searches for the first access message, so as to communicate with the control device. The device establishes a communication connection;

The processing unit is further configured to stop searching for the first access message and stop broadcasting the second access message if a communication connection is established with the control device broadcasting the first access message;

The processing unit is further configured to, after receiving a second access request sent by a control device, the receiving unit establishes a communication connection with the control device that sent the second access request;

The processing unit is further configured to stop searching for the first access message;

The processing unit is further configured to continue broadcasting the second access message to receive a second access request sent by another control device and establish a communication connection with the other control device, wherein the second access request It is sent by the control device in response to the searched second access message.

In a sixth aspect, an embodiment of the present application provides a control device, where the control device includes a memory and a processor;

The memory is used to store program instructions;

The processor executes program instructions stored in the memory, and when the program instructions are executed, the processor is configured to:

If the control device is configured in the first working mode, broadcast the first access message; receive the first access request sent by any one of the multiple movable platforms, and establish communication with the movable platform Connected, the first access request is sent by the mobile platform in response to the searched first access message;

If the control device is configured in the second working mode, search for a second access message broadcast by the mobile platform; in response to searching for the second access message, send a second access request to the mobile platform, To establish a communication connection with the movable platform; if the communication connection is established with the movable platform, stop searching for the second access message broadcast by other movable platforms.

In a seventh aspect, an embodiment of the present application provides a movable platform, the movable platform including a memory and a processor;

The memory is used to store program instructions;

If the first access message is searched, in response to the first access message, send a first access request to the control device to establish a communication connection with the control device; When the control device of the first access message establishes a communication connection, it stops searching for the first access message and stops broadcasting the second access message;

After receiving a second access request sent by a control device, establish a communication connection with the control device that sent the second access request; stop searching for the first access message; continue to broadcast the second access message , To receive a second access request sent by another control device and establish a communication connection with the other control device, where the second access request is that the control device responds to the searched second access message Sent.

In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, it implements the functions described in the first and second aspects. Control method of mobile platform.

In the embodiment of the present application, the control device chooses to broadcast the first access message or search for the second access message according to the working mode; while the mobile platform broadcasts the second access message and searches for the first access message in one communication cycle, And establish a connection with the control device according to the received access request or request access to the control device according to the searched message, thereby realizing the compatibility of one-control multi-mode and multi-control one mode.

Description of the drawings

In order to explain the embodiments of the present application or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some of the present application. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.

Figure 1(a) is a schematic diagram of a system architecture provided by an embodiment of the present application;

Figure 1(b) is a schematic diagram of a system architecture provided by an embodiment of the present application;

FIG. 2 is a schematic flowchart of a control method provided by an embodiment of the present application;

FIG. 3(a) is a signal sequence diagram between a control device and a movable platform that has not established a communication connection in one-control-multi-mode according to an embodiment of the present application;

FIG. 3(b) is a signal sequence diagram of a control device and a movable platform that have established a connection in one-control-multi-mode according to an embodiment of the present application;

FIG. 4(a) is a signal sequence diagram between a control device and a movable platform that have not established a communication connection in a multi-control-one mode according to an embodiment of the present application;

FIG. 4(b) is a signal sequence diagram of a control device that has established a communication connection and a movable platform in a multiple-control-one mode according to an embodiment of the present application;

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

FIG. 6(a) is another signal sequence diagram between a control device and a movable platform that have not established a communication connection in one-control-multi-mode according to an embodiment of the present application;

FIG. 6(b) is another signal sequence diagram between a control device and a movable platform that have established a communication connection in one-control-multi-mode according to an embodiment of the present application;

FIG. 7(a) is a signal sequence diagram between a control device and a movable platform that have not established a communication connection in another multi-control-one mode according to an embodiment of the present application;

FIG. 7(b) is a signal sequence diagram of a control device that has established a communication connection and a movable platform in another multi-control-one mode according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a control device provided by an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a movable platform provided by an embodiment of the present application;

Figure 10 is a schematic structural diagram of another control device provided by an embodiment of the present application;

Fig. 11 is a schematic structural diagram of another movable platform provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

At present, the one-control-multi-mode and the multi-control-one mode are supported in the communication system of the mobile platform. For example, when the one-control-multi-mode is used for plant protection operations, the tasks in a certain area are distributed to multiple mobile devices through the control device to complete the tasks in parallel; when the multi-control-one mode is used for collection operations, one control device controls The movable platform moves, and another control device controls the movable platform to shoot, and then complete the collection operation. However, the one-control-multi-mode and the multi-control-one-mode are two different topological structures. At present, the communication system of the mobile platform can only support one topology structure, and the compatibility of the one-control-multi-mode and the multi-control-one mode cannot be realized.

In view of the problems of the above-mentioned access method, in order to realize the compatibility of one-control-multiple and multi-control-one modes in the communication system of the mobile platform, the embodiments of the present application provide a control method and equipment, a mobile platform and a computer readable A storage medium, and the control method may include a control method of a control device and a control method of a movable platform.

In order to better understand a control method provided by an embodiment of the present application, the system architecture of the embodiment of the present application is described below.

Please refer to FIG. 1(a). FIG. 1(a) is a schematic diagram of a system architecture provided by an embodiment of the present application. The system architecture diagram is a system architecture diagram when the control device selects one control and multiple modes. The control system includes a control device 11 and a plurality of movable platforms 10. In the figure, two movable platforms are taken as an example, which is not limited in the embodiment of the present application.

Please refer to Fig. 1(b). Fig. 1(b) is a schematic diagram of another system architecture provided by an embodiment of the present application. The control system includes a plurality of control devices 11 and a movable platform 10. In the figure, two control devices are taken as an example, which is not limited in the embodiment of the present application.

It should be noted that the movable platform 10 in FIG. 1(a) and FIG. 1(b) may include, but is not limited to, drones and other aircraft, autonomously moving robots, unmanned vehicles, unmanned ships and other movable devices. Figure 1 takes the movable platform as an example of a drone. The control device 11 may refer to a device for controlling the movable platform 10. For example, the control device 11 may be one of a remote control, a flight controller, a mobile phone, a smart phone, a tablet computer, a laptop computer, a ground station, and a wearable device (watch, bracelet). In the system architecture of FIG. 1(b), that is, in the multi-control-one mode, the control device 11 may be a combination of multiple types of devices. For example, if the number of control devices 11 is two, the two control devices 11 may be a combination of a remote control and a mobile phone.

The control method provided by the embodiment of the present application will be described in detail below. Please refer to FIG. 2, which is a schematic flowchart of a control method provided by an embodiment of the present application, and the method can be applied to the above-mentioned system. As shown in Figure 2, the control method may include the following steps:

201: If the control device is configured in the first working mode, broadcast a first access message.

In the first working mode, the control device controls a plurality of movable platforms communicatively connected with the control device. Optionally, the first working mode can also be understood as one-control-multi-mode. Optionally, the first working mode is used to instruct the control device to set the movable platform with which it communicates to be controlled by a single control device. The first access message can be understood as the broadcast channel (Broadcast Channel, BCH) of the control device, and the broadcast channel is a wireless signal periodically sent by the control device; the first access message can be used to request access to multiple The mobile platform provides access information, which may include the identification of the control device and the frequency point of the random access channel.

Optionally, the user may perform mode configuration operations based on the selection icon on the display interface of the control device, or the user may perform mode configuration operations based on the hardware buttons of the control device, which is not limited in the embodiment of the present application. The control device uses the mode of the mode configuration operation configuration as the working mode of the control device.

Optionally, when the control device detects that it is configured in the first working mode, it may perform processing such as pre-modulation and pre-coding on the first access message, and use the processed first access message at a preset frequency point. Broadcast periodically. Among them, the pre-modulation is a preset modulation method. For example, the pre-modulation may be Phase Shift Keying (PSK), Frequency Shift Keying (FSK), etc., which are not limited in the embodiment of the present application; the pre-coding may be Pulse Code Modulation (Pulse Code Modulation). Modulation, PCM), etc., which are not limited in the embodiment of the present application. The preset frequency point is a fixed frequency value used for sending and searching broadcast channels, and the preset frequency point may be 100 MHz, 200 MHz, 500 MHz, 900 MHz, etc., which is not limited in the embodiment of the present application.

202. When a communication connection with the control device is not established, the mobile platform searches for the first access message broadcast by the control device, and broadcasts the second access message.

The second access message can be understood as the broadcast channel (Broadcast Channel, BCH) of the mobile platform, and the broadcast channel is a wireless signal periodically sent by the mobile platform; the second access message can be used to A control device provides access information. The access information may include the identification of the movable platform and the frequency of the random access channel.

Since the user cannot select the working mode on the mobile platform, the mobile platform has to search for the first access message broadcast by the control device and broadcast the second access message when the communication connection is not established with the control device. In this way, when the control device is configured in the first working mode, the movable platform can search for the first access message, and then establish a communication connection with the control device. By broadcasting the second access message, when the control device is configured in the second working mode, the movable platform can receive the second access request sent by the control device in response to the second access message, and then establish a communication connection with the control device.

In this embodiment of the application, the mobile platform searches for the first access message and broadcasts the second access message broadcast by the control device may be in Time Division Duplexing (TDD) mode, that is, to search for the first access message and broadcast the second access message. The second access messages are performed in turn in time, and the first access message is searched for and the second access message is broadcast on the same frequency point. Alternatively, the search for the first access message and the broadcast of the second access message may be in Frequency Division Duplexing (FDD) mode, that is, the search for the first access message and the broadcast of the second access message are performed simultaneously in time, But search for the first access message and broadcast the second access message on different frequencies. The specific implementation of the first access message and the second access message broadcast by the search control device through the TDD mode, and the specific implementation of the first access message and the second access message broadcast by the search control device through the FDD mode The method is described in detail after the embodiment in FIG. 2, and will not be repeated here.

Optionally, the mobile platform may perform processing such as pre-modulation and pre-coding on the second access message, and periodically broadcast the processed second access message at a preset frequency point.

203. If the mobile platform searches for the first access message, it responds to the first access message and sends a first access request to the control device to establish a communication connection with the control device. Correspondingly, the control device receives the first access request sent by any one of the plurality of movable platforms, and establishes a communication connection with all the movable platforms.

The first access request may include an identifier of the movable platform, and the first access request is used by the movable platform to request the establishment of a communication connection with the control device. If the mobile platform searches for the broadcast channel sent by the control device, the mobile platform determines that the control device controlling the mobile platform is single, and then sends the first access request to the control device. Correspondingly, since the control device works in the first working mode, it can establish a communication connection with one or more movable platforms, that is, the control device can receive the first reception sent by any one of the plurality of movable platforms. Enter the request, and establish a communication connection with the corresponding movable platform, thereby realizing a single control device to control multiple movable platforms.

204. If the mobile platform establishes a communication connection with the control device broadcasting the first access message, stop searching for the first access message, and stop broadcasting the second access message.

Since the movable platform is controlled by a single control device, after the movable platform establishes a communication connection with the control device broadcasting the first access message, the movable platform can stop broadcasting the second access message and no longer wait for multiple control devices Establish a communication connection with the movable platform. And because the movable platform is controlled by a single control device, after establishing a communication connection with the control device broadcasting the first access message, the movable platform stops searching for the first access message, and no longer establishes a communication connection with other control devices , And the control device can still continue to send out the first access message and establish a communication connection with other movable platforms, so that a single control device can control multiple movable platforms.

205. If the control device is configured in the second working mode, search for a second access message broadcast by the movable platform.

In the second working mode, the control device controls a movable platform connected to it in communication. Optionally, the second working mode is used to instruct the control device to set the movable platform with which it communicates to be controlled by multiple control devices. The second working mode can be understood as a multi-control-one mode, that is, multiple control devices control a movable platform. After starting, the control device detects that it is configured in the second working mode, and then searches for the second access message broadcasted by the movable platform at the preset frequency point.

206. In response to searching for the second access message, the control device sends a second access request to the movable platform to establish a communication connection with the movable platform. Correspondingly, the mobile platform receives the second access request and establishes a communication connection with the control device that sent the second access request.

The second access request may include the identification of the control device, and the second access request is used for the control device to request the establishment of a communication connection with the movable platform, and perform service data transmission after the establishment of the communication connection. If the control device finds the second access message, it sends a second access request, requesting to establish a communication connection with the movable platform. Correspondingly, after receiving the second access request, the mobile platform establishes a communication connection with the control device that sent the second access request, and executes step 207 and step 208. And after the mobile platform establishes a communication connection with the control device, it can perform downlink and uplink service data transmission with the control device. For example, the control device may send a shooting instruction to the movable platform. Correspondingly, the movable platform performs shooting according to the shooting instruction, and sends the captured photo to the control device.

207. The mobile platform stops searching for the first access message.

208. The mobile platform continues to broadcast the second access message to receive the second access request sent by the other control device and establish a communication connection with the other control device.

209. If the control device establishes a communication connection with the mobile platform, stop searching for second access messages broadcast by other mobile platforms.

In the mode where multiple control devices control a single movable platform, after the control device establishes a connection with a single movable platform, the control device will not continue to search for second access messages broadcast by other movable platforms, and communicate with other movable platforms. The platform establishes a communication connection. In the mode where multiple control devices control a single mobile platform, after the mobile platform establishes a communication connection with the control device, it can still continue to broadcast the second access message to receive second access requests sent by other control devices and communicate with other control devices. The control device establishes a communication connection, so that multiple control devices can control a single movable platform.

Based on the method described in FIG. 2, the control device side can determine that the control device is working in the first working mode or the second working mode through a configuration operation performed by the user. Correspondingly, the mobile platform side can search for the first access message broadcast by the control device to request access to the control device, and can also broadcast the second access message to wait for the control device to access, thereby realizing one control multiple mode and multiple control one mode Compatible.

The following is a detailed introduction to the implementation of the first access message and the second access message broadcast by the mobile platform search control device through the TDD mode:

In an implementation manner, as shown in FIG. 3(a), the control device is configured in the first working mode, and one communication cycle of the control device may include a first time period and a second time period; wherein the first time period The time period is used to broadcast the first access message; the second time period is used to wait to receive the first access request sent by the movable platform. In this embodiment, the control device periodically broadcasts the first access message and waits to receive the first access request sent by the movable platform, so that the movable platform can be provided with multiple opportunities to establish a communication connection with the control device.

In one implementation, as shown in Figure 3(a), the communication period may also include a third time period; if the control device does not establish a communication connection with any movable platform, the third time period is used to stop Transceiving operations; as shown in Figure 3(b), after the control device establishes a communication connection with the first mobile platform, the third time period is used for service data transmission with the mobile platform that establishes a communication connection. That is to say, in this implementation, when the control device has not established a communication connection with any movable platform, and after the control device has established a communication connection with the first movable platform, there is no time period in the communication cycle. What has changed is that the function of the third time period has changed. Based on this implementation manner, there is no need to re-divide the time period in the communication cycle of the control device after the control device establishes a communication connection with the first movable platform, and the implementation is simpler.

In one implementation, as shown in Figure 3(a), when a communication connection is not established with the control device, one communication cycle of the movable platform includes the sixth time period, the seventh time period, and the eighth time period. Segment; the sixth time period is used to broadcast the second access message, the seventh time period is used to wait to receive the second access request, and the eighth time period is used to search for the first access message. Based on this implementation manner, the mobile platform searches for the first access message broadcast by the control device and broadcasts the second access message through the TDD mode. In this implementation manner, the mobile platform can broadcast the second access message and search for the first access message on the same frequency point.

In an implementation manner, the period during which the control device broadcasts the first access message is less than the eighth time period. The period for the control device to broadcast the first access message needs to be less than the time period during which the mobile platform searches for the first access message, so as to ensure that the mobile platform can search for the first access message broadcast by the control device during the eighth time period. Enter a message, and establish a communication connection with the control device according to the searched first access message. As shown in Figure 3(a), the period T0 during which the control device broadcasts the first access message is shorter than the eighth time period T1 of the mobile platform for searching for the broadcast first access message.

In an implementation manner, after the first movable platform establishes a communication connection with the control device, the duration of the third time period is determined based on the number of movable platforms that establish a communication connection with the control device. Based on this implementation manner, the time length for service data transmission can be flexibly determined, thereby ensuring more time for service data transmission.

In an implementation manner, after the first movable platform establishes a communication connection with the control device, the duration of the third time period is proportional to the number of movable platforms for which the control device establishes a communication connection.

In the first working mode, one control device can control multiple movable platforms. Wherein, the duration of the third time period used for service data transmission is proportional to the number of movable platforms for which the control device establishes a communication connection. If the number of movable platforms increases, the duration of the third time period increases. Further, the control device may increase the duration of the third time period according to the increase coefficient. For example, the increase coefficient can be 5, that is, it can be understood that the length of the third time period that needs to be increased when a movable platform is added is 5 ms. The increase coefficient may also be 1, 3, 6, 10, etc. The embodiment of the application does not limit it.

In an implementation manner, if the number of movable platforms that establish a communication connection with the control device does not reach the first number threshold, one communication cycle of the control device includes the first time period, the second time period, and the third time period If the number of movable platforms that establish a communication connection with the control device reaches the first number threshold, the third time period is included in a communication cycle of the control device, and the first time period and the second time period are not included.

In the first working mode, if the number of mobile platforms that establish a communication connection with the control device does not reach the first number threshold, the control device can continue to broadcast and wait for other mobile platforms to access; at the same time, it can also establish a communication connection with Mobile platform for business data transmission. If the first number threshold is reached, no broadcasting is performed, and service data transmission is performed with the movable platform that establishes a communication connection during the entire communication cycle of the control device.

In an implementation manner, if the number of movable platforms of the access control device reaches the first number threshold, stop broadcasting the first access message.

If the number of movable platforms that access the control device reaches the first number threshold, no broadcast is performed, but one communication cycle of the control device includes the first time period, the second time period, and the third time period. That is, the control device may retain the first time period and the second time period, and when the first number threshold is reached, the first time period and the second time period are no longer used.

Based on this implementation method, by controlling the number of movable platforms that access the control device, more time is guaranteed for service data transmission between the control device and multiple movable platforms.

In an implementation manner, as shown in FIG. 3(b), after the movable platform establishes a communication connection with the control device that sends the first access message, a communication cycle of the movable platform includes a ninth time period and In the tenth time period, the ninth time period is used to stop sending and receiving operations, and the tenth time period is used to perform service data transmission with the control device that establishes the communication connection.

The mobile platform needs to achieve business synchronization data transmission with the control device, that is, the tenth time period needs to be aligned with the third time period, and the mobile platform stops receiving and sending operations during the time period when the control device is broadcasting and waiting for access to realize the business Synchronous data transmission.

In an implementation manner, the ninth time period is determined based on the first time period for broadcasting the first access message and the second time period for waiting to receive the first access request in the communication cycle of the control device, The tenth time period is determined based on the third time period used for service data transmission in the communication cycle of the movable platform.

The ninth time period can be understood as the sum of the first time period for broadcasting the first access message and the second time period for waiting to receive the first access request in the communication cycle of the service synchronization data transmission control device The tenth time period is the same as the third time period used for service data transmission in the communication cycle of the movable platform.

In one implementation, as shown in Figure 4(a), if the control device is configured in the second working mode and the control device does not establish a communication connection with the movable platform, one communication cycle of the control device is all used for Search for the second access message.

In one implementation, as shown in Figure 4(b), after the mobile platform establishes a communication connection with the first control device that sends the second access request, the eighth time period is used to establish a communication connection with the The control device performs business data transmission.

In an implementation manner, after the mobile platform establishes a communication connection with the first control device that sends the second access request, the duration of the eighth time period is based on the number of control devices that establish a communication connection with the mobile platform Sure. Based on this implementation manner, the time length for service data transmission can be flexibly determined, thereby ensuring more time for service data transmission.

In one implementation, after the mobile platform establishes a communication connection with the first control device that sends the second access request, the length of the eighth time period is equal to the number of control devices that establish a communication connection with the mobile platform. Proportional.

In the second working mode, multiple control devices can control a single movable platform. Wherein, the duration of the eighth time period used for service data transmission is proportional to the number of control devices with which the mobile platform establishes a communication connection. If the number of control devices increases, the duration of the eighth time period increases. Further, the movable stage may increase the duration of the eighth time period according to the increase coefficient. For example, the increase factor can be 5, that is, it can be understood that the length of the eighth interval that needs to be increased when adding a control device is 5ms. The increase coefficient may also be 1, 3, 6, 10, etc. The embodiment of the application does not limit it.

In an implementation manner, if the number of control devices that establish a communication connection with the movable platform does not reach the second number threshold, one communication cycle of the movable platform includes the sixth time period, the seventh time period, and the eighth time period. Segment; if the number of control devices that establish a communication connection with the movable platform is greater than or equal to the second number threshold, the eighth time period is included in one communication cycle of the movable platform, and the sixth time period and the seventh time are not included part.

In the second working mode, if the number of control devices that establish a communication connection with the mobile platform does not reach the second number threshold, the mobile platform can continue to broadcast and wait for other control devices to access; at the same time, it can also establish a communication connection with The control equipment for business data transmission. If the second number threshold is reached, no broadcasting is performed, and service data transmission is performed with the control device that establishes a communication connection during the entire communication cycle of the movable platform.

Based on this implementation, by controlling the number of control devices connected to the movable platform, more time is guaranteed for service data transmission between the movable platform and multiple control devices.

In an implementation manner, if the number of control devices that establish a communication connection with the mobile platform is greater than or equal to the second number threshold, the mobile platform stops broadcasting the second access message.

If the number of control devices connected to the mobile platform reaches the first number threshold, the mobile platform no longer broadcasts, but one communication cycle of the mobile platform still includes the sixth time period, the seventh time period, and the first time period. Eight time periods. Among them, the sixth time period and the seventh time period are in an idle state and are not used, and the eighth time period is used for service data transmission with the control device that establishes the connection.

In one implementation, as shown in Figure 4(b), after the control device establishes a communication connection with the movable platform, one communication cycle of the control device includes a fourth time period and a fifth time period. The time period is used to stop sending and receiving operations, and the fifth time period is used to transmit business data with the mobile platform.

After the control device establishes a communication connection with the movable platform, the control device needs to synchronize data transmission with the movable platform, that is, the fifth time period needs to be aligned with the eighth time period, then the control device broadcasts and waits for the mobile platform to access Within the period of time, the control device stops receiving and sending operations to achieve synchronous transmission of business data.

In an implementation manner, the fourth time period is determined based on the sixth time period for broadcasting the second access message and the seventh time period for waiting to receive the second access request in the communication cycle of the movable platform, and the first The five time period is determined based on the eighth time period used for service data transmission in the communication cycle of the movable platform.

The fourth time period can be understood as the sum of the first time period for broadcasting the first access message and the seventh time period for waiting to receive the second access request in the communication cycle of the service synchronization data transmission control device The fifth time period is the same as the eighth time period used for service data transmission in the communication cycle of the movable platform.

Based on the foregoing implementation manner, the first access message and the second access message broadcast by the control device are implemented in the TDD mode, and the control device chooses to broadcast the first access message or search for the second access message at a frequency according to different working modes. . The mobile platform searches for the first access message and broadcasts the second access message at the same frequency in turn, and requests to access the control device according to the searched message or establishes a connection with the control device according to the received access request, and then It can realize the compatibility of one-control multi-mode and multi-control one mode.

The following is a detailed introduction to the realization of the first access message and the second access message broadcast by the mobile platform search control device through the FDD mode: please refer to Figure 5, which is another control method provided by an embodiment of the present application. A schematic flow chart. Under this control method, the mobile platform searches for the first access message and broadcasts the second access message broadcast by the control device through the FDD mode. This control method can be applied to the above system. As shown in Figure 5, the control method may include the following steps:

501: If the control device is configured in the first working mode, broadcast a first access message, and the frequency point for broadcasting the first access message is the first frequency point.

The first frequency point is a preset fixed frequency value used for broadcasting the first access message, and the first frequency point may be 100 MHz, 200 MHz, 500 MHz, 900 MHz, etc., which is not limited in the embodiment of the present application.

In an implementation manner, as shown in FIG. 6(a), the control device is configured in the first working mode, and one communication cycle of the control device may include a first time period and a second time period; wherein the first time period The time period is used to broadcast the first access message; the second time period is used to wait to receive the first access request sent by the movable platform.

In one implementation, as shown in Figure 6(a), the communication period may also include a third time period; if the control device does not establish a communication connection with any movable platform, the third time period is used for Stop sending and receiving operations; as shown in Figure 6(b), after the control device establishes a communication connection with the first mobile platform, the third time period is used for service data transmission with the mobile platform that establishes a communication connection.

502. When a communication connection is not established with the control device, the mobile platform searches for the first access message broadcast by the control device, and broadcasts the second access message, searches for the first access message as the first frequency point, and broadcasts the second access message. 2. The frequency of the access message is the second frequency.

The second frequency point is a preset fixed frequency value used for broadcasting the second access message, and the second frequency point may be 100 MHz, 200 MHz, 500 MHz, 900 MHz, etc., which is not limited in the embodiment of the present application. The frequency value of the second frequency point is different from the frequency value of the first frequency point.

In an implementation manner, as shown in FIG. 7(a), one communication cycle of the movable platform is all used to search for the first access message.

In one implementation, as shown in Figure 7(a), when a communication connection is not established with the control device, one communication cycle of the movable platform includes the sixth time period, the seventh time period, and the eighth time period. Section; the sixth time period is used to broadcast the second access message, the seventh time period is used to wait to receive the second access request, and the eighth time period is used to stop sending and receiving operations.

In an implementation manner, the period during which the control device broadcasts the first access message is less than the eighth time period.

503: If the mobile platform finds the first access message, in response to the first access message, send a first access request to the control device to establish a communication connection with the control device. Correspondingly, the control device receives the first access request sent by any one of the plurality of movable platforms, and establishes a communication connection with all the movable platforms.

In one implementation, as shown in Figure 7(b), after the control device establishes a communication connection with the first mobile platform, the third time period is used to transmit business data with the mobile platform that establishes the communication connection .

In an implementation manner, after the first movable platform establishes a communication connection with the control device, the duration of the third time period is determined based on the number of movable platforms that establish a communication connection with the control device.

In an implementation manner, as shown in FIG. 6(b), after the movable platform establishes a communication connection with the control device that sends the first access message, a communication cycle of the movable platform includes a ninth time period and In the tenth time period, the ninth time period is used to stop sending and receiving operations, and the tenth time period is used to perform service data transmission with the control device that establishes the communication connection.

504. If the mobile platform establishes a communication connection with the control device broadcasting the first access message, stop searching for the first access message, and stop broadcasting the second access message.

505: If the control device is configured in the second working mode, search for a second access message broadcast by the mobile platform, and the frequency point for searching for the second access message is the second frequency point.

In an implementation manner, as shown in FIG. 7(a), the control device is configured in the second working mode, and one communication cycle of the control device is all used to search for the second access message broadcast by the movable platform.

506. In response to searching for the second access message, the control device sends a second access request to the movable platform to establish a communication connection with the movable platform. Correspondingly, the mobile platform receives the second access request and establishes a communication connection with the control device that sent the second access request.

In one implementation, as shown in Figure 7(b), after the mobile platform establishes a communication connection with the first control device that sends the second access request, the eighth time period is used to control the establishment of the communication connection. The equipment performs business data transmission.

In an implementation manner, after the mobile platform establishes a communication connection with the first control device that sends the second access request, the duration of the eighth time period is based on the number of control devices that establish a communication connection with the mobile platform Sure.

In one implementation, after the mobile platform establishes a communication connection with the first control device that sends the second access request, the duration of the eighth time period is equal to the number of control devices that establish a communication connection with the mobile platform. Proportional.

In an implementation manner, if the number of control devices that establish a communication connection with the movable platform does not reach the second number threshold, one communication cycle of the movable platform includes the sixth time period, the seventh time period, and the eighth time period. Segment; if the number of control devices that establish a communication connection with the movable platform reaches the second number threshold, the eighth time period is included in one communication cycle of the movable platform, and the sixth time period and the seventh time period are not included.

In an implementation manner, if the number of control devices that establish communication connections with the movable platform is greater than or equal to the second number threshold, then stop broadcasting the second access message.

In an implementation manner, as shown in FIG. 7(b), a signal sequence diagram after the control device establishes a communication connection with the movable platform, a communication cycle of the control device includes a fourth time period and a fifth time period , The fourth time period is used to stop sending and receiving operations, and the fifth time period is used to transmit business data with the mobile platform.

507: The mobile platform stops searching for the first access message.

508. The mobile platform continues to broadcast the second access message to receive the second access request sent by the other control device and establish a communication connection with the other control device.

509: If the control device establishes a communication connection with the mobile platform, stop searching for second access messages broadcast by other mobile platforms.

Based on the method described in Figure 5, the mobile platform searches for the first access message broadcast by the control device and broadcasts the second access message through the FDD mode. The control device broadcasts the first access message at the first frequency according to the working mode and The second frequency point searches for the second access message; while the mobile platform performs simultaneous broadcasting of the second access message and searching for the first access message at different frequency points, and establishes a connection with the control device according to the received access request Or request access to the control device according to the searched message, so as to realize the compatibility of the one-control multi-mode and the multi-control one mode.

It should be noted that the above-mentioned specific implementations implemented in the FDD mode have the same beneficial effects as the specific implementations implemented in the TDD mode, and will not be repeated in the embodiments of the present application.

Please refer to FIG. 8. FIG. 8 is a schematic structural diagram of a control device provided by an embodiment of the present application. Specifically, the control device includes: a processing unit 801, a sending unit 802, and a receiving unit 803.

In one embodiment, the sending unit 802 is configured to broadcast a first access message if the control device is configured in the first working mode;

The processing unit 801 is configured to establish a communication connection with the movable platform after the receiving unit 803 receives a first access request sent by any one of the movable platforms, and the first connection The access request is sent by the mobile platform in response to the searched first access message;

The processing unit 801 is configured to search for the second access message broadcast by the mobile platform if the control device is configured in the second working mode;

The sending unit 802 is further configured to send a second access request to the movable platform in response to the search for the second access message, so as to establish a communication connection with the movable platform;

The processing unit 801 is further configured to stop searching for the second access message broadcast by other mobile platforms if the communication connection is established with the mobile platform.

In one embodiment, if the control device is configured in the first working mode, one communication cycle of the control device includes a first time period and a second time period; the first time period is used for broadcasting The first access message; the second time period is used to wait for receiving the first access request.

In one embodiment, one communication cycle of the movable platform includes an eighth time period, and the eighth time period is used by the movable platform to search for the first access message, and the control device broadcasts the The period of the first access message is less than the eighth time period.

In one embodiment, the communication period further includes a third time period; if the control device does not establish a communication connection with any movable platform, the third time period is used to stop the sending and receiving operations; in the control device After the communication connection is established with the first mobile platform, the third time period is used to transmit service data with the mobile platform that establishes the communication connection.

In one embodiment, after the first movable platform establishes a communication connection with the control device, the duration of the third time period is determined based on the number of movable platforms that establish a communication connection with the control device.

In one embodiment, after the first movable platform establishes a communication connection with the control device, the duration of the third time period is proportional to the number of movable platforms for which the control device establishes a communication connection.

In an embodiment, if the number of movable platforms that establish a communication connection with the control device does not reach the first number threshold, one communication cycle of the control device includes the first time period, the second time period, and the second time period. Time period and the third time period;

If the number of movable platforms that establish a communication connection with the control device reaches the first number threshold, the third time period is included in one communication cycle of the control device, and the first time period and all the mobile platforms are not included. The second time period.

In one embodiment, the processing unit 801 is further configured to stop broadcasting the first access message if the number of movable platforms that access the control device reaches a first number threshold.

In one embodiment, if the control device is configured in the second working mode, when the control device and the movable platform have not established a communication connection, one communication cycle of the control device is all used to search for The second access message;

After the control device establishes a communication connection with the movable platform, one communication cycle of the control device includes a fourth time period and a fifth time period. The fourth time period is used to stop sending and receiving operations, and the first Five time periods are used for business data transmission with the mobile platform.

In one embodiment, the fourth time period is based on the sixth time period for broadcasting the second access message and the seventh time period for waiting to receive the second access request in the communication cycle of the movable platform It is determined that the fifth time period is determined based on the eighth time period used for service data transmission in the communication cycle of the movable platform.

In one embodiment, the frequency at which the control device broadcasts the first access message is the first frequency, the frequency at which the control device searches for the second access message is the second frequency, and the first The frequency point is different from the second frequency point.

Please refer to FIG. 9, which is a schematic structural diagram of a movable platform provided by an embodiment of the present application. Specifically, the movable platform includes: a processing unit 901, a sending unit 902, and a receiving unit 903.

In an embodiment, the processing unit 901 is configured to search for a first access message broadcast by the control device and broadcast a second access message when the communication connection with the control device is not established;

The sending unit 902 is configured to send a first access request to the control device in response to the first access message if the processing unit 901 searches for the first access message, so as to communicate with the control device. The control device establishes a communication connection;

The processing unit 901 is further configured to stop searching for the first access message and stop broadcasting the second access message if a communication connection is established with the control device broadcasting the first access message;

The processing unit 901 is further configured to, after the receiving unit 903 receives a second access request sent by a control device, establish a communication connection with the control device that sent the second access request;

The processing unit 901 is further configured to stop searching for the first access message;

The processing unit 901 is further configured to continue to broadcast the second access message to receive a second access request sent by another control device and establish a communication connection with the other control device, where the second access The request is sent by the control device in response to the searched second access message.

In one embodiment, when a communication connection with the control device is not established, one communication cycle of the movable platform includes a sixth time period, a seventh time period, and an eighth time period; the sixth time period Used for broadcasting a second access message, the seventh time period is used for waiting to receive a second access request, and the eighth time period is used for searching for the first access message.

In an embodiment, the period during which the control device broadcasts the first access message is less than the eighth time period.

In one embodiment, after establishing a communication connection with the control device that sends the first access message, one communication cycle of the movable platform includes a ninth time period and a tenth time period, and the ninth time period It is used to stop sending and receiving operations, and the tenth time period is used to transmit service data with the control device that establishes a communication connection.

In an embodiment, the ninth time period is based on the first time period for broadcasting the first access message and the second time period for waiting to receive the first access request in the communication cycle of the control device The period is determined, and the tenth time period is determined based on a third time period used for service data transmission in the communication cycle of the movable platform.

In one embodiment, after the communication connection is established with the first control device that sends the second access request, the eighth time period is used to perform service data transmission with the control device that establishes the communication connection.

In one embodiment, after the communication connection is established with the first control device that sends the second access request, the duration of the eighth time period is determined based on the number of control devices that have established a communication connection with the movable platform .

In one embodiment, after the communication connection is established with the first control device that sends the second access request, the duration of the eighth time period is proportional to the number of control devices that the mobile platform establishes a communication connection .

In one embodiment, if the number of control devices that establish a communication connection with the movable platform does not reach the second number threshold, one communication cycle of the movable platform includes the sixth time period and the first Seven time periods and the eighth time period;

If the number of control devices that establish a communication connection with the movable platform reaches the second number threshold, the eighth time period is included in one communication cycle of the movable platform, and the sixth time period and The seventh time period.

In one embodiment, the processing unit 901 is further configured to stop broadcasting the second access message if the number of control devices that establish communication connections with the movable platform reaches a second number threshold.

In an embodiment, the frequency for searching for the first access message broadcast by the control device is a first frequency, the frequency for broadcasting the second access message is a second frequency, and the first A frequency point is different from the second frequency point.

In one embodiment, when a communication connection with the control device is not established, one communication cycle of the movable platform includes a sixth time period, a seventh time period, and an eighth time period; the sixth time period Used for broadcasting the second access message, the seventh time period is used for waiting to receive the second access request, and the eighth time period is used for stopping the sending and receiving operation.

Please refer to FIG. 10, which is a schematic structural diagram of another control device provided by an embodiment of the present application. Specifically, the drone includes: a memory 1001 and a processor 1002.

The memory 1001 may include a volatile memory (volatile memory); the memory 1001 may also include a non-volatile memory (non-volatile memory); the memory 1001 may also include a combination of the foregoing types of memories. The processor 1002 may be a central processing unit (CPU). The processor 1002 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

In one embodiment, the memory 1001 is used to store program instructions, and the processor 1002 can call the program instructions stored in the memory 1001 to perform the following steps:

In one embodiment, the processor 1002 is further configured to stop broadcasting the first access message if the number of movable platforms that access the control device reaches a first number threshold.

Please refer to FIG. 11, which is a schematic structural diagram of another movable platform provided by an embodiment of the present application. Specifically, the movable platform includes: a memory 1101, a processor 1102.

The memory 1101 may include a volatile memory (volatile memory); the memory 1101 may also include a non-volatile memory (non-volatile memory); the memory 1101 may also include a combination of the foregoing types of memories. The processor 1102 may be a central processing unit (CPU). The processor 1102 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

In one embodiment, the memory 1101 is used to store program instructions, and the processor 1102 can call the program instructions stored in the memory 1101 to perform the following steps:

When the first access message is searched, in response to the first access message, send a first access request to the control device to establish a communication connection with the control device; When the control device of the access message establishes a communication connection, it stops searching for the first access message and stops broadcasting the second access message;

In one embodiment, the processor 1102 is further configured to stop broadcasting the second access message if the number of control devices that establish communication connections with the movable platform reaches a second number threshold.

The embodiment of the present application also provides a control system for a movable platform, the control system includes a control device and a movable platform, and the control device and the movable platform can be used to implement the embodiments of the present invention corresponding to FIG. 2 and FIG. 5 The repetition of the control methods described in the section will not be repeated here.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it realizes the description in the embodiment corresponding to FIG. 2 and FIG. 5 of the present invention. The control method of the movable platform can also implement the control device of the application embodiment described in FIG. 8 and FIG. 10 and the movable platform of the application embodiment described in FIG. 9 and FIG. 11, which will not be repeated here.

A person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer-readable computer-readable storage medium. When the program is executed, it may include the procedures of the above-mentioned method embodiments. Wherein, the computer-readable storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc. The above-disclosed are only preferred embodiments of the present invention. Of course, the scope of rights of this application cannot be limited by this. Therefore, equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

A control method, characterized in that it is applied to a control device, the control device is used to control one or more movable platforms, and the method includes:

If the control device is configured in the first working mode, wherein in the first working mode, the control device controls a plurality of movable platforms communicatively connected with the control device, and performs the following operations:

Broadcast the first access message;

Receive a first access request sent by any one of the plurality of movable platforms, and establish a communication connection with the movable platform, the first access request is the movable platform in response to the search Sent by the first access message;

If the control device is configured in the second working mode, wherein in the second working mode, the control device controls a movable platform communicatively connected with the control device, and performs the following operations:

Search for the second access message broadcast by the mobile platform;

In response to searching for the second access message, sending a second access request to the movable platform to establish a communication connection with the movable platform;

If the communication connection is established with the mobile platform, stop searching for the second access message broadcast by other mobile platforms.
The method according to claim 1, wherein if the control device is configured in the first working mode, one communication cycle of the control device includes a first time period and a second time period; the The first time period is used for broadcasting the first access message; the second time period is used for waiting to receive the first access request.
The method according to claim 2, wherein one communication cycle of the movable platform includes an eighth time period, and the eighth time period is used by the movable platform to search for the first access message , The period in which the control device broadcasts the first access message is less than the eighth time period.
The method according to claim 2 or 3, wherein the communication period further includes a third time period; if the control device does not establish a communication connection with any movable platform, the third time period is used for Stop sending and receiving operations; after the control device establishes a communication connection with the first movable platform, the third time period is used to transmit service data with the movable platform that establishes the communication connection.
The method according to claim 4, wherein after the first movable platform establishes a communication connection with the control device, the duration of the third time period is based on the time of the movable platform that establishes the communication connection with the control device. The quantity is determined.
The method according to claim 5, characterized in that, after the first movable platform establishes a communication connection with the control device, the length of the third time period is the number of movable platforms that establish a communication connection with the control device Directly proportional.
The method according to claim 4, wherein if the number of movable platforms that establish a communication connection with the control device does not reach a first number threshold, the first number is included in one communication cycle of the control device. Time period, the second time period, and the third time period;

If the number of movable platforms that establish a communication connection with the control device reaches the first number threshold, the third time period is included in one communication cycle of the control device, and the first time period and all the mobile platforms are not included. The second time period.
The method according to claim 1, wherein the method further comprises:

If the number of movable platforms that access the control device reaches the first number threshold, stop broadcasting the first access message.
The method according to claim 1, wherein if the control device is configured in the second working mode, when the control device and the movable platform have not established a communication connection, one of the control devices The communication period is all used to search for the second access message;

After the control device establishes a communication connection with the movable platform, one communication cycle of the control device includes a fourth time period and a fifth time period. The fourth time period is used to stop sending and receiving operations, and the first Five time periods are used for business data transmission with the mobile platform.
The method according to claim 9, wherein the fourth time period is based on the sixth time period for broadcasting the second access message in the communication cycle of the movable platform and the sixth time period for waiting to receive the second access message. The seventh time period of the incoming request is determined, and the fifth time period is determined based on the eighth time period used for service data transmission in the communication cycle of the movable platform.
The method according to claim 1, wherein the frequency at which the control device broadcasts the first access message is the first frequency, and the frequency at which the control device searches for the second access message is the second frequency. Frequency point, the first frequency point is different from the second frequency point.
A control method, characterized in that it is applied to a movable platform that is controlled by one or more control devices that establish a communication connection with the movable platform, and includes:

If the communication connection with the control device is not established, search for the first access message broadcast by the control device, and broadcast the second access message;

If the first access message is found, the following operations are performed:

In response to the first access message, sending a first access request to the control device to establish a communication connection with the control device;

If a communication connection is established with the control device broadcasting the first access message, stop searching for the first access message, and stop broadcasting the second access message;

After receiving a second access request sent by a control device, perform the following operations:

Establishing a communication connection with the control device that sends the second access request;

Stop searching for the first access message;

Continue to broadcast the second access message to receive a second access request sent by another control device and establish a communication connection with the other control device, where the second access request is that the control device responds to the search The received second access message is sent.
The method according to claim 12, wherein when the communication connection with the control device is not established, one communication cycle of the movable platform includes a sixth time period, a seventh time period, and an eighth time period The sixth time period is used to broadcast the second access message, the seventh time period is used to wait to receive the second access request, and the eighth time period is used to search for the first access message.
The method according to claim 13, wherein the period for the control device to broadcast the first access message is less than the eighth time period.
The method according to claim 13 or 14, characterized in that, after establishing a communication connection with the control device that sends the first access message, one communication cycle of the movable platform includes a ninth time period and a tenth time period. In the time period, the ninth time period is used to stop sending and receiving operations, and the tenth time period is used to perform service data transmission with the control device that establishes a communication connection.
The method according to claim 15, wherein the ninth time period is based on the first time period used for broadcasting the first access message in the communication cycle of the control device and the first time period used for waiting to receive the first access message. The second time period of the access request is determined, and the tenth time period is determined based on the third time period used for service data transmission in the communication cycle of the movable platform.
The method according to claim 13, wherein after the communication connection is established with the first control device that sends the second access request, the eighth time period is used to perform business with the control device that establishes the communication connection data transmission.
The method according to claim 17, wherein after the communication connection is established with the first control device that sends the second access request, the duration of the eighth time period is based on the establishment of communication with the movable platform The number of connected control devices is determined.
The method according to claim 18, wherein after a communication connection is established with the first control device that sends the second access request, a communication connection is established with the movable platform for the duration of the eighth time period The number of control equipment is directly proportional.
The method according to claim 17, wherein if the number of control devices that establish a communication connection with the movable platform does not reach a second number threshold, the first communication cycle of the movable platform includes the first Six time periods, the seventh time period, and the eighth time period;

If the number of control devices that establish a communication connection with the movable platform reaches the second number threshold, the eighth time period is included in one communication cycle of the movable platform, and the sixth time period and The seventh time period.
The method according to claim 17, wherein the method further comprises:

If the number of control devices that establish communication connections with the movable platform reaches the second number threshold, stop broadcasting the second access message.
The method according to claim 12, wherein the frequency point for searching for the first access message broadcast by the control device is the first frequency point, and the frequency point for broadcasting the second access message is the first frequency point. Two frequency points, the first frequency point is different from the second frequency point.
The method according to claim 22, wherein when the communication connection with the control device is not established, one communication cycle of the movable platform includes a sixth time period, a seventh time period, and an eighth time period The sixth time period is used to broadcast the second access message, the seventh time period is used to wait for receiving the second access request, and the eighth time period is used to stop receiving and sending operations.
A control system, characterized in that the control system includes a control device and a movable platform,

The control device is configured to broadcast a first access message if the control device is configured in the first working mode;

The mobile platform is configured to search for the first access message and broadcast a second access message when a communication connection is not established with the control device;

The mobile platform is further configured to send a first access request to the control device in response to the first access message if the first access message is searched, so as to establish a connection with the control device Communication connection

The control device is further configured to receive a first access request sent by any one of the plurality of movable platforms, and establish a communication connection with the movable platform;

The mobile platform is further configured to stop searching for the first access message and stop broadcasting the second access message if a communication connection is established with the control device broadcasting the first access message;

The control device is further configured to search for a second access message broadcast by the mobile platform if the control device is configured in the second working mode;

The control device is further configured to send a second access request to the movable platform in response to searching for the second access message, so as to establish a communication connection with the movable platform;

The movable platform is further configured to establish a communication connection with the control device that sent the second access request after receiving a second access request sent by a control device;

The mobile platform is also used to stop searching for the first access message;

The movable platform is further configured to continue broadcasting the second access message, so as to receive a second access request sent by another control device and establish a communication connection with the other control device;

The control device is further configured to stop searching for the second access message broadcast by other mobile platforms if the communication connection is established with the mobile platform.
[Corrected according to Rule 91 03.06.2020]

The control system according to claim 24, wherein:

If the control device is configured in the first working mode, one communication cycle of the control device includes a first time period and a second time period; the first time period is used to broadcast the first access Message; the second time period is used to wait to receive the first access request;

When a communication connection is not established with the control device, one communication cycle of the movable platform includes a sixth time period, a seventh time period, and an eighth time period; the sixth time period is used for broadcasting the second connection Incoming messages, the seventh time period is used to wait to receive a second access request, and the eighth time period is used to search for the first access message.
[Corrected according to Rule 91 03.06.2020]
The control system according to claim 25, wherein the period for the control device to broadcast the first access message is less than the eighth time period.
[Corrected according to Rule 91 03.06.2020]

The control system according to claim 25 or 26, wherein:

The communication cycle also includes a third time period; if the control device does not establish a communication connection with any movable platform, the third time period is used to stop the sending and receiving operations; After the platform establishes a communication connection, the third time period is used to transmit business data with the movable platform that establishes the communication connection;

After establishing a communication connection with the control device sending the first access message, one communication cycle of the movable platform includes a ninth time period and a tenth time period, and the ninth time period is used to stop sending and receiving operations, The tenth time period is used to transmit service data with the control device that establishes the communication connection.
[Corrected according to Rule 91 03.06.2020]

The control system according to claim 27, wherein after the first movable platform establishes a communication connection with the control device, the duration of the third time period is based on the movable platform that establishes the communication connection with the control device The number is determined;

The ninth time period is determined based on the first time period used for broadcasting the first access message and the second time period used for waiting to receive the first access request in the communication period of the control device, and the first time period The ten time period is determined based on the third time period used for service data transmission in the communication cycle of the movable platform.
[Corrected according to Rule 91 03.06.2020]
The control system according to claim 27, wherein:

After the first movable platform establishes a communication connection with the control device, the duration of the third time period is proportional to the number of movable platforms for which the control device establishes a communication connection.
[Corrected according to Rule 91 03.06.2020]
The control system according to claim 27, wherein:

If the number of movable platforms that establish a communication connection with the control device does not reach the first number threshold, one communication cycle of the control device includes the first time period, the second time period, and the first time period. Three time periods

If the number of movable platforms that establish a communication connection with the control device reaches the first number threshold, the third time period is included in one communication cycle of the control device, and the first time period and all the mobile platforms are not included. The second time period.
[Corrected according to Rule 91 03.06.2020]
The control system according to claim 24, wherein:

The control device is further configured to stop broadcasting the first access message if the number of movable platforms that access the control device reaches a first number threshold.
[Corrected according to Rule 91 03.06.2020]
The control system according to claim 25, wherein:

If the control device is configured in the second working mode, when the control device does not establish a communication connection with the movable platform, one communication cycle of the control device is all used to search for the second access message ；

After the control device establishes a communication connection with the movable platform, one communication cycle of the control device includes a fourth time period and a fifth time period. The fourth time period is used to stop sending and receiving operations, and the first Five time periods are used for business data transmission with the mobile platform;

After the communication connection is established with the first control device that sends the second access request, the eighth time period is used to perform service data transmission with the control device that establishes the communication connection.
[Corrected according to Rule 91 03.06.2020]
The control system according to claim 32, wherein:

The fourth time period is determined based on the sixth time period for broadcasting the second access message and the seventh time period for waiting to receive the second access request in the communication cycle of the movable platform. The time period is determined based on the eighth time period used for service data transmission in the communication cycle of the movable platform;

After the communication connection is established with the first control device that sends the second access request, the duration of the eighth time period is determined based on the number of control devices that have established a communication connection with the movable platform.
[Corrected according to Rule 91 03.06.2020]
The control system according to claim 33, wherein after the communication connection is established with the first control device that sends the second access request, the duration of the eighth time period establishes communication with the movable platform The number of connected control devices is directly proportional.
[Corrected according to Rule 91 03.06.2020]
The control system according to claim 32, wherein:

If the number of control devices that establish a communication connection with the movable platform does not reach the second number threshold, one communication cycle of the movable platform includes the sixth time period, the seventh time period, and the Eighth time period;

If the number of control devices that establish a communication connection with the movable platform reaches the second number threshold, the eighth time period is included in one communication cycle of the movable platform, and the sixth time period and The seventh time period.
[Corrected according to Rule 91 03.06.2020]
The control system according to claim 24, wherein:

The movable platform is further configured to stop broadcasting the second access message if the number of control devices that establish a communication connection with the movable platform reaches a second number threshold.
[Corrected according to Rule 91 03.06.2020]
The control system according to claim 24, wherein the frequency point at which the control device broadcasts the first access message is the first frequency point, and the frequency point at which the control device searches for the second access message is the first frequency point. Two frequency points, the first frequency point is different from the second frequency point;

The frequency for searching for the first access message broadcast by the control device is the first frequency, and the frequency for broadcasting the second access message is the second frequency.
[Corrected according to Rule 91 03.06.2020]
The control system according to claim 37, wherein when a communication connection with the control device is not established, one communication cycle of the movable platform includes a sixth time period, a seventh time period, and an eighth time period. Segment; the sixth time period is used to broadcast a second access message, the seventh time period is used to wait for receiving a second access request, and the eighth time period is used to stop receiving and sending operations.
[Corrected according to Rule 91 03.06.2020]
A control device, characterized in that, the control device includes a memory and a processor;

The memory is used to store program instructions;

The processor executes program instructions stored in the memory, and when the program instructions are executed, the processor is configured to:

If the control device is configured in the first working mode, broadcast the first access message; receive the first access request sent by any one of the multiple movable platforms, and establish a communication connection with the movable platform , The first access request is sent by the mobile platform in response to the searched first access message;

If the control device is configured in the second working mode, search for a second access message broadcast by the mobile platform; in response to searching for the second access message, send a second access request to the mobile platform, To establish a communication connection with the movable platform; if the communication connection is established with the movable platform, stop searching for the second access message broadcast by other movable platforms.
[Corrected according to Rule 91 03.06.2020]
The control device according to claim 39, wherein if the control device is configured in the first working mode, one communication cycle of the control device includes a first time period and a second time period; The first time period is used for broadcasting the first access message; the second time period is used for waiting to receive the first access request.
[Corrected according to Rule 91 03.06.2020]
The control device according to claim 40, wherein one communication cycle of the movable platform includes an eighth time period, and the eighth time period is used by the movable platform to search for the first access Message, the period during which the control device broadcasts the first access message is less than the eighth time period.
[Corrected according to Rule 91 03.06.2020]
The control device according to claim 39 or 40, wherein the communication period further includes a third time period; if the control device does not establish a communication connection with any movable platform, the third time period is used Stop sending and receiving operations; after the control device establishes a communication connection with the first mobile platform, the third time period is used for service data transmission with the mobile platform that establishes the communication connection.
[Corrected according to Rule 91 03.06.2020]
The control device according to claim 42, wherein after the first movable platform establishes a communication connection with the control device, the duration of the third time period is based on the movable platform that establishes the communication connection with the control device The number is determined.
[Corrected according to Rule 91 03.06.2020]
The control device according to claim 43, wherein after the first movable platform establishes a communication connection with the control device, the duration of the third time period is connected to the movable platform that establishes the communication connection with the control device. The quantity is proportional.
[Corrected according to Rule 91 03.06.2020]
The control device according to claim 44, wherein if the number of movable platforms that establish a communication connection with the control device does not reach the first number threshold, the first number is included in one communication cycle of the control device. A time period, the second time period, and the third time period;

If the number of movable platforms that establish a communication connection with the control device reaches the first number threshold, the third time period is included in one communication cycle of the control device, and the first time period and all the mobile platforms are not included. The second time period.
[Corrected according to Rule 91 03.06.2020]
The control device according to claim 39, wherein:

The processor is further configured to stop broadcasting the first access message if the number of movable platforms that access the control device reaches a first number threshold.
[Corrected according to Rule 91 03.06.2020]
The control device according to claim 39, wherein:

If the control device is configured in the second working mode, when the control device does not establish a communication connection with the movable platform, one communication cycle of the control device is all used to search for the second access message ；

After the control device establishes a communication connection with the movable platform, one communication cycle of the control device includes a fourth time period and a fifth time period. The fourth time period is used to stop sending and receiving operations, and the first Five time periods are used for business data transmission with the mobile platform.
[Corrected according to Rule 91 03.06.2020]
The control device according to claim 47, wherein the fourth time period is based on the sixth time period used for broadcasting the second access message in the communication cycle of the movable platform and the sixth time period used for waiting to receive the second access message. The seventh time period of the access request is determined, and the fifth time period is determined based on the eighth time period used for service data transmission in the communication cycle of the movable platform.
[Corrected according to Rule 91 03.06.2020]
The control device according to claim 39, wherein the frequency point at which the control device broadcasts the first access message is the first frequency point, and the frequency point at which the control device searches for the second access message is the first frequency point. Two frequency points, the first frequency point is different from the second frequency point.
[Corrected according to Rule 91 03.06.2020]
A movable platform, characterized in that, the movable platform includes a memory and a processor;

The memory is used to store program instructions;

The processor executes program instructions stored in the memory, and when the program instructions are executed, the processor is configured to:

If the communication connection with the control device is not established, search for the first access message broadcast by the control device, and broadcast the second access message;

If the first access message is searched, in response to the first access message, send a first access request to the control device to establish a communication connection with the control device; if the first access message is broadcasted When a control device for an access message establishes a communication connection, it stops searching for the first access message and stops broadcasting the second access message;

After receiving a second access request sent by a control device, establish a communication connection with the control device that sent the second access request; stop searching for the first access message; continue to broadcast the second access message , To receive a second access request sent by another control device and establish a communication connection with the other control device, where the second access request is that the control device responds to the searched second access message Sent.
[Corrected according to Rule 91 03.06.2020]
The movable platform according to claim 50, wherein when a communication connection with the control device is not established, one communication cycle of the movable platform includes a sixth time period, a seventh time period, and an eighth time period. Time period; the sixth time period is used to broadcast the second access message, the seventh time period is used to wait to receive the second access request, and the eighth time period is used to search for the first access message .
[Corrected according to Rule 91 03.06.2020]
The mobile platform of claim 51, wherein the control device broadcasts the first access message in a period less than the eighth time period.
[Corrected according to Rule 91 03.06.2020]
The movable platform according to claim 50 or 51, wherein after establishing a communication connection with the control device that sends the first access message, one communication cycle of the movable platform includes a ninth time period and In the tenth time period, the ninth time period is used to stop sending and receiving operations, and the tenth time period is used to perform service data transmission with the control device that establishes the communication connection.
[Corrected according to Rule 91 03.06.2020]
The mobile platform according to claim 53, wherein the ninth time period is based on the first time period for broadcasting the first access message in the communication cycle of the control device and the first time period for waiting to receive the The second time period of the first access request is determined, and the tenth time period is determined based on the third time period used for service data transmission in the communication cycle of the movable platform.
[Corrected according to Rule 91 03.06.2020]
The mobile platform according to claim 51, wherein after establishing a communication connection with the first control device that sends the second access request, the eighth time period is used to establish a communication connection with the control device Perform business data transmission.
Root [corrected according to Rule 91 03.06.2020]
The mobile platform according to claim 55, wherein after the communication connection is established with the first control device that sends the second access request, the duration of the eighth time period is based on the communication with the mobile platform The number of control devices that establish a communication connection is determined.
[Corrected according to Rule 91 03.06.2020]
The movable platform according to claim 56, wherein after a communication connection is established with the first control device that sends the second access request, the duration of the eighth time period is established with the movable platform It is proportional to the number of control devices connected by communication.
[Corrected according to Rule 91 03.06.2020]
The mobile platform of claim 55, wherein if the number of control devices that establish a communication connection with the mobile platform does not reach the second number threshold, the mobile platform includes all the control devices in one communication cycle of the mobile platform. The sixth time period, the seventh time period, and the eighth time period;

If the number of control devices that establish a communication connection with the movable platform reaches the second number threshold, the eighth time period is included in one communication cycle of the movable platform, and the sixth time period and The seventh time period.
[Corrected according to Rule 91 03.06.2020]
The movable platform according to claim 55, wherein:

The processor is further configured to stop broadcasting the second access message if the number of control devices that establish communication connections with the movable platform reaches a second number threshold.
[Corrected according to Rule 91 03.06.2020]
The mobile platform of claim 50, wherein the frequency for searching for the first access message broadcast by the control device is the first frequency, and the frequency for broadcasting the second access message It is a second frequency point, and the first frequency point is different from the second frequency point.
[Corrected according to Rule 91 03.06.2020]
The movable platform according to claim 60, wherein when a communication connection with the control device is not established, one communication cycle of the movable platform includes a sixth time period, a seventh time period, and an eighth time period. Time period; the sixth time period is used to broadcast the second access message, the seventh time period is used to wait to receive the second access request, and the eighth time period is used to stop receiving and sending operations.
[Corrected according to Rule 91 03.06.2020]
A computer-readable storage medium, comprising: the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it is used to execute any of claims 1-11 or 12-23. One of the control methods.