WO2022061538A1 - Procédé et appareil de gestion de données pour plate-forme mobile, plate-forme mobile et support - Google Patents

Procédé et appareil de gestion de données pour plate-forme mobile, plate-forme mobile et support Download PDF

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Publication number
WO2022061538A1
WO2022061538A1 PCT/CN2020/116897 CN2020116897W WO2022061538A1 WO 2022061538 A1 WO2022061538 A1 WO 2022061538A1 CN 2020116897 W CN2020116897 W CN 2020116897W WO 2022061538 A1 WO2022061538 A1 WO 2022061538A1
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WO
WIPO (PCT)
Prior art keywords
sensor
information
sensing data
controller
data
Prior art date
Application number
PCT/CN2020/116897
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English (en)
Chinese (zh)
Inventor
刘启明
陈超彬
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080007321.8A priority Critical patent/CN113286742A/zh
Priority to PCT/CN2020/116897 priority patent/WO2022061538A1/fr
Publication of WO2022061538A1 publication Critical patent/WO2022061538A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Definitions

  • the present application relates to the technical field of data processing, and in particular, to a data management method, device, removable platform and medium of a removable platform.
  • Sensors such as vision sensors, infrared sensors, time of flight (TOF) sensors, and lidars are integrated on the movable platform.
  • the external environmental information can be obtained through the above-mentioned different sensors, and the environmental information can be transmitted to the mobile platform.
  • the controller controls the movable platform based on the environment information by the controller of the movable platform.
  • the controller and the sensor are mainly connected in a point-to-point manner, and the sensor pushes the collected data to the user according to the set method (such as the set frequency, the set data format, the set encryption method, etc.).
  • the controller can also receive and analyze the data sent by the sensor according to the characteristics of the sensor according to the set method.
  • the interaction method between the sensor and the controller (such as frequency, data format, encryption method, etc.) needs to be redesigned, the coupling between the controller and the sensor is high, and the compatibility Poor, resulting in inflexible system configuration.
  • the embodiments of the present application provide a data management method, device, movable platform and medium for a movable platform, which aim to realize decoupling between a controller and a sensor and improve the compatibility of the movable platform.
  • the present application provides a data management method for a movable platform, the movable platform includes a controller and a sensing system, the sensing system includes one or more sensors, and the method includes:
  • the registration information includes provision type information of sensing data provided by the sensor
  • sensing data request information sent by the controller, wherein the sensing data request information includes request type information of the sensing data requested by the controller;
  • a target sensor is determined from the sensing system, wherein the provision type information of the sensing data provided by the target sensor and the request for the sensing data requested by the controller Type information matches;
  • the sensing data of the target sensor is sent to the controller, so that the controller controls the movable platform according to the sensing data of the target sensor.
  • an embodiment of the present application further provides a data management apparatus for a mobile platform, where the mobile platform includes a controller and a sensing system, the sensing system includes one or more sensors, and the data management the apparatus includes a processor and a memory;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • the registration information includes provision type information of sensing data provided by the sensor
  • sensing data request information sent by the controller, wherein the sensing data request information includes request type information of the sensing data requested by the controller;
  • a target sensor is determined from the sensing system, wherein the provision type information of the sensing data provided by the target sensor and the request for the sensing data requested by the controller Type information matches;
  • the sensing data of the target sensor is sent to the controller, so that the controller controls the movable platform according to the sensing data of the target sensor.
  • an embodiment of the present application further provides a movable platform, where the movable platform includes a controller, a sensing system, and the above-mentioned data management apparatus, and the sensing system includes one or more sensors.
  • an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned Steps of a data management method for a removable platform.
  • the embodiments of the present application provide a data management method, device, movable platform and medium for a movable platform.
  • a data management method, device, movable platform and medium for a movable platform.
  • FIG. 1 is a schematic diagram of the connection between a controller and a sensor in an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a mobile platform implementing the data management method provided by the embodiment of the present application
  • FIG. 3 is a schematic flowchart of steps of a data management method for a mobile platform provided by an embodiment of the present application
  • FIG. 4 is a schematic diagram of the connection between the controller, the sensing system and the data management device in the embodiment of the present application;
  • FIG. 5 is a schematic diagram of a scenario for implementing a data management method for implementing a mobile platform provided by an embodiment of the present application
  • FIG. 6 is a schematic diagram of a control terminal displaying an identification icon of a target sensor in an embodiment of the present application
  • FIG. 7 is a schematic flowchart of steps of another data management method for a mobile platform provided by an embodiment of the present application.
  • FIG. 8 is a schematic block diagram of the structure of a data management apparatus of a mobile platform provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural block diagram of a movable platform provided by an embodiment of the present application.
  • Sensors such as vision sensors, infrared sensors, time of flight (TOF) sensors, and lidars are integrated on the movable platform.
  • the external environmental information can be obtained through the above-mentioned different sensors, and the environmental information can be transmitted to the mobile platform.
  • the controller controls the movable platform based on the environment information by the controller of the movable platform.
  • the controller and the sensor are mainly connected in a point-to-point manner, and the sensor pushes the collected data to the user according to the set method (such as the set frequency, the set data format, the set encryption method, etc.).
  • the controller can also receive and analyze the data sent by the sensor according to the characteristics of the sensor according to the set method.
  • the interaction method between the sensor and the controller (such as frequency, data format, encryption method, etc.) needs to be redesigned, the coupling between the controller and the sensor is high, and the compatibility Poor, resulting in inflexible system configuration.
  • the GPS sensor 11 , RTK sensor 12 , TOF sensor 13 , vision sensor 14 , motion sensor 15 and inertial sensor 16 in the movable platform are connected with the controller 17 in a point-to-point manner.
  • the GPS sensor 11 , RTK sensor 12 , TOF sensor 13 , vision sensor 14 , motion sensor 15 or inertial sensor 16 can collect data in a set manner (eg set frequency, set data format, set encryption method, etc.) to the controller 17, and the controller 17 can also receive and analyze the characteristics of the GPS sensor 11, RTK sensor 12, TOF sensor 13, vision sensor 14, motion sensor 15 and inertial sensor 16 according to the set method.
  • Sensors GPS sensor 11 , RTK sensor 12 , TOF sensor 13 , vision sensor 14 , motion sensor 15 and inertial sensor 16 send data.
  • the embodiments of the present application provide a data management method, device, movable platform and medium for a movable platform, by acquiring the registration information of the sensor and the sensor data request information sent by the controller, and then according to the registration information.
  • Information and sensor data request information determine the target sensor that can provide the sensor data provided type information that matches the request type information of the sensor data requested by the controller from the sensor, and send the sensor data of the target sensor to the controller controller, so that the controller controls the movable platform based on the sensing data of the target sensor.
  • the data management method can be applied to a mobile platform, and the mobile platform includes a drone, an unmanned vehicle, a mobile robot, and the like.
  • FIG. 2 is a schematic structural diagram of a movable platform implementing the data management method provided by the embodiment of the present application.
  • the movable platform 100 includes a body 110 and a power system 120.
  • the power system 120 includes a motor 121 and a propeller 122.
  • the propeller 122 includes a plurality of blades.
  • the motor 121 is used to drive the propeller 122 to rotate, thereby being a movable platform 100 provides power to move.
  • the propeller 122 includes two blades.
  • the movable platform 100 also includes a sensing system (not shown in the figure), a controller (not shown in the figure) and a data management device (not shown in the figure) provided in the body 110 .
  • the sensing system may include one or more sensors to acquire the spatial orientation, velocity and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom), angular acceleration, attitude, position (absolute) of the movable platform 100. position or relative position) and other sensor data.
  • the one or more sensors include GPS sensors, RTK sensors, TOF sensors, vision sensors, motion sensors, inertial sensors, proximity sensors, or image sensors.
  • the sensing system can also be used to collect environmental data where the movable platform 100 is located, such as climate conditions, potential obstacles to be approached, locations of geographic features, locations of man-made structures, and other sensory data.
  • the data management device is used to acquire the registration information of each sensor in the sensing system
  • the registration information includes the provision type information of the sensor data provided by the sensor
  • the data management device is also used to acquire the sensor data sent by the controller.
  • Data request information where the sensor data request information includes request type information of the sensor data requested by the controller.
  • the data management device acquires the sensing data request information sent by the controller, it determines the target sensor from the sensing system according to the sensing data request information and the registration information of each sensor, and the sensing data provided by the target sensor provides The type information matches the request type information of the sensing data requested by the controller, and then the sensing data of the target sensor is sent to the controller, and the controller controls the UAV according to the sensing data of the target sensor.
  • the movable platform 100 may have one or more power systems 120, and all the power systems 120 may be of the same type. Alternatively, one or more of the powertrains 120 may be of a different type.
  • the power system 120 may be mounted on the body 110 of the movable platform 100 by suitable means, such as by support elements (eg, drive shafts).
  • the power system 120 may be installed in any suitable location on the movable platform 100, such as top, bottom, front, rear, side, or any combination thereof.
  • the power system 120 enables the movable platform 100 to take off vertically from the ground, or to land vertically on the ground, without any horizontal movement of the movable platform 100 (eg, without taxiing on a runway).
  • the power system 120 may allow the movable platform 100 to preset positions and/or to rotate in the air.
  • One or more of the powertrains 120 may be controlled independently of the other powertrains 120 .
  • one or more power systems 120 may be controlled simultaneously.
  • the movable platform 100 may have multiple horizontally oriented power systems 120 to track the lift and/or push of the target.
  • the horizontally oriented power system 120 can be actuated to provide the movable platform 100 with vertical take-off, vertical landing, and hovering capabilities.
  • one or more of the horizontally oriented power systems 120 may rotate in a clockwise direction, while one or more of the other horizontally oriented power systems may rotate in a counter-clockwise direction.
  • the rotational rate of each horizontal power system 120 can be varied independently to achieve the lifting and/or pushing operations caused by each power system, thereby adjusting the spatial orientation, velocity and/or acceleration of the movable platform 100 (eg, relative to multiple rotation and translation up to three degrees of freedom).
  • the data management method provided by the embodiment of the present application will be described in detail with reference to the movable platform in FIG. 2 .
  • the movable platform in FIG. 2 is only used to explain the data management method provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the data management method provided by the embodiment of the present application.
  • FIG. 3 is a schematic flowchart of steps of a data management method for a mobile platform provided by an embodiment of the present application.
  • the data management method is applied to a data management device in a mobile platform.
  • the data management method includes steps S101 to S104.
  • the movable platform includes a controller, a sensing system, and a data management device.
  • FIG. 4 is a schematic diagram of the connection between the controller, the sensing system, and the data management device in the embodiment of the present application, as shown in FIG. 4 .
  • the data management device 20 is connected to the controller 30, and the data management device 20 is connected to a sensing system 40, which includes a GPS sensor 41, an RTK sensor 42, a TOF sensor 43, a vision sensor 44, a motion sensor 45, and an inertial sensor.
  • the sensor 46 is connected, so the data management device 20 can acquire the registration information of each sensor in the sensing system 40 and the sensor data request information of the controller 30, and determine the target sensor based on the registration information and the sensor data request information, and The sensing data of the target sensor is sent to the controller 30, so that the controller 30 can control the movable platform according to the sensing data of the target sensor.
  • the data management apparatus acquires the registration information of the sensor in response to a power-on signal of the movable platform.
  • the registration information of each sensor in the sensor system can be obtained, or only the registration information of the sensor in the running state in the sensor system can be obtained, and the registration information of the sensor in the dormant state can not be obtained.
  • the registration information of the sensor when the movable platform is powered on, it is convenient to determine the target sensor from the sensing system based on the registration information and the sensing data request information when the sensor data request information sent by the controller is acquired subsequently.
  • the registration information includes the provision type information of the sensor data provided by the sensor, the provision type information is used to describe the type of the sensor data that the sensor can provide, and the provision type information is related to the name of the sensor, the collection method of the sensor data and / or related to the processing method, the provided type information may be formed by splicing at least one of the character string corresponding to the name of the sensor, the character string corresponding to the collection method of the sensory data, and the character string corresponding to the collection method of the sensory data , the provided type information may also be an independent ID determined according to at least one character string among the name of the sensor, the character string corresponding to the collection method of the sensing data, and the character string corresponding to the collection method of the sensing data.
  • the provided type information is related to the name of the sensor, the collection method and/or the processing method of the sensor data, when the developer updates the collection method and/or processing method of the sensor data, the updated sensor's
  • the registration information includes the first provision type information and the second provision type information of the sensor data provided by the sensor.
  • the first provision type information is used to describe the type of sensor data that the sensor before the update can provide, and the second provision type user describes the update.
  • the sensing system includes one or more sensors, and the one or more sensors include GPS sensor, RTK sensor, TOF sensor, vision sensor, motion sensor, inertial sensor, proximity sensor or image sensor.
  • the type information of the sensor data provided by different sensors is different.
  • the type information of the GPS data provided by the GPS sensor can be “sensors/gps/raw/pack”
  • the type information of the RTK data provided by the RTK sensor can be " sensors/rtk/raw/pack”.
  • S102 Acquire sensing data request information sent by the controller, where the sensing data request information includes request type information of the sensing data requested by the controller.
  • the controller When the controller needs to acquire the sensor data of the sensor, the controller sends the sensor data request information to the data management device of the mobile platform, and the data management device acquires the sensor data request information sent by the controller, so that the data management device can be based on the sensor data.
  • the registration information and the sensing data request information determine the target sensor to which the sensing data required by the controller belongs.
  • the sensing data request information includes request type information of the sensing data requested by the controller, and the request type information is used to describe the type of sensing data required by the controller.
  • the data management device After acquiring the sensing data request information sent by the controller, the data management device determines the target of the sensing data required by the controller from the sensing system based on the registration information of the sensor and the sensing data request information sent by the controller. sensor. The providing type information of the sensing data provided by the target sensor matches the request type information of the sensing data requested by the controller.
  • the method of determining the target sensor from the sensing system may be: the data management device may request information according to the registration information of the sensor and the sensing data request information sent by the controller, The same type of providing information as the request type information in the sensor data request information is determined, and the sensor corresponding to the determined request type information is determined as the target sensor.
  • the request type information is "sensors/gps/raw/pack”
  • the sensor corresponding to "sensors/gps/raw/pack” is a GPS sensor
  • the GPS sensor is determined as the target sensor.
  • the request type information is "sensors/rtk/raw/pack”
  • the sensor corresponding to "sensors/rtk/raw/pack” is an RTK sensor, so the RTK sensor is determined as the target sensor.
  • the method of determining the target sensor from the sensing system may be: the data management device obtains the mapping relationship between the pre-stored request type information and the provided type information, And according to the request type information sent by the controller and the mapping relationship, the provision type information corresponding to the request type information is acquired; the sensor corresponding to the acquired provision type information is determined as the target sensor.
  • the request type information is "sensors/gps-get/raw/pack", and “sensors/gps-get/raw/pack” corresponds to “sensors/gps/raw/pack", and "sensors/gps/raw”
  • the sensor corresponding to "/pack” is a GPS sensor, so the GPS sensor is determined as the target sensor.
  • the request type information is "sensors/rtk-get/raw/pack", and "sensors/rtk-get/raw/pack” Corresponds to "sensors/rtk/raw/pack”, and the sensor corresponding to "sensors/rtk/raw/pack” is an RTK sensor, so the RTK sensor is determined as the target sensor.
  • the registration information further includes accuracy information of the sensing data provided by the sensor, where the accuracy information is used to indicate the accuracy of the sensing data provided by the sensor, according to the registration information of the sensor and the sensing data request information, from the transmission
  • the method of determining the target sensor in the sensing system may be: if the request type information matches the provided type information of multiple sensors, the data management device determines the sensor with the highest sensing data accuracy from the multiple sensors according to the accuracy information of the multiple sensors. ; Determine the sensor with the highest accuracy of the determined sensing data as the target sensor.
  • the request type information is "sensors/location/raw/pack", “sensors/location/raw/pack” matches “sensors/gps/raw/pack” and “sensors/rtk/raw/pack”, sensors/gps
  • the sensor corresponding to "/raw/pack” is a GPS sensor
  • the sensor corresponding to "sensors/rtk/raw/pack” is an RTK sensor
  • the accuracy of the sensing data provided by the GPS sensor is less than the accuracy of the sensing data provided by the RTK sensor, so
  • the RTK sensor is used as the target sensor.
  • the controller can precisely control the movable platform based on the high-precision sensing data by using the sensor with the highest accuracy and the provided type information matching the requested type information as the target sensor.
  • the registration information further includes information on the accuracy of the sensing data provided by the sensor, the accuracy information is used to indicate the accuracy of the sensing data provided by the sensor, and the sensing data request information further includes the sensing data requested by the controller.
  • the requested accuracy information of the data is used to indicate the accuracy of the sensing data required by the controller, wherein the provided type information of the target sensor matches the requested type information, and the provided accuracy information of the target sensor matches the requested accuracy information .
  • the request type information is "sensors/gps/raw/pack”
  • the request accuracy information indicates that the accuracy of the sensing data provided by the sensor is 15 meters
  • the sensor corresponding to "sensors/gps/raw/pack” is a GPS sensor
  • the accuracy indicated by the provided accuracy information of the GPS sensor is 10 meters, that is, the provided accuracy information of the GPS sensor matches the requested accuracy information. Therefore, the GPS sensor can be used as the target sensor.
  • the registration information further includes information on the accuracy of the sensing data provided by the sensor, the accuracy information is used to indicate the accuracy of the sensing data provided by the sensor, and the sensing data request information further includes the sensing data requested by the controller.
  • the requested accuracy information of the data is used to indicate the accuracy of the sensing data required by the controller, wherein the provided type information of the target sensor matches the requested type information, and the accuracy indicated by the provided accuracy information of the target sensor is greater than or equal to the precision indicated by the requested precision information.
  • the controller can accurately control the movable platform based on the sensor data with the required accuracy, Ensure the control security of the movable platform.
  • the request type information is "sensors/gps/raw/pack”
  • the request accuracy information indicates that the accuracy of the sensing data provided by the sensor is 15 meters
  • the sensor corresponding to "sensors/gps/raw/pack” is a GPS sensor
  • the accuracy of the GPS sensor's accuracy information is 10 meters
  • the sensor corresponding to "sensors/rtk/raw/pack” is an RTK sensor
  • the accuracy of the RTK sensor's accuracy information is centimeter level, so you can use the GPS sensor or RTK sensor as target sensor.
  • the request type information is "sensors/gps/raw/pack”
  • the request accuracy information indicates that the accuracy of the sensing data provided by the sensor is 50 cm
  • the sensor corresponding to "sensors/gps/raw/pack” is a GPS sensor
  • the accuracy of the GPS sensor's accuracy information is 10 meters
  • the sensor corresponding to "sensors/rtk/raw/pack” is an RTK sensor
  • the accuracy of the RTK sensor's accuracy information is centimeter-level, so the RTK sensor can be as a target sensor.
  • the data management device After determining the target sensor, the data management device sends the sensing data of the target sensor to the controller, so that the controller controls the movable platform based on the sensing data of the target sensor.
  • the sensing data of the GPS sensor is sent to the controller, and the controller controls the movable platform to move based on the sensing data of the GPS sensor.
  • the obstacle sensing data of the sensing sensor is sent to the controller, and the controller is based on The obstacle perception data controls the movable platform to avoid obstacles.
  • the data management device will synchronously add and delete the registration information of the corresponding sensors, and maintain the synchronization between the registration information and the sensors, which is convenient for users to expand the functions of the mobile platform and improve the availability. Extensibility of mobile platforms.
  • the controller since in some cases, the controller needs to fuse the sensing data of multiple sensors to control the movable platform, it is necessary to acquire the sensing data of multiple sensors, so the data management device can control the mobile platform according to the registration information and Sensing data request information, determine the first target sensor and the second target sensor from the sensing system; send the sensing data of the first target sensor and the sensing data of the second target sensor to the controller, and the controller is based on the first target sensor. Sensing data from one target sensor and sensing data from a second target sensor control the movable platform.
  • the request type information in the sensor data request information sent by the controller includes first request type information and second request type information different from the first request type information, and the provision type information of the sensing data provided by the first target sensor Matching with the first request type information, the provision type information of the sensing data provided by the second target sensor matches the second request type information.
  • the movable platform 100 includes a vision sensor 130 and a TOF sensor 140, the sensor corresponding to the offer type information matching the first request type information is the TOF sensor 140, and the offer type matching the second request type information If the sensor corresponding to the information is the visual sensor 130, then the sensing data of the TOF sensor 140 and the sensing data of the visual sensor 130 are sent to the controller, and the controller interprets the sensing data of the TOF sensor 140 and the sensing data of the visual sensor 130. Perform fusion, and control the movable platform based on the fused sensor data, for example, control the movable platform to avoid obstacles based on the fused sensor data.
  • an alarm prompt information is output, for example, sent to a control terminal connected to the mobile platform.
  • Alarm prompt information control the terminal to display the text corresponding to the alarm prompt information and/or broadcast the alarm prompt tone corresponding to the alarm prompt information.
  • the identification information of the target sensor is sent to the control terminal, so that the control terminal displays the identification icon of the target sensor according to the identification information.
  • the identification icons of different target sensors are different.
  • the user can know the sensor currently used by the movable platform. For example, as shown in FIG. 6 , a status indicator bar is displayed in the display interface of the control terminal, and the status indicator bar is located in the top area of the display interface, and the status indicator bar displays the identification icon corresponding to the GPS sensor.
  • the controller uses the sensing data of the GPS sensor to control the movable platform, and the status indicator bar also displays the icon of image transmission, the icon of obstacle avoidance module, the icon of communication connection, the icon of network and the icon of battery.
  • the obstacle avoidance module identification icon, the communication connection identification icon, the network identification icon and the battery identification icon show that the image transmission between the movable platform and the control terminal is normal, the obstacle avoidance module works normally, and the communication connection between the movable platform and the control terminal is normal. It is normal, the network of the control terminal is good, the power of the two batteries of the movable platform is 80% and 100% respectively, and the working voltage of the two batteries is 20.7v and 26.1v respectively. Color identification to identify the abnormal state and normal state of the battery.
  • the data management method of the mobile platform provided by the above-mentioned embodiment, by acquiring the registration information of the sensor and the sensing data request information sent by the controller, and then determining the available data from the sensor according to the registration information and the sensing data request information.
  • the provided type information of the sensing data matches the target sensor with the request type information of the sensing data requested by the controller, and sends the sensing data of the target sensor to the controller, so that the controller can control the sensor based on the sensing data of the target sensor. mobile platform.
  • FIG. 7 is a schematic flowchart of steps of another data management method for a mobile platform provided by an embodiment of the present application.
  • the data management method is applied to a data management device in a mobile platform.
  • the data management method includes steps S201 to S203.
  • the data management device of the movable platform When sending the sensing data of the target sensor to the controller, the data management device of the movable platform obtains the flow of the sensing data of the target sensor sent to the controller, and when the flow is greater than the preset flow threshold, it will obtain the flow of the sensing data of the target sensor sent to the controller.
  • the sensing data of the target sensor is split into multiple data packets, and then each of the multiple data packets is sent to the controller at an interval target time, so that the moment when each data packet is sent to the controller is different.
  • the preset traffic threshold may be set based on the actual situation, which is not specifically limited in this embodiment of the present application. In some cases, the flow of sensing data sent to the target sensor of the controller is large, which may easily cause data link congestion. For this, the sensing data is divided into multiple data packets, and each data packet is sent at different times. data packets to avoid congestion on the data link.
  • the sensing data of the target sensor is divided into three data packets, namely the first data packet, the second data packet and the third data packet, and the data management device sends a data packet every 1 second, specifically: data management The device first sends the first data packet to the controller, then sends the second data packet to the controller after 3 seconds, and finally sends the third data packet to the controller after 3 seconds.
  • the method of splitting the acquired sensing data of the target sensor into multiple data packets may be as follows: the data management device determines the target split according to the flow of the sensing data of the target sensor sent to the controller.
  • the number of pieces that is, to determine the preset flow range to which the flow of the sensing data of the target sensor sent to the controller belongs, and to obtain the number of splits corresponding to the preset flow range to which the flow belongs, and to obtain the preset flow range to which the flow belongs.
  • the number of splits corresponding to the traffic range is taken as the number of target splits; the sensing data of the target sensor is split into data packets corresponding to the number of target splits.
  • the larger the flow of sensing data sent to the target sensor of the controller the more the number of target splits
  • the smaller the flow of sensing data sent to the target sensor of the controller the more the number of target splits smaller.
  • the target time may be a preset time, and the target time may also be indicated by the controller.
  • the controller may determine the target time according to the flow of sensing data sent to the target sensor of the controller. For example, determine the preset flow range to which the flow of the sensing data of the target sensor sent to the controller belongs, obtain the sending interval time corresponding to the preset flow range to which the flow belongs, and obtain the preset flow range to which the flow belongs.
  • the sending interval time is used as the target time. Wherein, the larger the flow rate of the sensing data sent to the target sensor of the controller, the longer the target time, and the smaller the flow rate of the sensing data sent to the target sensor of the controller, the shorter the target time.
  • the flow rate of the sensing data sent to the target sensor of the controller is acquired, and the flow rate is sent to the control terminal, so that the control terminal displays the flow rate, that is, in response to the flow rate query instruction sent by the control terminal, the flow rate is sent to the control terminal.
  • Sent to the controlling terminal so that the controlling terminal can display the traffic.
  • the traffic query instruction is generated when the control terminal detects the user's traffic query operation.
  • the flow of sensing data sent to the target sensor of the controller is displayed by the control terminal, so that the user can monitor the flow of sensing data sent to the target sensor of the controller.
  • the flow rate of the sensing data of the target sensor sent to the controller is obtained, and when the flow rate is greater than the preset flow rate threshold, the obtained sensing data of the target sensor is divided into multiple pieces. data packets, and then send each of the multiple data packets to the controller at an interval target time so that each data packet is sent to the controller at a different time, which can avoid congestion on the data link.
  • FIG. 8 is a schematic structural block diagram of a data management apparatus for a mobile platform provided by an embodiment of the present application.
  • the movable platform includes a controller and a sensing system.
  • the sensing system includes one or more sensors.
  • the data management apparatus 300 includes a processor 301 and a memory 302.
  • the processor 301 and the memory 302 are connected through a bus.
  • 303 is connected, and the bus 303 is, for example, an I2C (Inter-integrated Circuit) bus.
  • the processor 301 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, or the like.
  • ROM Read-Only Memory
  • the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, or the like.
  • the processor 301 is used for running the computer program stored in the memory 302, and implements the following steps when executing the computer program:
  • the registration information includes provision type information of sensing data provided by the sensor
  • sensing data request information sent by the controller, wherein the sensing data request information includes request type information of the sensing data requested by the controller;
  • a target sensor is determined from the sensing system, wherein the provision type information of the sensing data provided by the target sensor and the request for the sensing data requested by the controller Type information matches;
  • the sensing data of the target sensor is sent to the controller, so that the controller controls the movable platform according to the sensing data of the target sensor.
  • the processor when the processor determines a target sensor from the sensing system according to the registration information and the sensing data request information, the processor is configured to implement:
  • the registration information and the sensor data request information determine the provision type information that is the same as the request type information
  • a sensor corresponding to the determined request type information is determined as a target sensor.
  • the registration information further includes accuracy information of the sensing data provided by the sensor, and the processor implements determining the target from the sensing system according to the registration information and the sensing data request information.
  • the processor implements determining the target from the sensing system according to the registration information and the sensing data request information.
  • the request type information matches the provided type information of the multiple sensors, determining the sensor with the highest sensing data accuracy from the multiple sensors according to the accuracy information of the multiple sensors;
  • the sensor with the highest accuracy of the determined sensing data is determined as the target sensor.
  • the registration information further includes information on the accuracy of providing the sensing data provided by the sensor, and the information on requesting the sensing data further includes information on the accuracy of requesting the sensing data requested by the controller, wherein, The offer type information of the target sensor matches the request type information, and the offer accuracy information of the target sensor matches the request accuracy information.
  • the registration information further includes information on the accuracy of providing the sensing data provided by the sensor, and the information on requesting the sensing data further includes information on the accuracy of requesting the sensing data requested by the controller, wherein,
  • the offer type information of the target sensor matches the request type information, and the accuracy indicated by the offer accuracy information of the target sensor is greater than or equal to the accuracy indicated by the request accuracy information.
  • the request type information includes first request type information and second request type information different from the first request type information
  • the processor implements the request information according to the registration information and the sensor data. , when determining the target sensor from the sensing system, is used to achieve:
  • a first target sensor and a second target sensor are determined from the sensing system, wherein the provision type information of the sensing data provided by the first target sensor is the same as that of the sensor system.
  • the first request type information matches, and the provision type information of the sensing data provided by the second target sensor matches the second request type information;
  • the processor implements sending the sensing data of the target sensor to the controller, so that when the controller controls the movable platform according to the sensing data of the target sensor, it is used to implement:
  • the processor is further configured to implement the following steps:
  • an alarm prompt message is output.
  • the acquiring the registration information of the sensor includes:
  • the registration information of the sensor is acquired.
  • the registration information includes identification information of the sensor
  • the processor is further configured to implement the following steps:
  • the identification information of the target sensor is sent to the control terminal, so that the identification icon of the target sensor is displayed according to the identification information.
  • the processor is further configured to implement the following steps:
  • the flow is sent to the control terminal, so that the control terminal displays the flow.
  • the sending the traffic to the control terminal includes:
  • the flow is sent to the control terminal, so that the control terminal displays the flow, wherein the flow query instruction is the flow query detected by the control terminal of the user generated during operation.
  • the processor is further configured to implement the following steps:
  • Each of the plurality of data packets is sent to the controller at an interval target time such that the time at which each data packet is sent to the controller is different.
  • the target time is indicated by the controller.
  • FIG. 9 is a schematic structural block diagram of a movable platform provided by an embodiment of the present application.
  • the movable platform 400 includes a controller 410, a sensing system 420 and a data management device 430, the sensing system 420 includes one or more sensors, the data management device 430 is connected with the sensing system 420, and the data management The device 430 is connected to the controller 410 .
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments.
  • the computer-readable storage medium may be an internal storage unit of the removable platform described in any of the foregoing embodiments, such as a hard disk or a memory of the removable platform.
  • the computer-readable storage medium can also be an external storage device of the removable platform, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital) equipped with the removable platform 100 , SD) card, flash memory card (Flash Card), etc.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Telephonic Communication Services (AREA)

Abstract

Procédé et appareil de gestion de données pour une plate-forme mobile, une plate-forme mobile et support. Ledit procédé consiste à : acquérir des informations d'enregistrement d'un capteur (S101) ; acquérir des informations de demande de données de détection envoyées par un dispositif de commande (S102) ; déterminer un capteur cible à partir d'un système de détection en fonction des informations d'enregistrement et des informations de demande de données de détection (S103) ; et envoyer des données de détection du capteur cible au dispositif de commande (S104). Ledit procédé peut mettre en œuvre un découplage entre le dispositif de commande et le capteur.
PCT/CN2020/116897 2020-09-22 2020-09-22 Procédé et appareil de gestion de données pour plate-forme mobile, plate-forme mobile et support WO2022061538A1 (fr)

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CN202080007321.8A CN113286742A (zh) 2020-09-22 2020-09-22 可移动平台的数据管理方法、装置、可移动平台及介质
PCT/CN2020/116897 WO2022061538A1 (fr) 2020-09-22 2020-09-22 Procédé et appareil de gestion de données pour plate-forme mobile, plate-forme mobile et support

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