Control Method and Device for Flying Device, Flying Device, and Storage Medium

Abstract

An embodiment of the present application provides a control method and device for a flight device, a flight device, a storage medium, and an electronic device. The method includes: a second arbitration module receives N control instructions forwarded by a first arbitration module, where the N control instructions are sent by N flight control modules to the first arbitration module; the second arbitration module and the first arbitration module respectively determine a second instruction and a first instruction from the N control instructions based on a predetermined rule, and compare the two. When the comparison result indicates that the error between the motion parameters of the actuator indicated by the first instruction and the motion parameters of the actuator indicated by the second instruction exceeds a preset threshold, the first arbitration module is cut off from transmitting control instructions to the relay, and the relay is instructed to determine the instruction of the target flight control module as the target control instruction, and the target control instruction is used to control the flight device. Through the present application, the problem of low safety of the flight control system in the related art is solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of aircraft, and in particular, to a control method and device for a flight device, a flight device, a storage medium, and an electronic device. Background Art

[0002] Currently, the redundancy requirement of the flight control system comes from the safety requirement brought by the usage scenario of the unmanned aerial vehicle (UAV). To solve the contradiction between the high safety requirement of the flight control system and the insufficient reliability of the equipment, a three-redundancy flight control system architecture is proposed. A relatively common three-redundancy flight control system architecture is a flight control system architecture with 3 flight control working channels + 1 redundancy arbitration channel. This architecture increases the system availability, but there is an inevitable problem. That is, when the three flight control channels are all connected to a comprehensive module - the redundancy arbitration module, the safety short board is concentrated on one arbitration module, and there is a hidden danger of single-point failure. That is, in the related art, there are fault modes in which the redundancy arbitration module makes errors and the errors cannot be detected, and the situation of transmitting incorrect instructions, resulting in the difficulty of ensuring the safety of the flight control system.

[0003] Aiming at the problem of low safety of the flight control system in the related art, no effective solution has been proposed yet. Summary of the Invention

[0004] The embodiments of the present application provide a control method and device for a flight device, a flight device, a storage medium, and an electronic device, so as to at least solve the problem of low safety of the flight control system in the related art.

[0005] According to an embodiment of the present application, a control method for a flight device is provided, including:

[0006] A second arbitration module receives N control instructions forwarded by a first arbitration module, where the N control instructions are sent by N flight control modules to the first arbitration module, each flight control module corresponds to one control instruction, each flight control module among the N flight control modules runs the same flight control program, and N is equal to 1 or a positive integer greater than or equal to 2;

[0007] The second arbitration module determines a second instruction from the N control instructions based on a predetermined rule, and compares a first instruction with the second instruction to obtain a comparison result, where the first instruction is the control instruction determined by the first arbitration module from the N control instructions based on the predetermined rule;

[0008] When the comparison result indicates that the error between the first target parameter and the second target parameter is greater than or equal to a preset threshold, the second arbitration module cuts off the first arbitration module from transmitting a control instruction to the relay, and indicates that when the relay does not receive a control instruction within a predetermined duration, the control instruction corresponding to the target flight control module among the N control instructions is determined as the target control instruction, where the target flight control module is a specified flight control module among the N flight control modules, the first target parameter is the motion parameter of the actuator of the flight device indicated by the first instruction, the second target parameter is the motion parameter of the actuator of the flight device indicated by the second instruction, and the motion parameter indicated by the target control instruction is used to control the actuator of the flight device.

[0009] In an exemplary embodiment, the second arbitration module determines the second instruction from the N control instructions based on a predetermined rule, including:

[0010] The second arbitration module determines the to-be-executed motion parameters and confidence parameters indicated by each of the N control instructions, obtaining N sets of to-be-executed motion parameters and N confidence parameters, where each control instruction corresponds to a set of to-be-executed motion parameters and a confidence parameter, the set of to-be-executed motion parameters is a parameter determined by each flight control module based on the acquisition signals of a set of sensors, the set of to-be-executed motion parameters is a motion parameter for controlling the actuator, and the confidence parameter is used to represent the confidence of the control instructions issued by each flight control module, and the confidence parameter is a parameter determined by each flight control module based on its own state and the connection state with the set of sensors;

[0011] The second arbitration module determines the second instruction according to the N sets of to-be-executed motion parameters and the N confidence parameters.

[0012] In an exemplary embodiment, the second arbitration module determines the second instruction according to the N sets of to-be-executed motion parameters and the N confidence parameters, including:

[0013] The second arbitration module determines M sets of to-be-executed motion parameters from the N sets of to-be-executed motion parameters, where each set of to-be-executed motion parameters in the M sets of to-be-executed motion parameters is the second target parameter, and the ratio of M to N is greater than a second predetermined proportional threshold, and M is a positive integer less than or equal to N;

[0014] The second arbitration module determines the M confidence parameters corresponding to the M sets of to-be-executed motion parameters;

[0015] The second arbitration module determines a second confidence parameter with the highest confidence among the M confidence parameters, where the second confidence parameter corresponds to a second set of to-be-executed motion parameters among the M sets of to-be-executed motion parameters;

[0016] The second arbitration module determines, as the second instruction, a control instruction among the N control instructions that indicates the second set of to-be-executed motion parameters and the second confidence parameter.

[0017] In an exemplary embodiment, the method further includes:

[0018] The first arbitration module determines to-be-executed motion parameters and confidence parameters indicated by each of the N control instructions, obtaining N sets of to-be-executed motion parameters and N confidence parameters, where each control instruction corresponds to a set of to-be-executed motion parameters and a confidence parameter, the set of to-be-executed motion parameters is a parameter determined by each flight control module based on acquisition signals of a set of sensors, the set of to-be-executed motion parameters is a motion parameter for controlling the actuator, and the confidence parameter is used to represent the confidence of the control instructions issued by each flight control module, and the confidence parameter is a parameter determined by each flight control module based on its own state and the connection state with the set of sensors;

[0019] The first arbitration module determines M' sets of to-be-executed motion parameters from the N sets of to-be-executed motion parameters, where each set of to-be-executed motion parameters in the M' sets of to-be-executed motion parameters is the first target parameter, and the ratio of M' to N is greater than a first predetermined proportional threshold, and M' is a positive integer less than or equal to N;

[0020] The first arbitration module determines M' confidence parameters corresponding to the M' sets of to-be-executed motion parameters;

[0021] The first arbitration module determines a first confidence parameter with the highest confidence among the M' confidence parameters, where the first confidence parameter corresponds to a first set of to-be-executed motion parameters among the M' sets of to-be-executed motion parameters;

[0022] The first arbitration module determines, as the first instruction, a control instruction among the N control instructions that indicates the first set of to-be-executed motion parameters and the first confidence parameter.

[0023] In an exemplary embodiment, the method further includes:

[0024] When the comparison result indicates that the error between the first target parameter and the second target parameter is less than the preset threshold, the first arbitration module determines the target control instruction according to the first set of to-be-executed motion parameters indicated by the first instruction.

[0025] In an exemplary embodiment, the first arbitration module determines the target control instruction according to the first set of to-be-executed motion parameters indicated by the first instruction, including: the first arbitration module performs a smooth transition process on the first set of to-be-executed motion parameters to obtain a third instruction, and determines the third instruction as the target control instruction, where the target control instruction is used to adjust the current motion parameters of the actuator to the first set of to-be-executed motion parameters within a preset duration; or, the first arbitration module determines the first instruction as the target control instruction;

[0026] The method further includes: the first arbitration module transmits the target control instruction to the relay.

[0027] According to another embodiment of the embodiments of the present application, there is also provided a control device for a flying device, located in the second arbitration module, including:

[0028] A receiving unit, configured to receive N control instructions forwarded by the first arbitration module, where the N control instructions are sent by N flight control modules to the first arbitration module, each flight control module corresponds to one control instruction, and each flight control module among the N flight control modules runs the same flight control program, and N is equal to 1 or a positive integer greater than or equal to 2;

[0029] A first processing unit, configured to determine a second instruction from the N control instructions based on a predetermined rule, and compare the first instruction with the second instruction to obtain a comparison result, where the first instruction is the control instruction determined by the first arbitration module from the N control instructions based on the predetermined rule;

[0030] A second processing unit, configured to cut off the transmission of the control instruction from the first arbitration module to the relay when the comparison result indicates that the error between the first target parameter and the second target parameter is greater than or equal to the preset threshold, and instruct the relay to determine the control instruction corresponding to the target flight control module among the N control instructions as the target control instruction when the relay does not receive a control instruction within a preset duration, where the target flight control module is a specified flight control module among the N flight control modules, the first target parameter is the motion parameter of the actuator of the flying device indicated by the first instruction, the second target parameter is the motion parameter of the actuator of the flying device indicated by the second instruction, and the motion parameter indicated by the target control instruction is used to control the actuator of the flying device.

[0031] According to another embodiment of the present application, a flight device is further provided, including:

[0032] N flight control modules, where N is equal to 1 or a positive integer greater than or equal to 2;

[0033] A first arbitration module communicatively connected to the N flight control modules, the first arbitration module being configured to receive N control instructions and forward them to a second arbitration module, the N control instructions being sent by the N flight control modules, the first arbitration module being set to determine a first instruction from the N control instructions based on a predetermined rule;

[0034] The second arbitration module, communicatively connected to the first arbitration module, the second arbitration module being set to determine a second instruction from the N control instructions based on the predetermined rule, compare the first instruction with the second instruction to obtain a comparison result, and in the case where it is determined that the comparison result indicates that the error between a first target parameter and a second target parameter is greater than or equal to a preset threshold, cut off the transmission of the control instruction from the first arbitration module to the relay, and instruct the relay to determine the control instruction corresponding to the target flight control module among the N control instructions in the case where no control instruction is received within a predetermined time period, where the target flight control module is a designated flight control module among the N flight control modules, the first target parameter is a motion parameter of an actuator of the flight device indicated by the first instruction, the second target parameter is a motion parameter of the actuator of the flight device indicated by the second instruction, and the motion parameter indicated by the target control instruction is used to control the actuator of the flight device;

[0035] The relay, communicatively connected to the target flight control module and the first arbitration module, the relay being configured to receive the target control instruction transmitted by the first arbitration module or the target flight control module;

[0036] The actuator, communicatively connected to the relay, the actuator being set to perform an operation according to the motion parameter indicated by the target control instruction.

[0037] According to another embodiment of the present application, a computer-readable storage medium is further provided, in which a computer program is stored, where the computer program is set to execute the steps in any one of the above method embodiments when running.

[0038] According to another embodiment of the present application, an electronic device is further provided, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0039] Through the present application, the first arbitration module and the second arbitration module respectively determine a first instruction and a second instruction from N control instructions based on a predetermined rule. Among them, the N control instructions are sent by N flight control modules to the first arbitration module and then forwarded by the first arbitration module to the second arbitration module. Each flight control module among the N flight control modules runs the same flight control program. The second arbitration module compares the first instruction with the second instruction to obtain a comparison result. When the comparison result indicates that the error between the first target parameter and the second target parameter is greater than or equal to a preset threshold, the second arbitration module cuts off the transmission of the control instruction from the first arbitration module to the relay, and instructs the relay to determine the control instruction corresponding to the target flight control module as the target control instruction when no control instruction is received within a predetermined time period. Among them, the first target parameter is the motion parameter of the actuator of the flight device indicated by the first instruction, and the second target parameter is the motion parameter of the actuator of the flight device indicated by the second instruction. The motion parameter indicated by the above target control instruction is used to control the actuator of the flight device. That is, through the monitoring of the first arbitration module by the second arbitration module, in the case where the first arbitration module itself may have a fault or error, it can be discovered and the transmission of the error instruction by the first arbitration module can be cut off in time, avoiding the problem that in the flight control system of the related art, only one arbitration module is relied on, and when this one arbitration module has a fault, the error cannot be discovered and the transmission of the error instruction cannot be cut off, resulting in the problem that the safety and reliability of the flight control system are difficult to guarantee. Therefore, the problem of low safety of the flight control system in the related art can be solved, and the effect of improving the safety of the flight control system can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a hardware structure block diagram of a terminal device for the control method of a flight device according to an embodiment of the present application;

[0041] Figure 2 is a flowchart of the control method of a flight device according to an embodiment of the present application;

[0042] Figure 3 is an architecture diagram of a flight control system according to an embodiment of the present application;

[0043] Figure 4 is a schematic diagram of sensor configuration according to an embodiment of the present application;

[0044] Figure 5 is a schematic diagram of control instruction transmission according to an embodiment of the present application;

[0045] Figure 6 is a structural block diagram of a control device of a flying device according to an embodiment of the present application;

[0046] Figure 7 is a structural block diagram of a flying device according to an embodiment of the present application. Detailed Embodiments

[0047] Embodiments of the present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0048] It should be noted that the terms "first", "second", etc. in the specification, claims and the above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence.

[0049] The method embodiments provided in the embodiments of the present application can be executed in a drone, an aircraft or a similar terminal device. Taking running on a drone as an example, Figure 1 is a hardware structural block diagram of a terminal device of a control method of a flying device according to an embodiment of the present application. As Figure 1 shown, the drone includes a fuselage 102, propellers 104, and may further include one or more ( Figure 1 only one is shown in Figure 1 ) a processor 106 (the processor 106 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 108 for storing data. Among them, the above-mentioned drone may further include a transmission device 110 for communication functions and one or more camera devices 112 ( Figure 1 only one is shown in Figure 1 ). Those of ordinary skill in the art can understand that Figure 1 the structure shown is only schematic and does not limit the structure of the above-mentioned mobile terminal. For example, the drone may further include more or fewer components than those shown in

[0050]

[0051] The transmission device 110 is used to receive or send data via a network. In one example, the transmission device 110 may be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0052] In this embodiment, a control method for a flying device is provided. Figure 2 It is a flowchart of the control method for the flying device according to the embodiment of the present application, as Figure 2 shown, the process includes the following steps:

[0053] Step S202, the second arbitration module receives N control commands forwarded by the first arbitration module, where the N control commands are sent by N flight control modules to the first arbitration module, each flight control module corresponds to one control command, and each flight control module among the N flight control modules runs the same flight control program, and N is equal to 1 or a positive integer greater than or equal to 2;

[0054] Step S204, the second arbitration module determines a second command from the N control commands based on a predetermined rule, and compares the first command with the second command to obtain a comparison result, where the first command is the control command determined by the first arbitration module from the N control commands based on the predetermined rule;

[0055] Step S206, when the comparison result indicates that the error between the first target parameter and the second target parameter is greater than or equal to a preset threshold, the second arbitration module cuts off the control command transmitted by the first arbitration module to the relay, and instructs the relay to determine the control command corresponding to the target flight control module among the N control commands when no control command is received within a predetermined duration, where the target flight control module is a specified flight control module among the N flight control modules, the first target parameter is the motion parameter of the actuator of the flying device indicated by the first command, the second target parameter is the motion parameter of the actuator of the flying device indicated by the second command, and the motion parameter indicated by the target control command is used to control the actuator of the flying device.

[0056] Through the above steps, the first arbitration module and the second arbitration module respectively determine the first instruction and the second instruction from N control instructions based on a predetermined rule, where the N control instructions are sent by N flight control modules to the first arbitration module and forwarded by the first arbitration module to the second arbitration module. Each of the N flight control modules runs the same flight control program. The second arbitration module compares the first instruction with the second instruction to obtain a comparison result. When the comparison result indicates that the error between the first target parameter and the second target parameter is greater than or equal to a preset threshold, the second arbitration module cuts off the control instruction transmitted by the first arbitration module to the relay, and instructs the relay to determine the control instruction corresponding to the target flight control module as the target control instruction when no control instruction is received within a predetermined duration. Here, the first target parameter is the motion parameter of the actuator of the flight device indicated by the first instruction, and the second target parameter is the motion parameter of the actuator of the flight device indicated by the second instruction. The motion parameter indicated by the above target control instruction is used to control the actuator of the flight device. That is, through the monitoring of the first arbitration module by the second arbitration module, in the case where the first arbitration module itself may have faults or errors, they can be discovered and the first arbitration module can be timely cut off from transmitting error instructions, avoiding the problem in the flight control system of the related art that only relying on one arbitration module, when this one arbitration module has a fault, it is impossible to discover the error and cut off the transmission of the error instruction, resulting in the problem that the safety and reliability of the flight control system are difficult to guarantee. Therefore, it can solve the problem of low safety of the flight control system in the related art and achieve the effect of improving the safety of the flight control system.

[0057] Among them, the execution subject of the above steps can be a processor, or a controller, or a module, such as the above second arbitration module, or a processor with human-computer interaction capabilities configured on a storage device, or a processing device or processing unit with similar processing capabilities, etc., but not limited thereto.

[0058] Optionally, in this embodiment, the above method for determining the control instruction can be but is not limited to being applied to products or programs with flight device control functions. For example: the central processor of a flight device, the remote control end of a flight device, or programs deployed on these products.

[0059] In this embodiment, the flight device can be but is not limited to any type of aircraft that allows signal reception functions. For example: unmanned aerial vehicles, traditional airplanes, etc.

[0060] In the technical solution provided in the above step S202, the first arbitration module receives N control instructions sent by N flight control modules and forwards the N control instructions to the second arbitration module. Among them, each flight control module sends one control instruction. In practical applications, the control instruction can be an instruction formed by each flight control module based on the acquisition signals of a set of sensors. The control instruction can be an instruction for controlling the actuators of the flying device. For example, it can control the actuators to adjust the motion parameters (such as rotation speed, or angle, or other parameters). Optionally, in each of the above N flight control modules, the same flight control program can be run, or different flight control programs can be run; optionally, each of the above flight control modules can acquire the acquisition signals of the same set of sensors, or can acquire the acquisition signals of different sensors;

[0061] In the technical solution provided in the above step S204, the second arbitration module can determine the second instruction from the N control instructions based on a predetermined rule, and the first arbitration module can also determine the first instruction from the N control instructions based on a predetermined rule. For example, the first arbitration module can compare the N control instructions pairwise to exclude the minority. It can compare whether the motion parameters (such as rotation speed, or angle, or other parameters) of the actuators of the flying device indicated by each control instruction are the same (or the error is within a predetermined range). Taking N = 3 (or other values) as an example, when instruction 1 and instruction 2 are the same among the 3 control instructions, and instruction 3 is different from instruction 1 and 2, then instruction 3 can be excluded. Optionally, in practical applications, it can be determined according to the ratio of the instructions (such as M instructions are the same, M ≤ N) with the same motion parameters of the actuators indicated in the N instructions. For example, if more than 80% (or other ratio) of the instructions in the N instructions indicate the same motion parameters of the actuators, then the instructions different from them can be excluded; when there are M instructions with the same motion parameters of the actuators indicated in the N instructions, further, the confidence levels of these M instructions can be compared, and the instruction with the highest confidence level can be selected as the above first instruction. Optionally, the instruction with the highest confidence level can be one or more instructions; similarly, the second arbitration module can also determine the second instruction from the N control instructions according to the above method.

[0062] Optionally, in this embodiment, the confidence parameter can be determined by each flight control module based on its own state and / or flight equipment and the connection state with a set of sensors, and / or can also be determined by each flight control module in combination with the states of various systems of the flight equipment obtained. For example, the above set of sensors includes 3 sensors. It is possible that some flight control modules are all connected or communicate normally with the 3 sensors, or there may be some flight control modules that are only connected or communicate normally with 1 or 2 of the sensors, or some flight control modules may have faults or problems themselves. The above factors may all affect the confidence parameters of each flight control module. Each flight control module can determine its own confidence parameter according to the above factors. The confidence parameter can be divided into multiple levels. For example, most preferred, second preferred, not preferred, and unavailable, or first priority, second priority, third priority, and fourth priority, and the first priority > the second priority > the third priority > the fourth priority. In practical applications, the confidence parameters of each flight control module can be the same, all being the most preferred, or the confidence parameters of each flight control module can be different, that is, corresponding to different priorities respectively.

[0063] In the technical solution provided in step S204 above, the working state of the positioning system can be detected by, but not limited to, the positioning position information. The positioning position information can be obtained by, but not limited to, the positioning system, and the working state of the positioning system can be determined by, but not limited to, the obtained positioning position information. For example: When the target flight equipment can stably obtain the positioning position information from the positioning system within a certain period of time, it is determined that the working state of the positioning system is the normal state. Or when the acquisition of the positioning position information fails or the accuracy of the positioning position information is relatively low, it is determined that the working state of the positioning system is the abnormal state.

[0064] Optionally, in this embodiment, the working state of the positioning system being normal or abnormal can be determined by detecting the positioning position information of the target flight equipment through multiple dimensions. For example: Based on the persistence of obtaining the positioning position information, when the positioning system can continuously obtain the positioning position information within a period of time, it is determined that the working state of the positioning system is the normal state, otherwise, it is determined that the working state of the positioning system is the abnormal state. Or based on the accuracy of the obtained positioning position information, when the accuracy of the obtained positioning position information is relatively low (such as lower than a certain threshold), it is determined that the working state of the positioning system is the abnormal state. When the accuracy of the obtained positioning position information is relatively high (such as higher than the above certain threshold), it is determined that the working state of the positioning system is the normal state.

[0065] In the technical solution provided in step S206 above, the first target parameter is the motion parameter of the actuator indicated by the first instruction, and the second target parameter is the motion parameter of the actuator indicated by the second instruction. For example, the first target parameter is the motor speed and / or the servo motion parameter, and the second target parameter is the motor speed and / or the servo motion parameter. When the error between the first target parameter and the second target parameter is greater than or equal to a preset threshold, it is considered that the first instruction determined by the first arbitration module may be incorrect. At this time, the second arbitration module promptly cuts off the control instruction transmitted by the first arbitration module to the relay. For example, when the error between the motor speed indicated by the first target parameter and the motor speed indicated by the second target parameter is greater than or equal to the preset threshold, and the preset threshold can be 10% (or 20%, or others) of the maximum motor speed, it is considered that the first instruction determined by the above first arbitration module is incorrect. At this time, the second arbitration module cuts off the first instruction transmitted by the first arbitration module to the relay, achieving the purpose of discovering errors and promptly cutting off the transmission of incorrect instructions.

[0066] In the above embodiment, through the monitoring of the first arbitration module by the second arbitration module, in the case where the first arbitration module itself may have a fault or error, it can be discovered and the first arbitration module can be promptly cut off from transmitting incorrect instructions, avoiding the problem in the related flight control system that only relying on one arbitration module, when this one arbitration module has a fault, it is impossible to discover errors and cut off the transmission of incorrect instructions, resulting in the difficulty in guaranteeing the safety and reliability of the flight control system. Therefore, the problem of low safety of the flight control system existing in the related technology can be solved, achieving the effect of improving the safety of the flight control system.

[0067] In an exemplary embodiment, the second arbitration module determines the second instruction from the N control instructions based on a predetermined rule, including: the second arbitration module determines the to-be-executed motion parameter and the confidence parameter indicated by each of the N control instructions, obtaining N sets of to-be-executed motion parameters and N confidence parameters, where each control instruction corresponds to a set of to-be-executed motion parameters and a confidence parameter, the set of to-be-executed motion parameters is the parameter determined by each flight control module based on the acquisition signals of a set of sensors, the set of to-be-executed motion parameters is the motion parameter for controlling the actuator, and the confidence parameter is used to represent the confidence of the control instructions issued by each flight control module, and the confidence parameter is the parameter determined by each flight control module based on its own state and the connection state with the set of sensors; the second arbitration module determines the second instruction according to the N sets of to-be-executed motion parameters and the N confidence parameters.

[0068] In this embodiment, the second arbitration module can determine the second instruction from N control instructions in the following manner: Determine the to-be-executed motion parameters and confidence parameters indicated by each control instruction among the N control instructions to obtain N sets of to-be-executed motion parameters and N confidence parameters. That is, each of the N flight control modules issues a control instruction, and each control instruction corresponds to a set of to-be-executed motion parameters and a confidence parameter. For example, each flight control module can determine a set of to-be-executed motion parameters for controlling the actuator based on the acquisition signals of a set of sensors, and determine a confidence parameter based on the state of each flight control module itself and the connection state with a set of sensors. A control instruction is formed based on the determined set of to-be-executed motion parameters and a confidence parameter and sent to the first arbitration module, which forwards it to the second arbitration module. In this way, N sets of to-be-executed motion parameters and N confidence parameters can be obtained. The second arbitration module can determine the second instruction according to the N sets of to-be-executed motion parameters and N confidence parameters. For example, if there are multiple sets (e.g., M sets) of the N sets of to-be-executed motion parameters that are the same (or the error is within a predetermined range) and only a few are different, then the few different to-be-executed motion parameters can be excluded, and then the control instruction (which can be one or more) with the highest confidence among the M control instructions corresponding to the same M sets of to-be-executed motion parameters can be selected as the second instruction, or in other words, the most reliable control instruction among the N control instructions is selected as the second instruction. Through this embodiment, the purpose of determining the second instruction based on the to-be-executed motion parameters and confidence parameters indicated by each control instruction among the N control instructions is achieved.

[0069] In an exemplary embodiment, the second arbitration module determines the second instruction according to the N sets of to-be-executed motion parameters and the N confidence parameters, including: The second arbitration module determines M sets of to-be-executed motion parameters from the N sets of to-be-executed motion parameters, where each set of to-be-executed motion parameters in the M sets of to-be-executed motion parameters is the second target parameter, and the ratio of M to N is greater than a second predetermined ratio threshold, and M is a positive integer less than or equal to N; The second arbitration module determines the M confidence parameters corresponding to the M sets of to-be-executed motion parameters; The second arbitration module determines the second confidence parameter with the highest confidence among the M confidence parameters, where the second confidence parameter corresponds to the second set of to-be-executed motion parameters among the M sets of to-be-executed motion parameters; The second arbitration module determines the control instruction that indicates the second set of to-be-executed motion parameters and the second confidence parameter among the N control instructions as the second instruction.

[0070] In this embodiment, M sets of to-be-executed motion parameters can be selected from N sets of to-be-executed motion parameters. Each set of to-be-executed motion parameters in these M sets of to-be-executed motion parameters is the same (or the error is within a predetermined range), and the ratio of M to N is greater than a second predetermined proportional threshold (such as 70%, or 80%, or others). That is, multiple sets of identical to-be-executed motion parameters are selected from N sets of to-be-executed motion parameters, and a few different (or significantly different) to-be-executed motion parameters are excluded. Because if the to-be-executed motion parameters indicated by a certain control instruction K (such as the control instruction issued by flight control module K) are significantly different from the to-be-executed motion parameters indicated by other control instructions (such as exceeding the predetermined range), then this control instruction K is very likely to be incorrect, or there may be a fault in flight control module K, etc. Since each control instruction corresponds to a set of to-be-executed motion parameters and a confidence parameter, M control instructions (issued by M flight control modules respectively) corresponding to the above M sets of to-be-executed motion parameters, and the confidence parameter corresponding to each of the M flight control modules can be determined. The one with the highest confidence is selected from the M confidence parameters. For example, the one with the highest confidence among the M confidence parameters is the second confidence parameter. The second set of to-be-executed motion parameters corresponds to the second confidence parameter among the M sets of to-be-executed motion parameters. Of course, the one with the highest confidence can be one or more. Optionally, the confidence parameters can be divided into multiple levels. For example, most preferred, second preferred, not preferred, and unavailable, or first priority, second priority, third priority, and fourth priority, and first priority > second priority > third priority > fourth priority. In this way, the control instruction whose motion parameters of the executing mechanism indicated in the N control instructions are the second set of to-be-executed motion parameters and whose confidence parameter is the second confidence parameter can be determined as the second instruction. Or rather, the second arbitration module selects the most reliable control instruction from the N control instructions as the second instruction. Through this embodiment, the purpose of selecting the most reliable control instruction from N control instructions is achieved, and the purpose of excluding the control instructions of the flight control modules with faults or low confidence in the N flight control modules can also be achieved.

[0071] In an exemplary embodiment, the method further includes: the first arbitration module determines the to-be-executed motion parameters and confidence parameters indicated by each of the N control instructions, obtaining N sets of to-be-executed motion parameters and N confidence parameters, where each of the control instructions corresponds to a set of to-be-executed motion parameters and a confidence parameter, the set of to-be-executed motion parameters is the parameters determined by each of the flight control modules based on the acquisition signals of a set of sensors, the set of to-be-executed motion parameters is the motion parameters for controlling the actuator, and the confidence parameter is used to represent the confidence of the control instructions issued by each of the flight control modules, and the confidence parameter is the parameter determined by each of the flight control modules based on its own state and the connection state with the set of sensors; the first arbitration module determines M' sets of to-be-executed motion parameters from the N sets of to-be-executed motion parameters, where each set of to-be-executed motion parameters in the M' sets of to-be-executed motion parameters is the first target parameter, and the ratio of M' to N is greater than a first predetermined proportional threshold, and M' is a positive integer less than or equal to N; the first arbitration module determines the M' confidence parameters corresponding to the M' sets of to-be-executed motion parameters; the first arbitration module determines the first confidence parameter with the highest confidence among the M' confidence parameters, where the first confidence parameter corresponds to the first set of to-be-executed motion parameters among the M' sets of to-be-executed motion parameters; the first arbitration module determines the control instruction indicating the first set of to-be-executed motion parameters and the first confidence parameter among the N control instructions as the first instruction.

[0072] In this embodiment, the first arbitration module can determine the first instruction from the N control instructions in the same or similar manner as the second arbitration module in the foregoing embodiment. In this way, the second arbitration module can compare the first instruction with the second instruction. If they are the same or similar, that is, the error between the motion parameters for controlling the actuator indicated by the first instruction (such as the foregoing first target parameter) and the motion parameters for controlling the actuator indicated by the second instruction (such as the foregoing second target parameter) is within the allowable range (or less than the preset threshold), it is considered that the first instruction determined by the first arbitration module is reliable, and the first arbitration module is allowed to transmit the first instruction to the relay. However, if the above error is greater than or equal to the preset threshold, it is considered that the first instruction determined by the first arbitration module may be incorrect. For example, it may be caused by a problem with the first arbitration module itself. At this time, through the above comparison, the second arbitration module can discover the error of the first arbitration module and cut off the transmission of the control instruction from the first arbitration module to the relay in a timely manner.

[0073] In an exemplary embodiment, the method further includes: when the comparison result indicates that the error between the first target parameter and the second target parameter is less than the preset threshold, the first arbitration module determines the target control instruction according to the first set of to-be-executed motion parameters indicated by the first instruction.

[0074] In this embodiment, when the comparison result of the first instruction and the second instruction indicates that the error between the first target parameter and the second target parameter is less than the preset threshold, the second arbitration module will not send a cut-off signal to the first arbitration module, that is, it will not cut off the control instruction transmitted by the first arbitration module to the relay. In this way, the first arbitration module can determine the target control instruction according to the first set of to-be-executed motion parameters indicated by the first instruction, and can control the flight device to execute operations according to the motion parameters indicated by the target control instruction through the relay. That is, the target control instruction is used to instruct the actuator to execute operations according to the first set of to-be-executed motion parameters.

[0075] In an exemplary embodiment, the first arbitration module determines the target control instruction according to the first set of to-be-executed motion parameters indicated by the first instruction, including: the first arbitration module performs a smooth transition process on the first set of to-be-executed motion parameters to obtain a third instruction, and determines the third instruction as the target control instruction, where the target control instruction is used to adjust the current motion parameter of the actuator to the first set of to-be-executed motion parameters within a preset duration; or, the first arbitration module determines the first instruction as the target control instruction; the method further includes: the first arbitration module transmits the target control instruction to the relay.

[0076] In this embodiment, when the first arbitration module transmits the target control instruction to the relay, it can perform a smooth transition process on the first set of to-be-executed motion parameters. For example, the current motion parameter of the actuator is the rudder surface deflected downward (-30°), and the first instruction indicates that the rudder surface is deflected upward (30°). At this time, through the above smooth transition process, the actuator can be controlled to adjust the rudder surface from -30° to 30° within 2s (or other duration). Through this embodiment, after selecting the instruction, a smooth transition process (or called a fade-out process) is performed to prevent the signal from mutating during the instruction conversion, achieving the purpose of improving the reliability of the flight control system.

[0077] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The present invention will be specifically described in combination with the embodiments.

[0078] 1. Flight control system architecture:

[0079] Figure 3It is the architecture diagram of the flight control system according to the embodiments of the present application. The system includes: three flight control modules (such as Figure 3 the middle flight control 1, flight control 2, and flight control 3), an instruction branch redundancy arbitration module (corresponding to the aforementioned first arbitration module, such as Figure 3 the instruction branch in Figure 3 ), a monitoring branch arbitration module (corresponding to the aforementioned second arbitration module, such as

[0080] the monitoring branch in

[0081] ), and a relay.

[0082] The three independent flight control modules are hot backups to each other, running the flight control program synchronously. The generated control instructions and their respective confidence levels (corresponding to the aforementioned confidence parameters) are sent to the instruction branch redundancy arbitration module (corresponding to the aforementioned first arbitration module). The redundancy arbitration modules in the instruction branch and the monitoring branch contain an instruction monitoring module, an instruction selection module, and an instruction attenuation module for the three flight controls. At the same time, the monitoring branch runs the same program as the instruction branch to monitor the correctness of the instruction monitoring. When an error occurs, the output of the instruction branch is cut off in a timely manner. The relay will select the output of flight control 1 (corresponding to the aforementioned target flight control module) as the output when it does not receive the instruction from the instruction branch redundancy arbitration module. Figure 4 It is the schematic diagram of the sensor configuration according to the embodiments of the present application. Figure 4 Taking 3 (it can be other quantities) sensors as an example, the sensors and the flight controls adopt a full cross-intertransmission structure. Each flight control can receive the complete redundant sensor information. The redundant sensor information is monitored, voted on, or fused within each flight control module. The advantage of this solution is that the availability is improved. There are more reusable logics based on the original single-channel flight control and it has scalability. It can be used from one redundancy to three redundancies of the flight control.

[0083] 3. Redundancy arbitration module solution

[0084] The redundancy arbitration module is the monitoring of multiple signals with high real-time requirements. Usually, the solutions adopted are complex programmable logic devices (CPLD) or field programmable gate arrays (FPGA). The redundancy arbitration module receives the control instructions and their respective confidence levels sent by the three flight controls. First, it monitors the instructions, compares the instructions pairwise to check if there is an out-of-tolerance situation. When there is a 2-to-1 situation, the minority is excluded. Then, according to the monitoring results and the confidence levels of each flight control, it selects the instructions. The selected instructions pass through an attenuation module to prevent signal mutations during instruction conversion, and finally are output to the relay. The process of the redundancy arbitration module receiving the control instructions from the flight control module and outputting the target control instructions to the relay is as Figure 5 shown. Figure 5Schematic diagram of control instruction transmission according to an embodiment of the present application.

[0085] 4. "Instruction + Monitoring" Redundancy Arbitration Scheme

[0086] For the instruction branch (corresponding to the aforementioned first arbitration module) and the monitoring branch (corresponding to the aforementioned second arbitration module) of the redundancy arbitration module, the same hardware is selected to run the same software. The instruction branch forwards and shares the received flight control instructions to the monitoring branch. Both branches calculate simultaneously, and then the monitoring branch determines whether the calculation results of the two are within the error range (corresponding to being less than the preset threshold) mentioned above. If within the range, it indicates that the operation is correct and the instruction can be normally output. If the comparison between the two exceeds the tolerance, the monitoring branch can cut off the output of the instruction branch to ensure that incorrect instructions will not be transmitted downward and the failure will not spread.

[0087] Through the embodiment of the present application, a triple-redundancy flight control system architecture is provided. To solve the fault mode in the flight control system architecture of 3 flight control working channels + 1 redundancy arbitration channel where errors in the redundancy arbitration module cannot be detected, a monitoring channel (corresponding to the aforementioned second arbitration module) is added to the redundancy arbitration module to improve the integrity of the redundancy arbitration module, enabling errors in the redundancy arbitration module to be detected and cut off in a timely manner, effectively enhancing the system security in terms of both integrity and availability. On the other hand, this architecture performs instruction monitoring and instruction selection within the redundancy arbitration module, has scalability, and is also applicable to cases with only one or two flight control modules.

[0088] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases, the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions to enable a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0089] In this embodiment, a control device for a flight device is also provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" or "unit" can be a combination of software and / or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation by hardware, or a combination of software and hardware is also possible and contemplated.

[0090] Figure 6 Block diagram of the control device for a flight device according to an embodiment of the present application, asFigure 6 As shown, the device includes:

[0091] A receiving unit 602, configured to receive N control instructions forwarded by a first arbitration module, where the N control instructions are sent by N flight control modules to the first arbitration module, each flight control module corresponds to one control instruction, and each flight control module among the N flight control modules runs the same flight control program, and N is equal to 1 or a positive integer greater than or equal to 2;

[0092] A first processing unit 604, configured to determine a second instruction from the N control instructions based on a predetermined rule, and compare the first instruction with the second instruction to obtain a comparison result, where the first instruction is the control instruction determined by the first arbitration module from the N control instructions based on the predetermined rule;

[0093] A second processing unit 606, configured to cut off the first arbitration module from transmitting a control instruction to a relay when the comparison result indicates that the error between a first target parameter and a second target parameter is greater than or equal to a preset threshold, and instruct the relay to determine the control instruction corresponding to a target flight control module among the N control instructions as a target control instruction when the relay does not receive a control instruction within a predetermined duration, where the target flight control module is a specified flight control module among the N flight control modules, the first target parameter is a motion parameter of an actuator of the flying device indicated by the first instruction, the second target parameter is a motion parameter of the actuator of the flying device indicated by the second instruction, and the motion parameter indicated by the target control instruction is used to control the actuator of the flying device.

[0094] In an exemplary embodiment, the above first processing unit 604 includes:

[0095] A first determination subunit, configured to determine a to-be-executed motion parameter and a confidence parameter indicated by each of the N control instructions, to obtain N sets of to-be-executed motion parameters and N confidence parameters, where each control instruction corresponds to a set of to-be-executed motion parameters and a confidence parameter, the set of to-be-executed motion parameters is a parameter determined by each flight control module based on a set of acquisition signals of a set of sensors, the set of to-be-executed motion parameters is a motion parameter for controlling the actuator, and the confidence parameter is used to represent the confidence of the control instruction issued by each flight control module, and the confidence parameter is a parameter determined by each flight control module based on its own state and the connection state with the set of sensors;

[0096] A second determination subunit, configured to determine the second instruction according to the N sets of to-be-executed motion parameters and the N confidence parameters.

[0097] In an exemplary embodiment, the second determination subunit described above includes:

[0098] A first determination sub-module, configured to determine M sets of to-be-executed motion parameters from the N sets of to-be-executed motion parameters, where each set of to-be-executed motion parameters in the M sets of to-be-executed motion parameters is the second target parameter, and the ratio of M to N is greater than a second predetermined proportional threshold, and M is a positive integer less than or equal to N;

[0099] A second determination sub-module, configured to determine M confidence parameters corresponding to the M sets of to-be-executed motion parameters;

[0100] A third determination sub-module, configured to determine a second confidence parameter with the highest confidence among the M confidence parameters, where the second confidence parameter corresponds to the second set of to-be-executed motion parameters in the M sets of to-be-executed motion parameters;

[0101] A fourth determination sub-module, configured to determine, as the second instruction, the control instruction among the N control instructions that indicates the second set of to-be-executed motion parameters and the second confidence parameter.

[0102] In an exemplary embodiment, the above device further includes:

[0103] A first determination unit, configured to determine, through the first arbitration module, the to-be-executed motion parameters and confidence parameters indicated by each of the N control instructions, to obtain N sets of to-be-executed motion parameters and N confidence parameters, where each control instruction corresponds to a set of to-be-executed motion parameters and a confidence parameter, the set of to-be-executed motion parameters is a parameter determined by each flight control module based on the acquisition signals of a set of sensors, the set of to-be-executed motion parameters is a motion parameter for controlling the actuator, and the confidence parameter is used to represent the confidence of the control instructions issued by each flight control module, and the confidence parameter is a parameter determined by each flight control module based on its own state and the connection state with the set of sensors;

[0104] A second determination unit, configured to determine, through the first arbitration module, M' sets of to-be-executed motion parameters from the N sets of to-be-executed motion parameters, where each set of to-be-executed motion parameters in the M' sets of to-be-executed motion parameters is the first target parameter, and the ratio of M' to N is greater than a first predetermined proportional threshold, and M' is a positive integer less than or equal to N;

[0105] A third determination unit, configured to determine, through the first arbitration module, M' confidence parameters corresponding to the M' sets of to-be-executed motion parameters;

[0106] A fourth determination unit, configured to determine, by using the first arbitration module, a first confidence parameter with the highest confidence among the M' confidence parameters, where the first confidence parameter corresponds to a first set of to-be-executed motion parameters among the M' sets of to-be-executed motion parameters;

[0107] A fifth determination unit, configured to determine, by using the first arbitration module, a control instruction that indicates the first set of to-be-executed motion parameters and the first confidence parameter among the N control instructions as the first instruction.

[0108] In an exemplary embodiment, the above device further includes:

[0109] A sixth determination unit, configured to, when the comparison result indicates that an error between the first target parameter and the second target parameter is less than the preset threshold, determine, by using the first arbitration module, a target control instruction according to the first set of to-be-executed motion parameters indicated by the first instruction.

[0110] In an exemplary embodiment, the above sixth determination unit includes: a processing subunit, configured to perform a smooth transition process on the first set of to-be-executed motion parameters by using the first arbitration module to obtain a third instruction, and determine the third instruction as the target control instruction, where the target control instruction is used to adjust the current motion parameters of the actuator to the first set of to-be-executed motion parameters within a preset duration; or a third determination subunit, configured to determine, by using the first arbitration module, the first instruction as the target control instruction;

[0111] The above device further includes: a transmission unit, configured to transmit the target control instruction to the relay by using the first arbitration module.

[0112] It should be noted that the above-mentioned various modules or units can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited thereto: the above modules are all located in the same processor; or the above-mentioned various modules or units are respectively located in different processors in any combination form.

[0113] In this embodiment, a flying device is further provided. Figure 7 It is a structural block diagram of a flying device according to an embodiment of the present application, including:

[0114] N flight control modules, where N is equal to 1 or a positive integer greater than or equal to 2;

[0115] The first arbitration module is communicatively connected to the N flight control modules. The first arbitration module is configured to receive N control instructions sent by the N flight control modules and forward them to the second arbitration module. The first arbitration module is set to determine a first instruction from the N control instructions based on a predetermined rule;

[0116] The second arbitration module is communicatively connected to the first arbitration module. The second arbitration module is set to determine a second instruction from the N control instructions based on the predetermined rule, compare the first instruction with the second instruction to obtain a comparison result, and in the case where it is determined that the error between the first target parameter and the second target parameter indicated by the comparison result is greater than or equal to a preset threshold, cut off the transmission of the control instruction from the first arbitration module to the relay, and instruct the relay to determine the control instruction corresponding to the target flight control module among the N control instructions in the case where no control instruction is received within a predetermined duration. Wherein, the target flight control module is a specified flight control module among the N flight control modules, the first target parameter is the motion parameter of the actuator of the flying device indicated by the first instruction, the second target parameter is the motion parameter of the actuator of the flying device indicated by the second instruction, and the motion parameter indicated by the target control instruction is used to control the actuator of the flying device;

[0117] The relay is communicatively connected to the target flight control module and the first arbitration module. The relay is configured to receive the target control instruction transmitted by the first arbitration module or the target flight control module;

[0118] The actuator is communicatively connected to the relay. The actuator is set to perform an operation according to the motion parameter indicated by the target control instruction.

[0119] In practical applications, the above-mentioned flying device may further include other modules or controllers, etc.

[0120] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. Wherein, the computer program is set to execute the steps in any one of the above method embodiments when running.

[0121] In this embodiment, the above computer-readable storage medium may be set to store a computer program for executing the following steps:

[0122] S1. The second arbitration module receives N control instructions forwarded by the first arbitration module. Among them, the N control instructions are sent by N flight control modules to the first arbitration module. Each flight control module corresponds to one control instruction. Each flight control module among the N flight control modules runs the same flight control program. N is equal to 1 or a positive integer greater than or equal to 2;

[0123] S2. The second arbitration module determines a second instruction from the N control instructions based on a predetermined rule, and compares the first instruction with the second instruction to obtain a comparison result. Among them, the first instruction is the control instruction determined by the first arbitration module from the N control instructions based on the predetermined rule;

[0124] S3. In the case where the comparison result indicates that the error between the first target parameter and the second target parameter is greater than or equal to a preset threshold, the second arbitration module cuts off the first arbitration module from transmitting the control instruction to the relay, and instructs the relay to determine the control instruction corresponding to the target flight control module among the N control instructions in the case where no control instruction is received within a predetermined time length. Among them, the target flight control module is a specified flight control module among the N flight control modules. The first target parameter is the motion parameter of the actuator of the flight device indicated by the first instruction. The second target parameter is the motion parameter of the actuator of the flight device indicated by the second instruction. The motion parameter indicated by the target control instruction is used to control the actuator of the flight device.

[0125] In an exemplary embodiment, the above computer-readable storage medium may include, but is not limited to: USB flash drive, read-only memory (ROM for short), random access memory (RAM for short), mobile hard disk, magnetic disk or optical disc, etc., various media that can store computer programs.

[0126] An embodiment of the present application also provides an electronic device, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0127] In an exemplary embodiment, the above electronic device may further include a transmission device and an input / output device. Among them, the transmission device is connected to the above processor, and the input / output device is connected to the above processor.

[0128] In an exemplary embodiment, the above processor may be configured to execute the following steps through a computer program:

[0129] S1. The second arbitration module receives N control instructions forwarded by the first arbitration module. The N control instructions are sent by N flight control modules to the first arbitration module. Each flight control module corresponds to one control instruction. All the flight control modules among the N flight control modules run the same flight control program. N is equal to 1 or a positive integer greater than or equal to 2.

[0130] S2. The second arbitration module determines a second instruction from the N control instructions based on a predetermined rule, and compares the first instruction with the second instruction to obtain a comparison result. The first instruction is the control instruction determined by the first arbitration module from the N control instructions based on the predetermined rule.

[0131] S3. When the comparison result indicates that the error between the first target parameter and the second target parameter is greater than or equal to a preset threshold, the second arbitration module cuts off the transmission of the control instruction from the first arbitration module to the relay, and instructs the relay to determine the control instruction corresponding to the target flight control module among the N control instructions when no control instruction is received within a predetermined duration. The target flight control module is a specified flight control module among the N flight control modules. The first target parameter is the motion parameter of the actuator of the flight device indicated by the first instruction. The second target parameter is the motion parameter of the actuator of the flight device indicated by the second instruction. The motion parameter indicated by the target control instruction is used to control the actuator of the flight device.

[0132] Specific examples in this embodiment may refer to the examples described in the above embodiments and exemplary embodiments, and will not be elaborated here.

[0133] Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present application can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. They can be implemented by program codes executable by the computing device. Thus, they can be stored in a storage device and executed by the computing device. And in some cases, the steps shown or described can be executed in a different order from here, or they can be separately made into individual integrated circuit modules, or multiple modules or steps among them can be made into a single integrated circuit module to implement. In this way, the present application is not limited to any specific combination of hardware and software.

[0134] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a flying device, characterized in that, it includes: The second arbitration module receives N control instructions forwarded by the first arbitration module, where the N control instructions are sent to the first arbitration module by N flight control modules, each flight control module corresponds to one control instruction, and each flight control module among the N flight control modules runs the same flight control program, and N is equal to 1 or a positive integer greater than or equal to 2; The second arbitration module determines a second instruction from the N control instructions based on a predetermined rule, and compares the first instruction with the second instruction to obtain a comparison result, where the first instruction is the control instruction determined by the first arbitration module from the N control instructions based on the predetermined rule; In the case where the comparison result indicates that the error between the first target parameter and the second target parameter is greater than or equal to a preset threshold, the second arbitration module cuts off the control instruction transmitted by the first arbitration module to the relay, and indicates that when the relay does not receive a control instruction within a predetermined time length, determines the control instruction corresponding to the target flight control module among the N control instructions as the target control instruction, where the target flight control module is a specified flight control module among the N flight control modules, the first target parameter is the motion parameter of the actuator of the flying device indicated by the first instruction, the second target parameter is the motion parameter of the actuator of the flying device indicated by the second instruction, and the motion parameter indicated by the target control instruction is used to control the actuator of the flying device.

2. The method according to claim 1, characterized in that, The second arbitration module determines a second instruction from the N control instructions based on a predetermined rule, including: The second arbitration module determines the to-be-executed motion parameters and confidence parameters indicated by each of the N control instructions, obtaining N sets of to-be-executed motion parameters and N confidence parameters, where each control instruction corresponds to a set of to-be-executed motion parameters and a confidence parameter, the set of to-be-executed motion parameters is the parameter determined by each flight control module based on the acquisition signals of a set of sensors, the set of to-be-executed motion parameters is the motion parameter for controlling the actuator, and the confidence parameter is used to represent the confidence of the control instruction issued by each flight control module, and the confidence parameter is the parameter determined by each flight control module based on its own state and the connection state with the set of sensors; The second arbitration module determines the second instruction according to the N sets of to-be-executed motion parameters and the N confidence parameters.

3. The method according to claim 2, characterized in that, The second arbitration module determines the second instruction according to the N sets of to-be-executed motion parameters and the N confidence parameters, including: The second arbitration module determines M sets of to-be-executed motion parameters from the N sets of to-be-executed motion parameters, where each set of to-be-executed motion parameters in the M sets of to-be-executed motion parameters is the second target parameter, and the ratio of M to N is greater than a second predetermined proportional threshold, and M is a positive integer less than or equal to N; The second arbitration module determines M confidence parameters corresponding to the M sets of to-be-executed motion parameters; The second arbitration module determines a second confidence parameter with the highest confidence among the M confidence parameters, where the second confidence parameter corresponds to the second set of to-be-executed motion parameters in the M sets of to-be-executed motion parameters; The second arbitration module determines the control instruction indicating the second set of to-be-executed motion parameters and the second confidence parameter among the N control instructions as the second instruction.

4. The method according to claim 1, wherein, the method further includes: The first arbitration module determines the to-be-executed motion parameters and confidence parameters indicated by each of the N control instructions, obtaining N sets of to-be-executed motion parameters and N confidence parameters, where each control instruction corresponds to a set of to-be-executed motion parameters and a confidence parameter, the set of to-be-executed motion parameters is the parameter determined by each flight control module based on the acquisition signals of a set of sensors, the set of to-be-executed motion parameters is the motion parameter for controlling the actuator, and the confidence parameter is used to represent the confidence of the control instructions issued by each flight control module, and the confidence parameter is the parameter determined by each flight control module based on its own state and the connection state with the set of sensors; The first arbitration module determines M' sets of to-be-executed motion parameters from the N sets of to-be-executed motion parameters, where each set of to-be-executed motion parameters in the M' sets of to-be-executed motion parameters is the first target parameter, and the ratio of M' to N is greater than a first predetermined proportional threshold, and M' is a positive integer less than or equal to N; The first arbitration module determines M' confidence parameters corresponding to the M' sets of to-be-executed motion parameters; The first arbitration module determines a first confidence parameter with the highest confidence among the M' confidence parameters, where the first confidence parameter corresponds to the first set of to-be-executed motion parameters in the M' sets of to-be-executed motion parameters; The first arbitration module determines the control instruction indicating the first set of to-be-executed motion parameters and the first confidence parameter among the N control instructions as the first instruction.

5. The method according to claim 4, wherein, the method further includes: When the comparison result indicates that the error between the first target parameter and the second target parameter is less than the preset threshold, the first arbitration module determines the target control instruction according to the first set of to-be-executed motion parameters indicated by the first instruction.

6. The method according to claim 5, wherein, The first arbitration module determines the target control instruction according to the first set of to-be-executed motion parameters indicated by the first instruction, including: the first arbitration module performs a smooth transition process on the first set of to-be-executed motion parameters to obtain a third instruction, and determines the third instruction as the target control instruction, where the target control instruction is used to adjust the current motion parameters of the actuator to the first set of to-be-executed motion parameters within a preset time period; or, the first arbitration module determines the first instruction as the target control instruction; The method further includes: the first arbitration module transmits the target control instruction to the relay.

7. A control device for a flying device, characterized in that, being located in a second arbitration module, including: a receiving unit, configured to receive N control instructions forwarded by a first arbitration module, where the N control instructions are sent by N flight control modules to the first arbitration module, each flight control module corresponds to one control instruction, and each of the N flight control modules runs the same flight control program, and N is equal to 1 or a positive integer greater than or equal to 2; a first processing unit, configured to determine a second instruction from the N control instructions based on a predetermined rule, and compare the first instruction with the second instruction to obtain a comparison result, where the first instruction is the control instruction determined by the first arbitration module from the N control instructions based on the predetermined rule; a second processing unit, configured to cut off the transmission of the control instruction from the first arbitration module to the relay when the comparison result indicates that the error between the first target parameter and the second target parameter is greater than or equal to a preset threshold, and instruct the relay to determine the control instruction corresponding to the target flight control module among the N control instructions as the target control instruction when the relay does not receive a control instruction within a preset time period, where the target flight control module is a designated flight control module among the N flight control modules, the first target parameter is the motion parameter of the actuator of the flying device indicated by the first instruction, the second target parameter is the motion parameter of the actuator of the flying device indicated by the second instruction, and the motion parameter indicated by the target control instruction is used to control the actuator of the flying device.

8. A flying device, characterized in that, including: N flight control modules, where N is equal to 1 or a positive integer greater than or equal to 2; a first arbitration module, communicatively connected to the N flight control modules, the first arbitration module is configured to receive N control instructions and forward them to a second arbitration module, the N control instructions are sent by the N flight control modules, and the first arbitration module is configured to determine a first instruction from the N control instructions based on a predetermined rule; The second arbitration module is communicatively connected to the first arbitration module. The second arbitration module is configured to determine a second instruction from the N control instructions based on the predetermined rule, compare the first instruction with the second instruction to obtain a comparison result, and in the case where it is determined that the error between the first target parameter and the second target parameter indicated by the comparison result is greater than or equal to a preset threshold, cut off the transmission of the control instruction from the first arbitration module to the relay, and instruct the relay to determine the control instruction corresponding to the target flight control module among the N control instructions in the case where no control instruction is received within a predetermined duration, wherein the target flight control module is a specified flight control module among the N flight control modules, the first target parameter is the motion parameter of the actuator of the flying device indicated by the first instruction, the second target parameter is the motion parameter of the actuator of the flying device indicated by the second instruction, and the motion parameter indicated by the target control instruction is used to control the actuator of the flying device; The relay is communicatively connected to the target flight control module and the first arbitration module, and the relay is configured to receive the target control instruction transmitted by the first arbitration module or the target flight control module; The actuator is communicatively connected to the relay, and the actuator is configured to perform an operation according to the motion parameter indicated by the target control instruction.

9. A computer-readable storage medium, characterized in that, a computer program is stored in the computer-readable storage medium, wherein when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

10. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, when the processor executes the computer program, the steps of the method described in any one of claims 1 to 6 are implemented.

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