Method, system, device and medium for communication between a flying robot and a control device

Abstract

The application provides a flight robot and controller communication method, system, device and medium, the method comprises the following steps: obtaining the state information of the flight robot and the control signal sent by the controller through the sensor module and the communication module of the flight robot, and sending to the main control board; calculating the first control instruction through the preset flight algorithm, and sending to the plurality of control modules; receiving the returned execution result information; when there is a control module without returned execution result information, receiving the state information and the control signal through the preset simulation main control board, calculating the second control instruction through the flight algorithm, and sending to the corresponding control module to complete the individual communication of the control module. Through the first and second control instructions, the cooperative work of each component of the flight robot is ensured. When the first control instruction is executed, the second control instruction is no longer executed, avoiding the competition and interference between the plurality of control modules, and improving the stability and safety of the flight robot.

Description

Technical Field

[0001] This invention relates to the field of communication technology for flying robots, specifically to a communication method, system, device, and medium between a flying robot and its controller. Background Technology

[0002] Communication in flying robots refers to the process of information transmission and exchange between various control modules within a flying robot and between the flying robot and its controllers. Communication plays a crucial role in the operation of flying robots, enabling intelligent control, data transmission, and interaction with external systems. Existing communication technologies between flying robots and controllers encompass various wired and wireless communication methods, aiming to achieve intelligent control, data transmission, and interaction with external devices. The main control board of the flying robot receives control signals from the controllers and generates control commands based on these signals. These commands then control the various modules of the flying robot to achieve flight functions. However, existing technologies do not adequately consider how to ensure flight safety when the main control board fails to respond to control commands sent to the control modules. Summary of the Invention

[0003] In view of the shortcomings of the prior art described above, the present invention provides a communication method, system, device and medium between a flying robot and a controller to solve the above-mentioned technical problems.

[0004] This invention provides a communication method between a flying robot and a controller, comprising: The flight robot obtains its status information through its sensor module and acquires control signals sent by the controller through its communication module. The status information and the control signal are sent to the main control board, and the first control commands of the multiple control modules of the flying robot are calculated through a preset flight algorithm. The control command is sent to multiple control modules, and the execution result information returned by multiple control modules is received; When there is a control module that has not returned execution result information, the status information and the control signal are received through a preset simulation main control board, and the second control command of the control module that has not returned execution result information is calculated through the flight algorithm; The second control command is sent to the corresponding control module to complete the separate communication between the control module and the control module that has not returned execution result information.

[0005] In this invention, the state information includes position information, attitude information, and motion information. The attitude information includes pitch angle, roll angle, and yaw angle, and the motion information includes velocity and acceleration.

[0006] In this invention, it also includes: A synchronization signal is defined by the main control board, and the synchronization signal is used to indicate data synchronization. When the main control board acquires the status information, it sends the synchronization signal to the analog main control board. The simulation main control board receives the synchronization signal and performs data synchronization to ensure that the status information obtained by the main control board and the simulation main control board are consistent.

[0007] In this invention, the first control instruction and the second control instruction have the same format, and the first control instruction and the second control instruction include a check code, a priority, and instruction content.

[0008] In this invention, the check code includes a source control signal subcode, a control instruction content subcode, and a CRC check code.

[0009] In this invention, the priority of the first control instruction is higher than the priority of the second control instruction.

[0010] In this invention, when the first control command is executed and the execution result information is returned, the simulated main control board stops sending the second control command, so that the same control signal is executed only once, avoiding command conflicts and interference.

[0011] The present invention also provides a communication system between a flying robot and a controller, comprising: Signal acquisition module: Acquires the status information of the flying robot through the sensor module and acquires the control signals sent by the controller through the communication module of the flying robot; First instruction module: Sends the status information and the control signal to the main control board, and calculates the first control instructions of the multiple control modules of the flying robot through a preset flight algorithm; First execution module: sends the control instructions to multiple control modules and receives the execution result information returned by multiple control modules; Second instruction module: When there is a control module that has not returned execution result information, the module receives the status information and the control signal through a preset simulation main control board, and calculates the second control instruction of the control module that has not returned execution result information for the flying robot through the flight algorithm; The second execution module sends the second control command to the corresponding control module and executes it, completing the separate communication between the control module and the control module that has not returned execution result information.

[0012] The present invention also provides an electronic device, the electronic device comprising: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, enable the electronic device to implement a communication method between a flying robot and a controller as described in any of the preceding claims.

[0013] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer processor, causes the computer to perform a communication method between a flying robot and a controller as described in any of the preceding claims.

[0014] This invention provides a communication method, system, device, and medium between a flying robot and a controller. The method involves acquiring the flying robot's state information through its sensor module and acquiring control signals sent by the controller through its communication module. The state information and control signals are sent to a main control board, and a preset flight algorithm is used to calculate first control commands for multiple control modules of the flying robot. The control commands are then sent to the multiple control modules, and execution result information returned by the multiple control modules is received. When a control module fails to return execution result information, a preset analog main control board receives the state information and control signals, and uses the flight algorithm to calculate a second control command for the control module that has not returned execution result information. The second control command is then sent to the corresponding control module, completing individual communication for the control module that has not returned execution result information. The beneficial effects include: calculating first control commands for multiple control modules using a preset flight algorithm on the main control board and sending them to multiple control modules, achieving efficient multi-module communication. When a control module fails to return execution result information, a second control command is calculated by simulating the main control board and sent separately to ensure the coordinated operation of all components of the flying robot. The first and second control commands are calculated using a flight algorithm, enabling multi-module control of the same control signal. Once the first control command is executed, the second control command is no longer executed, avoiding competition and interference between multiple control modules and improving the stability and safety of the flying robot.

[0015] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 A flowchart illustrating a communication method between a flying robot and a controller, as shown in an exemplary embodiment of the present invention; Figure 2 A flowchart illustrating state synchronization in a communication method between a flying robot and a controller, as shown in an exemplary embodiment of the present invention; Figure 3 This is a schematic diagram of a communication system structure between a flying robot and a controller, which is an exemplary embodiment of the present invention. Detailed Implementation

[0017] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0018] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0019] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0020] First, it needs to be clarified that flight robot communication refers to the process of information transmission and exchange between various control modules within a flight robot, as well as between the flight robot and its controllers. Communication plays a crucial role in the operation of a flight robot, enabling intelligent control, data transmission, and interaction with external systems. Existing communication technologies between flight robots and controllers encompass various wired and wireless communication methods, aiming to achieve intelligent control, data transmission, and interaction with external devices. The flight robot's main control board receives control signals from the controllers and generates control commands based on these signals. These commands then control the various modules of the flight robot to achieve flight functions. However, existing technologies do not adequately consider how to ensure flight safety when the main control board fails to respond to control commands sent to the control modules. To address this issue, this invention proposes a communication method, system, device, and medium for communication between a flight robot and its controllers.

[0021] Figure 1 A flowchart illustrating a communication method between a flying robot and a controller, as shown in an exemplary embodiment of the present invention; like Figure 1 As shown, the present invention provides a communication method between a flying robot and a control device, comprising: Step S110: Obtain the status information of the flying robot through the sensor module of the flying robot, and obtain the control signals sent by the controller through the communication module of the flying robot; Step S120: Send the status information and the control signal to the main control board, and calculate the first control command of the multiple control modules of the flying robot through a preset flight algorithm; Step S130: Send the control command to multiple control modules and receive the execution result information returned by multiple control modules; Step S140: When there is a control module that has not returned execution result information, the status information and the control signal are received through a preset simulation main control board, and the second control command of the control module that has not returned execution result information is calculated through the flight algorithm; Step S150: Send the second control command to the corresponding control module to complete the separate communication between the control module and the control module that has not returned execution result information.

[0022] Specifically, in step S110, the flight robot's sensor module is used to perceive the aircraft's current position, attitude, speed, and other status information, while the communication module is used to receive control commands sent by external controllers. In step S120, the main control board, as the core control unit of the aircraft, calculates the aircraft's control commands based on sensor data and external control signals. In step S130, the flight robot consists of multiple control modules, each responsible for controlling different components or functions. The main control board distributes the first control command to each control module and waits for each control module to execute the command and return the result. In step S140, the simulated main control board acts as a backup to prevent communication blockage caused by some control modules failing to return results. In step S150, the simulated main control board sends a second control command to ensure that control modules that have not returned results can continue to execute commands without causing system abnormalities.

[0023] In one exemplary embodiment, the state information includes position information, attitude information, and motion information, wherein the attitude information includes pitch angle, roll angle, and yaw angle, and the motion information includes velocity and acceleration.

[0024] Specifically, position information represents the current coordinates of the flying robot, typically expressed using a three-dimensional coordinate system (e.g., longitude, latitude, and altitude); attitude information represents the current attitude angles of the flying robot, mainly including pitch, roll, and yaw angles. Pitch angle: represents the angle of rotation of the aircraft around its longitudinal axis, i.e., the vertical rotation angle. Roll angle: represents the angle of rotation of the aircraft around its lateral axis, i.e., the horizontal rotation angle. Yaw angle: represents the angle of rotation of the aircraft around its vertical axis, i.e., the heading angle; motion information represents the current velocity and acceleration of the flying robot. Velocity: represents the rate of motion of the aircraft in three-dimensional space, which can be divided into linear velocity and angular velocity. Acceleration: represents the acceleration of the aircraft in three-dimensional space, i.e., the rate of change of velocity.

[0025] After acquiring this status information through the sensor module, the flying robot can send it to the main control board through the communication module. The main control board calculates based on this information and the preset flight algorithm, and generates corresponding control commands to control the various components of the flying robot and execute flight tasks.

[0026] Figure 2 A flowchart illustrating state synchronization in a communication method between a flying robot and a controller, as shown in an exemplary embodiment of the present invention; like Figure 2 As shown, the communication method between a flying robot and a controller provided by the present invention further includes: Step S210: Define a synchronization signal through the main control board, the synchronization signal being used to indicate data synchronization; Step S220: When the main control board acquires the status information, it sends the synchronization signal to the analog main control board; Step S230: Receive the synchronization signal through the simulated main control board and perform data synchronization to ensure that the status information obtained by the main control board and the simulated main control board are consistent.

[0027] Specifically, in step S210, defining a synchronization signal ensures that the main control board and the simulated main control board remain synchronized when acquiring the flight robot's state information. In step S220, sending the synchronization signal to the simulated main control board notifies it that the main control board has acquired the latest state information and can perform a synchronization update. In step S230, after receiving the synchronization signal, the simulated main control board updates its own state information to match that of the main control board, thereby ensuring data consistency between the two during the generation and execution of control commands.

[0028] In one exemplary embodiment, the first control instruction and the second control instruction have the same format, and both include a checksum, priority, and instruction content. The checksum includes a source control signal subcode, a control instruction content subcode, and a CRC checksum. The first control instruction has a higher priority than the second control instruction. When the first control instruction is executed and returns execution result information, the simulated main control board stops sending the second control instruction, ensuring that the same control signal is executed only once, avoiding instruction conflicts and interference.

[0029] Specifically, in this exemplary embodiment, the first control instruction and the second control instruction have the same format, and they include a checksum, priority, and instruction content. The checksum includes a source control signal subcode, a control instruction content subcode, and a CRC checksum, used to ensure the integrity and correctness of the instruction.

[0030] Meanwhile, the first control instruction has a higher priority than the second control instruction. This means that when executing control instructions, the first control instruction is processed and executed first, ensuring that higher-priority instructions receive timely responses and execution. The implementation process is as follows: After receiving the control signal from the controller, the main control board calculates the first control command for the multiple control modules of the flying robot according to the preset flight algorithm. This command has a high priority, ensuring that the main control board processes and executes it first.

[0031] The main control board packages the checksum, priority, and instruction content of the first control command and sends it to multiple control modules.

[0032] After receiving the first control command, the control module first verifies it to ensure its integrity and correctness. Then, it executes the commands according to their priority, prioritizing the processing and execution of the first control command to achieve the corresponding actions or behaviors of the flying robot.

[0033] If a control module fails to return execution result information (i.e., fails to execute the first control command), the simulation main control board receives status information from the sensor module and control signals from the communication module, and calculates the second control command of the control module that failed to return execution result information according to the preset flight algorithm.

[0034] The simulated main control board packages the checksum, priority, and instruction content of the second control instruction and sends it to the corresponding control module that has not yet returned execution result information.

[0035] After receiving the second control command, the control module verifies it and executes it according to the command's priority. Since the first control command has a higher priority, once the first control command is executed, the second control command will no longer be executed, to ensure that there are no conflicts or interference between the control modules.

[0036] Through this execution logic, the flying robot can fly and move under the high-priority control of the main control board, while retaining a backup control strategy for control modules that have not returned execution result information, so as to ensure the stability and safety of flight.

[0037] Figure 3 A schematic diagram of a communication system structure between a flying robot and a controller is shown as an exemplary embodiment of the present invention; like Figure 3 As shown, this exemplary communication system between a flying robot and a controller includes: Signal acquisition module 301: Acquires the status information of the flying robot through the sensor module of the flying robot, and acquires the control signals sent by the controller through the communication module of the flying robot; First instruction module 302: sends the status information and the control signal to the main control board, and calculates the first control instructions of the multiple control modules of the flying robot through a preset flight algorithm; First execution module 303: sends the control command to multiple control modules and receives execution result information returned by multiple control modules; Second instruction module 304: When there is a control module that has not returned execution result information, it receives the status information and the control signal through a preset simulation main control board, and calculates the second control instruction of the control module that has not returned execution result information for the flying robot through the flight algorithm; Second execution module 305: Sends the second control instruction to the corresponding control module and executes it, completing the separate communication between the control module and the control module that has not returned execution result information.

[0038] It should be noted that the communication system between a flying robot and a controller provided in the above embodiments and the communication method between a flying robot and a controller provided in the above embodiments belong to the same concept. The specific ways in which each module and unit performs operations have been described in detail in the method embodiments, and will not be repeated here. In practical applications, the communication system between a flying robot and a controller provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above, and this is not a limitation here.

[0039] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, enable the electronic device to implement a communication method between a flying robot and a controller provided in the above embodiments.

[0040] Embodiments of this application also provide a computer system for an electronic device. It should be noted that the computer system for the electronic device is merely an example and should not impose any limitations on the functionality or scope of use of the embodiments of this application.

[0041] Specifically, the computer system includes a Central Processing Unit (CPU), which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) or loaded from storage into Random Access Memory (RAM), such as executing the methods described in the above embodiments. The RAM also stores various programs and data required for system operation. The CPU, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0042] The following components are connected to the I / O interface: input sections including keyboards, mice, etc.; output sections including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage sections including hard drives; and communication sections including network interface cards such as LAN (Local Area Network) cards and modems. The communication sections perform communication processing via networks such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical discs, magneto-optical discs, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage section as required.

[0043] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), it performs various functions defined in the system of this application.

[0044] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0045] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0046] Another aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a communication method between a flying robot and a controller as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0047] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform a communication method between a flying robot and a controller provided in the various embodiments described above.

[0048] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A communication method between a flying robot and a controller, characterized in that, include: The flight robot obtains its status information through its sensor module and acquires control signals sent by the controller through its communication module. The status information and the control signal are sent to the main control board, and the first control commands of the multiple control modules of the flying robot are calculated through a preset flight algorithm. The first control command is sent to multiple control modules, and the execution result information returned by the multiple control modules is received. When there is a control module that has not returned execution result information, the status information and the control signal are received through a preset simulation main control board, and the second control command of the control module that has not returned execution result information is calculated through the flight algorithm; The second control command is sent to the corresponding control module to complete the separate communication between the control module and the control module that has not returned the execution result information. It also includes: defining a synchronization signal through the main control board, the synchronization signal being used to indicate data synchronization; When the main control board acquires the status information, it sends the synchronization signal to the simulated main control board; the simulated main control board receives the synchronization signal and performs data synchronization to ensure that the status information acquired by the main control board and the simulated main control board are consistent.

2. The communication method between a flying robot and a controller according to claim 1, characterized in that, The state information includes position information, attitude information, and motion information. The attitude information includes pitch angle, roll angle, and yaw angle. The motion information includes velocity and acceleration.

3. The communication method between a flying robot and a controller according to claim 1, characterized in that, The first control instruction and the second control instruction have the same format, and the first control instruction and the second control instruction include a check code, priority, and instruction content.

4. The communication method between a flying robot and a controller according to claim 3, characterized in that, The check code includes the source control signal subcode, the control instruction content subcode, and the CRC check code.

5. The communication method between a flying robot and a controller according to claim 3, characterized in that, The first control instruction has a higher priority than the second control instruction.

6. The communication method between a flying robot and a controller according to claim 5, characterized in that, When the first control command is executed and the execution result information is returned, the simulated main control board stops sending the second control command, so that the same control signal is executed only once, avoiding command conflicts and interference.

7. A communication system between a flying robot and a controller, characterized in that, include: Signal acquisition module: Acquires the status information of the flying robot through the sensor module and acquires the control signals sent by the controller through the communication module of the flying robot; First instruction module: Sends the status information and the control signal to the main control board, and calculates the first control instructions of the multiple control modules of the flying robot through a preset flight algorithm; First execution module: sends the control instructions to multiple control modules and receives the execution result information returned by multiple control modules; Second instruction module: When there is a control module that has not returned execution result information, the module receives the status information and the control signal through a preset simulation main control board, and calculates the second control instruction of the control module that has not returned execution result information for the flying robot through the flight algorithm; Second execution module: Sends the second control command to the corresponding control module and executes it, completing the separate communication between the control module and the control module that has not returned execution result information; It also includes: defining a synchronization signal through the main control board, the synchronization signal being used to indicate data synchronization; When the main control board acquires the status information, it sends the synchronization signal to the simulated main control board; the simulated main control board receives the synchronization signal and performs data synchronization to ensure that the status information acquired by the main control board and the simulated main control board are consistent.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement a communication method between a flying robot and a controller as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by the computer's processor, causes the computer to perform a communication method between a flying robot and a control device as described in any one of claims 1 to 6.

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