U.S. patent application number 17/145707 was filed with the patent office on 2021-05-06 for method and apparatus of controlling a flight device.
The applicant listed for this patent is SZ DJI TECHNOLOGY CO., LTD.. Invention is credited to Zhaoliang PENG, Shuo YANG, Jiahang YING.
Application Number | 20210132602 17/145707 |
Document ID | / |
Family ID | 1000005329696 |
Filed Date | 2021-05-06 |
![](/patent/app/20210132602/US20210132602A1-20210506\US20210132602A1-2021050)
United States Patent
Application |
20210132602 |
Kind Code |
A1 |
YANG; Shuo ; et al. |
May 6, 2021 |
METHOD AND APPARATUS OF CONTROLLING A FLIGHT DEVICE
Abstract
A control request is received from a target device. In response
to the control request, a controller of the flight device calls and
runs a preset virtual control program to direct the flight device
to operate in a virtual control mode. A callable interface
corresponding to the preset virtual control program is configured
as a preset interface. In response to receiving control data
through the preset interface in the virtual control mode, the
preset virtual control program is executed to convert the control
data into a control instruction of a remote controller of the
flight device for controlling the flight device.
Inventors: |
YANG; Shuo; (Shenzhen,
CN) ; YING; Jiahang; (Shenzhen, CN) ; PENG;
Zhaoliang; (Shenzhen, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SZ DJI TECHNOLOGY CO., LTD. |
Shenzhen |
|
CN |
|
|
Family ID: |
1000005329696 |
Appl. No.: |
17/145707 |
Filed: |
January 11, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15986461 |
May 22, 2018 |
10895874 |
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17145707 |
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PCT/CN2015/095308 |
Nov 23, 2015 |
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15986461 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B64C 39/024 20130101;
G08C 17/00 20130101; G05D 1/0022 20130101; G08C 2201/93 20130101;
B64C 2201/146 20130101; G05D 1/0011 20130101 |
International
Class: |
G05D 1/00 20060101
G05D001/00; G08C 17/00 20060101 G08C017/00 |
Claims
1. A method of controlling a flight device, comprising: receiving,
by a controller of the flight device, a control request from a
target device; in response to the control request, calling and
running, by the controller, a preset virtual control program to
direct the flight device to operate in a virtual control mode;
configuring a callable interface corresponding to the preset
virtual control program as a preset interface; and in response to
receiving control data through the preset interface in the virtual
control mode, executing the preset virtual control program to
convert the control data into a control instruction of a remote
controller of the flight device for controlling the flight
device.
2. The method of claim 1, wherein: receiving the control request
from the target device comprises receiving the control request from
a mobile terminal; and the method further comprises receiving the
control data form the mobile terminal.
3. The method of claim 2, wherein: the mobile terminal is
configured to communicate with the controller via a wireless image
transmission module; and the mobile terminal is connected with the
wireless image transmission module through a Universal Serial Bus
(USB).
4. The method of claim 3, wherein the wireless image transmission
module is one of a device independent of the mobile terminal and
the controller of the flight device, or a module within the remote
controller of the flight device.
5. The method of claim 1, wherein: receiving the control request
from the target device comprises receiving, via a universal
interface of the flight device, the control request from one of
onboard devices connected with the flight device, the universal
interface being configured to connect to the onboard devices of
various types.
6. The method of claim 5, wherein the one of the onboard devices
includes a processor or a sensor.
7. The method of claim 1, wherein converting the control data into
the control instruction of the remote controller of the flight
device includes determining the control instruction corresponding
to the control data based on a preset relation between control data
and control instructions of the remote controller.
8. The method of claim 1, further comprising: in response to
receiving a virtual control termination request from the target
device, switching a control mode of the flight device from the
virtual control mode to a remote control mode under which the
flight device is controlled by the remote controller.
9. The method of claim 1, further comprising: in response to not
receiving the control data from the target device for a specified
period of time, directing the flight device to operate in a remote
control mode under which the flight device is controlled by the
remote controller.
10. The method of claim 1, further comprising: receiving the
control data from the target device, the control data from the
target device including a specified protocol format.
11. An apparatus of controlling a flight device, comprising: a
controller; and a storage medium configured for storing a program
that, when executed by the controller, causes the controller to:
receive, by a controller of the flight device, a control request
from a target device; in response to the control request, call and
run a preset virtual control program to direct the flight device to
operate in a virtual control mode; configure a callable interface
corresponding to the preset virtual control program as a preset
interface; and in response to receiving control data through the
preset interface of the flight device in the virtual control mode,
execute the preset virtual control program to convert the control
data into a control instruction of a remote controller of the
flight device for controlling the flight device.
12. The apparatus of claim 11, wherein the program further causes
the controller to: receive the control request from a mobile
terminal; and receive the control data from the mobile
terminal.
13. The apparatus of claim 12, wherein: the mobile terminal is
configured to communicate with the controller via a wireless image
transmission module; and the mobile terminal is connected with the
wireless image transmission module through a Universal Serial Bus
(USB).
14. The apparatus of claim 13, wherein: the program further causes
the controller to, before receiving the control request from the
mobile terminal via the wireless image transmission module:
establish a communication link between the controller and the
mobile terminal via the wireless image transmission module; and the
program further causes the controller to: receive the control
request from the mobile terminal via the communication link; and
receive the control data from the mobile terminal via the
communication link.
15. The apparatus of claim 11, wherein the program further causes
the controller to: receive, through a universal interface of the
flight device, the control request from one of onboard devices
connected with the flight device, the universal interface being
configured to connect to the onboard devices of various types; and
receive the control data from the onboard device.
16. The apparatus of claim 15, wherein the one of the onboard
devices includes a processor or a sensor.
17. The apparatus of claim 11, wherein the program further causes
the controller to determine the control instruction corresponding
to the control data based on a preset relation between control data
and control instructions of the remote controller.
18. The apparatus of claim 11, wherein the program further causes
the controller to, after directing the flight device to operation
in the virtual control mode: in response to receiving a virtual
control termination request from the target device, switch a
control mode of the flight device from the virtual control mode to
a remote control mode under which the flight device is controlled
by the remote controller.
19. The apparatus of claim 11, wherein the program further causes
the controller to, after directing the flight device to operate in
the virtual control mode: in response to not receiving control data
from the target device for a specified period of time, direct the
flight device to operate in a remote control mode under which the
flight device is controlled by the remote controller.
20. The apparatus of claim 11, wherein the program further causes
the controller to receive the control data from the target device,
the control data from the target device including a specified
protocol format.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of application Ser. No.
15/986,461, filed on May 22, 2018, which is a continuation of
International Application No. PCT/CN2015/095308, filed on Nov. 23,
2015, the entire contents of both of which are incorporated herein
by reference.
TECHNICAL FIELD
[0002] The present disclosure relates to flight control technology,
and more particularly to a method and apparatus of controlling a
flight device.
BACKGROUND OF THE DISCLOSURE
[0003] Unmanned aerial vehicles (UAVs), also known as drones, have
been widely used in various fields including military and
agriculture applications. For example, UAVs can be used to perform
various tasks including aerial photography, highway survey, border
patrol, forest fire protection and disaster assessment.
[0004] UAVs can be manually controlled by an operator using a
remote manual control apparatus provided by a ground station. For
example, a flight path of the UAV or an imaging operation of the
UAV can be manually controlled. However, a flexibility in
manipulating the UAV is limited by the remote manual control
apparatus provided by the ground station.
SUMMARY OF THE DISCLOSURE
[0005] In view of the problems in the conventional technologies,
the present disclosure provides a method and apparatus of
controlling a flight device to improve a flexibility in controlling
the flight device.
[0006] In order to attain the above objects, in one aspect, the
disclosure provides a method of controlling a flight device
comprising: receiving, by a controller of the flight device, a
control request for requesting a control of the flight device from
a target device; receiving control data sent from the target
device; and converting the control data into an executable
instruction for controlling the flight device.
[0007] In some embodiments, receiving, by the controller of the
flight device, the control request from the target device can
comprise receiving, by the controller of the flight device, the
control request from a mobile terminal. Receiving the control data
sent from the target device can comprise receiving the control data
sent from the mobile terminal.
[0008] In some embodiments, receiving, by the controller of the
flight device, the control request from the mobile terminal can
comprise receiving, by the controller of the flight device, the
control request sent from the mobile terminal via a wireless image
transmission module, the mobile terminal being connected with the
wireless image transmission module via a USB bus. Receiving the
control data sent from the mobile terminal can comprise receiving
the control data sent from the mobile terminal via the wireless
image transmission module.
[0009] In some embodiments, before receiving the control request
sent from the mobile terminal via the wireless image transmission
module, the method further can comprise establishing, by the
controller via the wireless image transmission module, a
communication link between the controller and the mobile terminal.
Receiving, by the controller of the flight device, the control
request sent from the mobile terminal via the wireless image
transmission module can comprise receiving, by the controller, the
control request sent from the mobile terminal via the communication
link. Receiving the control data sent from the mobile terminal via
the wireless image transmission module can comprise receiving the
control data sent from the mobile terminal via the communication
link.
[0010] In some embodiments, receiving, by the controller of the
flight device, the control request from the target device can
comprise receiving, by the controller of the flight device, the
control request sent from an onboard device of the flight device.
Receiving the control data sent from the target device can comprise
receiving the control data sent from the onboard device.
[0011] In some embodiments, receiving, by the controller of the
flight device, the control request sent from the onboard device of
the flight device can comprise receiving, by the controller of the
flight device, the control request sent from the onboard device of
the flight device via a serial interface, the onboard device being
connected with the controller via the serial interface. Receiving
the control data sent from the onboard device can comprise
receiving the control data sent from the onboard device via the
serial interface.
[0012] In some embodiments, the onboard device can be a processor
or a sensor connected with the flight device via a universal
interface of the flight device, the universal interface of the
flight device being configured to connect various types of the
onboard devices.
[0013] In some embodiments, converting the control data into the
executable instruction for controlling the flight device can
comprise converting the control data into a control instruction of
a remote controller of the flight device.
[0014] In some embodiments, converting the control data into the
control instruction of the remote controller of the flight device
can comprise determining the control instruction corresponding to
the control data based upon a preset mapping between the control
data and the instruction of the remote controller.
[0015] In some embodiments, after receiving, by the controller, the
control request, the method can further comprise directing the
flight device into a virtual control mode in response to the
control request. Receiving control data sent from the target device
can comprise receiving the control data sent from the target device
in the virtual control mode.
[0016] In some embodiments, directing the flight device into the
virtual control mode in response to the control request can
comprise calling and running, by the controller, a preset virtual
control program in response to the control request to enter the
flight device into the virtual control mode. Converting the control
data into a control instruction of a remote controller can comprise
executing the virtual control program upon receiving the control
data via a preset interface to convert the control data into the
control instruction of the remote controller, the preset interface
being a callable interface provided by the virtual control
program.
[0017] In some embodiments, before directing the flight device into
the virtual control mode, the method can further comprise:
detecting whether the flight device is currently in the virtual
control mode; and directing the flight device into the virtual
control mode if the flight device is currently not in the virtual
control mode.
[0018] In some embodiments, after directing the flight device into
the virtual control mode, the method can further comprise switching
a control mode of the flight device to a remote control mode under
which the flight device is controlled by the remote controller when
a virtual control termination request is received from the target
device.
[0019] In some embodiments, after directing the flight device into
the virtual control mode, the method can further comprise directing
the flight device into a remote control mode under which the flight
device is controlled by the remote controller when no control data
is received from the target device in a specified period of
time.
[0020] In some embodiments, receiving the control data sent from
the target device can comprise receiving the control data sent from
the target device in a specified protocol format.
[0021] In another aspect, embodiments of the disclosure further
provide a method of controlling a flight device comprising:
generating a control request for requesting a control of the flight
device; sending the control request to a controller of the flight
device; and sending control data to the controller once determining
that the controller responds to the control request, to direct the
controller to convert the control data into an executable
instruction for controlling the flight device and to execute the
executable instruction.
[0022] In some embodiments, generating the control request can
comprise generating, by a mobile terminal, the control request once
detecting that a connection is established between the mobile
terminal and the controller.
[0023] In some embodiments, generating, by the mobile terminal, the
control request once detecting that a connection is established
between the mobile terminal and the controller can comprise
generating, by the mobile terminal, the control request once
detecting that a connection is established between the mobile
terminal and a wireless image transmission module, the wireless
image transmission module being connected with the mobile terminal
via a USB bus. Sending the control request to the controller of the
flight device can comprise sending the control request to the
controller of the flight device via the wireless image transmission
module. Sending the control data to the controller can comprise
sending the control data to the controller via the wireless image
transmission module.
[0024] In some embodiments, before sending the control data to the
controller, the method can further comprise generating the control
data based upon an input operation of a user.
[0025] In some embodiments, generating the control request can
comprise generating, by an onboard device of the flight device, the
control request once a connection between the onboard device and
the controller is established.
[0026] In some embodiments, sending the control request to the
controller of the flight device can comprise sending the control
request to the flight device via a serial interface connected with
the controller.
[0027] In some embodiments, the onboard device can be a processor
or a sensor connected with the flight device via a universal
interface of the flight device, the universal interface of the
flight device being configured to connect various types of the
onboard devices.
[0028] In some embodiments, the control data sent to the controller
can be control data in a specified protocol format.
[0029] In another aspect, embodiments of the disclosure further
provide an apparatus for controlling a flight device comprising: a
request receiving unit configured to receive a control request for
requesting a control of the flight device from a target device; a
data receiving unit configured to receive control data sent from
the target device; and a data converting unit configured to convert
the control data into an executable instruction for controlling the
flight device.
[0030] In some embodiments, the request receiving unit can comprise
a first request receiving unit configured to enable a controller of
the flight device to receive the control request sent from a mobile
terminal via a wireless image transmission module, the mobile
terminal being connected with the wireless image transmission
module via a USB bus. The data receiving unit can comprise a first
data receiving unit configured to receive the control data sent
from the mobile terminal via the wireless image transmission
module.
[0031] In some embodiments, the apparatus can further comprise a
link establishment unit configured to establish a communication
link between the controller and the mobile terminal via the
wireless image transmission module before the first request
receiving unit receives the control request. The first request
receiving unit can comprise a first request receiving subunit
configured to receive the control request sent from the mobile
terminal via the communication link. The first data receiving unit
can comprise a first data receiving subunit configured to receive
the control data sent from the mobile terminal via the
communication link.
[0032] In some embodiments, the request receiving unit can comprise
a second request receiving unit configured to receive the control
request sent from an onboard device of the flight device. The data
receiving unit can comprise a second data receiving unit configured
to receive the control data sent from the onboard device.
[0033] In some embodiments, the second request receiving unit can
comprise a second request receiving subunit configured to receive
the control request sent from the onboard device of the flight
device via a serial interface, the onboard device being connected
with the controller via the serial interface. The second data
receiving unit can comprise a second data receiving subunit
configured to receive the control data sent from the onboard device
via the serial interface.
[0034] In some embodiments, the onboard device can be a processor
or a sensor connected with the flight device via a universal
interface of the flight device, the universal interface of the
flight device being configured to connect various types of the
onboard devices.
[0035] In some embodiments, the data converting unit can comprise a
data converting subunit configured to convert the control data into
a control instruction of a remote controller of the flight
device.
[0036] In some embodiments, the data converting subunit can
comprise an instruction mapping unit configured to determine the
control instruction corresponding to the control data based upon a
preset mapping between the control data and the instruction of the
remote controller.
[0037] In some embodiments, the apparatus can further comprise a
mode control unit configured to direct the flight device into a
virtual control mode in response to the control request received by
the request receiving unit. The data receiving unit can be further
configured to receive the control data sent from the target device
in the virtual control mode.
[0038] In some embodiments, the mode control unit can comprise a
program running subunit configured to call and run a preset virtual
control program in response to the control request to enter the
flight device into the virtual control mode. The data converting
unit can comprise a program executing subunit configured to execute
the virtual control program upon receiving the control data via a
preset interface to convert the control data into the control
instruction of the remote controller, the preset interface being a
callable interface provided by the virtual control program.
[0039] In some embodiments, the apparatus can further comprise a
mode detecting unit configured to, before the mode control unit
directs the flight device into the virtual control mode, detecting
whether the flight device is currently in the virtual control mode.
The mode control unit can comprise a mode control subunit
configured to direct the flight device into the virtual control
mode if the mode detecting unit determines that the flight device
is currently not in the virtual control mode.
[0040] In some embodiments, the apparatus can further comprise a
mode termination unit configured to switch a control mode of the
flight device to a remote control mode under which the flight
device is controlled by the remote controller when a virtual
control termination request is received from the target device.
[0041] In some embodiments, the apparatus can further comprise a
mode switching unit configured to, after the mode control unit
directs the flight device into the virtual control mode, direct the
flight device into a remote control mode under which the flight
device is controlled by the remote controller if no control data is
received from the target device in a specified period of time.
[0042] In some embodiments, the control data received by the data
receiving unit can be control data in a specified protocol
format.
[0043] In another aspect, embodiments of the disclosure further
provide an apparatus for controlling a flight device comprising: a
request generating unit configured to generate a control request
for requesting a control of the flight device; a request sending
unit configured to send the control request to a controller of the
flight device; and control data sending unit configured to send
control data to the controller once determining that the controller
responds to the control request, to direct the controller to
convert the control data into an executable instruction for
controlling the flight device and to execute the executable
instruction.
[0044] In some embodiments, the request generating unit can
comprise a first request subunit configured to generate the control
request once detecting that a connection is established between a
mobile terminal and the controller.
[0045] In some embodiments, the first request subunit can be
further configured to generate the control request once detecting
that a connection is established between the mobile terminal and a
wireless image transmission module, the wireless image transmission
module being connected with the mobile terminal via a USB bus. The
request sending unit can comprise a first request sending subunit
configured to send the control request to the controller of the
flight device via the wireless image transmission module. The
control data sending unit can comprise a first data sending subunit
configured to send the control data to the controller via the
wireless image transmission module.
[0046] In some embodiments, the apparatus can further comprise
control data generating unit configured to generate the control
data based upon an input operation of a user before the control
data sending unit sends the control data to the controller.
[0047] In some embodiments, the request generating unit can
comprise a second request generating subunit configured to generate
the control request once a connection is established between an
onboard device of the flight device and the controller.
[0048] In some embodiments, the request sending unit can comprise a
second request sending subunit configured to send the control
request to the flight device via a serial interface connected with
the controller.
[0049] In some embodiments, the onboard device can be a processor
or a sensor connected with the flight device via a universal
interface of the flight device, the universal interface of the
flight device being configured to connect various types of the
onboard devices.
[0050] In some embodiments, the control data sent from the control
data sending unit can be control data in a specified protocol
format.
[0051] In another aspect, embodiments of the disclosure further
provide a system for controlling a flight device comprising a
controller and a remote controller of the flight device, and a
target device for controlling the flight device. The target device
can be configured to send a control request for requesting a
control of the flight device to the controller, and send control
data to the controller once the controller responds to the control
request. The controller can be configured to, upon receiving the
control data sent from the target device, convert the control data
into an executable instruction for controlling the flight device in
response to the control request.
[0052] In some embodiments, the target device can comprise a mobile
terminal connected with the controller via a wireless image
transmission module or an onboard device connected with the
controller via a serial interface.
[0053] In another aspect, embodiments of the disclosure further
provide a flight device comprising a controller and a storage
medium. The controller can be configured to (1) receive a control
request for requesting a control of the flight device from a target
device, (2) receive control data sent from the target device, and
(3) convert the control data into an executable instruction for
controlling the flight device. The storage medium can be configured
to store a program data for running the controller.
[0054] It can be seen from the above disclosed technical solutions,
once the controller of the flight device receives a control request
from the target device, if the controller receives the control data
of the target device, the controller can convert the control data
into an executable instruction for controlling the flight device to
execute corresponding control operations. Therefore, the flight
device can be controlled by a device other than the remote
controller, thereby improving a flexibility in manipulating the
unmanned aerial vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS
[0055] Drawings of embodiments of the disclosure will be described
for better understanding of the embodiments of the disclosure. It
will be apparent that, the drawings merely illustrate exemplary
embodiments of the disclosure. Those skilled in the art can
conceive other drawings from the motivation of the illustrated
drawings without inventive efforts.
[0056] FIG. 1 shows a flowchart of an embodiment of a method of
controlling a flight device in accordance with the disclosure;
[0057] FIG. 2 shows a flowchart of another embodiment of a method
of controlling a flight device in accordance with the
disclosure;
[0058] FIG. 3 shows a flowchart of another embodiment of a method
of controlling a flight device in accordance with the
disclosure;
[0059] FIG. 4 shows a flowchart of an embodiment of a method of
controlling a flight device in accordance with the disclosure;
[0060] FIG. 5 shows a flowchart of another embodiment of a method
of controlling a flight device in accordance with the
disclosure;
[0061] FIG. 6 shows a configuration of an embodiment of an
apparatus for controlling a flight device in accordance with the
disclosure;
[0062] FIG. 7 shows a configuration of an embodiment of another
apparatus for controlling a flight device in accordance with the
disclosure;
[0063] FIG. 8 shows a configuration of an embodiment of a flight
device in accordance with the disclosure; and
[0064] FIG. 9 shows a configuration of an embodiment of a system
for controlling a flight device in accordance with the
disclosure.
DETAILED DESCRIPTION OF THE DISCLOSURE
[0065] Embodiments of the disclosure provide a method and an
apparatus of controlling a flight device to improve a flexibility
in controlling an unmanned aerial vehicle.
[0066] A better understanding of the disclosure will be obtained by
reference to the following detailed description that sets forth
illustrative embodiments with reference to the drawings. It will be
apparent that, the embodiments described herein are merely provided
by way of example only. Those skilled in the art can conceive
various embodiments in light of those embodiments disclosed herein
without inventive efforts, and all these embodiments are within the
scope of the disclosure.
[0067] First, a method of controlling a flight device in accordance
with the disclosure will be described.
[0068] FIG. 1 shows a flowchart of an embodiment of a method of
controlling a flight device in accordance with the disclosure. The
method in accordance with embodiments of the disclosure can
comprise steps 101-103.
[0069] In step 101, a controller of the flight device can receive a
control request from a target device.
[0070] In some embodiments, the control request can be used to
request a control of the flight device.
[0071] In step 102, control data sent from the target device can be
received.
[0072] In step 103, the control data can be converted into an
executable instruction for controlling the flight device.
[0073] In some embodiments, the target device can be a mobile
terminal (for example, a mobile phone or a remote controller) for
controlling the flight device. Alternatively, the target device can
be an onboard device carried on the flight device. An application
of controlling the flight device can be preset to the target
device. The target device can control the flight device by running
the application.
[0074] In some instances, the control data can be sent from the
target device to the flight device, and the controller of the
flight device can convert the control data into an executable
instruction for controlling the flight device, such that a flight
control of the flight device or a control of an apparatus onboard
the flight device can be effected by executing the executable
instruction. In other words, the controller can be configured to
convert the control data sent from various devices into an
instruction that can be directly executed by the flight device,
such that the flight device can be controlled by different types of
devices. For instance, the control data sent from a device (for
example, a mobile phone, or a remote controller for controlling
other flight devices) can be converted into the executable
instruction, such that the flight device can be controlled by the
device such as a mobile phone or a remote controller for
controlling other flight devices.
[0075] Various operations of the flight device can be controlled by
the target device. The control data can include one type of control
data or multiple types of control data. Accordingly, the control
instruction converted from the control data can include multiple
types of instructions for directing various operations. For
instance, the control data can include control data for controlling
a flight state of the flight device and control data for
controlling an image capturing of the flight device.
[0076] In some embodiments, if the controller of the flight device
receives the control data from the target device after receiving
the control request, the controller can convert the control data
into the executable instruction for controlling the flight device,
such that a corresponding control operation can be effected by
executing the executable instruction. In this way, the flight
device can be controlled by a target device other than the remote
controller, thereby improving a flexibility in manipulating the
unmanned aerial vehicle.
[0077] It will be appreciated that, a conversion of the control
data into the executable instruction for controlling the flight
device can be implemented in various ways. For instance, a
correspondence between various control data and executable
instructions can be preset, such that an executable instruction
corresponding to a received control data can be determined based
upon the correspondence.
[0078] Optionally, the process of converting the control data into
the executable instruction can include converting the control data
into a control instruction of the remote controller of the flight
device. The control instruction of the remote controller of the
flight device can be a control instruction generated by operating a
control stick of the remote controller by a user. The control
instruction sent from the remote controller of the flight device
can be identified and executed by the controller of the flight
device. Therefore, once the control data being converted into the
control instruction of the remote controller, the controller can
directly execute the control instruction and effect a corresponding
operation. An execution of the converted control instruction can be
substantially similar to an execution of the control instruction
sent from the remote controller, thus a detailed description
thereof will be omitted for conciseness.
[0079] It will be apparent that, a conversion of the control data
into the control instruction of the remote controller can be
implemented in various ways by the controller.
[0080] In some embodiments, a mapping between the control data and
the instructions of the remote controller can be preset to the
controller. Therefore, once a control instruction is received from
the target device, the control instruction of the remote controller
corresponding to the received control data can be determined based
upon the mapping.
[0081] Alternatively, a control instruction of the remote
controller can be generated by the target device based upon an
operation of the user, and control data comprising the control
instruction can be generated. Upon receiving the control data, the
controller can directly parse the control data and extract a
control instruction of the remote controller from the control
data.
[0082] It will be appreciated that, in practical applications,
various other implementations are possible to convert the control
data into the control instruction of the remote controller.
[0083] In some embodiments, the control method in accordance with
the disclosure can comprise upon receiving the control request,
directing the flight device into a virtual control mode in response
to the control request.
[0084] In addition to the operation mode of existing flight devices
in which the flight device is controlled by a remote controller, in
some embodiments of the disclosure, the flight device can have an
operation mode which is a virtual control mode. In the virtual
control mode, a user can control the flight device using a device
other than the remote controller of the flight device.
[0085] In some embodiments, a virtual control program can be preset
to the controller. Upon calling and running the virtual control
program, the controller can enter the virtual control mode, such
that the control data can be processed by the virtual control
program to obtain and execute the control instruction of the remote
controller.
[0086] For instance, upon receiving the control request from the
target device, the controller can call and run the virtual control
program in response to the control request. The virtual control
program can be executed to convert the control data into the
control instruction of the remote controller if the control data
sent from the target device is received via a preset interface. In
some instances, the preset interface can be a callable interface
provided by the virtual control program.
[0087] It will be appreciated that, the flight device can be
already in the virtual control mode at the time the controller
receives the control request from the target device. For example,
the preset virtual control program can be already executed. In some
instances, a determination on whether the flight device is in the
virtual control mode can be made before directing the flight device
into the virtual control mode. The flight device can be directed to
enter the virtual control mode if the flight device is currently
not in the virtual control mode; otherwise, the current virtual
control mode can be maintained.
[0088] Once the flight device is in the virtual control mode, the
target device can continuously send control data to the flight
device to ensure a normal flight of the flight device including a
flight or an operation of the flight device.
[0089] If no control data is received from the target device for a
prolonged period of time, the flight device can be in an
uncontrolled flight state or an abnormal flight state. Therefore,
if no control data is received from the target device in a
specified period of time under the virtual control mode, the flight
device can be directed to enter into a remote control mode under
which the flight device is controlled by the remote controller.
Once the flight device is in the remote control mode, the user can
control the flight device using the remote controller of the flight
device.
[0090] It will be appreciated that, in any of the embodiments as
described hereinabove, the target device can send a virtual control
termination request to the controller of the flight device if the
target device wishes to terminate a control of the flight device.
Once receiving the virtual control termination request, the
controller can switch the control mode of the flight device from
the virtual control mode to the remote control mode under which the
flight device is controlled by the remote controller.
[0091] It will be appreciated that, in the embodiments as described
hereinabove, the control data sent from the target device can be
data in a specified protocol format to enable the controller to
distinguish between a data of the control instruction sent from the
remote controller and the control data sent from the target
device.
[0092] It will be appreciated that, in the embodiments as described
hereinabove, various kinds of target devices can be used. For
instance, the target device can be a mobile terminal or a device
onboard the flight device. In some instances, the target device can
be a device specified in advance, such as a device having
established a correlation with the flight device in advance. For
example, a mobile terminal can be the target terminal if an
information of the mobile terminal is pre-stored in the flight
device.
[0093] The data processing in controller receiving the control
request and the control data can vary in view of different target
devices. For instance, in case the target device is a mobile
terminal, the mobile terminal can establish a connection with the
controller via a wireless image transmission module and send the
control data to the controller. Accordingly, the controller can
receive the control request sent from the mobile terminal via the
wireless image transmission module, and receive the control data
sent from the mobile terminal via the wireless image transmission
module in response to the control request.
[0094] For instance, in case the target device is an onboard
device, the controller can directly receive the control request
sent from the onboard device and receive the control data sent from
the onboard device upon receiving the control request.
[0095] For a better understanding of the embodiments of the
disclosure, exemplary embodiments will be provided in which the
target device is a mobile terminal or an onboard device carried by
the flight device.
[0096] An exemplary embodiment will be provided in which the target
device is a mobile device.
[0097] FIG. 2 shows a flowchart of another embodiment of a method
of controlling a flight device in accordance with the disclosure,
in which the target device is a mobile device. The method in
accordance with embodiments of the disclosure can comprise steps
201-203.
[0098] In step 201, a controller of the flight device can receive a
control request sent from a mobile terminal via a wireless image
transmission module.
[0099] In some embodiments, the control request can be used to
request a control the flight device.
[0100] The mobile terminal can be connected with the wireless image
transmission module via a Universal Serial Bus (USB).
[0101] It will be appreciated that, the mobile terminal can
communicate directly with the controller of the flight device.
Optionally, the mobile terminal can establish a wireless connection
with the flight device via the wireless image transmission module.
If the mobile terminal communicates with the flight device via the
wireless image transmission module, the mobile terminal can be
connected with the wireless image transmission module via a USB
bus, such that the mobile terminal can send data to the controller
of the flight device via the wireless image transmission
module.
[0102] In some instances, the wireless image transmission module
can be an independent apparatus. Optionally, the wireless image
transmission module can be a wireless image transmission module
provided within the remote controller of the flight device. A waste
of hardware resource in providing an independent wireless image
transmission module can be avoided by employing the wireless image
transmission module of the remote controller.
[0103] In step 202, the controller can direct the flight device
into a virtual control mode in response to the control request.
[0104] In step 203, under the virtual control mode, the controller
can convert the control data into a control instruction of a remote
controller of the flight device if the controller receives control
data sent from the mobile terminal via the wireless image
transmission module.
[0105] Accordingly, the controller can receive the control data
from the mobile terminal via the wireless image transmission
module.
[0106] It will be appreciated that, the control data can be data in
a specified protocol format to enable the controller to identify
the control data sent from the mobile terminal.
[0107] In some embodiments, the flight device can be controlled
using the mobile terminal. A flexibility in operating the flight
device can be improved by using the mobile terminals as the mobile
terminals are flexible and convenient in sense of operation and
mobility,
[0108] In some embodiments, the controller of the flight device can
establish a communication link between the controller and the
mobile terminal via the wireless image transmission module before
receiving the control request sent from the mobile terminal via the
wireless image transmission module. For example, the mobile
terminal can send a communication link establishment request to the
controller of the flight device via the wireless image transmission
module after the mobile terminal is connected with the wireless
image transmission module. The controller of the flight device can
establish a communication link with the mobile terminal via the
wireless image transmission module in response to the communication
link establishment request. In this way, the controller can receive
the control request and the control data sent from the mobile
terminal via the communication link.
[0109] It will be appreciated that, a description of those steps of
the embodiment which are substantially similar to the above
discussed embodiments is omitted for conciseness, and any
description of those steps can be clear by referring to the
description provided in any of the embodiments as discussed
hereinabove. For example, the controller can convert the control
data sent from the mobile terminal into a control instruction of
the remote controller of the flight device by determining the
control instruction of the remote controller corresponding to the
control data based upon a preset mapping between the control data
and the control instruction.
[0110] It will be appreciated that, upon the controller receiving
the control request sent from the mobile terminal, a determination
on whether the flight device is in the virtual control mode can be
made before directing the flight device into the virtual control
mode. The flight device can be directed to enter the virtual
control mode if the flight device is currently not in the virtual
control mode; otherwise, the current virtual control mode can be
maintained.
[0111] It will be appreciated that, if no control data is received
from the mobile terminal in a specified period of time under the
virtual control mode, the flight device can be directed to enter
into a remote control mode under which the flight device is
controlled by the remote controller. In the remote control mode,
the flight device can be controlled by the remote controller while
a control from the mobile terminal on the flight device can be
suppressed or eliminated.
[0112] A method of controlling a flight device in accordance with
the disclosure will be provided in which the target device is a
device onboard the flight device.
[0113] FIG. 3 shows a flowchart of an embodiment of a method of
controlling another flight device in accordance with the
disclosure. In some embodiments, the target device can be an
onboard device carried by the flight device. The method in
accordance with embodiments of the disclosure can comprise steps
301-303.
[0114] In step 301, a controller of the flight device can receive a
control request sent from an onboard device of the flight
device.
[0115] In some embodiments, various types of onboard devices can be
provided. For example, the onboard device can be a processor or a
sensor.
[0116] In some instances, the onboard device can be connected to
the controller of the flight device via a serial interface, in
which case the controller can receive a control request sent from
the onboard device of the flight device via the serial
interface.
[0117] In step 302, the controller can direct the flight device
into a virtual control mode in response to the control request.
[0118] Once directing the flight device into the virtual control
mode, the controller of the flight device can control the flight
device based upon control data sent from the onboard device.
[0119] A detailed description on directing the flight device into
the virtual control mode can be clear by referring to the above
described embodiments, and thus is omitted here for
conciseness.
[0120] In step 303, under the virtual control mode, the controller
can convert the control data into a control instruction of a remote
controller of the flight device if the controller receives the
control data sent from the onboard device.
[0121] A detailed description on converting the control data sent
from the onboard device into the control instruction of the remote
controller can be clear by referring to the above described
embodiments, and thus is omitted here for conciseness.
[0122] In some instances, a control program can be preset to the
onboard device for controlling the flight device when the flight
device is in the virtual control mode.
[0123] Optionally, similar to the process in which the controller
receives the control request sent from the onboard device via the
serial interface, once directing the flight device into the virtual
control mode, the controller can receive the control data sent from
the onboard device via the serial interface.
[0124] It will be appreciated that, the control data sent from the
onboard device can be data in a specified protocol format to enable
the controller to identify that the data sent from the mobile
terminal is the control data for the flight device.
[0125] In some embodiments, the onboard device can send a control
request to the controller of the flight device, requesting a
control of the flight device. The controller can direct the flight
device to enter into the virtual control mode as a response to the
control request. Upon receiving the control data sent from the
onboard device, the controller can convert the control data into a
control instruction which corresponds to an instruction generated
by operating a stick of the remote controller of the flight device,
such that an executable control instruction can be obtained and
executed, and a control of the flight device using the onboard
device can be effected. A flexibility in controlling the flight
device can be improved by enabling the onboard device to control
the flight device in addition to the remote controller.
[0126] It will be appreciated that, upon the controller receiving
the control request sent from the onboard device, a determination
on whether the flight device is in the virtual control mode can be
made before directing the flight device into the virtual control
mode. The flight device can be directed to enter the virtual
control mode if the flight device is currently not in the virtual
control mode; otherwise, the current virtual control mode can be
maintained.
[0127] It will be appreciated that, if no control data is received
from the onboard device in a specified period of time under the
virtual control mode, the flight device can be directed by the
controller to enter into a remote control mode under which the
flight device is controlled by the remote controller. Under the
remote control mode, the flight device is controlled by the remote
controller instead of the onboard device. For example, under the
remote control mode, the controller may not process the control
data sent from the mobile terminal.
[0128] In some instances, the onboard device as provided in the
above discussed embodiments of the disclosure can be a processor or
a sensor connected with the flight device via a universal interface
of the flight device. The universal interface of the flight device
can be configured to connect various types of onboard devices.
[0129] In another aspect of the disclosure, embodiments of the
disclosure provide a method of controlling a flight device.
[0130] FIG. 4 shows a flowchart of an embodiment of a method of
controlling a flight device in accordance with the disclosure. The
method in accordance with embodiments of the disclosure can
comprise steps 401-403.
[0131] In step 401, a control request can be generated.
[0132] In some instances, the control request can be configured to
request a control of the flight device.
[0133] In some embodiments of the disclosure, a target device for
controlling the flight device can be different from a remote
controller of the flight device. The target device can be a mobile
terminal or an onboard device.
[0134] In step 402, the control request can be sent to a controller
of the flight device.
[0135] In step 403, control data can be sent to the controller once
it is determined that the controller responds to the control
request, such that the controller can convert the control data into
an executable instruction for controlling the flight device.
[0136] The controller can send a response back to the mobile
terminal after responding to the control request, such that mobile
terminal can be informed that the flight device is in a virtual
control mode.
[0137] In some embodiments of the disclosure, the target device can
send a control request to the controller, and control data can be
sent to the controller if the controller responds to the control
request. The controller can convert the control data into an
executable instruction for controlling the flight device, such that
corresponding control operations can be effected by executing the
executable instruction. In this way, the flight device can be
controlled by a target device other than the remote controller,
thereby improving a flexibility in manipulating the unmanned aerial
vehicle.
[0138] In some instances, the process of converting the control
data into an executable instruction for controlling the flight
device can comprise converting the control data into a control
instruction of the remote controller of the flight device. A
description of the process of converting the control data into a
control instruction can be clear by referring the description
provided in the embodiments of the method of controlling a flight
device as discussed hereinabove, and this is omitted for
conciseness.
[0139] An embodiment in which the target device is a mobile
terminal will be provided. FIG. 5 shows a flowchart of another
embodiment of a method of controlling a flight device in accordance
with the disclosure. The method in accordance with embodiments of
the disclosure can comprise steps 501-503.
[0140] In step 501, a control request can be generated once a
connection is established between the mobile terminal and a
wireless image transmission module.
[0141] In some embodiments of the disclosure, the mobile terminal
can be a mobile phone, a palmtop, or a tablet computer.
[0142] In some instances, the control request can be configured to
request a control of the flight device.
[0143] The wireless image transmission module can be connected with
the mobile terminal via a USB bus. Optionally, the wireless image
transmission module can be a wireless image transmission module
provided in a remote controller of the flight device to lower a
hardware resource consumption.
[0144] In step 502, the control request can be sent to a controller
of the flight device via the wireless image transmission
module.
[0145] In some instances, a communication link can be established
between the mobile terminal and the controller of the flight device
via the wireless image transmission module before the mobile
terminal sending the control request, such that the control request
can be sent to the controller over the communication link.
[0146] In step 503, control data can be sent to the controller over
the wireless image transmission module once it is determined that
the controller responds to the control request, such that the
controller can convert the control data into a control instruction
of the remote controller of the flight device and a control for the
flight device can be effected.
[0147] In some embodiments, the controller can control the flight
device to enter into a virtual control mode after responding to the
control request. In some instances, the controller can send a
response back to the mobile terminal after responding to the
control request, such that the mobile terminal can be informed that
the flight device is in the virtual control mode.
[0148] In some embodiments of the disclosure, the mobile terminal
can send a control request to the controller of the flight device
via the wireless image transmission module, and control data for
the flight device can be sent to the controller if the controller
responds to the control request. The controller can convert the
control data into a control instruction of the remote controller,
such that a control of the flight device can be effected. In this
way, the flight device can be controlled by the mobile terminal,
thereby improving a flexibility in manipulating the flight
device.
[0149] In some instances, the mobile terminal can generate the
control data based upon an input operation of a user.
[0150] It will be appreciated that, in practical applications, the
mobile terminal can be provided with a virtual control program for
controlling the flight device. Once it is detected that a
connection is established between the mobile terminal and the
wireless image transmission module, the virtual control program can
be run by calling an interface provided by the virtual control
program. The user can perform an input operation to generate the
control data using the virtual control program.
[0151] In case that the target device is an onboard device, the
process of generating the control request can comprise generating
the control request by the onboard device of the flight device once
a connection is established between the onboard device of the
flight device and the controller.
[0152] In some instances, the process of sending the control
request to the controller can comprise sending the control request
to the flight device via a serial interface connected with the
controller.
[0153] In some instances, similar to the embodiments of the method
of controlling a flight device as discussed hereinabove, the
onboard device can be a processor or a sensor that is connected
with the flight device via a universal interface of the flight
device. The universal interface of the flight device can be
configured to connect various types of onboard devices.
[0154] It will be appreciated that, the control data sent from the
mobile terminal or the onboard device to the controller can be data
in a specified protocol format to enable the controller to identify
that the data sent from the mobile terminal or the onboard device
is data for controlling the flight device.
[0155] It will be appreciated that, the method of controlling the
flight device can comprise operations performed on the target
device side in controlling the flight device. Therefore, a
description of the method of controlling a flight device is
simplified for conciseness. An implementation of the method can be
clear by referring to the description of the processes performed on
the mobile terminal side and the onboard device side provided in
the embodiments of the method of controlling the flight device, as
discussed hereinabove.
[0156] Embodiments of the disclosure also provides an apparatus for
controlling a flight device corresponding to the method of
controlling the flight device.
[0157] FIG. 6 shows an embodiment of an apparatus for controlling a
flight device in accordance with the disclosure. The apparatus in
accordance with embodiments of the disclosure can comprise a
request receiving unit 601 configured to receive a control request
for requesting a control of the flight device from a target device;
a data receiving unit 602 configured to receive control data sent
from the target device; and a data converting unit 603 configured
to convert the control data into an executable instruction for
controlling the flight device.
[0158] In some embodiments, the request receiving unit can comprise
a first request receiving unit configured to enable a controller of
the flight device to receive the control request sent from a mobile
terminal via a wireless image transmission module. In some
instances, the mobile terminal can be connected with the wireless
image transmission module via a USB bus. The data receiving unit
can comprise a first data receiving unit configured to receive
control data sent from the mobile terminal via the wireless image
transmission module.
[0159] In an embodiment, the apparatus can further comprise: a link
establishment unit configured to establish a communication link
between the controller and the mobile terminal via the wireless
image transmission module before the first request receiving unit
receiving the control request. The first request receiving unit can
comprise a first request receiving subunit configured to receive
the control request sent from the mobile terminal over the
communication link. The first data receiving unit can comprise a
first data receiving subunit configured to receive the control data
sent from the mobile terminal over the communication link.
[0160] In another embodiment, the request receiving unit can
comprise a second request receiving unit configured to receive a
control request sent from an onboard device of the flight device.
The data receiving unit can comprise a second data receiving unit
configured to receive the control data sent from the onboard
device.
[0161] In some instances, the second request receiving unit can
comprise a second request receiving subunit configured to receive
the control request sent from the onboard device of the flight
device via a serial interface. The onboard device can be connected
with the controller via the serial interface. The second data
receiving unit can comprise a second data receiving subunit
configured to receive the control data sent from the onboard device
via the serial interface.
[0162] In some instances, the onboard device can be a processor or
a sensor connected with the flight device via a universal interface
of the flight device. The universal interface of the flight device
can be configured to connect various types of onboard devices.
[0163] In an embodiment, the data converting unit can comprise a
data converting subunit configured to convert the control data into
a control instruction of a remote controller of the flight device.
In some instances, the data converting subunit can comprise an
instruction mapping unit configured to determine the control
instruction corresponding to the control data based upon a preset
mapping between control data and instructions of the remote
controller.
[0164] In some instances, the apparatus can comprise a mode control
unit configured to direct the flight device into a virtual control
mode in response to the control request received by the request
receiving unit. In some instances, the data receiving unit can be
configured to receive the control data sent from the target device
in the virtual control mode. In some instances, the mode control
unit can comprise a program running subunit configured to call and
run a preset virtual control program in response to the control
request to direct the flight device into the virtual control mode.
In some instances, the data converting unit can comprise a program
executing subunit configured to execute the virtual control program
to convert the control data into a control instruction of the
remote controller upon receiving the control data via a preset
interface. In some instances, the preset interface can be a
callable interface provided by the virtual control program.
[0165] In some embodiments, providing that the apparatus comprises
a mode control unit, the apparatus can further comprise a mode
detecting unit configured to detect whether the flight device is
currently in the virtual control mode before the flight device is
directed into the virtual control mode by the mode control unit. In
some instances, the mode control unit can comprise a mode control
subunit configured to direct the flight device into the virtual
control mode if the mode detecting unit determines that the flight
device is currently not in the virtual control mode.
[0166] In some embodiments, providing that the apparatus comprises
a mode control unit, the apparatus can further comprise a mode
termination unit configured to switch a control mode of the flight
device to a remote control mode under which the flight device is
controlled by the remote controller once a virtual control
termination request is received from the target device.
[0167] In some embodiments, providing that the apparatus comprises
a mode control unit, the apparatus can further comprise a mode
switching unit configured to, after the mode control unit directs
the flight device into the virtual control mode, direct the flight
device into a remote control mode under which the flight device is
controlled by the remote controller if no control data is received
from the target device in a specified period of time.
[0168] In some embodiments, in any of the embodiments of the
apparatus as discussed hereinabove, the control data received by
the data receiving unit can be control data in a specified protocol
format.
[0169] In another aspect, the disclosure provides an apparatus for
controlling a flight device corresponding to a method of
controlling a flight device of the disclosure.
[0170] FIG. 7 shows a configuration of an embodiment of another
apparatus for controlling a flight device in accordance with the
disclosure. The apparatus in accordance with embodiments of the
disclosure can comprise a request generating unit 701 configured to
generate a control request for requesting a control of the flight
device; a request sending unit 702 configured to send the control
request to a controller of the flight device; and control data
sending unit 703 configured to send control data to the controller
to enable the controller to convert the control data into an
executable instruction for controlling the flight device and
execute the executable instruction once determining that the
controller responds to the control request.
[0171] In an embodiment, the request generating unit can comprise a
first request generating subunit configured to generate a control
request once a connection is established between a mobile terminal
and the controller. In some instances, the first request generating
subunit can be configured to generate a control request once a
connection is established between the mobile terminal and a
wireless image transmission module. In some instances, the wireless
image transmission module can be connected with the mobile terminal
via a USB bus. In some instances, the request sending unit can
comprise a first request sending subunit configured to send the
control request to the controller of the flight device via the
wireless image transmission module. In some instances, the control
data sending unit can comprise a first data sending subunit
configured to send the control data to the controller via the
wireless image transmission module.
[0172] In some embodiments, the apparatus can further comprise
control data generating unit configured to generate control data
based upon an input operation of a user before the control data
sending unit sends the control data to the controller.
[0173] In another embodiments, the request generating unit can
comprise a second request generating subunit configured to generate
a control request once a connection is established between an
onboard device of the flight device and the controller. In some
instances, the request sending unit can comprise a second request
sending subunit configured to send the control request to the
flight device via a serial interface connected with the
controller.
[0174] In some embodiments, the onboard device can be a processor
or a sensor connected with the flight device via a universal
interface of the flight device. The universal interface of the
flight device can be configured to connect various types of onboard
devices.
[0175] In some embodiments of the apparatus as discussed
hereinabove, the control data sent from the control data sending
unit can be control data in a specified protocol format.
[0176] In another aspect, embodiments of the disclosure provide a
flight device. FIG. 8 shows a configuration of an embodiment of a
flight device in accordance with the disclosure. In some
embodiments, the flight device can comprise a controller 801 and a
storage medium 802.
[0177] In some embodiments, the controller 801 can be configured to
(1) receive a control request for requesting a control of the
flight device from a target device, (2) receive control data sent
from the target device, and (3) convert the control data into an
executable instruction for controlling the flight device. In some
embodiments, the storage medium 802 can be configured to store a
program data for running the controller.
[0178] It will be appreciated that, the flight device can comprise
a sensor provided therein and an onboard device such as a sensor
that is provided outside the flight device and connected with a
universal interface of the flight device.
[0179] In another aspect, embodiments of the disclosure provide a
system for controlling a flight device.
[0180] FIG. 9 shows a configuration of an embodiment of a system
for controlling a flight device in accordance with the disclosure.
The system in accordance with embodiments of the disclosure can
comprise a controller 901 of the flight device and a target device
902 for controlling the flight device.
[0181] In some embodiments, the target device 902 can be configured
to (1) send a control request for requesting a control of the
flight device to the controller 901, and (2) send control data to
the controller 901 once the controller 901 responds to the control
request. The controller 901 can be configured to (1) respond to the
control request, (2) convert the control data into an executable
instruction for controlling the flight device upon receiving the
control data sent from the target device 902, and (3) execute the
executable instruction.
[0182] In some embodiments, the target device can comprise a mobile
terminal connected with the controller via a wireless image
transmission module or an onboard device connected with the
controller via a serial interface.
[0183] Embodiments of the disclosure are described in a progressive
manner. Each embodiment focuses on a difference over other
embodiments. The same or similar aspects of the embodiments can be
clear by referring to each other. The devices disclosed in the
embodiments may correspond to the method as disclosed in the
embodiments. Therefore, a detailed description of the devices may
be omitted for conciseness. The devices can be clear to those
skilled in the art by referring to the methods of the
disclosure.
[0184] It will be apparent to those skilled in the art that, units
and steps of the disclosed embodiments can be implemented by an
electronic hardware, a computer software, or a combination thereof.
A function of the units and steps of disclosed embodiments is
generally described in the disclosure to illustrate an
interchangeability between a hardware and a software. A function
can be implemented by either a hardware or a software, depending on
the specific application and the designed constraint of a technical
solution. A specific application can be implemented in various ways
without departing from the scope of the disclosure.
[0185] Methods or algorithms described in embodiments of the
disclosure can be implemented with a hardware, a software module
executed by a processor, or a combination thereof. The software
module can be stored in a random access memory (RAM), an internal
memory, a read-only memory (ROM), an electrically-programmable ROM,
an electrically-erasable programmable ROM, a register, a hard disk,
a removable disk, a CD-ROM, or a storage medium of any other forms
known in the art.
[0186] Embodiments are disclosed to enable those skilled in the art
to implement or use the disclosure. Various modifications to the
embodiments can be apparent to those skilled in the art. The
general principles as defined herein can be implemented in other
embodiments without departing from the spirit or scope of the
disclosure. The disclosure is not intended to be limited to the
illustrated embodiments but can be interpreted as the widest scope
consistent with the principles and novel features as disclosed.
* * * * *