Target calibration method, device and system and remote control terminal for movable platform

Abstract

A target calibration method, device and system and a remote control terminal for a movable platform, the method comprising: obtaining image transmission images of a first lens and a second lens through a remote control terminal, and displaying the first image transmission image obtained by the first lens on an interactive interface of the remote control terminal (S201); obtaining a first user instruction, the first user instruction being used to indicate a target object to be calibrated in the first image transmission image (S202); obtaining first position information of the target object in the first image transmission image (S203); marking the target object on the first image transmission image according to the first position information (S204); and determining second position information of the target object in the second image transmission image obtained by the second lens according to the first position information, the relative position relationship between the first lens and the second lens, the shooting parameters of the first lens and the shooting parameters of the second lens (S205).

Description

Technical Field

[0001] The present application relates to the field of interaction, and in particular to a target calibration method, device and system, and a remote control terminal for a movable platform. Background Art

[0002] At present, most mobile platforms use a single lens, and some existing software supports users to calibrate targets on the image transmission screen obtained by a single lens. Some mobile platforms have multiple lenses, and existing software only supports users to calibrate targets on the image transmission screens obtained by different lenses separately, and the target calibration results on the image transmission screens obtained by different lenses cannot be shared. When multiple people collaborate to control the mobile platform to perform operations, this target calibration method will increase the communication cost between users and reduce the operation efficiency. Summary of the invention

[0003] The present application provides a target calibration method, device and system, and a remote control terminal for a movable platform.

[0004] In a first aspect, an embodiment of the present application provides a target calibration method, which is applicable to a remote control terminal, wherein the remote control terminal communicates with a movable platform, wherein the movable platform includes a first lens and a second lens, and the method includes:

[0005] Acquire the image transmission pictures of the first lens and the second lens through the remote control terminal, and display the first image transmission picture acquired by the first lens on the interactive interface of the remote control terminal;

[0006] A first user instruction is obtained, wherein the first user instruction is used to indicate a target object to be calibrated in the first image transmission picture;

[0007] Acquire first position information of the target object in the first image transmission screen;

[0008] Marking the target object on the first image transmission screen according to the first position information;

[0009] The second position information of the target object in the second image transmission picture acquired by the second lens is determined according to the first position information, the relative position relationship between the first lens and the second lens, the shooting parameters of the first lens and the shooting parameters of the second lens.

[0010] In a second aspect, an embodiment of the present application provides a target calibration device, wherein the target calibration device is provided in a remote control terminal, wherein the remote control terminal communicates with a movable platform, wherein the movable platform includes a first lens and a second lens, and wherein the device includes:

[0011] a storage device for storing program instructions; and

[0012] One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

[0013] Acquire the image transmission pictures of the first lens and the second lens through the remote control terminal, and display the first image transmission picture acquired by the first lens on the interactive interface of the remote control terminal;

[0014] A first user instruction is obtained, wherein the first user instruction is used to indicate a target object to be calibrated in the first image transmission picture;

[0015] Acquire first position information of the target object in the first image transmission screen;

[0016] Marking the target object on the first image transmission screen according to the first position information;

[0017] The second position information of the target object in the second image transmission picture acquired by the second lens is determined according to the first position information, the relative position relationship between the first lens and the second lens, the shooting parameters of the first lens and the shooting parameters of the second lens.

[0018] In a third aspect, an embodiment of the present application provides a remote control terminal, wherein the remote control terminal communicates with a movable platform, wherein the movable platform includes a first lens and a second lens, and wherein the remote control terminal includes:

[0019] the subject; and

[0020] a target calibration device, supported by the main body;

[0021] Wherein, the target calibration device comprises:

[0022] a storage device for storing program instructions; and

[0023] One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

[0024] Acquire the image transmission pictures of the first lens and the second lens through the remote control terminal, and display the first image transmission picture acquired by the first lens on the interactive interface of the remote control terminal;

[0025] A first user instruction is obtained, wherein the first user instruction is used to indicate a target object to be calibrated in the first image transmission picture;

[0026] Acquire first position information of the target object in the first image transmission screen;

[0027] Marking the target object on the first image transmission screen according to the first position information;

[0028] The second position information of the target object in the second image transmission picture acquired by the second lens is determined according to the first position information, the relative position relationship between the first lens and the second lens, the shooting parameters of the first lens and the shooting parameters of the second lens.

[0029] In a fourth aspect, an embodiment of the present application provides a target calibration system, including:

[0030] A remote control terminal, the remote control terminal comprising a main body and a target marking device, the target marking device being supported by the main body; and

[0031] A movable platform, communicating with the remote control terminal, the movable platform comprising a first lens and a second lens;

[0032] Wherein, the target calibration device comprises:

[0033] a storage device for storing program instructions; and

[0034] One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

[0035] Acquire the image transmission pictures of the first lens and the second lens through the remote control terminal, and display the first image transmission picture acquired by the first lens on the interactive interface of the remote control terminal;

[0036] A first user instruction is obtained, wherein the first user instruction is used to indicate a target object to be calibrated in the first image transmission picture;

[0037] Acquire first position information of the target object in the first image transmission screen;

[0038] Marking the target object on the first image transmission screen according to the first position information;

[0039] The second position information of the target object in the second image transmission picture acquired by the second lens is determined according to the first position information, the relative position relationship between the first lens and the second lens, the shooting parameters of the first lens and the shooting parameters of the second lens.

[0040] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the following steps when the program is executed by a processor:

[0041] Acquire the image transmission pictures of the first lens and the second lens through the remote control terminal, and display the first image transmission picture acquired by the first lens on the interactive interface of the remote control terminal;

[0042] A first user instruction is obtained, wherein the first user instruction is used to indicate a target object to be calibrated in the first image transmission picture;

[0043] Acquire first position information of the target object in the first image transmission screen;

[0044] Marking the target object on the first image transmission screen according to the first position information;

[0045] The second position information of the target object in the second image transmission picture acquired by the second lens is determined according to the first position information, the relative position relationship between the first lens and the second lens, the shooting parameters of the first lens and the shooting parameters of the second lens.

[0046] In a sixth aspect, an embodiment of the present application provides a target calibration method, which is applicable to a remote control terminal, wherein the remote control terminal communicates with a movable platform, and a shooting device is mounted on the movable platform, and the method includes:

[0047] Displaying the image transmission picture acquired by the shooting device on the interactive interface of the remote control terminal;

[0048] A first user instruction is obtained, wherein the first user instruction is used to indicate a positioning strategy for positioning the target object to be calibrated in the image transmission picture and the target object;

[0049] According to the positioning strategy, obtaining the position information of the target object from the movable platform, the position information including the distance of the target object relative to the movable platform;

[0050] The target object is marked on the image transmission screen according to the position information.

[0051] In a seventh aspect, an embodiment of the present application provides a target calibration device, wherein the target calibration device is provided in a remote control terminal, the remote control terminal communicates with a movable platform, and a shooting device is mounted on the movable platform, and the device comprises:

[0052] a storage device for storing program instructions; and

[0053] One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

[0054] Displaying the image transmission picture acquired by the shooting device on the interactive interface of the remote control terminal;

[0055] A first user instruction is obtained, wherein the first user instruction is used to indicate a positioning strategy for positioning the target object to be calibrated in the image transmission picture and the target object;

[0056] According to the positioning strategy, obtaining the position information of the target object from the movable platform, the position information including the distance of the target object relative to the movable platform;

[0057] The target object is marked on the image transmission screen according to the position information.

[0058] In an eighth aspect, an embodiment of the present application provides a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform is equipped with a shooting device, and the remote control terminal includes:

[0059] the subject; and

[0060] a target calibration device, supported by the main body;

[0061] Wherein, the target calibration device comprises:

[0062] a storage device for storing program instructions; and

[0063] One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

[0064] Displaying the image transmission picture acquired by the shooting device on the interactive interface of the remote control terminal;

[0065] A first user instruction is obtained, wherein the first user instruction is used to indicate a positioning strategy for positioning the target object to be calibrated in the image transmission picture and the target object;

[0066] According to the positioning strategy, obtaining the position information of the target object from the movable platform, the position information including the distance of the target object relative to the movable platform;

[0067] The target object is marked on the image transmission screen according to the position information.

[0068] In a ninth aspect, an embodiment of the present application provides a target calibration system, including:

[0069] A remote control terminal, comprising a main body and a target marking device, wherein the target marking device is supported by the main body; and

[0070] A movable platform, communicating with the remote control terminal, wherein a shooting device is mounted on the movable platform;

[0071] Wherein, the target calibration device comprises:

[0072] a storage device for storing program instructions; and

[0073] One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

[0074] Displaying the image transmission picture acquired by the shooting device on the interactive interface of the remote control terminal;

[0075] A first user instruction is obtained, wherein the first user instruction is used to indicate a positioning strategy for positioning the target object to be calibrated in the image transmission picture and the target object;

[0076] According to the positioning strategy, obtaining the position information of the target object from the movable platform, the position information including the distance of the target object relative to the movable platform;

[0077] The target object is marked on the image transmission screen according to the position information.

[0078] In a tenth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the following steps are implemented:

[0079] Displaying the image transmission picture acquired by the shooting device on the interactive interface of the remote control terminal;

[0080] A first user instruction is obtained, wherein the first user instruction is used to indicate a positioning strategy for positioning the target object to be calibrated in the image transmission picture and the target object;

[0081] According to the positioning strategy, obtaining the position information of the target object from the movable platform, the position information including the distance of the target object relative to the movable platform;

[0082] The target object is marked on the image transmission screen according to the position information.

[0083] According to the technical solution provided in the embodiment of the present application, the second position information of the target object in the second image transmission picture can be obtained according to the first position information of the target object in the first image transmission picture, the relative position relationship between the first lens and the second lens, the shooting parameters of the first lens and the shooting parameters of the second lens. In this way, the target object marked on the first image transmission picture can be shared with the second image transmission picture according to the second position information, thereby realizing the sharing of target calibration results between image transmission pictures acquired by multiple lenses, which is conducive to reducing communication costs and improving coordination work efficiency when multiple people collaborate to control the operation of a movable platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0085] Figure 1A This is an application scenario diagram of a target calibration method in an embodiment of the present application;

[0086] Figure 1B is a structural block diagram of a movable platform in an embodiment of the present application;

[0087] Figure 2 is a method flow diagram of a target calibration method in one embodiment of the present application;

[0088] Figure 3A It is a schematic diagram of an interactive interface displaying an image transmission screen in an embodiment of the present application;

[0089] Figure 3B It is a schematic diagram of an interactive interface displaying an image transmission screen under an intelligent tracking strategy in one embodiment of the present application;

[0090] Figure 4A It is a schematic diagram of an interactive interface displaying an image transmission screen under a dot positioning strategy in one embodiment of the present application;

[0091] Figure 4B is a schematic diagram of a map corresponding to a first image transmission screen displayed on an interactive interface in another embodiment of the present application;

[0092] Figure 5 It is a schematic diagram of an interactive interface displaying an image transmission screen under a laser ranging strategy in another embodiment of the present application;

[0093] Figure 6 is a schematic diagram of a flight guidance compass in an embodiment of the present application;

[0094] Figure 7 is a structural block diagram of a target calibration device in one embodiment of the present application;

[0095] Figure 8 It is a method flow chart of a target calibration method in another embodiment of the present application. DETAILED DESCRIPTION

[0096] At present, some mobile platforms have multiple lenses, and the existing software only supports users to calibrate targets on the image transmission images obtained by different lenses respectively, and the target calibration results on the image transmission images obtained by different lenses cannot be shared. For example, when multiple people collaborate to control the mobile platform to perform operations, pilot X1 works by watching the image transmission image obtained by lens U1, and pilot X2 works by watching the image transmission image obtained by lens U2. During the operation, the pilot usually calibrates the targets that need to be focused on in the operation area. For example, if pilot X1 finds that there is a large obstacle in the operation area through the image transmission image obtained by lens U1, the large obstacle can be calibrated on the image transmission image obtained by lens U1 to avoid collision during operation. However, the information of the target calibrated by pilot X1 on the image transmission image obtained by lens U1 cannot be shared with the image transmission image obtained by lens U2, so pilot X2 has no way to obtain the information of the large obstacle in time. Therefore, the existing target calibration method will increase the communication cost between users and reduce the operation efficiency. In this regard, the present application can obtain the second position information of the target object in the second image transmission screen based on the first position information of the target object in the first image transmission screen, the relative position relationship between the first lens and the second lens, the shooting parameters of the first lens and the shooting parameters of the second lens. In this way, the target object marked on the first image transmission screen can be shared with the second image transmission screen based on the second position information, thereby realizing the sharing of target calibration results between image transmission screens acquired by multiple lenses, which is conducive to reducing communication costs and improving coordination efficiency when multiple people collaborate to control the operation of a movable platform.

[0097] On the other hand, when performing target calibration, the location information of the target object obtained is mostly obtained based on the navigation detection of the movable platform, and the precise location of the target object cannot be calibrated. For example, the target object is a suspect to be arrested. If the precise location of the suspect cannot be calibrated, it will cause great trouble to the arrest process. In this regard, when performing target calibration, the location information of the target object obtained from the movable platform includes the distance of the target object relative to the movable platform. Based on the distance of the target object relative to the movable platform, the target object can be quickly positioned. When multiple people collaborate to control the operation of the movable platform, the partners coordinating the operation can be quickly notified to reach the destination.

[0098] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0099] It should be noted that, in the absence of conflict, the features in the following embodiments and implementations may be combined with each other.

[0100] See also Figure 1A , the target calibration method of the embodiment of the present application is applicable to a remote control terminal, which communicates with a mobile platform. The remote control terminal of the embodiment of the present application can be a remote controller of the mobile platform, a smart terminal (such as a mobile phone, a tablet computer, etc.) or other terminal devices capable of remotely controlling the mobile platform. The mobile platform of the embodiment of the present application can be a drone, an unmanned vehicle or a ground mobile robot; of course, the mobile platform of the embodiment of the present application can also be other types of mobile platforms, such as a manned aircraft.

[0101] See also Figure 1B In some embodiments, the movable platform includes a first lens and a second lens.

[0102] Exemplarily, in some embodiments, the movable platform includes a camera, the camera includes multiple lenses, the first lens is one of the multiple lenses included in the camera, and the second lens includes other lenses among the multiple lenses included in the camera. In some embodiments, the movable platform includes multiple cameras, the first lens is a lens of one of the cameras, and the second lens includes lenses of other cameras. Optionally, the multiple cameras include a first person view FPV (First Person View) camera.

[0103] In some embodiments, the shooting device is mounted on the body of the movable platform via a gimbal; in some embodiments, the shooting device is directly fixed on the body of the movable platform.

[0104] Exemplarily, in some embodiments, the shooting device includes a dual-light lens, such as a wide-angle lens and a zoom lens, and optionally, the first lens is one of the wide-angle lens and the zoom lens, and the second lens is the other of the wide-angle lens and the zoom lens. In some embodiments, the shooting device includes a tri-light lens, such as a wide-angle lens, a zoom lens, and an infrared lens, and optionally, the first lens is one of the zoom lens, the wide-angle lens, and the infrared lens, and the second lens includes the other of the zoom lens, the wide-angle lens, and the infrared lens. In some embodiments, the movable platform includes an FPV camera and a first shooting device, and the first shooting device includes the shooting device of the dual-light lens and / or the tri-light lens. Optionally, the first lens is one of the lens of the FPV camera and the lens of the first shooting device, and the second lens includes the other of the lens of the FPV camera and the lens of the first shooting device.

[0105] Embodiment 1

[0106] Figure 2 is a method flow diagram of a target calibration method in an embodiment of the present application; the target calibration method in the embodiment of the present application is executed by a remote control terminal. Figure 2 , the target calibration method of the embodiment of the present application may include S201 to S205.

[0107] In S201, the image transmission pictures of the first lens and the second lens are obtained through the remote control terminal, and the first image transmission picture obtained by the first lens is displayed on the interactive interface of the remote control terminal.

[0108] In the embodiment of the present application, during operation, the movable platform will transmit the image transmission images acquired by the first lens and the second lens back to the remote control terminal.

[0109] The interactive interface displays the logo corresponding to the first lens and the logo corresponding to the second lens. The user can select one of the first lens and the second lens image transmission images to be displayed on the interactive interface by operating (such as single-clicking, double-clicking, or long pressing) the logo corresponding to each lens. For example, see Figure 3A , the first lens is a zoom lens, the second lens includes an infrared lens, a wide-angle lens and an FPV lens, the zoom lens corresponds to the first mark 11, the infrared lens corresponds to the second mark 12, the wide-angle lens corresponds to the third mark 13, and the FPV camera lens corresponds to the fourth mark 14. The user can click on one of the first mark 11, the second mark 12, the third mark 13 and the fourth mark 14, so that the image transmission screen of the lens corresponding to the currently clicked mark is displayed on the interactive interface. Figure 3A In the example, the user clicks on the first mark 11, and the image transmission screen corresponding to the zoom lens is displayed on the interactive interface.

[0110] In S202, a first user instruction is obtained, wherein the first user instruction is used to indicate a target object to be calibrated in a first image transmission picture.

[0111] In an embodiment of the present application, the first user instruction is also used to indicate a positioning strategy for positioning a target object to be calibrated (hereinafter referred to as the target object), and the remote control terminal obtains the position information of the target object (i.e., the third position information described below) from the movable platform according to the positioning strategy to calibrate the target object. In an embodiment of the present application, the remote control terminal obtains the third position information obtained by the movable platform by positioning the target object according to the positioning strategy in the first user instruction from the movable platform. It should be noted that in an embodiment of the present application, the third position information can be used to indicate the position of the target object in the world coordinate system, and can also be used to indicate the position of the target object in the image coordinate system, or to indicate the position of the target object in other coordinate systems.

[0112] Exemplarily, the third position information includes at least one of the latitude, longitude and altitude of the target object; of course, the third position information may also include other information, such as the distance of the target object relative to the movable platform. Exemplarily, the third position information is determined based on the position information of the movable platform and the distance of the target object relative to the movable platform. Optionally, the third position information includes the relative position information and / or absolute position information of the target object, and both the relative position information and the absolute position information are determined based on the position information of the movable platform and the distance of the target object relative to the movable platform.

[0113] The positioning strategy may include one or more. For example, the positioning strategy includes at least one of the smart tracking strategy (also called Smart track), the dot positioning strategy (also called PIN Point) and the laser ranging strategy (also called Range). Of course, the positioning strategy may also include others. It should be noted that when the positioning strategy includes multiple ones, each positioning strategy is independent of each other.

[0114] Exemplarily, the positioning strategies include intelligent tracking strategies, dot-marking positioning strategies and laser ranging strategies. Among them, the movable platform can locate the target object through navigation and / or laser ranging devices. Navigation can be GPS or other means. Different positioning strategies may obtain different third position information from the movable platform. For example, for the intelligent tracking strategy, the third position information may include the longitude and latitude and / or altitude of the target object, or the position information of the target object in the image coordinate system; for the dot-marking positioning strategy, the third position information may include the longitude and latitude and / or altitude of the target object and / or the distance of the target object relative to the movable platform; for the laser ranging strategy, the third position information may include the longitude and latitude and / or altitude of the target object and / or the distance of the target object relative to the movable platform.

[0115] The interactive interface displays the corresponding logo of each positioning strategy, and the user can operate (such as single-click, double-click or long-press) the logo corresponding to each positioning strategy to select the corresponding positioning strategy. For example, see Figure 3A The interactive interface displays the fifth identifier 21 corresponding to the intelligent tracking strategy, the sixth identifier 22 corresponding to the dot positioning strategy, and the seventh identifier 23 corresponding to the laser ranging strategy. When performing target calibration, at the same time, the user can operate one of the fifth identifier 21, the sixth identifier 22, and the seventh identifier 23, so that the positioning strategy corresponding to the currently operated identifier is in a triggered state, and the remote control terminal will obtain the third position information from the mobile platform according to the positioning identifier currently in the triggered state.

[0116] Optionally, the positioning strategy can default to one of the intelligent tracking strategy, the dot positioning strategy and the laser ranging strategy. When the positioning strategy needs to be switched, the corresponding mark can be operated.

[0117] The first user instruction may be generated when the user clicks or selects an object in the first image transmission screen, or the first user instruction may be generated when the user clicks on an identifier corresponding to the positioning strategy. For example, in some embodiments, the first user instruction is generated when the user clicks or selects an object in the first image transmission screen, which is applicable to the usage scenario where the positioning strategy is the default positioning strategy. Exemplarily, the positioning strategy is the default intelligent tracking strategy, and the objects in the first image transmission screen (such as people, cars, ships, etc.) can be identified by the control device of the movable platform, and the recognition result of the control device (such as Figure 3A The first user instruction is generated when the user clicks the object corresponding to the above recognition result. Clicking includes one of single click and double click, and may also include other. For example, please refer to Figure 3A , when the user clicks on the second object 32 , the target object is the second object 32 .

[0118] In some embodiments, the first user instruction is generated when the user clicks on the mark corresponding to the positioning strategy displayed on the first image transmission screen. Optionally, the first user instruction is generated when the user clicks on the mark corresponding to the dot positioning strategy displayed on the first image transmission screen, or the first user instruction is generated when the user clicks on the mark corresponding to the laser ranging strategy displayed on the first image transmission screen.

[0119] In S203, first position information of the target object in the first image transmission picture is obtained.

[0120] Exemplarily, the first position information is the pixel coordinates of the target object in the first image transmission screen.

[0121] Among them, the first position information of the target object in the first image transmission screen can be obtained using an existing image recognition algorithm, which is not explained in the embodiment of the present application.

[0122] Exemplarily, in some embodiments, the positioning strategy is an intelligent tracking strategy. Optionally, after obtaining the first user instruction, before obtaining the first position information of the target object in the first image transmission screen, a first indication information is sent to the movable platform. In this embodiment, the first indication information is used to instruct the movable platform to adjust the posture of the first lens so that the target object in the first image transmission screen moves to the first specific position of the first image transmission screen. The first position information of this embodiment is the position information of the first specific position. Exemplarily, the first specific position includes the center position of the first image transmission screen; of course, the first specific position can also be other positions of the first image transmission screen.

[0123] Exemplarily, after receiving the first indication information, the movable platform controls the shooting device through the control device to adjust the posture of the shooting device, thereby adjusting the posture of the first lens. Exemplarily, the control device can adjust at least one of the yaw posture, pitch posture and roll posture of the shooting device to achieve the purpose of adjusting the posture of the shooting device.

[0124] Exemplarily, the photographing device is mounted on a movable platform via a gimbal, and the posture of the photographing device can be adjusted by adjusting the posture of the gimbal.

[0125] Further optionally, the first indication information is also used to instruct the movable platform to adjust the shooting parameters of the first lens so that the size of the target object in the first image transmission screen is a preset size in the first image transmission screen, which is convenient for the user to observe the target object. The size of the preset size can be set as needed. Exemplarily, the first indication information is also used to instruct the movable platform to adjust the zoom factor of the first lens so that the size of the target object in the first image transmission screen is a preset size.

[0126] For example, please combine Figure 3A and Figure 3B , the user is Figure 3A The second object 32 is selected as the target object in the first image transmission screen shown (by single-clicking or box selection or other operation methods), and the remote control terminal sends a first indication message to the movable platform. After receiving the first indication message, the movable platform adjusts the posture of the first lens through the control device so that the second object 32 moves to the center of the first image transmission screen, and adjusts the zoom factor of the first lens through the control device so that the second object 32 is magnified by a preset factor so that the size of the target object in the first image transmission screen is a preset size, such as Figure 3B As shown in the figure, users only need to select the target, and then they can observe the target object clearly, intuitively and in real time without any extra operations.

[0127] Intelligent tracking strategies can obtain real-time location information of target objects. Therefore, intelligent tracking strategies are more suitable for calibrating and tracking moving target objects. For example, if the target object is a suspect, the location of the suspect can be obtained in real time through intelligent tracking strategies, which is conducive to the arrest operation.

[0128] It should be noted that the third position information corresponding to the intelligent tracking strategy may include the latitude, longitude and altitude of the target object, wherein the latitude and longitude of the target object is determined according to the latitude and longitude of the movable platform and the altitude of the movable platform, and the altitude of the target object is determined according to the altitude of the movable platform. That is, the third position information corresponding to the intelligent tracking strategy can obtain the relative position of the target object.

[0129] In some embodiments, the positioning strategy is a dot positioning strategy, and the target object is an object at a second specific position of the first image transmission screen. Exemplarily, the second specific position includes the center position of the first image transmission screen; of course, the second specific position can also be other positions of the first image transmission screen.

[0130] Before locating the target object through the dot positioning strategy, if the object serving as the target object in the first image transmission screen is not currently in the second specific position, the object serving as the target object in the first image transmission screen needs to be moved to the second specific position; if the object serving as the target object in the first image transmission screen is currently in the second specific position, the user can directly operate the mark corresponding to the dot positioning strategy, thereby selecting the dot positioning strategy as the positioning strategy used for calibrating the target.

[0131] The strategies for moving the object as the target object in the first image transmission picture to the second specific position may include but are not limited to the following two:

[0132] (1) before acquiring the third position information, outputting second instruction information, wherein the second instruction information is used to instruct the user to adjust the posture of the first lens through the control device of the movable platform so that the target object in the first image transmission picture is at the second specific position.

[0133] It should be noted that the control device and the remote control terminal may be the same device or different devices; illustratively, the control device is a remote controller of a movable platform, and the remote control terminal is a mobile phone.

[0134] The user can adjust at least one of the positions of the movable platform and the shooting device by operating the control device to adjust the position of the first lens. In this way, the target object in the first image transmission screen is moved to the second specific position of the first image transmission screen by manually controlling the joystick of the remote controller to adjust the aircraft position.

[0135] (2) Before obtaining the first user instruction, obtain the second user instruction, and send the third indication information to the movable platform according to the second user instruction. The second user instruction is used to indicate the object to be moved to the second specific position in the first image transmission screen. Exemplarily, the second user instruction is generated when the user double-clicks the object to be moved to the second specific position in the first image transmission screen; it should be understood that the second user instruction may be generated in other ways. The third indication information is used to instruct the movable platform to automatically adjust the posture of the first lens so that the object to be moved to the second specific position moves to the second specific position. It should be noted that in the present application, various indication information can be output in the form of a dialog box, and various indication information can also be output in other ways.

[0136] In this way, the purpose of moving the target object in the first image transmission picture to the second specific position of the first image transmission picture is achieved in an automatic manner.

[0137] For example, see Figure 4A , the second object 32 needs to be calibrated, that is, the second object 32 is the target object, and the second object 32 is not currently at the center of the first image transmission screen. The second object 32 can be moved to the center of the first image transmission screen through operations (1) or (2). After the second object 32 is moved to the center of the first image transmission screen, click the mark corresponding to the dot positioning strategy, dot the center of the first image transmission screen, and record the third position information of the second object 32. For example, augmented reality AR (Augmented Reality), dynamic or static dot method can be used to dot the center of the first image transmission screen. In addition, multiple points can be marked on the first image transmission screen.

[0138] In this embodiment, the third position information is determined based on the position information of the movable platform and the distance of the target object relative to the movable platform, so that the relative position and absolute position of the target object can be determined, that is, the third position information can include at least one of the relative position information and the absolute position information of the target object. It should be noted that the distance of the target object relative to the movable platform can be obtained by detecting the laser ranging device of the movable platform.

[0139] In some embodiments, the positioning strategy is a laser ranging strategy, and the target object is an object at a fourth specific position of the first image transmission screen. Exemplarily, the fourth specific position includes the center position of the first image transmission screen; of course, the fourth specific position can also be other positions of the first image transmission screen.

[0140] For example, see Figure 5When the seventh mark 23 corresponding to the laser ranging strategy is triggered, the "calibrating" mark is displayed at the center of the first image transmission screen, indicating that the target object at the center of the first image transmission screen is currently aligned to obtain the distance of the target object relative to the movable platform and the latitude, longitude and altitude of the target object.

[0141] In S204, the target object is marked on the first image transmission screen according to the first position information.

[0142] In this way, the purpose of calibrating the target object in the first image transmission picture is achieved.

[0143] In the embodiment of the present application, the annotation may include an icon and third position information of the target object, but is not limited thereto.

[0144] In the embodiment of the present application, when the target object is marked, the icon is displayed on the target object, that is, the pixels of the icon cover at least part of the pixels of the target object. The icon may include at least one of a graphic, a number and a symbol, and the icon may also include other.

[0145] Exemplarily, in some embodiments, the target calibration method may further include: when the icon on the target object is in a triggered state, displaying the third position information on the icon. Further, in some embodiments, the target calibration method may further include: when the icon on the target object is in a non-triggered state, hiding the third position information. It should be noted that when the icon is operated, the icon is in a triggered state; when the icon is not operated, the icon is in a non-triggered state. Among them, the icon being operated may include the icon being clicked, such as a click operation such as a single click, a double click, or a long press.

[0146] Optionally, in some embodiments, the labeled icons corresponding to different target objects of the same positioning strategy are different to distinguish the target objects; in some embodiments, the labeled icons corresponding to different target objects of the same positioning strategy are the same.

[0147] Optionally, the positioning strategies include multiple ones. In some embodiments, different positioning strategies correspond to different labeled icons to distinguish the positioning strategies of the target object; in some embodiments, different positioning strategies correspond to the same labeled icons.

[0148] Exemplarily, different icons may include at least one of icon size, icon shape, and icon color being different, and the same icons refer to the same icon size, icon shape, and icon color. Exemplarily, the target object Y1 and the target object Y2 are calibrated in the first image transmission screen using an intelligent tracking strategy, and the labeled icon corresponding to the target object Y1 is a green circle, and the labeled icon corresponding to the target object Y2 is a green box.

[0149] In the embodiment of the present application, the same positioning strategy has the same labeled icons corresponding to different target objects, and different positioning strategies have different labeled icons. For example, the labeled icon corresponding to the intelligent tracking strategy is a green "+", the labeled icon corresponding to the dot positioning strategy is a green "◇", and the labeled icon corresponding to the laser ranging strategy is a red "+".

[0150] Furthermore, when the same target object is calibrated on the first image transmission screen by the intelligent tracking strategy and the laser ranging strategy, the target object is located at the center of the first image transmission screen, and the annotated icon of the target object is the intelligent tracking strategy and the corresponding annotated icon. Exemplarily, the target object being located at the center of the first image transmission screen means that the center of the target object coincides with the center of the first image transmission screen. It should be understood that when the deviation between the center of the target object and the center of the first image transmission screen is less than a preset deviation threshold, it can also be considered that the center of the target object coincides with the center of the first image transmission screen.

[0151] In addition, when calibrating the target object, if the intelligent tracking strategy and the laser ranging strategy are used simultaneously to locate the third position information of the target object, since the laser ranging strategy can obtain the distance of the target object relative to the movable platform, the real-time position information of the target object obtained by the intelligent tracking strategy and the distance of the target object relative to the movable platform obtained by the laser ranging strategy can be combined to determine the real-time absolute position of the target object, so that accurate tracking of the target object can be achieved.

[0152] For example, movable objects in the real world (such as people, animals, vehicles, etc.) are calibrated using an intelligent tracking strategy, and stationary objects in the real world (such as buildings, mountains, rivers, etc.) are calibrated using a dot-marking positioning strategy. Therefore, the third position information contained in the annotation corresponding to the intelligent tracking strategy will change as the position of the target object in the real world changes, while the third position information contained in the annotation corresponding to the dot-marking positioning strategy will not change.

[0153] In some embodiments, when the positioning strategy is a laser ranging strategy, the third position information includes the absolute position information of the target object. According to the first position information, the implementation process of marking the target object on the first image transmission screen may include: according to the absolute position information included in the first position information and the third position information, performing augmented reality AR projection marking on the target object on the first image transmission screen, and the AR projection marking is more eye-catching.

[0154] In addition, when the positioning strategy is the laser ranging strategy, you can also perform point calibration operations on the map corresponding to the first image transmission screen. Figure 3A , 3B and Figure 4AWhen the first image transmission screen is displayed on the interactive interface, the eighth mark 41 corresponding to the map corresponding to the first image transmission screen is also displayed on the interactive interface. When the user operates the eighth mark 41 so that the eighth mark is in a triggered state, the map corresponding to the first image transmission screen is displayed on the interactive interface, such as Figure 4B shown.

[0155] The following is a detailed description of the implementation process of the point marking operation on the map corresponding to the first image transmission screen:

[0156] (1) Displaying a map corresponding to the first image transmission screen on the interactive interface;

[0157] Exemplarily, the map corresponding to the first image transmission screen is a map around the current position of the movable platform, and the user can operate the interactive interface to zoom in or out the map.

[0158] (2) obtaining a third user instruction, wherein the third user instruction is generated when the user operates an identifier corresponding to the dot positioning strategy displayed on the map;

[0159] See also Figure 4B , when the interactive interface displays the map corresponding to the first image transmission picture, the sixth mark 22 corresponding to the dot positioning strategy will be displayed on the map. Furthermore, the map also displays the first image transmission picture 1 and the image transmission picture 2 corresponding to the FPV camera. The user can watch the image transmission picture while watching the map, which is conducive to the intuitive presentation of information. It should be noted that in the embodiment of the present application, the image transmission pictures of different lenses can be obtained by different lenses of the same shooting device, or by different shooting devices. Exemplarily, the shooting device includes a zoom lens and a wide-angle lens, and the first image transmission picture can be the image transmission picture obtained by the zoom lens, or the image transmission picture obtained by the wide-angle lens; Exemplarily, the shooting device includes a zoom lens, a wide-angle lens and an infrared lens, and the first image transmission picture can be the image transmission picture obtained by the zoom lens, or the image transmission picture obtained by the wide-angle lens, or the image transmission picture obtained by the infrared lens; Exemplarily, the movable platform includes a first shooting device and an FPV camera, and the first image transmission picture can be the image transmission picture obtained by the first shooting device, or the image transmission picture obtained by the FPV camera.

[0160] (3) According to a third user instruction, the target object 411 at the third specific position of the map is marked.

[0161] In this way, the purpose of marking the target object on the map corresponding to the first image transmission screen is achieved.

[0162] Further, in some embodiments, after the target object 411 at the third specific position of the map is marked according to the third user instruction, when the icon corresponding to the mark on the map is triggered, if the fourth user instruction is obtained, the height in the third position information contained in the mark is modified and / or deleted according to the fourth user instruction. The icon corresponding to the mark on the map can be triggered by the user operating (such as clicking or boxing) the icon corresponding to the mark, and the fourth user instruction can be generated when the user operates the virtual keyboard and / or virtual mouse on the interactive interface. The modification function improves the accuracy of target calibration; the deletion function meets different user needs.

[0163] Further, in some embodiments, after the target object 411 at the third specific position of the map is marked according to the third user instruction, when the icon corresponding to the mark on the map is triggered, if the fifth user instruction is obtained, the position of the icon is moved on the map according to the fifth user instruction, and the longitude and latitude in the third position information contained in the mark are replaced with the longitude and latitude corresponding to the position of the moved icon to meet different user needs. Exemplarily, the fifth user instruction instructs the user to perform a first operation on the icon first, and then perform a second operation on the icon; Exemplarily, the first operation includes continuously clicking the icon for a time period greater than a preset time period, and the second operation includes dragging the icon. The size of the preset time period can be set as needed, for example, the preset time period can be 5 seconds or other sizes. It should be understood that the fifth user instruction may also include other operations performed by the user on the icon, and the first operation and the second operation may also be of other types.

[0164] When the positioning strategy is a laser ranging strategy, the target calibration method may further include: obtaining the distance of the target object relative to the movable platform obtained by positioning the target object. Furthermore, according to the first position information, the implementation process of marking the target object on the first image transmission screen may include: marking the target object on the first image transmission screen according to the first position information and the distance of the target object relative to the movable platform. Exemplarily, the third position information corresponding to the marking includes the distance of the target object relative to the movable platform. The user can determine the distance of the target object relative to the movable platform through marking, thereby determining the absolute position of the target object.

[0165] In S205, second position information of the target object in the second image transmission picture acquired by the second lens is determined according to the first position information, the relative position relationship between the first lens and the second lens, the shooting parameters of the first lens and the shooting parameters of the second lens.

[0166] When the postures of the first lens and the second lens are roughly the same and the distance is less than a preset threshold, it can be considered that the positions of the two lenses coincide. At this time, it is only necessary to know the shooting parameters of the first lens and the shooting parameters of the second lens (for example, the FOVs of the two lenses) to determine the second position information of the target object in the second image transmission picture obtained by the second lens.

[0167] Optionally, the shooting parameters include a shooting angle of view FOV; of course, the shooting parameters may also include others.

[0168] Furthermore, after determining the second position information of the target object in the second image transmission picture acquired by the second lens, the target object is marked on the second image transmission picture according to the second position information. Through the user's operation on the first image transmission picture, the purpose of calibrating the target object in the first image transmission picture and the second image transmission picture at the same time is achieved, thereby achieving the sharing of calibration results when calibrating the target object in different image transmission pictures, improving the calibration efficiency, and improving the collaboration efficiency when multiple people collaborate to operate the movable platform.

[0169] For example, pilot X1 watches the first image transmission screen through the interactive interface of remote control terminal Z1 to perform operations, and pilot X2 watches the second image transmission screen through the interactive interface of remote control terminal Z2 to perform operations. When pilot X1 marks a target object Y1 on the first image transmission screen, pilot X2 may also see the mark information of target object Y1 on the second image transmission screen.

[0170] In an embodiment of the present application, the marking of the target object on the first image transmission screen is the same as the marking of the target object on the second image transmission screen; of course, in other embodiments, the marking of the target object on the first image transmission screen may be different from the marking of the target object on the second image transmission screen.

[0171] Further, in some embodiments, when the positioning strategy is a laser ranging strategy, after determining the second position information of the target object in the second image transmission picture acquired by the second lens, if the second position information is not on the second image transmission picture, the mark of the target object is displayed at the edge of the second image transmission picture. The position of the edge relative to the center position of the second image transmission picture is used to indicate the position of the target object relative to the center position of the second image transmission picture. In this way, the user can be informed of the position of the target object.

[0172] Furthermore, in some embodiments, the target calibration method may also include: marking the target object on the map corresponding to the first image transmission screen according to the third position information. In this way, through the user's operation on the first image transmission screen, the purpose of calibrating the target object on the first image transmission screen and the map corresponding to the first image transmission screen is achieved, that is, after the target object is calibrated on the image transmission screen, the calibration result is shared on the map to improve the calibration efficiency, and when multiple people collaborate to operate the mobile platform, the collaboration can be smoother and the collaboration efficiency is improved. It should be understood that the target object marked on the map can also be shared synchronously to the image transmission screen.

[0173] Furthermore, in some embodiments, the target calibration method may also include: synchronizing the annotation to the external device and / or the map corresponding to the image transmission screen and / or the operation guidance page of the movable platform. Optionally, the external device is a background supervision device, and it can also be an HSI, other web platforms, etc. Exemplarily, the external device is a background supervision device (usually used by the commander), and the calibration results of the pilot calibrating the target through the remote control terminal can be shared with the background supervision device, thereby realizing information synchronization between the pilot and the commander. The commander can dispatch multiple pilots according to the synchronized information to improve work efficiency. The operation guidance page is used to indicate the operating status of the movable platform.

[0174] Exemplarily, the movable platform is a drone, and the operation guidance page is the flight guidance page of the drone, and the flight guidance page is described. In the process of the user controlling the flight of the drone through the remote control terminal, the flight guidance page is displayed on the display device of the remote control terminal or the display device connected to the remote control terminal, so that the user can know the flight status of the drone. Among them, the flight guidance page includes a flight guidance compass, which is used to simultaneously identify the orientation of the drone and the orientation of the gimbal of the drone that are connected to the remote control terminal for communication, and the flight guidance page also displays the current picture of the drone's shooting device. Among them, the flight guidance compass includes any one of an attitude ball and a horizontal situation indicator (Horizontal Situation Indicator, HSI), and the display position of the flight guidance compass can be set according to actual conditions, and this application does not make specific restrictions on this. For example, the flight guidance compass is displayed in the lower middle area of ​​the flight guidance page. By identifying the orientation of the drone and the orientation of the gimbal of the drone, it is convenient for the user to control the attitude of the gimbal of the drone and the attitude of the drone, and the drone can be controlled to take the photos or videos that the user wants. The flight guidance compass is a direction indicator that indicates the direction on the flight guidance page. It can be square, circular, elliptical, or other shapes that can indicate the direction. For example, when the flight guidance compass is square, the four corners of the direction are set to the four directions of east, west, south, and north, and the direction of the current drone and gimbal can be indicated in the square compass. Below, the flight guidance compass is circular as an example for explanation.

[0175] In some embodiments, the flight guidance compass rotates with the rotation of the drone, and a drone icon is displayed in the central area of ​​the flight guidance compass. The drone icon is used to represent the drone, and the drone icon does not rotate with the rotation of the drone. The edge area of ​​the flight guidance compass displays the corresponding indicating characters for the due east, due west, due south, and due north directions, respectively. The edge area of ​​the flight guidance compass also displays a gimbal icon, which is used to represent the gimbal of the drone. The position of the gimbal icon in the edge area is determined according to the orientation of the Yaw axis of the gimbal, and the position of the gimbal icon in the edge area changes with the change of the orientation of the gimbal. By displaying the drone icon, the gimbal icon, and the indicating characters corresponding to the due east, due west, due south, and due north directions on the flight guidance compass, the user can know the orientation of the gimbal and the orientation of the drone based on the displayed flight guidance compass, so that the user can control the attitude of the gimbal of the drone and the attitude of the drone.

[0176] Among them, the drone icon, gimbal icon and indicator characters can be set according to actual conditions, and this application does not make specific limitations on this. For example, the indicator characters corresponding to the east, west, south and north directions are E, W, S and N respectively, the drone icon is an arrow, circle, triangle or other shapes, and the gimbal icon is a triangle, quadrilateral, pentagon or other shapes.

[0177] In some embodiments, the angle value corresponding to the nose direction of the drone is displayed near the flight guidance compass, and the displayed angle value is used to indicate the nose direction of the drone, wherein the angle value is the angle of the nose direction of the drone relative to the due north, due south, due west, or due east. By displaying the angle value corresponding to the nose direction of the drone on the flight guidance compass, the user can know the angle of the nose direction of the drone relative to the due north, due south, due west, or due east based on the displayed angle value, which is convenient for the user to control the drone.

[0178] In some embodiments, the drone icon is an arrow icon, which is fixedly pointing to the top of the flight guidance page, and the direction of the arrow icon is consistent with the direction of the drone's nose; when the drone's orientation changes, the flight guidance compass rotates, and when the drone includes multiple gimbals, the edge area of ​​the flight guidance compass displays a gimbal icon corresponding to each gimbal, and each gimbal icon has a different color. The edge area of ​​the flight guidance compass also displays multiple angle scales and angle values ​​corresponding to each angle scale. Among them, the angle value is the angle from the true north direction. By displaying the gimbal icon corresponding to each gimbal and multiple angle scales and angle values ​​corresponding to each angle scale in different colors on the flight guidance compass, the user can accurately and clearly know the orientation of the gimbal and the orientation of the drone based on the displayed flight guidance compass, which is convenient for the user to control the attitude of the gimbal of the drone and the attitude of the drone.

[0179] The flight guidance compass also includes a follow icon, which is used to indicate the object followed by the drone. The position of the follow icon on the flight guidance compass is determined according to the direction and distance of the object followed by the drone relative to the drone. When the distance of the object followed by the drone relative to the drone is less than a preset distance, the follow icon is located inside the flight guidance compass. When the distance of the object followed by the drone relative to the drone is greater than or equal to the preset distance, the follow icon is located inside the edge area of ​​the flight guidance compass. The flight guidance compass also displays a mark point icon and the distance of the marked spatial point relative to the drone. The follow icon can be set based on actual conditions, and this application does not make specific restrictions on this. For example, the follow icon is The flight guidance page also displays an object follow button. When the user touches the object follow button, the drone automatically identifies objects such as people, vehicles, and ships, and adjusts the camera's focus so that objects such as people, vehicles, and ships are located in the center of the screen. When the user selects the object to follow, the follow icon is displayed on the flight guidance compass based on the direction and distance of the object relative to the drone.

[0180] like Figure 6 As shown, the flight guidance compass shows the return point icon of the drone inside At the same time, the return point icon is displayed near the lower right side of the flight guidance compass. The distance between the return point of the drone and the drone is 10m; the inner side of the edge area of ​​the flight guidance compass displays a mark point icon "◇", and the lower left side of the flight guidance compass displays a mark point icon "◇" and the distance of the marked space point relative to the drone is 45m; the interior of the flight guidance compass displays a follow icon At the same time, a follow icon is displayed near the upper left side of the flight guidance compass. The distance between the object being followed and the drone is 5m.

[0181] The target calibration method of the embodiment of the present application can track and synchronize information for "dynamic targets" and "static targets", realize closed-loop operation on multiple platforms, and is suitable for security, emergency and other industries.

[0182] Corresponding to the target calibration method of the above embodiment, the present application embodiment also provides a target calibration device, which is arranged in a remote control terminal, see Figure 7 , the target calibration device may include a storage device and one or more processors.

[0183] Wherein, the storage device is used to store program instructions.

[0184] One or more processors call program instructions stored in a storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations: acquiring image transmission images of a first lens and a second lens through a remote control terminal, and displaying the first image transmission image acquired by the first lens on an interactive interface of the remote control terminal; acquiring a first user instruction, wherein the first user instruction is used to indicate a target object to be calibrated in the first image transmission image; acquiring first position information of the target object in the first image transmission image; marking the target object on the first image transmission image according to the first position information; and determining second position information of the target object in the second image transmission image acquired by the second lens according to the first position information, the relative position relationship between the first lens and the second lens, the shooting parameters of the first lens, and the shooting parameters of the second lens.

[0185] The processor of this embodiment can implement the present application Figure 2 For the target calibration method of the illustrated embodiment, reference may be made to the description of the corresponding parts of the above embodiments.

[0186] Furthermore, an embodiment of the present application also provides a remote control terminal, which communicates with a movable platform, wherein the movable platform includes a first lens and a second lens, and the remote control terminal includes a main body and a target calibration device of the above embodiment, wherein the target calibration device is supported by the main body.

[0187] Furthermore, the embodiment of the present application also provides a target calibration system, including a remote control terminal and a movable platform, wherein the remote control terminal includes a main body and the target calibration device of the above embodiment, and the target calibration device is supported by the main body. The movable platform communicates with the remote control terminal, and the movable platform includes a first lens and a second lens.

[0188] In addition, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the target calibration method of the above-mentioned embodiment 2 are implemented.

[0189] Embodiment 2

[0190] Figure 8 is a method flow diagram of a target calibration method in another embodiment of the present application; the target calibration method in the embodiment of the present application is executed by a remote control terminal. Figure 8 , the target calibration method of the embodiment of the present application may include S801 to S804.

[0191] Among them, in S801, the image transmission picture obtained by the shooting device is displayed on the interactive interface of the remote control terminal.

[0192] The shooting device is mounted on a movable platform, and the shooting device may include one or more lenses. When the shooting device includes multiple lenses, the image transmission picture may be an image transmission picture acquired by any one of the multiple lenses. Exemplarily, the image transmission picture is an image transmission picture acquired by the first lens of the movable platform.

[0193] During operation, the movable platform will transmit the image back to the remote control terminal.

[0194] In S802, a first user instruction is obtained, wherein the first user instruction is used to indicate a positioning strategy for positioning a target object to be calibrated and a target object in an image transmission picture.

[0195] It should be noted that the location information of the embodiment of the present application is equivalent to the third location information of the embodiment 1. In addition, different from the embodiment 1, the positioning strategy of the embodiment of the present application includes at least one of a dot positioning strategy and a laser ranging strategy.

[0196] In S803, according to the positioning strategy, the location information of the target object is obtained from the movable platform, where the location information includes the distance of the target object relative to the movable platform.

[0197] In an embodiment of the present application, the position information may be used to indicate the position of the target object in a world coordinate system, or may be used to indicate the position of the target object in an image coordinate system, or may be used to indicate the position of the target object in other coordinate systems.

[0198] In S804, the target object is marked on the image transmission screen according to the position information.

[0199] Optionally, the annotation includes an icon and location information.

[0200] Optionally, the location information also includes at least one of the latitude, longitude and altitude of the target object.

[0201] Optionally, the target calibration method further includes: when the icon is in a triggered state, displaying position information on the icon.

[0202] Optionally, the target calibration method further includes: hiding the position information when the icon is in a non-trigger state.

[0203] Optionally, the positioning strategy includes a dot positioning strategy, and the first user instruction is generated when the user clicks an icon corresponding to the dot positioning strategy displayed on the image transmission screen.

[0204] Optionally, the target object is an object at a first specific position of the image transmission screen.

[0205] Optionally, the first specific position includes the center position of the image transmission screen.

[0206] Optionally, the method further includes: before acquiring the position information, outputting first indication information; the first indication information is used to instruct the user to adjust the posture of the shooting device through the control device of the movable platform so that the target object in the image transmission picture is in a first specific position.

[0207] Optionally, before obtaining the first user instruction, it also includes: obtaining a second user instruction, the second user instruction is used to indicate an object to be moved to a first specific position in the image transmission screen; according to the second user instruction, sending a second instruction information to the movable platform; wherein the second instruction information is used to instruct the movable platform to adjust the posture of the shooting device so that the object to be moved to the first specific position moves to the first specific position.

[0208] Optionally, the position information is determined based on the position information of the movable platform and the distance of the target object relative to the movable platform.

[0209] Optionally, the position information includes absolute position information of the target object, and the target object is marked on the image transmission screen according to the position information, including: performing augmented reality AR projection marking on the target object on the image transmission screen according to the absolute position information contained in the position information.

[0210] Optionally, the method also includes: displaying a map corresponding to the image transmission screen on an interactive interface; obtaining a third user instruction, wherein the third user instruction is generated when the user operates an identifier corresponding to a dot positioning strategy displayed on the map; obtaining location information of the target object from a movable platform according to the dot positioning strategy; and marking the target object at a second specific position of the map according to the location information.

[0211] Optionally, after marking the target object at the second specific position of the map according to the location information, it also includes: when the icon corresponding to the annotation on the map is triggered, if a fourth user instruction is obtained, the height in the location information included in the annotation is modified and / or deleted according to the fourth user instruction.

[0212] Optionally, after marking the target object at the second specific position of the map according to the location information, it also includes: when the icon corresponding to the annotation on the map is triggered, if a fifth user instruction is obtained, the position of the icon is moved on the map according to the fifth user instruction, and the longitude and latitude in the location information contained in the annotation are replaced with the longitude and latitude corresponding to the position of the moved icon.

[0213] Optionally, the fifth user instruction instructs the user to first perform a first operation on the icon, and then perform a second operation on the icon.

[0214] Optionally, the first operation includes: continuously clicking the icon for a time period greater than a preset time period, and the second operation includes: dragging the icon.

[0215] Optionally, the positioning strategy includes a laser ranging strategy, and the first user instruction is generated when the user clicks on an icon corresponding to the laser ranging strategy displayed on the image transmission screen.

[0216] Optionally, the target object is an object at a third specific position of the image transmission image.

[0217] Optionally, the third specific position includes the center position of the image transmission screen.

[0218] Optionally, the target calibration method further includes: synchronizing the annotation to an external device and / or a map corresponding to the image transmission screen and / or an operation guidance page of the movable platform;

[0219] The operation guidance page is used to indicate the operation status of the movable platform.

[0220] For the remaining parts that have not been expanded, please refer to the description of the corresponding parts in the above embodiment 1, which will not be repeated here.

[0221] Corresponding to the target calibration method of the second embodiment, the present application embodiment also provides a target calibration device, which is arranged in the remote control terminal, see Figure 7 , the target calibration device may include a storage device and one or more processors.

[0222] Wherein, the storage device is used to store program instructions.

[0223] One or more processors call program instructions stored in a storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations: displaying an image transmission picture acquired by a shooting device on an interactive interface of a remote control terminal; acquiring a first user instruction, wherein the first user instruction is used to indicate a positioning strategy for positioning a target object to be calibrated in the image transmission picture and a target object; acquiring position information of the target object from a movable platform according to the positioning strategy, the position information including a distance of the target object relative to the movable platform; and marking the target object on the image transmission picture according to the position information.

[0224] The processor of this embodiment can implement the present application Figure 8 For the target calibration method of the illustrated embodiment, reference may be made to the description of the corresponding parts of the above embodiments.

[0225] The storage device of the above embodiment stores the executable instruction computer program of the target calibration method, and the storage device may include at least one type of storage medium, and the storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. Moreover, the target calibration device can cooperate with a network storage device that performs the storage function of the memory through a network connection. The memory can be an internal storage unit of the target calibration device, such as a hard disk or memory of the target calibration device. The memory can also be an external storage device of the target calibration device, such as a plug-in hard disk equipped on the target calibration device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory can also include both an internal storage unit of the target calibration device and an external storage device. The memory is used to store computer programs and other programs and data required by the device. The memory may also be used to temporarily store data that has been output or is to be output.

[0226] The processor of the above embodiment may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0227] Furthermore, an embodiment of the present application also provides a remote control terminal, which communicates with a movable platform, on which a shooting device is mounted, and the remote control terminal includes a main body and a target calibration device of the above-mentioned embodiment 2, and the target calibration device is supported by the main body.

[0228] Furthermore, the embodiment of the present application also provides a target calibration system, including a remote control terminal and a movable platform, wherein the remote control terminal includes a main body and the target calibration device of the above-mentioned embodiment 2, and the target calibration device is supported by the main body. The movable platform communicates with the remote control terminal, and a shooting device is mounted on the movable platform.

[0229] In addition, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the target calibration method of the above-mentioned embodiment 2 are implemented.

[0230] The computer-readable storage medium may be an internal storage unit of the remote control terminal described in any of the aforementioned embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the remote control terminal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash card (FlashCard), etc. equipped on the device. Furthermore, the computer-readable storage medium may also include both an internal storage unit of the remote control terminal and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the remote control terminal, and may also be used to temporarily store data that has been output or is to be output.

[0231] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0232] The above disclosure is only part of the embodiments of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A target calibration method, characterized in that: Applicable to a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform includes a first lens and a second lens, the method includes: Acquire the image transmission pictures of the first lens and the second lens through the remote control terminal, and display the first image transmission picture acquired by the first lens on the interactive interface of the remote control terminal; A first user instruction is obtained, wherein the first user instruction is used to indicate a target object to be calibrated in the first image transmission picture; Acquire first position information of the target object in the first image transmission screen; Marking the target object on the first image transmission screen according to the first position information; Determine second position information of the target object in a second image transmission picture acquired by the second lens according to the first position information, a relative position relationship between the first lens and the second lens, a shooting parameter of the first lens, and a shooting parameter of the second lens; The method further comprises: Acquire third location information of the target object; The target object is marked on a map corresponding to the first image transmission screen according to the third position information.

2. The method according to claim 1, characterized in that The shooting parameters include a shooting angle of view FOV.

3. The method according to claim 1, characterized in that The movable platform includes a shooting device, the shooting device includes a plurality of lenses, the first lens is one of the plurality of lenses included in the shooting device, and the second lens includes other lenses among the plurality of lenses included in the shooting device; or, The movable platform includes a plurality of shooting devices, the first lens is a lens of one of the shooting devices, and the second lens includes lenses of other shooting devices.

4. The method according to claim 1, characterized in that After determining the second position information of the target object in the second image transmission picture acquired by the second lens, the method further includes: The target object is marked on the second image transmission screen according to the second position information.

5. The method according to claim 4, characterized in that The marking of the target object on the first image transmission screen is the same as the marking of the target object on the second image transmission screen.

6. The method according to claim 1 or 4, characterized in that: The annotation includes an icon and third position information of the target object.

7. The method according to claim 6, characterized in that The third location information includes at least one of the latitude, longitude and altitude of the target object.

8. The method according to claim 6, characterized in that The method further comprises: When the icon is in a triggered state, the third position information is displayed on the icon.

9. The method according to claim 6, characterized in that The method further comprises: When the icon is in a non-trigger state, the third position information is hidden.

10. The method according to claim 6, characterized in that The first user instruction is also used to indicate a positioning strategy for positioning the target object; The third position information is obtained by positioning the movable platform according to the positioning strategy.

11. The method according to claim 10, characterized in that The positioning strategy includes an intelligent tracking strategy.

12. The method according to claim 11, characterized in that After obtaining the first user instruction and before obtaining the first position information of the target object in the first image transmission screen, the method further includes: Sending first instruction information to the movable platform, where the first instruction information is used to instruct the movable platform to adjust the posture of the first lens so that the target object in the first image transmission picture moves to a first specific position in the first image transmission picture; The first location information is location information of the first specific location.

13. The method according to claim 12, characterized in that The first specific position includes the center position of the first image transmission screen.

14. The method according to claim 12, characterized in that The first indication information is further used to instruct the movable platform to adjust the shooting parameters of the first lens so that the size of the target object in the first image transmission picture is a preset size.

15. The method according to claim 1, characterized in that The first user instruction is generated when a user clicks or selects an object in the first image transmission screen.

16. The method according to claim 15, characterized in that The clicking includes one of a single click and a double click.

17. The method according to claim 10, characterized in that The positioning strategy includes a dot positioning strategy.

18. The method according to claim 17, characterized in that The first user instruction is generated when the user clicks on the mark corresponding to the dot positioning strategy displayed on the first image transmission screen.

19. The method according to claim 18, characterized in that The target object is an object at a second specific position of the first image transmission picture.

20. The method according to claim 19, characterized in that The second specific position includes the center position of the first image transmission screen.

21. The method according to claim 19, characterized in that The method further comprises: Before acquiring the third location information, outputting second indication information; The second indication information is used to instruct the user to adjust the posture of the first lens through the control device of the movable platform so that the target object in the first image transmission picture is located at the second specific position.

22. The method according to claim 19, characterized in that Before obtaining the first user instruction, the method further includes: A second user instruction is obtained, where the second user instruction is used to indicate an object in the first image transmission picture to be moved to the second specific position; According to the second user instruction, sending third instruction information to the movable platform; The third instruction information is used to instruct the movable platform to adjust the posture of the first lens so that the object to be moved to the second specific position moves to the second specific position.

23. The method according to claim 17, characterized in that The third position information is determined according to the position information of the movable platform and the distance of the target object relative to the movable platform.

24. The method according to claim 23, characterized in that The third position information includes absolute position information of the target object, and marking the target object on the first image transmission screen according to the first position information includes: According to the absolute position information included in the first position information and the third position information, the target object is marked by augmented reality AR projection on the first image transmission screen.

25. The method according to claim 17, characterized in that The method further comprises: Displaying a map corresponding to the first image transmission screen on the interactive interface; A third user instruction is obtained, wherein the third user instruction is generated when a user operates an identifier corresponding to the dot positioning strategy displayed on the map; According to the third user instruction, a target object at a third specific position of the map is marked.

26. The method according to claim 25, characterized in that After marking the target object at the third specific position of the map according to the third user instruction, the method further includes: When the icon corresponding to the annotation on the map is triggered, if a fourth user instruction is obtained, the altitude in the third position information included in the annotation is modified and / or deleted according to the fourth user instruction.

27. The method according to claim 25, characterized in that After marking the target object at the third specific position of the map according to the third user instruction, the method further includes: When the icon corresponding to the annotation on the map is triggered, if the fifth user instruction is obtained, the position of the icon is moved on the map according to the fifth user instruction, and the longitude and latitude in the third position information contained in the annotation are replaced with the longitude and latitude corresponding to the position of the icon after the move.

28. The method according to claim 27, characterized in that The fifth user instruction instructs the user to first perform a first operation on the icon and then perform a second operation on the icon.

29. The method according to claim 28, characterized in that The first operation includes: continuously clicking the icon for a time period greater than a preset time period, and the second operation includes: dragging the icon.

30. The method according to claim 10, characterized in that The positioning strategy includes a laser ranging strategy.

31. The method according to claim 30, characterized in that The method further comprises: Acquiring the distance of the target object relative to the movable platform obtained by locating the target object; The marking the target object on the first image transmission screen according to the first position information includes: The target object is marked on the first image transmission screen according to the first position information and the distance of the target object relative to the movable platform.

32. The method according to claim 30, characterized in that The first user instruction is generated when the user clicks on the mark corresponding to the laser ranging strategy displayed on the first image transmission screen.

33. The method according to claim 32, characterized in that The target object is an object at a fourth specific position of the first image transmission picture.

34. The method according to claim 33, characterized in that The fourth specific position includes the center position of the first image transmission screen.

35. The method according to claim 30, characterized in that After determining the second position information of the target object in the second image transmission picture acquired by the second lens, the method further includes: If the second position information is not on the second image transmission screen, displaying a mark of the target object at an edge of the second image transmission screen; The position of the edge relative to the center position of the second image transmission picture is used to indicate the position of the target object relative to the center position of the second image transmission picture.

36. The method according to claim 10, characterized in that The positioning strategies include multiple ones, and different positioning strategies correspond to different marked icons.

37. The method according to claim 36, characterized in that When the target object is calibrated in the first image transmission screen by using the intelligent tracking strategy and the laser ranging strategy in the positioning strategy, the target object is located at the center of the first image transmission screen, and the marked icon of the target object is the intelligent tracking strategy and the corresponding marked icon.

38. The method according to claim 1, characterized in that The method further comprises: Synchronizing the annotation to an external device and / or a map corresponding to the image transmission screen and / or an operation guide page of the mobile platform; The operation guidance page is used to indicate the operation status of the movable platform.

39. A target calibration device, characterized in that: The target calibration device is arranged in a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform includes a first lens and a second lens, and the device includes: a storage device for storing program instructions; and One or more processors call the program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations: Acquire the image transmission pictures of the first lens and the second lens through the remote control terminal, and display the first image transmission picture acquired by the first lens on the interactive interface of the remote control terminal; A first user instruction is obtained, wherein the first user instruction is used to indicate a target object to be calibrated in the first image transmission picture; Acquire first position information of the target object in the first image transmission screen; Marking the target object on the first image transmission screen according to the first position information; Determine second position information of the target object in a second image transmission picture acquired by the second lens according to the first position information, a relative position relationship between the first lens and the second lens, a shooting parameter of the first lens, and a shooting parameter of the second lens; Acquire third location information of the target object; The target object is marked on a map corresponding to the first image transmission screen according to the third position information.

40. The device according to claim 39, characterized in that The shooting parameters include a shooting angle of view FOV.

41. The device according to claim 39, characterized in that The movable platform includes a shooting device, the shooting device includes a plurality of lenses, the first lens is one of the plurality of lenses included in the shooting device, and the second lens includes other lenses among the plurality of lenses included in the shooting device; or, The movable platform includes a plurality of shooting devices, the first lens is a lens of one of the shooting devices, and the second lens includes lenses of other shooting devices.

42. The device according to claim 39, characterized in that After determining the second position information of the target object in the second image transmission picture acquired by the second lens, the one or more processors are individually or collectively further configured to perform the following operations: The target object is marked on the second image transmission screen according to the second position information.

43. The device according to claim 42, characterized in that The marking of the target object on the first image transmission screen is the same as the marking of the target object on the second image transmission screen.

44. The device according to claim 39 or 42, characterized in that The annotation includes an icon and third position information of the target object.

45. The device according to claim 44, characterized in that The third location information includes at least one of the latitude, longitude and altitude of the target object.

46. ​​The device according to claim 44, characterized in that The one or more processors are individually or collectively configured to implement the following operations: When the icon is in a triggered state, the third position information is displayed on the icon.

47. The device according to claim 44, characterized in that The one or more processors are individually or collectively configured to implement the following operations: When the icon is in a non-trigger state, the third position information is hidden.

48. The device according to claim 44, characterized in that The first user instruction is also used to indicate a positioning strategy for positioning the target object; The third position information is obtained by positioning the movable platform according to the positioning strategy.

49. The device according to claim 48, characterized in that The positioning strategy includes an intelligent tracking strategy.

50. The device according to claim 49, characterized in that After acquiring the first user instruction and before acquiring the first position information of the target object in the first image transmission picture, the one or more processors are individually or collectively configured to perform the following operations: Sending first instruction information to the movable platform, where the first instruction information is used to instruct the movable platform to adjust the posture of the first lens so that the target object in the first image transmission picture moves to a first specific position in the first image transmission picture; The first location information is location information of the first specific location.

51. The device according to claim 50, characterized in that The first specific position includes the center position of the first image transmission screen.

52. The device according to claim 50, characterized in that The first indication information is further used to instruct the movable platform to adjust the shooting parameters of the first lens so that the size of the target object in the first image transmission picture is a preset size.

53. The device according to claim 39, characterized in that The first user instruction is generated when a user clicks or selects an object in the first image transmission screen.

54. The device according to claim 53, characterized in that The clicking includes one of a single click and a double click.

55. The device according to claim 48, characterized in that The positioning strategy includes a dot positioning strategy.

56. The device according to claim 55, characterized in that The first user instruction is generated when the user clicks on the mark corresponding to the dot positioning strategy displayed on the first image transmission screen.

57. The device according to claim 56, characterized in that The target object is an object at a second specific position of the first image transmission picture.

58. The device according to claim 57, characterized in that The second specific position includes the center position of the first image transmission screen.

59. The device according to claim 57, characterized in that The one or more processors are individually or collectively configured to implement the following operations: Before acquiring the third location information, outputting second indication information; The second indication information is used to instruct the user to adjust the posture of the first lens through the control device of the movable platform so that the target object in the first image transmission picture is located at the second specific position.

60. The device according to claim 57, characterized in that Before acquiring the first user instruction, the one or more processors are individually or collectively configured to perform the following operations: A second user instruction is obtained, where the second user instruction is used to indicate an object in the first image transmission picture to be moved to the second specific position; According to the second user instruction, sending third instruction information to the movable platform; The third instruction information is used to instruct the movable platform to adjust the posture of the first lens so that the object to be moved to the second specific position moves to the second specific position.

61. The device according to claim 55, characterized in that The third position information is determined according to the position information of the movable platform and the distance of the target object relative to the movable platform.

62. The device according to claim 61, characterized in that The third position information includes absolute position information of the target object. When the one or more processors mark the target object on the first image transmission screen according to the first position information, they are further configured to perform the following operations individually or collectively: According to the absolute position information included in the first position information and the third position information, the target object is marked by augmented reality AR projection on the first image transmission screen.

63. The device according to claim 55, characterized in that The one or more processors are individually or collectively configured to implement the following operations: Displaying a map corresponding to the first image transmission screen on the interactive interface; A third user instruction is obtained, wherein the third user instruction is generated when a user operates an identifier corresponding to the dot positioning strategy displayed on the map; According to the third user instruction, a target object at a third specific position of the map is marked.

64. The device according to claim 63, characterized in that After marking the target object at the third specific position of the map according to the third user instruction, the one or more processors are individually or collectively further configured to perform the following operations: When the icon corresponding to the annotation on the map is triggered, if a fourth user instruction is obtained, the altitude in the third position information included in the annotation is modified and / or deleted according to the fourth user instruction.

65. The device according to claim 63, characterized in that After marking the target object at the third specific position of the map according to the third user instruction, the one or more processors are individually or collectively further configured to perform the following operations: When the icon corresponding to the annotation on the map is triggered, if the fifth user instruction is obtained, the position of the icon is moved on the map according to the fifth user instruction, and the longitude and latitude in the third position information contained in the annotation are replaced by the longitude and latitude corresponding to the position of the icon after the move.

66. The device according to claim 65, characterized in that The fifth user instruction instructs the user to first perform a first operation on the icon and then perform a second operation on the icon.

67. The device according to claim 66, characterized in that The first operation includes: continuously clicking the icon for a time period greater than a preset time period, and the second operation includes: dragging the icon.

68. The device according to claim 48, characterized in that The positioning strategy includes a laser ranging strategy.

69. The device according to claim 68, characterized in that The one or more processors are individually or collectively configured to implement the following operations: Acquiring the distance of the target object relative to the movable platform obtained by locating the target object; When the one or more processors mark the target object on the first image transmission screen according to the first position information, the one or more processors are further configured to perform the following operations individually or collectively: The target object is marked on the first image transmission screen according to the first position information and the distance of the target object relative to the movable platform.

70. The device according to claim 68, characterized in that The first user instruction is generated when the user clicks on the mark corresponding to the laser ranging strategy displayed on the first image transmission screen.

71. The device according to claim 70, characterized in that The target object is an object at a fourth specific position of the first image transmission picture.

72. The device according to claim 71, characterized in that The fourth specific position includes the center position of the first image transmission screen.

73. The device according to claim 68, characterized in that After determining the second position information of the target object in the second image transmission picture acquired by the second lens, the one or more processors are individually or collectively further configured to perform the following operations: If the second position information is not on the second image transmission screen, displaying a mark of the target object at an edge of the second image transmission screen; The position of the edge relative to the center position of the second image transmission picture is used to indicate the position of the target object relative to the center position of the second image transmission picture.

74. The device according to claim 48, characterized in that The positioning strategies include multiple ones, and different positioning strategies correspond to different marked icons.

75. The device according to claim 74, characterized in that When the target object is calibrated in the first image transmission screen by using the intelligent tracking strategy and the laser ranging strategy in the positioning strategy, the target object is located at the center of the first image transmission screen, and the marked icon of the target object is the intelligent tracking strategy and the corresponding marked icon.

76. The device according to claim 39, characterized in that The one or more processors are individually or collectively configured to implement the following operations: Synchronizing the annotation to an external device and / or a map corresponding to the image transmission screen and / or an operation guide page of the mobile platform; The operation guidance page is used to indicate the operation status of the movable platform.

77. A remote control terminal, characterized in that: The remote control terminal communicates with a movable platform, the movable platform includes a first lens and a second lens, and the remote control terminal includes: the subject; and The target calibration device described in any one of claims 39 to 76 is supported by the main body.

78. A target calibration system, characterized in that: include: Remote control terminal; and A movable platform, communicating with the remote control terminal, the movable platform comprising a first lens and a second lens; Wherein, the remote control terminal includes a main body and a target calibration device as described in any one of claims 39 to 76, and the target calibration device is supported by the main body.

79. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the target calibration method described in any one of claims 1 to 38 is implemented.

80. A target calibration method, characterized in that: Applicable to a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform is equipped with a shooting device, the method includes: Displaying the image transmission picture acquired by the shooting device on the interactive interface of the remote control terminal; A first user instruction is obtained, wherein the first user instruction is used to indicate a positioning strategy for positioning the target object to be calibrated in the image transmission picture and the target object; According to the positioning strategy, obtaining the position information of the target object from the movable platform, the position information including the distance of the target object relative to the movable platform; Marking the target object on the image transmission screen according to the position information; The method further comprises: The target object is marked on a map corresponding to the first image transmission screen according to the location information.

81. The method according to claim 80, characterized in that The annotation includes an icon and the location information.

82. The method according to claim 81, characterized in that The location information also includes at least one of the latitude, longitude and altitude of the target object.

83. The method according to claim 81, characterized in that The method further comprises: When the icon is in a triggered state, the location information is displayed on the icon.

84. The method according to claim 81, characterized in that The method further comprises: When the icon is in a non-trigger state, the location information is hidden.

85. The method according to claim 80, characterized in that The positioning strategy includes a dot positioning strategy, and the first user instruction is generated when a user clicks an icon corresponding to the dot positioning strategy displayed on the image transmission screen.

86. The method according to claim 85, characterized in that The target object is an object at a first specific position of the image transmission picture.

87. The method according to claim 86, characterized in that The first specific position includes the center position of the image transmission screen.

88. The method according to claim 86, characterized in that The method further comprises: Before acquiring the location information, outputting first indication information; The first indication information is used to instruct the user to adjust the posture of the shooting device through the control device of the movable platform so that the target object in the image transmission picture is located at the first specific position.

89. The method according to claim 86, characterized in that Before obtaining the first user instruction, the method further includes: A second user instruction is obtained, where the second user instruction is used to indicate an object in the image transmission picture to be moved to the first specific position; According to the second user instruction, sending second indication information to the movable platform; The second indication information is used to instruct the movable platform to adjust the posture of the shooting device so that the object to be moved to the first specific position moves to the first specific position.

90. The method according to claim 85, characterized in that The position information is determined according to the position information of the movable platform and the distance of the target object relative to the movable platform.

91. The method according to claim 90, characterized in that The position information includes absolute position information of the target object, and marking the target object on the image transmission screen according to the position information includes: According to the absolute position information included in the position information, the target object is marked by augmented reality AR projection on the image transmission screen.

92. The method according to claim 85, characterized in that The method further comprises: Displaying a map corresponding to the image transmission screen on the interactive interface; A third user instruction is obtained, wherein the third user instruction is generated when a user operates an identifier corresponding to the dot positioning strategy displayed on the map; According to the dot positioning strategy, obtaining the location information of the target object from the movable platform; The target object at the second specific position of the map is marked according to the position information.

93. The method according to claim 92, characterized in that After marking the target object at the second specific position of the map according to the position information, the method further includes: When the icon corresponding to the annotation on the map is triggered, if a fourth user instruction is obtained, the height in the location information included in the annotation is modified and / or deleted according to the fourth user instruction.

94. The method according to claim 92, characterized in that After marking the target object at the second specific position of the map according to the position information, the method further includes: When the icon corresponding to the annotation on the map is triggered, if the fifth user instruction is obtained, the position of the icon is moved on the map according to the fifth user instruction, and the longitude and latitude in the location information contained in the annotation are replaced with the longitude and latitude corresponding to the position of the icon after the move.

95. The method according to claim 94, characterized in that The fifth user instruction instructs the user to first perform a first operation on the icon and then perform a second operation on the icon.

96. The method according to claim 95, characterized in that The first operation includes: continuously clicking the icon for a time period greater than a preset time period, and the second operation includes: dragging the icon.

97. The method according to claim 80, characterized in that The positioning strategy includes a laser ranging strategy, and the first user instruction is generated when the user clicks on an icon corresponding to the laser ranging strategy displayed on the image transmission screen.

98. The method according to claim 97, characterized in that The target object is an object at a third specific position of the image transmission picture.

99. The method according to claim 98, characterized in that The third specific position includes the center position of the image transmission screen.

100. The method according to claim 80, characterized in that The method further comprises: Synchronizing the annotation to an external device and / or a map corresponding to the image transmission screen and / or an operation guide page of the mobile platform; The operation guidance page is used to indicate the operation status of the movable platform.

101. A target calibration device, characterized in that: The target calibration device is provided in a remote control terminal, the remote control terminal communicates with a movable platform, and a shooting device is mounted on the movable platform. The device includes: a storage device for storing program instructions; and One or more processors call the program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations: Displaying the image transmission picture acquired by the shooting device on the interactive interface of the remote control terminal; A first user instruction is obtained, wherein the first user instruction is used to indicate a positioning strategy for positioning the target object to be calibrated in the image transmission picture and the target object; According to the positioning strategy, obtaining the location information of the target object from the movable platform, the location information including the distance of the target object relative to the movable platform; Marking the target object on the image transmission screen according to the position information; The target object is marked on a map corresponding to the first image transmission screen according to the location information.

102. The device according to claim 101, characterized in that The annotation includes an icon and the location information.

103. The device according to claim 102, characterized in that The location information also includes at least one of the latitude, longitude and altitude of the target object.

104. The device according to claim 102, characterized in that The one or more processors are individually or collectively configured to implement the following operations: When the icon is in a triggered state, the location information is displayed on the icon.

105. The device according to claim 102, characterized in that The one or more processors are individually or collectively configured to implement the following operations: When the icon is in a non-trigger state, the location information is hidden.

106. The device according to claim 101, characterized in that The positioning strategy includes a dot positioning strategy, and the first user instruction is generated when a user clicks an icon corresponding to the dot positioning strategy displayed on the image transmission screen.

107. The device according to claim 106, characterized in that The target object is an object at a first specific position of the image transmission picture.

108. The device according to claim 107, characterized in that The first specific position includes the center position of the image transmission screen.

109. The device according to claim 107, characterized in that The one or more processors are individually or collectively configured to implement the following operations: Before acquiring the location information, outputting first indication information; The first indication information is used to instruct the user to adjust the posture of the shooting device through the control device of the movable platform so that the target object in the image transmission picture is in the first specific position.

110. The device according to claim 107, characterized in that Before acquiring the first user instruction, the one or more processors are individually or collectively configured to perform the following operations: A second user instruction is obtained, where the second user instruction is used to indicate an object in the image transmission picture to be moved to the first specific position; According to the second user instruction, sending second indication information to the movable platform; The second indication information is used to instruct the movable platform to adjust the posture of the shooting device so that the object to be moved to the first specific position moves to the first specific position.

111. The device according to claim 106, characterized in that The position information is determined according to the position information of the movable platform and the distance of the target object relative to the movable platform.

112. The device according to claim 111, characterized in that The position information includes absolute position information of the target object. When the one or more processors mark the target object on the image transmission screen according to the position information, they are further configured to perform the following operations individually or collectively: According to the absolute position information included in the position information, the target object is marked by augmented reality AR projection on the image transmission screen.

113. The device according to claim 106, characterized in that The one or more processors are individually or collectively configured to implement the following operations: Displaying a map corresponding to the image transmission screen on the interactive interface; A third user instruction is obtained, wherein the third user instruction is generated when a user operates an identifier corresponding to the dot positioning strategy displayed on the map; According to the dot positioning strategy, obtaining the location information of the target object from the movable platform; The target object at the second specific position of the map is marked according to the position information.

114. The device according to claim 113, characterized in that After marking the target object at the second specific position of the map according to the position information, the one or more processors are individually or collectively further configured to perform the following operations: When the icon corresponding to the annotation on the map is triggered, if a fourth user instruction is obtained, the height in the location information included in the annotation is modified and / or deleted according to the fourth user instruction.

115. The device according to claim 113, characterized in that After marking the target object at the second specific position of the map according to the position information, the one or more processors are individually or collectively further configured to perform the following operations: When the icon corresponding to the annotation on the map is triggered, if the fifth user instruction is obtained, the position of the icon is moved on the map according to the fifth user instruction, and the longitude and latitude in the location information contained in the annotation are replaced with the longitude and latitude corresponding to the position of the icon after the move.

116. The device according to claim 115, characterized in that The fifth user instruction instructs the user to first perform a first operation on the icon and then perform a second operation on the icon.

117. The device according to claim 116, characterized in that The first operation includes: continuously clicking the icon for a time period greater than a preset time period, and the second operation includes: dragging the icon.

118. The device according to claim 101, characterized in that The positioning strategy includes a laser ranging strategy, and the first user instruction is generated when the user clicks on an icon corresponding to the laser ranging strategy displayed on the image transmission screen.

119. The device according to claim 118, characterized in that The target object is an object at a third specific position of the image transmission picture.

120. The device according to claim 119, characterized in that The third specific position includes the center position of the image transmission screen.

121. The device according to claim 101, characterized in that The one or more processors are individually or collectively configured to implement the following operations: Synchronizing the annotation to an external device and / or a map corresponding to the image transmission screen and / or an operation guide page of the mobile platform; The operation guidance page is used to indicate the operation status of the movable platform.

122. A remote control terminal, characterized in that: The remote control terminal communicates with a movable platform, on which a shooting device is mounted, and the remote control terminal includes: the subject; and The target calibration device described in any one of claims 101 to 121 is supported by the main body.

123. A target calibration system, characterized in that: include: Remote control terminal; and A movable platform, communicating with the remote control terminal, wherein a shooting device is mounted on the movable platform; Wherein, the remote control terminal includes a main body and a target calibration device as described in any one of claims 101 to 121, and the target calibration device is supported by the main body.

124. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the target calibration method described in any one of claims 80 to 100 is implemented.

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