Trajectory generation method, remote control terminal, movable platform, system and computer-readable storage medium

Abstract

A trajectory generation method, a remote control terminal, a movable platform, a system and a computer-readable storage medium. The trajectory generation method comprises: displaying a designated control on the interactive interface of the remote control terminal; during the movement of the movable platform, in response to the user's operation of the designated control, generating a trajectory point according to the current position of the movable platform, and recording the current state parameters of the movable platform; generating a trajectory of the movable platform according to a plurality of the trajectory points and the corresponding state parameters, the trajectory being used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory. Relevant information is obtained from the movable platform without the need for manual editing by the user, further reducing the user's operation steps and facilitating user use.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of human-computer interaction technology, and in particular, to a trajectory generation method, a remote control terminal, a mobile platform, a system, and a computer-readable storage medium. Background Art

[0002] With the development of technology, mobile platforms (such as mobile robots, drones, etc.) can be applied in more and more fields. For example, mobile platforms can be used in patrol inspection or security fields. The mobile platforms can be controlled to travel according to pre-edited driving trajectories, thereby realizing an intelligent search and patrol process, significantly reducing labor costs and improving patrol efficiency.

[0003] At present, the editing methods of driving trajectories in related technologies are relatively complex, mainly including the following two methods:

[0004] The first is the map-based track editing method, which is to edit the track on the map provided by the map software. However, this method does not take into account that the map service providers currently providing services to the outside world are slow to update the map, and there may be situations where the actual situation does not match the map; and when the edited track is too long or there are too many related parameter settings, the user may need to spend a lot of time on track editing and related parameter settings, which is a poor user experience; further, the user cannot see the effect of the edited driving track execution, and needs to try driving and adjusting multiple times.

[0005] The second is the trajectory editing method based on 3D models. The target area is modeled to obtain a 3D model, and then the trajectory is edited and related parameters are set on the 3D model. However, this method needs to be based on a 3D model. Although the trajectory editing effect is better, it takes a long time, has very high requirements for equipment, and has a high complexity in 3D modeling. Moreover, when the edited trajectory is too long or there are too many related parameter settings, the user may need to spend a lot of time on trajectory editing and related parameter settings, which results in a poor user experience. Summary of the invention

[0006] Embodiments of the present application provide a trajectory generation method, a remote control terminal, a movable platform, a system, and a computer-readable storage medium.

[0007] A first aspect of an embodiment of the present application is to provide a trajectory generation method, which is applied to a remote control terminal, where the remote control terminal is used to communicate with a mobile platform, including:

[0008] Displaying a specified control on an interactive interface of the remote control terminal;

[0009] During the movement of the movable platform, in response to the user's operation on the designated control, a track point is generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded;

[0010] The trajectory of the movable platform is generated according to the plurality of trajectory points and corresponding state parameters, and the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0011] A second aspect of an embodiment of the present application is to provide a remote control terminal, comprising a processor, a memory for storing processor executable instructions, and a communication module;

[0012] When the processor executes the executable instruction, it is used to: display a specified control on an interactive interface;

[0013] The communication module is used to: communicate with the movable platform, and in response to the user's operation on the designated control during the movement of the movable platform, obtain the current position and current state parameters of the movable platform from the movable platform;

[0014] When the processor executes the executable instruction, it is further configured to:

[0015] In response to the user's operation on the designated control, generating a track point according to the current position of the movable platform, and recording the current state parameters of the movable platform;

[0016] The trajectory of the movable platform is generated according to the plurality of trajectory points and corresponding state parameters, and the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0017] A third aspect of the embodiments of the present application is to provide a trajectory generation device, which is applied to a remote control terminal. The device includes one or more processors, which work individually or together to perform the following operations:

[0018] Displaying a specified control on an interactive interface of the remote control terminal;

[0019] During the movement of the movable platform, in response to the user's operation on the designated control, a track point is generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded;

[0020] The trajectory of the movable platform is generated according to the plurality of trajectory points and corresponding state parameters, and the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0021] A fourth aspect of the embodiments of the present application is to provide a trajectory generation system, comprising a remote control terminal and a movable platform. The remote control terminal is communicatively connected with the movable platform;

[0022] The remote control terminal displays a designated control on an interactive interface, and in response to a user's operation of the designated control, obtains the current position and state parameters of the movable platform from the movable platform, generates trajectory points according to the current position of the movable platform, and records the current state parameters of the movable platform; generates a trajectory of the movable platform according to a plurality of the trajectory points and the corresponding state parameters, and the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0023] A fifth aspect of the embodiments of the present application is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect.

[0024] The trajectory generation method, remote control terminal, movable platform, system and computer-readable storage medium provided in this embodiment can be executed during the movable movement process. When generating the trajectory points and the trajectory, the user only needs to operate the designated controls. The operation is simple and easy to use. In response to the user's operation on the designated controls, the current position and state parameters of the movable device can be directly obtained from the movable device in real time. Then, the trajectory points are generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded. This not only ensures the accuracy of the acquired information, but also does not require manual editing by the user, further reduces the user's operation steps, and facilitates user use. Finally, the trajectory of the movable platform is generated according to multiple trajectory points and corresponding state parameters, so that the movable platform can automatically perform inspection tasks or security tasks based on the generated trajectory. The automation process is conducive to improving inspection efficiency and reducing manual repetitive operations in subsequent operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A structural diagram of a trajectory generation system provided in an embodiment of the present application;

[0027] Figure 2 A structural diagram of an unmanned aerial system provided in an embodiment of the present application;

[0028] Figure 3 A schematic diagram of a flow chart of a trajectory generation method provided in an embodiment of the present application;

[0029] Figure 4 A schematic diagram of a first interactive interface provided in an embodiment of the present application;

[0030] Figure 5 A schematic diagram of a second interactive interface provided in an embodiment of the present application;

[0031] Figure 6 A schematic diagram of a third interactive interface provided in an embodiment of the present application;

[0032] Figure 7 A schematic diagram of a fourth interactive interface provided in an embodiment of the present application;

[0033] Figure 8 A schematic diagram of a fifth interactive interface provided in an embodiment of the present application;

[0034] Fig. 9 A schematic diagram of a sixth interactive interface provided in an embodiment of the present application;

[0035] Fig.10 A schematic diagram of a seventh interactive interface provided in an embodiment of the present application;

[0036] Fig.11 A schematic diagram of an eighth interactive interface provided in an embodiment of the present application;

[0037] Fig.12 A schematic diagram of a ninth interactive interface provided in an embodiment of the present application;

[0038] Fig.13 A schematic diagram of the tenth interactive interface provided in an embodiment of the present application;

[0039] Fig.14 A schematic diagram of an eleventh interactive interface provided in an embodiment of the present application;

[0040] Fig.15 A schematic diagram of a twelfth interactive interface provided in an embodiment of the present application;

[0041] Fig.16 A schematic diagram of a thirteenth interactive interface provided in an embodiment of the present application;

[0042] Fig.17 A schematic diagram of the fourteenth interactive interface provided in an embodiment of the present application;

[0043] Fig.18 A schematic diagram of a fifteenth interactive interface provided in an embodiment of the present application;

[0044] Fig.19 A schematic diagram of a sixteenth interactive interface provided in an embodiment of the present application;

[0045] Fig. 20 A schematic diagram of a seventeenth interactive interface provided in an embodiment of the present application;

[0046] Fig.21 A schematic diagram of an eighteenth interactive interface provided in an embodiment of the present application;

[0047] Fig. 22 A schematic diagram of the trajectory of a movable platform provided in an embodiment of the present application;

[0048] Fig.23 A schematic diagram of the structure of a remote control terminal provided in an embodiment of the present application;

[0049] Fig.24 A schematic diagram of the structure of another remote control terminal provided in an embodiment of the present application;

[0050] Fig.25 A schematic diagram of the structure of another trajectory generation system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly 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.

[0052] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0054] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0055] In order to solve the problem of complicated editing of driving trajectories in the prior art, the embodiments of the present application provide a trajectory generation method, a remote control terminal, a movable platform, a system, and a computer-readable storage medium. The embodiments of the present application can perform trajectory editing during the movement of the movable platform, and can obtain the current position of the movable platform to generate trajectory points and record the current state parameters of the movable platform according to the user's operation, and finally generate the trajectory of the movable platform according to the plurality of trajectory points and the corresponding state parameters. It can be seen that the present embodiment can also perform trajectory editing while the user controls the movable platform to perform a certain inspection task through the remote control terminal. Since the trajectory points are generated in real time according to the position of the movable platform, the accuracy of the trajectory of the movable platform is guaranteed. Furthermore, the trajectory-related parameters (i.e., the state parameters) can be obtained from the movable platform without the need for manual settings by the user, which significantly reduces the user's operation steps and further facilitates the user.

[0056] See also Figure 1 , is a structural diagram of a trajectory generation system provided in an embodiment of the present application, the trajectory generation system at least includes a trajectory generation device 11 and at least one movable platform 12, the trajectory generation device 11 includes one or more processors, the one or more processors work in coordination or independently, the processor is used to implement the trajectory generation method, the trajectory generation device 11 can be installed on the remote control terminal, the remote control terminal includes but is not limited to a mobile phone, a computer, a personal tablet, a remote control, a personal digital assistant (PDA) or a wearable device, etc. The remote control terminal is in communication connection with the movable platform, the movable platform 12 includes but is not limited to an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship or a mobile robot, etc., Figure 1 The movable platform is taken as an unmanned aerial vehicle for example.

[0057] The following description of the movable platform of the present application uses an unmanned aerial vehicle as an example. It will be apparent to those skilled in the art that other types of unmanned aerial vehicles can be used without restriction, and the embodiments of the present application can be applied to various types of unmanned aerial vehicles. For example, the unmanned aerial vehicle can be a small or large unmanned aerial vehicle. In some embodiments, the unmanned aerial vehicle can be a rotorcraft, for example, a multi-rotor unmanned aerial vehicle propelled by multiple propulsion devices through the air, the embodiments of the present application are not limited thereto, and the unmanned aerial vehicle can also be other types of unmanned aerial vehicles.

[0058] Figure 2It is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application. This embodiment is illustrated by taking a rotary-wing unmanned aerial vehicle as an example. The unmanned aerial system 100 may include an unmanned aerial vehicle 110, a display device 130, and a remote control terminal 140. Among them, the unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, a rack, and a gimbal 120 carried on the rack. The unmanned aerial vehicle 110 can communicate wirelessly with the remote control terminal 140 and the display device 130. The unmanned aerial vehicle 110 may be an agricultural unmanned aerial vehicle or an industrial application unmanned aerial vehicle, which has the need for cyclic operation.

[0059] The frame may include a fuselage and a foot frame (also referred to as a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The foot frame is connected to the fuselage and is used to support the unmanned aerial vehicle 110 when it lands.

[0060] The power system 150 may include one or more electronic speed regulators (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motor 152 is connected between the electronic speed regulator 151 and the propeller 153, and the motor 152 and the propeller 153 are arranged on the arm of the unmanned aerial vehicle 110; the electronic speed regulator 151 is used to receive the drive signal generated by the flight control system 160, and provide a drive current to the motor 152 according to the drive signal to control the speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the unmanned aerial vehicle 110, and the power enables the unmanned aerial vehicle 110 to achieve one or more degrees of freedom. In some embodiments, the unmanned aerial vehicle 110 can rotate around one or more rotation axes. For example, the above-mentioned rotation axes may include a roll axis (Roll), a yaw axis (Yaw) and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

[0061] The flight control system 160 may include a flight controller 161 and a sensor system 162. The sensor system 162 is used to measure the attitude information of the unmanned aerial vehicle, that is, the position information and state information of the unmanned aerial vehicle 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity. The sensor system 162 may include at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a visual sensor, a global navigation satellite system and a barometer. For example, the global navigation satellite system may be a global positioning system (GPS). The flight controller 161 is used to control the flight of the unmanned aerial vehicle 110, for example, the flight of the unmanned aerial vehicle 110 may be controlled according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 may control the unmanned aerial vehicle 110 according to pre-programmed instructions, or may control the unmanned aerial vehicle 110 by responding to one or more remote control signals from the remote control terminal 140.

[0062] The gimbal 120 may include a motor 122. The gimbal is used to carry a shooting device 123. The flight controller 161 may control the movement of the gimbal 120 through the motor 122. Optionally, as another embodiment, the gimbal 120 may also include a controller for controlling the movement of the gimbal 120 by controlling the motor 122. It should be understood that the gimbal 120 may be independent of the unmanned aerial vehicle 110, or may be a part of the unmanned aerial vehicle 110. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the gimbal may be located at the top of the unmanned aerial vehicle, or at the bottom of the unmanned aerial vehicle.

[0063] The shooting device 123 can be, for example, a camera or a video camera, etc., for capturing images. The shooting device 123 can communicate with the flight controller and shoot under the control of the flight controller. The shooting device 123 of this embodiment at least includes a photosensitive element, such as a complementary metal oxide semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor. It can be understood that the shooting device 123 can also be directly fixed on the unmanned aerial vehicle 110, so that the gimbal 120 can be omitted.

[0064] The display device 130 is located at the ground end of the UAV system 100, can communicate with the UAV 110 in a wireless manner, and can be used to display the attitude information of the UAV 110. In addition, the image captured by the camera 123 can also be displayed on the display device 130. It should be understood that the display device 130 can be an independent device or integrated in the remote control terminal 140.

[0065] The remote control terminal 140 is located at the ground end of the UAV system 100 and can communicate with the UAV 110 in a wireless manner to remotely control the UAV 110 .

[0066] It should be understood that the above-mentioned naming of the components of the unmanned aerial system is for identification purposes only and should not be construed as a limitation on the embodiments of the present application.

[0067] See also Figure 3 as well as Figure 4 , Figure 3 A flow chart of a trajectory generation method provided in an embodiment of the present application, Figure 4 A display schematic diagram of an interactive interface provided in an embodiment of the present application. Figure 3 and Figure 4 In the illustrated embodiment, the trajectory generation method may be applied to a remote control terminal, the remote control terminal being used to communicate with a movable platform, and the method comprises:

[0068] In step S201, a designated control is displayed on the interactive interface of the remote control terminal.

[0069] In step S202, during the movement of the movable platform, in response to the user's operation on the designated control, a track point is generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded.

[0070] In step S203, a trajectory of the movable platform is generated according to the plurality of trajectory points and corresponding state parameters, wherein the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0071] For step S201, the remote control terminal includes a display device, and the display device includes but is not limited to a CRT (Cathode Ray Tube) display device, an LCD (Liquid Crystal) display device, an LED (light emitting diode) display device, a PDP (Plasma Display Panel) display device, or an OLED (Organic Light-Emitting Diode) display device. In this embodiment, an interactive interface can be displayed on the display device, and the user controls the remote control terminal and / or the movable platform through an interactive process with the interactive interface, wherein and / or represents both or one of the two.

[0072] Based on trajectory generation requirements, see Figure 4 , the remote control terminal can display a designated control on the interactive interface, the designated control is used to indicate the generation of a track point, and the user can operate the designated control to perform the track point generation step. Wherein, the operation on the designated control includes at least one of the following: single-click, double-click, long press, and drag the designated control. In this embodiment, the user can operate the designated control by single-clicking, double-clicking, long pressing, or dragging, and this embodiment does not limit this.

[0073] In another embodiment, the function of the designated control may also be integrated into a physical button, and the user may operate the physical button by single-clicking, double-clicking, long pressing, or dragging, etc. This embodiment does not impose any restrictions on this.

[0074] In step S202, the user can control the movement of the movable platform through the remote control terminal, such as controlling the movable platform to move or rotate, and during the movement of the movable platform, the user can operate the designated control, and the remote control terminal can respond to the user's operation of the designated control, obtain the current position and current state parameters of the movable platform, and then generate a track point according to the current position of the movable platform, and record the current state parameters of the movable platform. It can be seen that when generating track points in this embodiment, the user only needs to operate the designated control, the operation is simple, and the relevant parameter information can be directly obtained from the movable device in real time, which not only ensures the accuracy of the obtained parameter information, but also does not require manual editing by the user, further reducing the user's operation steps and facilitating user use.

[0075] Among them, the movable platform is equipped with a positioning module, which is used to obtain the current position of the movable platform; the positioning technology used by the positioning module includes but is not limited to GPS (Global Positioning System) positioning technology, RTK (Real-time kinematic) positioning technology or GNSS (Global Navigation Satellite System) positioning technology, and this embodiment does not impose any restrictions on this.

[0076] The state parameter of the movable platform includes at least one of the following: a state parameter of the movable platform, a state parameter of a gimbal installed on the movable platform, or a state parameter of a shooting device installed on the gimbal and / or the movable platform.

[0077] In one example, the state parameter of the movable platform includes at least one of the following: the current posture, position, height, speed, acceleration, angular velocity or angular acceleration of the movable platform.

[0078] The gimbal can be fixedly mounted on the movable platform or detachably mounted on the movable platform. In one example, the state parameter of the gimbal includes at least one of the following: the rotation speed, rotation angle, posture, joint angle or orientation of the gimbal. The angle of rotation of the gimbal axis from the joint angle to the gimbal axis around a specified rotation axis.

[0079] The shooting device may be installed on the gimbal (fixedly or detachably), or may be installed on the movable platform (fixedly or detachably). In one example, the state parameter of the shooting device includes at least one of the following: a shooting action, shutter speed, aperture, sensitivity, or focal length performed by the shooting device.

[0080] It should be noted that the above description of the state parameters of the movable platform is only for illustrative purposes and does not constitute a limitation on the state parameters of the movable platform. The state parameters can be specifically set according to the actual application scenario. For example, when the movable platform is an unmanned aerial vehicle, the state parameters of the unmanned aerial vehicle also include flight altitude, etc.

[0081] In one embodiment, see Figure 4 Each time a track point is generated, the generated track point can be displayed on the interactive interface without having to wait until the track is generated before displaying it, so that the user can see and understand the generation of the track point in real time, thereby optimizing the user's viewing experience.

[0082] Next, after generating a plurality of the track points, in step S103, the remote control terminal may generate a track of the movable platform according to the plurality of the track points and the corresponding state parameters, see Figure 4 , the track points and the track can be displayed on the interactive interface. It can be seen that this embodiment can execute the track generation method while the user operates the movable platform to perform an inspection or security task in the target area. When generating the track points and the track, the user only needs to operate the specified controls. The operation is simple and easy to use. The relevant parameter information can be directly obtained from the movable device in real time, which not only ensures the accuracy of the obtained parameter information, but also does not require manual editing by the user, further reducing the user's operation steps and facilitating user use. Subsequently, the movable platform can automatically perform inspection tasks or security tasks based on the generated track. The automation process is conducive to improving inspection efficiency and reducing manual repetitive operations in subsequent operations.

[0083] In an exemplary application scenario, such as in an inspection scenario, it is necessary to conduct repeated inspections of a certain area. The trajectory generation method of the embodiment of the present application can be applied to this scenario. The trajectory of the movable platform in a certain area is generated through steps S201 to S203. In subsequent inspection tasks, the movable platform can move according to the trajectory points and state parameters corresponding to the trajectory, and realize the trajectory replay process in the area, that is, perform automated inspection tasks according to the trajectory, which is conducive to improving inspection efficiency and reducing repetitive work of inspection personnel.

[0084] In one embodiment, see Figure 5 as well as Figure 6 , Figure 5 is a schematic diagram of a second interactive interface provided in an embodiment of the present application, Figure 6 This is a schematic diagram of the third interactive interface provided in an embodiment of the present application. The interactive interface includes a first display page and a second display page. In order to allow the user to focus on one of the display pages, the first display page and the second display page may not be displayed on the interactive interface at the same time; of course, based on actual user needs, the first display page and the second display page may also be displayed on the interactive interface at the same time, and the embodiment of the present application does not impose any restrictions on this.

[0085] Figure 5In the illustrated embodiment, a first display page is displayed on the interactive interface, and the first display page is used to display a real-time image (image transmission image) obtained by a shooting device during the movement of the movable platform, and the designated control is displayed on the first display page; in this embodiment, since the first display page shows the real-time image of the current position of the movable platform, it is convenient for the user to clearly confirm whether to generate a track point related to the current position of the movable platform. The designated control is displayed in the first display page, which can further facilitate the user's operation. When the user confirms that the track point needs to be generated, the designated control on the same display page can be directly operated, avoiding the tedious operation caused by the user switching pages, reducing the user's operation steps, and optimizing the user's experience.

[0086] In one example, Figure 5 As shown, the designated control can be displayed superimposed on the real-time picture; in one example, the designated control and the real-time picture can also be displayed separately on the first display page, such as the designated control is displayed in the left area and the real-time picture is displayed in the right area. This application does not impose any restrictions on the display mode of the designated control and the real-time picture on the first display page, and specific settings can be made according to actual application scenarios.

[0087] Furthermore, the current location information of the movable platform, such as longitude and latitude information, the current speed of the movable platform, the distance from the remote control terminal or the flight altitude, etc., can also be displayed on the first display screen, so that the user can further understand the current status of the movable platform.

[0088] exist Figure 6 In the illustrated embodiment, the second display page is used to display a map screen of the target area where the movable platform is located, and the track points and the track are displayed on the map screen. Among them, the target area can be set by the user himself, or it can be an area within a specified range centered on the movable platform. This embodiment does not impose any restrictions on this. In this embodiment, the track points and the track are displayed on the map screen, which allows the user to intuitively understand the overall distribution of the track points and the track in the target area, which is beneficial to improving the user's viewing experience. In one embodiment, each time a track point is generated, the track point can be displayed on the display page without waiting until the track is generated, so that the user can see and understand the generation of the track point in real time, thereby optimizing the user's viewing experience.

[0089] In one possible implementation, if the first display page and the second display page are not displayed on the interactive interface at the same time, in order to facilitate the user to switch between the first display page and the second display page, a page switching control for switching to the second display page can be displayed on the first display page, and a page switching control for switching to the first display page can be displayed on the second display page, thereby facilitating the user to switch between the two display pages through the page switching control.

[0090] In another possible implementation, if the first display page and the second display page are not displayed on the interactive interface at the same time, the interactive interface may also include a thumbnail indicating the first display page and a thumbnail indicating the second display page. The thumbnail indicating the second display page is displayed while the first display page is displayed, and the thumbnail indicating the first display page is displayed while the second display page is displayed, which is conducive to improving the user's viewing experience.

[0091] Furthermore, in order to facilitate the user to switch between the first display page and the second display page, a page switching control can also be displayed on both the thumbnail indicating the first display page and the thumbnail indicating the second display page. Of course, the page switching control can also be displayed in other locations in the interactive interface instead of in the thumbnail, and the embodiment of the present application does not impose any restrictions on this.

[0092] Alternatively, the thumbnail may be provided with a page switching function. When the user operates the thumbnail, the first display page and the second display page may be switched in response to the user's operation on the thumbnail. For example, clicking on the thumbnail indicating the first display page may display the first display page, and clicking on the thumbnail indicating the second display page may display the second display page. Of course, the operation on the thumbnail includes at least one of the following: single-clicking, double-clicking, long-pressing, dragging, or sliding the thumbnail. In this embodiment, the user may operate the thumbnail by single-clicking, double-clicking, long-pressing, sliding, or dragging, and this embodiment does not limit this. Please refer to Figure 7 as well as Figure 8 , Figure 7 is a schematic diagram of a fourth interactive interface provided in an embodiment of the present application, Figure 8 It is a schematic diagram of the fifth interactive interface provided in the embodiment of the present application. Figure 7 as well as Figure 8 Take the example of a page switching control displayed on the thumbnail as an example:

[0093] exist Figure 7In the embodiment, the remote control terminal may respond to the user's operation on the page switching control on the thumbnail indicating the second display page, thereby Figure 8 The second display page and a thumbnail indicating the first display page are displayed in the control. In this embodiment, the page switching control can facilitate the user to switch between the first display page and the second display page.

[0094] It is understandable that the present application does not impose any restrictions on the display method between the thumbnail indicating the first display page and the second display page, and specific settings can be made according to actual application scenarios. Figure 8 In the example shown, the thumbnail indicating the first display page is superimposed on the second display page. In another example, the thumbnail indicating the first display page is displayed separately from the second display page, such as the thumbnail indicating the first display page is displayed on the left, and the second display page is displayed on the right, etc.

[0095] Further, the operation of the page switching control on the thumbnail indicating the second display page includes at least one of the following: single-clicking, double-clicking, long pressing, and dragging the page switching control. In this embodiment, the user can operate the page switching control by single-clicking, double-clicking, long pressing, or dragging, and this embodiment does not limit this.

[0096] exist Figure 8 In the embodiment, the remote control terminal may respond to the user's operation on the page switching control on the thumbnail indicating the first display page, and then Figure 7 The first display page and a thumbnail indicating the second display page are displayed in the control. In this embodiment, the page switching control can facilitate the user to switch between the first display page and the second display page.

[0097] It is understandable that the present application does not impose any restrictions on the display method between the thumbnail indicating the second display page and the first display page, and specific settings can be made according to actual application scenarios. Figure 7 In the example shown, the thumbnail indicating the second display page is superimposed on the first display page. In another example, the thumbnail indicating the second display page is displayed separately from the first display page, such as the thumbnail indicating the second display page is displayed on the left, and the first display page is displayed on the right, etc.

[0098] Further, the operation on the page switching control on the thumbnail indicating the first displayed page includes at least one of the following: single-clicking, double-clicking, long pressing, and dragging the page switching control. In this embodiment, the user can operate the page switching control by single-clicking, double-clicking, long pressing, or dragging, and this embodiment does not limit this.

[0099] In one embodiment, considering that the movable platform may include multiple shooting devices, the interactive interface may include multiple first display pages accordingly, each of which displays a real-time image captured by one of the shooting devices. The user may select one of the first display pages to view the real-time image captured by a corresponding shooting device according to actual needs, or may display multiple first display pages on the interactive interface to view the real-time image captured by each shooting device from each first display page, thereby assisting the user to quickly determine whether to generate a trajectory point, further facilitating user use.

[0100] In an example, see Fig. 9 , is a schematic diagram of the sixth interactive interface provided in an embodiment of the present application. Take the movable platform being equipped with two shooting devices, and correspondingly, the interactive interface including two first display pages and one second display page as an example for explanation: the two first display pages and the second display pages can be displayed on the interactive interface at the same time, or can be displayed on the interactive interface at different times. Both the two first display pages and the two second display pages have corresponding thumbnails, and page switching controls are displayed on the thumbnails. The remote control terminal responds to the user's operation on the page switching control on the thumbnail indicating one of the first display pages, such as Fig. 9 As shown, the first display page and a thumbnail indicating another first display page and a thumbnail indicating the second display page are displayed.

[0101] It is understandable that the present application does not impose any restrictions on the display mode between the first display page and the thumbnail indicating another first display page and the thumbnail indicating the second display page, and specific settings can be made according to actual application scenarios. Fig. 9 In the example shown, the thumbnail indicating another first display page and the thumbnail indicating the second display page are superimposed on the first display page. In another example, the first display page and the thumbnail indicating another first display page and the thumbnail indicating the second display page may also be displayed separately and independently, such as the thumbnail indicating another first display page is displayed on the left side of the interactive interface, one of the first display pages is displayed in the middle, and the thumbnail indicating the second display page is displayed on the right.

[0102] In one embodiment, see Fig.10 , which is a schematic diagram of the seventh interactive interface provided in an embodiment of the present application. The designated control includes a first control and a second control, and the first control and the second control are both displayed on the interactive interface. Optionally, since the first control and the second control are both used to indicate the generation of the track point, in order to facilitate user use, the first control and the control can be displayed on the first display page. When the user confirms that the track point needs to be generated, the first control or the second control on the same display page can be directly operated, avoiding the cumbersome operation caused by the need to switch pages, reducing the user's operation steps, and optimizing the user's experience. Of course, the first control and the second control may not be displayed on the first display page, and this embodiment does not impose any restrictions on this.

[0103] The second control is also used to instruct the camera on the movable platform to shoot a picture. In one embodiment, the second control is a shooting control, that is, the remote control terminal can obtain the user's operation on the shooting control, and then generate a track point according to the current position of the movable platform in response to the user's operation on the shooting control, and record the current state parameters of the movable platform, and control the camera on the movable platform to shoot a picture, obtain one or more images and / or videos, and correspond the generated track point to the image and / or video.

[0104] In a first possible implementation, the remote control terminal generates a trajectory point according to the current position of the movable platform in response to the user's operation on the first control, and records the current state parameters of the movable platform; the state parameters of the movable platform include at least one of the following: the current position, posture, height, speed, acceleration, angular velocity or angular acceleration of the movable platform.

[0105] The operation on the first control includes at least one of the following: single-click, double-click, long-press, and drag the first control. In this embodiment, the user can operate the first control by single-click, double-click, long-press, or drag, and this embodiment does not limit this.

[0106] Furthermore, in order to avoid generating multiple track points at the same position, before generating the track point in response to the user's operation on the first control, the remote control terminal may first detect whether there is a corresponding track point at the current position of the movable platform. If so, no new track point is generated. Optionally, a prompt message may be displayed on the interactive interface, and the prompt message is used to prompt the user that the corresponding track point has been generated at the current position of the movable platform and not to generate it again.

[0107] In a second possible implementation, the remote control terminal generates a track point according to the current position of the movable platform in response to the user's operation on the second control, and records the current state parameters of the movable platform and the state parameters of the shooting device, and controls the shooting device to shoot the picture to obtain one or more images and / or videos corresponding to the track point. The state parameters of the movable platform include at least one of the following: the current posture, position, height, rotation direction, speed, acceleration, angular velocity or angular acceleration of the movable platform; the state parameters of the shooting device include at least one of the following: the shooting action, shutter speed, aperture, sensitivity or focal length performed by the shooting device. The shooting action includes but is not limited to taking a picture, recording a video or ending the recording.

[0108] Furthermore, if the shooting device is installed on the gimbal, the remote control terminal may also record the posture parameters of the gimbal, wherein the state parameters of the gimbal include at least one of the following: the rotation speed, posture, rotation angle, joint angle or orientation of the gimbal.

[0109] The operation on the second control includes at least one of the following: single-click, double-click, long-press, and drag the second control. In this embodiment, the user can operate the second control by single-click, double-click, long-press, or drag, and this embodiment does not limit this.

[0110] Further, in order to avoid generating multiple track points at the same position, before generating the track point in response to the user's operation on the second control, the remote control terminal can first detect whether there is a corresponding track point at the current position of the movable platform. If so, no new track point is generated, that is, the function of generating the track point in response to the second control is not responded. However, the remote control terminal can still control the shooting device on the movable platform to shoot the picture in response to the user's operation on the second control, obtain the image and / or video, and correspond the image and / or video to the track point at the current position of the movable platform, and record the state parameters of the shooting device when shooting the picture. Optionally, if the shooting device is installed on the pan-tilt platform, the remote control terminal can also record the posture parameters of the pan-tilt platform. In this way, one or more images and / or videos on a track point, one or more state parameters of the corresponding shooting device, and / or one or more state parameters of the corresponding pan-tilt platform can be obtained. Among them, and / or represents both or one of the two. In this embodiment, the user can shoot multiple images and / or videos at the same track point according to actual needs, meet the personalized needs of the user, and help optimize the user's experience.

[0111] In addition, there may be multiple cameras installed on the movable platform, and the second control is specifically used to instruct one of the cameras to shoot the picture at the same time, and to instruct different cameras to shoot the picture at different times. In this way, the remote control terminal can control different cameras to shoot in response to the user's operation on the second control, and obtain one or more images and / or videos corresponding to the track point. In this embodiment, multiple cameras are set up so that the user can select one of the cameras to shoot the picture according to actual needs, which meets the user's personalized needs and is conducive to improving the user experience.

[0112] Furthermore, if the shooting device is installed on the pan-tilt head and there are multiple pan-tilt heads, in order to distinguish which shooting device and pan-tilt head the image and / or video is acquired by, the remote control terminal also needs to record the identification of the shooting device and / or pan-tilt head corresponding to the image and / or video, and the identification is used to indicate the shooting device and / or pan-tilt head.

[0113] In one embodiment, see Fig.11 , which is a schematic diagram of an eighth interactive interface provided in an embodiment of the present application. After obtaining one or more images and / or videos corresponding to the track points, Fig.11 On the interactive interface, a thumbnail indicating the image and / or video may be displayed in the vicinity of the track point; optionally, the track point and the track are displayed on the second display page, such as Fig.11 As shown, a corresponding thumbnail is displayed next to the first track point. In this embodiment, the thumbnails indicating the images and / or videos can allow the user to intuitively understand the shooting situation corresponding to each track point, thereby improving the user's viewing experience.

[0114] In one embodiment, each time a trajectory point is generated, the trajectory point can be displayed on the interactive interface, and when the image and / or video corresponding to the trajectory point is obtained, a thumbnail indicating the image and / or video can be displayed in the vicinity of the trajectory point on the interactive interface, without waiting for the trajectory to be generated before displaying it. This helps the user understand the generation of the trajectory point in a timely manner, which is conducive to optimizing the user's usage experience.

[0115] Furthermore, each image or video corresponds to a thumbnail; when the track point corresponds to multiple images and / or videos, multiple thumbnails corresponding to the multiple images and / or videos are displayed in the vicinity of the track point.

[0116] It is understandable that the present application embodiment does not impose any restrictions on the display mode of multiple thumbnails corresponding to multiple images and / or videos, and specific settings can be made according to actual application scenarios. Fig.12, is a schematic diagram of a ninth interactive interface provided in an embodiment of the present application. In order to avoid too much space occupied by too many thumbnails and affecting the display of other track points, multiple thumbnails corresponding to multiple images and / or videos are superimposed and displayed in the vicinity of the track point, such as Fig.12 As shown, the thumbnails corresponding to the third track point are superimposed and displayed. In another example, multiple thumbnails corresponding to multiple images and / or videos can also be displayed separately, such as being displayed around the track point in the vicinity of the track point, and this embodiment does not limit this in any way.

[0117] Furthermore, in order to allow the user to intuitively understand the information of the trajectory of the movable platform, the trajectory parameters related to the trajectory can also be displayed on the interactive interface. Optionally, the trajectory of the movable platform is displayed on the second display page, and the trajectory parameters related to the trajectory are also displayed on the second display page. Of course, the trajectory of the movable platform and the trajectory parameters related to the trajectory may not be displayed on the second display page, but may be displayed on the interactive interface in other ways, and the embodiment of the present application does not impose any restrictions on this.

[0118] The trajectory parameters may include at least one of the following: the length of the trajectory, the travel time of the trajectory, the number of trajectory points included in the trajectory, or the total number of images and / or videos corresponding to all trajectory points. Of course, the content included in the trajectory parameters is only for illustrative purposes, and may also include other content such as the geographical location of the trajectory, etc., which may be specifically set according to the actual application scenario, and the embodiments of the present application do not impose any restrictions on this.

[0119] Based on any of the above embodiments, please refer to Fig.13 , which is a schematic diagram of the tenth interactive interface provided in the embodiment of the present application. After generating the track points and obtaining the images and / or videos corresponding to the track points, the user can also edit the images and / or videos according to actual needs. Fig.13 , an image editing control is displayed on the interactive interface, and the image editing control is used to indicate that the image or video can be edited; optionally, since the track point, the track, and the thumbnail of the image and / or video corresponding to the track point are displayed on the second display page, the image editing control can be displayed on the second display page for the convenience of the user. Of course, the image editing control may not be displayed on the second display page, and the embodiment of the present application does not impose any limitation on this.

[0120] exist Fig.13In the illustrated embodiment, the remote control terminal can display a third display page for editing images or videos on the interactive interface in response to the user's operation of the image editing control; the target image or target video to be edited determined from one or more images or videos corresponding to the trajectory point is displayed on the third display page.

[0121] It is understandable that the embodiment of the present application does not display any display mode of the third display screen, and can be specifically set according to the actual application scenario. In one example, the third display screen can be displayed in full screen on the interactive interface. In another example, the third display page can be displayed in a non-full screen manner on the second display page.

[0122] In one embodiment, see Fig.14 , which is a schematic diagram of the eleventh interactive interface provided in an embodiment of the present application. Fig.14 Take the third display picture full screen display as an example to illustrate: Fig.14 The third display page shown has partial thumbnails for indicating images and / or videos, and the number of thumbnails displayed is determined based on the size of the third display screen and the size of the thumbnails. The user can view the thumbnails of other parts by dragging, sliding, and other operations, that is, the remote control terminal can display thumbnails of other parts in response to the user's dragging, sliding, and other operations on the area where the partial thumbnails are located.

[0123] Further, Fig.14 In the illustrated embodiment, the target image or target video to be edited can be selected through the thumbnail and displayed on the third display screen; the remote control terminal can respond to the user's operation on the thumbnail on the third display page and display the target image or target video corresponding to the thumbnail on the third display page.

[0124] The operation on the thumbnail on the third display page includes at least one of the following: single-click, double-click, long-press, and drag the thumbnail on the third display page. In this embodiment, the user can operate the thumbnail on the third display page by single-clicking, double-clicking, long-pressing, or dragging, and this embodiment does not limit this.

[0125] In addition, considering the Fig.14If the thumbnail displayed on the third display screen may block part of the target image or target video, the user can operate the target image or target video, and the remote control terminal hides the thumbnail in response to the operation, so that the user can see the target image or target video. The operation includes but is not limited to single-click, double-click or long-press.

[0126] Moreover, considering that other images or videos cannot be obtained as target images or target videos after hiding the thumbnails, an image switching control can also be displayed on the third display page, and the image switching control indicates that images or videos can be switched on the third display page to display the previous image or video, or the next image or video, so that the user can switch to the previous image or video, or the next image or video for editing through the image switching control according to actual needs.

[0127] For further information, see Fig.15 , which is a schematic diagram of the twelfth interactive interface provided in an embodiment of the present application. On the third display page, the remote control terminal responds to the user's selection operation on one or more positions in the target image or target video, and displays a selection box at the position; the selection box is used to select the shooting target of this shooting. The image area corresponding to the selection box is used to find the same shooting target for shooting when the trajectory is subsequently repeated. Among them, the functions of the selection box include but are not limited to: rotating the selection box, scaling the selection box, and canceling the selection box, and specific operations can be performed according to the actual application scenario; optionally, such as Fig.15 As shown, the functions of the selection box can be set at the surrounding positions of the selection box, so as to facilitate direct operation by the user; of course, the functions of the selection box can also be set at other positions, and the embodiment of the present application does not impose any restrictions on this.

[0128] Among them, see Fig.16 , which is a schematic diagram of the thirteenth interactive interface provided in an embodiment of the present application. The third display page displays a save control, which is used to save the selection box; the remote control terminal saves the selection box on the target image or target video in response to the user's operation on the save control, and displays a mark indicating the selection box on the thumbnail indicating the target image or target video, such as Fig.16 In this embodiment, the mark allows the user to quickly determine the image and / or video that has been selected, avoiding repeated confirmation processes, which is conducive to improving the editing efficiency of the image and / or video.

[0129] The operation on the save control includes at least one of the following: single-click, double-click, long-press, and drag the save control. In this embodiment, the user can operate the save control by single-click, double-click, long-press, or drag, and this embodiment does not limit this.

[0130] In one embodiment, after the user selects the shooting target on the target image and / or the target video, the remote control terminal can obtain the image at the selection box from the target image or the target video, and identify the image at the selection box (for example, a semantic segmentation algorithm) to obtain the shooting target, and the remote control terminal can record information indicating the shooting target (which can be image data at the selection box, such as image features extracted from the image at the selection box, etc.), so as to find the same shooting target for shooting when the trajectory is repeated later; the shooting target is used to assist the shooting task performed by the movable platform according to the trajectory point and the trajectory. In this embodiment, by identifying and recording the shooting target, so as to assist the shooting task performed by the movable platform according to the trajectory point and the trajectory, the shooting task at the position indicated by the trajectory point is accurately assisted based on the shooting target, so that the effect of taking pictures is more accurate. Further, a trajectory saving control is also displayed on the interactive interface, and the trajectory saving control is used to generate the trajectory of the movable platform according to the trajectory and the corresponding state parameters. Then, in response to the user's operation on the trajectory saving control, the trajectory of the movable platform can be generated according to the multiple trajectory points and the corresponding state parameters. The operation on the track saving control includes but is not limited to single-click, double-click, long-press or slide operations.

[0131] In a possible implementation, the track saving control is displayed in the second display page. After all track points are generated, the user can directly operate the track saving control on the same page to obtain the track of the movable platform, further facilitating user use.

[0132] In another possible implementation, considering that after generating the trajectory points, the user may edit the image corresponding to the trajectory points according to actual needs, the trajectory saving control can be displayed on the third display page. After the user completes editing the image, the trajectory saving control on the same page can be directly operated to obtain the trajectory of the movable platform, further facilitating user use.

[0133] It should be noted that before all trajectory points are generated but before the trajectory is generated, the user can edit the image and / or image corresponding to the trajectory points based on the image editing control; after the trajectory is generated, the user can also edit the image and / or image corresponding to the trajectory points based on the image editing control. This embodiment does not impose any restrictions on the timing of image editing.

[0134] Additionally, to meet the needs of users viewing images and / or videos, please refer to Fig.17 , which is a schematic diagram of the fourteenth interactive interface provided in an embodiment of the present application. The remote control terminal may display a fourth display page for displaying an image and / or video on the interactive interface in response to a user's operation on the thumbnail displayed near the track point, and the image or video indicated by the thumbnail is displayed on the fourth display page.

[0135] Further, considering that there may be multiple images or videos acquired in the trajectory generated this time, if the user wants to view other images or videos, it is necessary to re-operate other thumbnails so as to display the images or videos corresponding to other thumbnails on the fourth display page, which is too cumbersome to operate. Based on this, in this embodiment, the fourth display page can be set to have an image switching function, and the fourth display page can respond to the user's operation (such as sliding, single-clicking, double-clicking, etc.) to switch different images or videos, such as the switching of adjacent images or videos. In one example, a sliding operation can be performed on the fourth display page, and the remote control terminal displays other images or videos of the trajectory in response to the sliding operation. In another example, a sliding operation can be performed on the fourth display page to switch the images corresponding to adjacent waypoints, such as the photo or video of the second waypoint displayed on the current page, when a sliding operation in one direction of the user is detected, it can be switched to the photo or video of the first waypoint or the third waypoint. For example, the fifth photo or video displayed on the current page can be switched to the fourth or sixth photo or video when a sliding operation in one direction of the user is detected.

[0136] The operation on the thumbnail displayed near the track point includes at least one of the following: single-clicking, double-clicking, long pressing, and dragging the thumbnail displayed near the track point. In this embodiment, the user can operate the thumbnail displayed near the track point by single-clicking, double-clicking, long pressing, or dragging, and this embodiment does not limit this.

[0137] It is understandable that the present application embodiment does not impose any restrictions on the display mode of the fourth display page, and specific settings can be made according to actual application scenarios. In one example, Fig.17In the example shown, the fourth display page is superimposed on the second display page. In another example, the fourth display page can also be displayed in full screen on the interactive interface.

[0138] Optionally, for user convenience, see Fig.17 , the image editing control may also be displayed on the fourth display page, the image editing control being used to indicate that the image or video can be edited. In this embodiment, by displaying the image editing control on the fourth display page, the third display page for editing the image or video can be directly entered through the image editing control, without the need to exit the fourth display page and then let the user operate the image editing control on the interactive interface, which is conducive to reducing the user's operation steps and improving the user's experience.

[0139] Based on any of the above embodiments, please refer to Fig.18 , which is a schematic diagram of the fifteenth interactive interface provided in the embodiment of the present application. After generating the trajectory of the movable platform, if the generated trajectory does not meet the actual needs, the trajectory can also be re-edited, please refer to Fig.18 , a track editing control is displayed on the interactive interface; the track editing control is used to indicate that part or all of the track or the track point can be changed. Optionally, since the track editing control is for the function of the track point or track, in order to further facilitate the user's use, the track editing control can be displayed on the second display page, so that the user does not need to switch pages to operate the control, which helps to reduce the user's operation steps. Of course, the track editing control can also be displayed in other ways instead of being displayed on the second display screen, and the embodiment of the present application does not impose any restrictions on this.

[0140] In one embodiment, in response to the user's operation on the track editing control, a fifth display page for track editing can be displayed on the interactive interface; the track point and the track are displayed on the fifth display page. On the fifth display page, the user can edit part of the track or part of the track points according to actual needs, so that the re-edited track and track points can be used to replace the original part. The operation on the track editing control includes but is not limited to: single-clicking, double-clicking, long pressing, dragging or sliding the track point.

[0141] In one implementation, when the user needs to replace a certain section of the track, the remote control terminal can determine the starting track point and the ending track point of the track segment to be replaced in response to the user's operation on the track point; the starting track point represents the starting position of this track editing, and the ending track point represents the ending position of this track editing. The operation on the track point includes at least one of the following: single-click, double-click, long press, and drag the track point. In this embodiment, the user can implement the operation on the track point by single-clicking, double-clicking, long pressing, or dragging, etc., and this embodiment does not limit this.

[0142] The fifth display page may display the first prompt information and the second prompt information; the first prompt information is used to prompt the user to set the starting track point of this track editing, such as Fig.19 middle, Fig.19 This is a schematic diagram of the sixteenth interactive interface provided in an embodiment of the present application. The first prompt information may be "click on a certain track point as the starting point for re-driving", for example Fig.19 In the method, the second trajectory point is determined as the starting trajectory point based on the user's operation on the second trajectory point, and Fig.19 The second trajectory point in is marked as “S”.

[0143] The second prompt information is used to prompt the user to set the end track point of this track editing, for example Fig. 20 middle, Fig. 20 This is a schematic diagram of the seventeenth interactive interface provided in an embodiment of the present application. The second prompt information may be "click on a certain track point as the end point of the re-travel", for example Fig. 20 In the example, the fourth track point is determined as the end track point based on the user's operation on the fourth track point, and Fig. 20 The 4th track point in is marked as "E".

[0144] In a possible implementation, the fifth display page also displays data retention controls for the starting track point and the ending track point, respectively, and the data retention controls indicate whether to retain the state parameters, images, and / or videos corresponding to the starting track point or the ending track point. The remote control terminal retains the state parameters, images, and / or videos corresponding to the starting track point or the ending track point in response to the user's operation on the data retention control. This embodiment allows the user to confirm whether to retain relevant data according to actual needs by setting the data retention control, thereby meeting the user's personalized needs.

[0145] In an example, see Fig.19 as well as Fig. 20 , Fig.19The display page shown shows a data retention control of the starting track point. Fig. 20 The display page shown displays a data retention control for the end track point, and the remote control terminal confirms whether to retain the state parameters, images and / or videos corresponding to the start track point or the end track point in response to the user's operation on the data retention control. The operation on the data retention control includes but is not limited to any one of single-click, double-click, long press, slide or drag. The user can retain the state parameters, images and / or videos corresponding to the start track point or the end track point according to actual needs. In one example, the data retention control is a check box. If the user performs a check operation, it indicates that the state parameters, images and / or videos corresponding to the start track point or the end track point are to be retained. Otherwise, the state parameters, images and / or videos corresponding to the start track point or the end track point are not retained.

[0146] It is understandable that in order to facilitate user operation and avoid excessive display of information affecting user use, Fig.19 as well as Fig. 20 In the example described above, the relevant information about the starting track point, such as the first prompt information, the data retention control of the starting track point, etc., is displayed in the following manner: Fig.19 In the page shown, users can Fig.19 Set the initial track point in the page shown. Fig.19 Set a control in, for example, the "Next" control ( Fig.19 (not shown) to jump to Fig. 20 The page shown in Fig. 20 In the page shown, users can set the end track point. Fig. 20 The second prompt information, the data retention control of the end track point, etc. are also displayed. Of course, they can also be set in the same page, and the embodiment of the present application does not impose any restrictions on this.

[0147] The starting track point represents the starting position of this track editing, and the ending track point represents the ending position of this track editing. The portion between the starting track point and the ending track point (partial track point and partial track) is the portion that needs to be replaced in this track editing. Furthermore, a control control is also displayed on the fifth display page, and the control control is used to control the movable platform to move to the position indicated by the starting track point; the remote control terminal controls the movable platform to move to the position indicated by the starting track point in response to the user's operation on the control control. The operation on the control control includes at least one of the following: single-click, double-click, long press, and drag the control control. In this embodiment, the user can implement the operation of the control control by any one of single-click, double-click, long press, or drag, and this embodiment is not limited here.

[0148] In one example, the control widget may be displayed on Fig. 20 In the page shown ( Fig. 20 (not shown), after the user completes the setting of the end track point, the control control can be operated, so that the remote control terminal responds to the user's operation of the control control to control the movable platform to move to the position indicated by the starting track point, further facilitating the user's use.

[0149] When the movable platform is controlled to move to the position indicated by the starting trajectory point, a prompt message related to "moved to the position indicated by the starting trajectory point" can be displayed on the interactive interface to let the customer know the movement status of the movable platform in real time. After the movable platform moves to the position indicated by the starting trajectory point, the movable platform can be controlled to move by the remote control terminal, and in the process of moving to the position indicated by the ending trajectory point, the part between the starting trajectory point and the ending trajectory point can be recorded with the same implementation method as the above trajectory generation, and the new trajectory points and new trajectory between the starting trajectory point and the ending trajectory point can be regenerated; and one or more images and / or videos corresponding to the new trajectory points can be obtained in the same way as above. In this embodiment, the user can re-edit an unsatisfactory section of the trajectory or several trajectory points according to actual needs to meet the user's needs; and the re-editing process does not require manual parameter setting, which reduces the user's operation steps and further facilitates the user's use.

[0150] In an example, see Fig.21 , Fig.21This is a schematic diagram of an eighteenth interactive interface provided in an embodiment of the present application. On the interactive interface, the remote control terminal can generate a new track point according to the current position of the movable platform and display it on the interactive interface in response to the user's operation on the designated control, and record the current state parameters of the movable platform. For further information, please refer to Fig.21 , a track saving control is displayed on the interactive interface, and the remote control terminal can generate a new track between the starting track point and the ending track point according to the new track point and the state parameter corresponding to the new track point in response to the user's operation on the track saving control, and then replace the part between the starting track point and the ending track point in the track of the movable platform with the new track between the starting track point and the ending track point, so as to obtain Fig. 22 Furthermore, when the movable platform moves to the position indicated by the end track point, the camera can be controlled to capture images to obtain one or more images and / or videos corresponding to the new track point.

[0151] It should be noted that the embodiments of the present application also support the method of directly editing tracks on the map software in the related art. In this embodiment, if the generated track does not meet the actual needs, the track can also be edited offline, and the track offline editing control is also displayed on the interactive interface; the track offline editing control is used to indicate that the user can edit part or all of the track or the track point on the interactive interface without the need for a movable platform to assist in editing. Optionally, since the track offline editing control is for the function of track points or tracks, in order to further facilitate user use, the track offline editing control can be displayed on the second display page, so that the user does not need to switch pages to operate the control, which helps to reduce the user's operation steps. Of course, the track offline editing control can also be displayed in other ways instead of being displayed on the second display screen, and the embodiments of the present application do not impose any restrictions on this.

[0152] Taking into account that in some cases, less content may need to be changed, and the method of changing the trajectory points or trajectory by re-controlling the movement of the movable platform may cause greater losses, or based on some other reasons, the user can change part or all of the trajectory or the trajectory points on the interactive interface of the remote control terminal based on the trajectory offline editing control, that is, there is no need to re-control the movement of the movable platform, and the relevant parameters of the trajectory or trajectory points can be modified directly on the remote control terminal to obtain the modified trajectory and trajectory points.

[0153] In one example, the remote control terminal responds to the user's operation of the track offline editing control by displaying a sixth display page for offline editing on the interactive interface, and the track point and the track are displayed on the sixth display page; wherein the user can modify the relevant parameters of the track or track point on the sixth display page.

[0154] In one example, offline editing can set the track name, aircraft type or model, and flight altitude of the track, where the flight altitude of the track can be the relative flight altitude and absolute flight altitude of the track, and the relative flight altitude can be the altitude relative to the starting point.

[0155] In one example, offline editing can set the trajectory, such as flight speed, altitude, whether the aircraft yaw angle is set according to each trajectory point, whether the aircraft yaw angle is set uniformly, whether the gimbal is set according to each trajectory point, whether the gimbal is set uniformly, trajectory point type, and completed trajectory point flight actions (such as hovering, taking pictures, etc.).

[0156] In one example, offline editing can also set track points, such as setting the height, speed, aircraft yaw angle, aircraft rotation direction, gimbal pitch angle, waypoint actions (taking photos, recording videos, and ending photo taking, etc.), longitude and latitude, etc. of the track points. Track point actions can also be manually added, such as taking photos, recording videos, etc.

[0157] In one example, for example, the movable platform is an unmanned aerial vehicle equipped with a camera and a gimbal, and the status parameters corresponding to the track point can be displayed on the sixth display page in response to the user's operation on the track point. The position corresponding to the track point can be changed, such as changing the longitude and latitude information corresponding to the track point; the status parameters of the unmanned aerial vehicle corresponding to the track point can be changed, such as modifying the parameters such as the height, speed, and yaw angle of the unmanned aerial vehicle; the status parameters of the gimbal corresponding to the track point can be changed, such as changing the pitch angle of the gimbal; the status parameters of the shooting device corresponding to the track point can be changed, such as adding, deleting, and modifying the shooting actions (taking pictures, recording, ending recording, etc.).

[0158] In one embodiment, the track editing control and the track offline editing control may also be used in combination, and the embodiment of the present application does not impose any limitation on this, and specific settings may be made according to actual application scenarios.

[0159] In one embodiment, considering that displaying too much content on the interactive interface may affect the user's viewing experience, the interactive interface can be further simplified. For example, the image editing control, trajectory editing control, and trajectory offline editing control displayed on the interactive interface are all editing functions, so an editing control can be set to be displayed on the interactive interface. After the user operates the editing control, the image editing control, trajectory editing control, and trajectory offline editing control can be displayed on the interactive interface in response to the user's operation on the editing control (single-click, double-click, long press, etc.) for the user to select.

[0160] In one embodiment, before controlling the movement of the movable platform according to the trajectory of the movable platform, the movable platform may feed back information indicating the load currently installed on itself to the remote control terminal, and the remote control terminal detects whether the current load of the movable platform is consistent with the load of the movable platform when the trajectory is generated; if inconsistent, it may cause an error in the execution of the movable platform task, and the remote control terminal may output a third prompt message on the interactive interface; the third prompt message is used to prompt the user to change the load so that the execution result this time is consistent with the execution result when the trajectory is generated, thereby realizing the automated inspection process to reduce the repetitive work of inspection personnel.

[0161] In one embodiment, before controlling the movement of the movable platform according to the trajectory of the movable platform, the capacity of the current memory of the movable platform is detected, and if it is detected that the capacity of the current memory of the movable platform does not meet the preset capacity, a fourth prompt message is output on the interactive interface; the fourth prompt message is used to prompt the user to replace the memory. The preset capacity is not less than the data volume of the image and / or video corresponding to all the trajectory points of the trajectory, so as to ensure the smooth execution of this task and avoid execution failure due to insufficient memory.

[0162] Furthermore, when there are multiple memories on the movable platform (for example, the movable platform is equipped with multiple gimbals, and each gimbal is provided with a memory), it is necessary to detect whether the capacity of each memory meets the specified capacity. The specified capacity is not less than the amount of data of the image and / or video stored in the memory when the trajectory point is generated. If it does not meet the requirements, a fourth prompt message is output on the interactive interface to ensure the smooth execution of the task and avoid execution failure due to insufficient memory.

[0163] In one embodiment, after obtaining the trajectory of the movable platform, the movable platform can move according to the trajectory points and state parameters corresponding to the trajectory in the same area as when the trajectory was generated. When the movable platform is controlled to move to a position indicated by any trajectory point according to the trajectory of the movable platform, the movable platform is controlled to move according to the posture parameters corresponding to the trajectory point. In this embodiment, the trajectory can be repeated by the movable platform in the same area, and the automatic execution of tasks in the same area can be realized according to the trajectory, which is conducive to reducing the duplication of work of staff and optimizing the user experience.

[0164] Furthermore, considering that when the movable platform performs tasks based on the trajectory, errors may occur due to environmental factors when performing related shooting tasks, the embodiments of the present application can assist in accurate shooting based on the shooting targets obtained above. Specifically, when the movable platform is controlled to move to a position indicated by any trajectory point according to the trajectory of the movable platform, if the trajectory point corresponds to an image and / or video, or the trajectory point corresponds to a posture parameter of a shooting device, the shooting device of the movable platform is controlled according to the state parameter corresponding to the trajectory point to obtain the current picture at the position indicated by the trajectory point, and the current picture and the information indicating the shooting target (for example, the information indicating the shooting target is the image data at the selection box, such as the image feature) are matched through feature point matching or image block matching. The feature matching is performed based on the feature points (such as features, etc.), and since the selection box is used to select the target to be photographed, the image at the selection box includes the target. Therefore, after the matching is successful, the position of the target in the current picture can be obtained, and then the state parameters corresponding to the trajectory points are adjusted according to the difference between the position of the target in the current picture and the preset position. Finally, the movable platform and / or the shooting device are controlled to operate according to the adjusted state parameters, so that after re-shooting based on the adjusted state parameters, the target is at the preset position in the re-shot picture. In one example, the preset position can be the center of the picture. In this embodiment, the movable platform is assisted in accurate shooting by the pre-acquired shooting target to ensure the accuracy of the image and / or video acquired based on the adjusted state parameters.

[0165] In one implementation, the remote control terminal can obtain the adjustment amount of the state parameter corresponding to the trajectory point according to the difference between the actual position of the shooting target in the picture and the preset position, so as to adjust the parameter value of the state parameter, so that after re-shooting based on the adjusted state parameter, the shooting target is in the preset position in the re-shot picture; the preset position can be specifically set according to the actual application scenario, and the embodiment of the present application does not impose any restrictions on this.

[0166] Accordingly, see Fig.23 , is a schematic diagram of a remote control terminal 30 provided in an embodiment of the present application, wherein the remote control terminal 30 includes a processor 31, a memory 32 for storing executable instructions of the processor 31, and a communication module 33.

[0167] When the processor 31 executes the executable instruction, it is used to: display a specified control on the interactive interface.

[0168] The communication module 33 is used to communicate with the movable platform, and in response to the user's operation on the designated control during the movement of the movable platform, obtain the current position and current state parameters of the movable platform from the movable platform.

[0169] When the processor 31 executes the executable instructions, it is also used to: generate trajectory points according to the current position of the movable platform and record the current state parameters of the movable platform in response to the user's operation on the designated control; generate a trajectory of the movable platform according to a plurality of the trajectory points and the corresponding state parameters, and the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0170] The processor 31 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 31 may be a microprocessor or any conventional processor, etc.

[0171] The memory 32 may include at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory 32, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory 32 (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. The memory 32 may be an internal storage unit of the remote control terminal 30, such as a hard disk or memory. The memory 32 may also be an external storage device of the remote control terminal 30, such as a plug-in hard disk equipped on the remote control terminal 30, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card, etc. Further, the memory 32 may also include both an internal storage unit of the remote control terminal 30 and an external storage device. The memory 32 is used to store computer programs and other programs and data required by the device. The memory 32 may also be used to temporarily store data that has been output or is to be output.

[0172] The communication module 33 communicates with the movable platform in a wireless manner. In an exemplary embodiment, the movable device can access a wireless network based on a communication standard to communicate with the electronic device, such as WiFi, 3G or 4G, or a combination thereof. In an exemplary embodiment, the movable platform receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. As an example, the electronic device and the movable platform can establish a connection through near field communication (NFC), for example, based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0173] For further information, see Fig.24 , which is a structural diagram of another remote control terminal 30 provided in an embodiment of the present application. The remote control terminal 30 also includes a display device 34, and the display device 34 is used to display the interactive interface; in an example, the display device 34 includes but is not limited to a CRT (Cathode Ray Tube) display device, an LCD (Liquid Crystal) display device, an LED (light emitting diode) display device, a PDP (Plasma Display Panel) display device or an OLED (Organic Light-Emitting Diode) display device, etc.

[0174] In this embodiment, during the movement of the movable platform, the remote control terminal 30 can obtain the current position and state parameters from the movable platform based on the communication with the movable platform and in response to the user's operation on the remote control terminal 30, and then generate trajectory points according to the current position of the movable platform and record the current state parameters of the movable platform. This not only ensures the accuracy of the acquired information, but also eliminates the need for manual editing by the user, further reducing the user's operation steps and facilitating user use. Finally, the trajectory of the movable platform is generated according to multiple trajectory points and corresponding state parameters, so that the movable platform can subsequently automatically perform inspection tasks or security tasks based on the generated trajectory. The automated process is conducive to improving inspection efficiency and reducing manual repetitive operations in subsequent operations.

[0175] In one embodiment, the interactive interface includes a first display page and a second display page.

[0176] The first display page is used to display the real-time picture acquired by the camera during the movement of the movable platform, and the designated control is displayed on the first display page.

[0177] The second display page is used to display a map screen of the target area where the movable platform is located, and the track point and the track are displayed on the map screen.

[0178] In one embodiment, the first display page and the second display page are not displayed on the interactive interface at the same time.

[0179] In one embodiment, the designated control includes a first control and a second control, and the first control and the second control are both used to instruct the generation of the trajectory point.

[0180] The second control is also used to instruct the shooting device on the movable platform to shoot a picture.

[0181] The processor 31 is further configured to: in response to a user's operation on the second control, control the camera to capture the image, and obtain one or more images and / or videos corresponding to the track point.

[0182] In one embodiment, there are multiple shooting devices; the second control is specifically used to instruct different shooting devices to shoot the picture at different times.

[0183] In one embodiment, the processor 31 is further configured to: display a thumbnail indicating the image and / or video in a vicinity of the track point.

[0184] In one embodiment, each image or video corresponds to a thumbnail; when the track point corresponds to multiple images and / or videos, multiple thumbnails corresponding to the multiple images and / or videos are superimposed and displayed in the vicinity of the track point.

[0185] In one embodiment, the processor 31 is further configured to: display trajectory parameters related to the trajectory on the interactive interface.

[0186] In one embodiment, the trajectory parameter includes at least one of the following: the length of the trajectory, the travel time of the trajectory, the number of trajectory points included in the trajectory, or the total number of images and / or videos corresponding to all trajectory points.

[0187] In one embodiment, an image editing control is displayed on the interactive interface; the image editing control is used to indicate that an image or video can be edited.

[0188] The processor 31 is also used to: in response to the user's operation of the image editing control, display a third display page for editing the image or video on the interactive interface; and display the target image or target video to be edited determined from one or more images or videos corresponding to the trajectory point on the third display page.

[0189] In one embodiment, the processor 31 is further used to: in response to a user's selection operation on one or more positions in the target image or target video on the third display page, display a selection box at the position; the selection box is used to select the shooting target of this shooting.

[0190] In one embodiment, a save control is displayed on the third display page, and the save control is used to save the selection box.

[0191] The processor 31 is further configured to: in response to a user operation on the save control, save the selection box on the target image or target video, and display a mark indicating the selection box on a thumbnail indicating the target image or target video.

[0192] In one embodiment, the processor 31 is also used to: obtain the image at the selection box from the target image or target video, and identify the image at the selection box to obtain the shooting target; the shooting target is used to assist the movable platform in performing shooting tasks according to the trajectory points and / or the trajectory.

[0193] In one embodiment, the processor 31 is also used to: in response to a user's operation on the thumbnail displayed near the trajectory point, display a fourth display page for displaying images and / or videos on the interactive interface, and the images and / or videos indicated by the thumbnail are displayed on the fourth display page.

[0194] In one embodiment, the processor 31 is further used to: after generating the trajectory of the movable platform, display a trajectory editing control on the interactive interface; the trajectory editing control is used to indicate that part or all of the trajectory or the trajectory points can be changed.

[0195] In one embodiment, the processor 31 is further used to: in response to the user's operation on the trajectory editing control, display a fifth display page for trajectory editing on the interactive interface; the trajectory point and the trajectory are displayed on the fifth display page.

[0196] In one embodiment, the processor 31 is also used to: determine the starting trajectory point and the ending trajectory point of this trajectory editing in response to the user's operation on the trajectory point; after controlling the movable platform to move to the position indicated by the starting trajectory point, and during the process of the movable platform moving to the position indicated by the ending trajectory point, in response to the user's operation on the designated control, generate a new trajectory point according to the current position of the movable platform, and record the current state parameters of the movable platform; update the trajectory of the movable platform according to the new trajectory point and the state parameters corresponding to the new trajectory point.

[0197] In one embodiment, the fifth display page further displays the first prompt information and the second prompt information.

[0198] The first prompt information is used to prompt the user to set the starting track point of this track editing.

[0199] The second prompt information is used to prompt the user to set the end track point of this track editing.

[0200] In one embodiment, a control control is also displayed on the fifth display page, and the control control is used to control the movable platform to move to the position indicated by the starting trajectory point.

[0201] In one embodiment, the fifth display page also displays data retention controls for the starting trajectory point and the ending trajectory point, respectively, and the data retention controls indicate whether to retain state parameters, images and / or videos corresponding to the starting trajectory point or the ending trajectory point.

[0202] In one embodiment, the processor 31 is also used to: before controlling the movement of the movable platform according to the trajectory of the movable platform, detect whether the current load of the movable platform is consistent with the load of the movable platform when the trajectory is generated; if inconsistent, output a third prompt message on the interactive interface; the third prompt message is used to prompt the user to change the load.

[0203] In one embodiment, the processor 31 is also used to: before controlling the movement of the movable platform according to the trajectory of the movable platform, if it is detected that the capacity of the current memory 32 of the movable platform does not meet the preset capacity, output a fourth prompt message on the interactive interface; the fourth prompt message is used to prompt the user to replace the memory 32.

[0204] In one embodiment, the preset capacity is not less than the data volume of the images and / or videos corresponding to all the track points of the track.

[0205] In one embodiment, the processor 31 is further configured to: when controlling the movable platform to move to a position indicated by any trajectory point according to the trajectory of the movable platform, control the movable platform to move according to the posture parameters corresponding to the trajectory point.

[0206] In one embodiment, the processor 31 is further configured to:

[0207] When the movable platform is controlled to move to a position indicated by any track point according to the track of the movable platform, if the track point corresponds to an image and / or video, a camera of the movable platform is controlled to obtain a current picture at the position indicated by the track point according to a state parameter corresponding to the track point;

[0208] Get the position of the shooting target in the current picture;

[0209] According to the difference between the position of the shooting target in the current picture and the preset position, adjusting the state parameter corresponding to the track point;

[0210] The movable platform and / or the photographing device are controlled to operate according to the adjusted state parameters.

[0211] In one embodiment, the processor 31 is specifically used to: obtain the adjustment amount of the state parameter corresponding to the trajectory point according to the difference between the position of the shooting target in the current picture and the preset position, so as to adjust the parameter value of the state parameter.

[0212] The various embodiments described herein can be implemented using computer readable media such as computer software, hardware, or any combination thereof. For hardware implementation, the embodiments described herein can be implemented using at least one of an application-specific integrated circuit (ASIC), a digital signal processor 31 (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a processor 31, a controller, a microcontroller, a microprocessor 31, and an electronic unit designed to perform the functions described herein. For software implementation, embodiments such as processes or functions can be implemented with separate software modules that allow execution of at least one function or operation. The software code can be implemented by a software application (or program) written in any appropriate programming language, and the software code can be stored in a memory 32 and executed by a processor 31.

[0213] Accordingly, the present application also provides a trajectory generation device, which is applied to a remote control terminal. The device includes one or more processors, which work individually or together to perform the following operations:

[0214] Displaying a specified control on an interactive interface of the remote control terminal;

[0215] During the movement of the movable platform, in response to the user's operation on the designated control, a track point is generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded;

[0216] The trajectory of the movable platform is generated according to the plurality of trajectory points and corresponding state parameters, and the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0217] The specific implementation process of the trajectory generating device in this embodiment can refer to the above description of the trajectory generating method, which will not be repeated here.

[0218] Accordingly, see Fig.25 , the present application also provides a trajectory generation system, including a remote control terminal 30 and a movable platform 40, the remote control terminal 30 is communicatively connected to the movable platform 40.

[0219] The remote control terminal 30 displays a designated control on an interactive interface, and in response to the user's operation of the designated control, obtains the current position and state parameters of the movable platform 40 from the movable platform 40, generates trajectory points according to the current position of the movable platform 40, and records the current state parameters of the movable platform 40; generates a trajectory of the movable platform 40 according to a plurality of the trajectory points and the corresponding state parameters, and the trajectory is used to enable the movable platform 40 to move according to the trajectory points and state parameters corresponding to the trajectory.

[0220] The specific implementation process of the trajectory generation system in this embodiment can refer to the above description of the trajectory generation method, which will not be repeated here.

[0221] In addition, this embodiment further provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the trajectory generation method described in the above embodiment. For example, the non-temporary computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.

[0222] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0223] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0224] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0225] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0226] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0227] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A trajectory generation method, It is characterized in that Applied to a remote control terminal, the remote control terminal is used to communicate with a movable platform, comprising: Displaying a specified control on an interactive interface of the remote control terminal; During the movement of the movable platform, in response to the user's operation on the designated control, a track point is generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded; Generating a trajectory of the movable platform according to the plurality of trajectory points and corresponding state parameters, wherein the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory; Before controlling the movement of the movable platform according to the trajectory of the movable platform, detecting whether the current load of the movable platform is consistent with the load of the movable platform when the trajectory is generated; If they are inconsistent, a third prompt message is output on the interactive interface; the third prompt message is used to prompt the user to replace the load.

2. The method according to claim 1, It is characterized in that The track points and the track are displayed on the interactive interface.

3. The method according to claim 1, It is characterized in that The interactive interface includes a first display page and a second display page; The first display page is used to display the real-time picture acquired by the camera during the movement of the movable platform, and the designated control is displayed on the first display page; The second display page is used to display a map screen of the target area where the movable platform is located, and the track point and the track are displayed on the map screen.

4. The method according to claim 1, It is characterized in that The designated control includes a first control and a second control, and the first control and the second control are both used to instruct the generation of the track point; Wherein, the second control is also used to instruct the shooting device on the movable platform to shoot a picture; The method further includes: in response to a user's operation on the second control, controlling the shooting device to shoot the picture, and obtaining one or more images and / or videos corresponding to the track point.

5. The method according to claim 4, It is characterized in that The number of the photographing devices is multiple; The second control is specifically used to instruct different shooting devices to shoot the picture at different times.

6. The method according to claim 4, It is characterized in that Also includes: The track point is displayed on the interactive interface, and a thumbnail indicating the image and / or video is displayed in a vicinity of the track point.

7. The method according to claim 6, It is characterized in that Each image or video corresponds to a thumbnail; when the track point corresponds to multiple images and / or videos, multiple thumbnails corresponding to the multiple images and / or videos are superimposed and displayed in the vicinity of the track point.

8. The method according to claim 1, It is characterized in that The state parameters include at least one of the following: a state parameter of the movable platform, a state parameter of a pan / tilt mounted on the movable platform, or a state parameter of a shooting device mounted on the pan / tilt and / or the movable platform.

9. The method according to claim 8, It is characterized in that The state parameter of the movable platform includes at least one of the following: the current posture, position, height, speed, acceleration, angular velocity or angular acceleration of the movable platform.

10. The method according to claim 8, It is characterized in that The state parameter of the gimbal includes at least one of the following: a rotation speed, a rotation angle, a posture, a joint angle or an orientation of the gimbal.

11. The method according to claim 8, It is characterized in that The state parameter of the shooting device includes at least one of the following: a shooting action performed by the shooting device, a shutter speed, an aperture, a sensitivity or a focal length.

12. The method according to claim 4, It is characterized in that Also includes: The trajectory parameters related to the trajectory are displayed on the interactive interface.

13. The method according to claim 12, It is characterized in that The trajectory parameter includes at least one of the following: the length of the trajectory, the travel time of the trajectory, the number of trajectory points included in the trajectory, or the total number of images and / or videos corresponding to all trajectory points.

14. The method according to claim 4, It is characterized in that An image editing control is displayed on the interactive interface; the image editing control is used to indicate that an image or video can be edited; The method further comprises: In response to the user's operation of the image editing control, a third display page for editing the image or video is displayed on the interactive interface; the target image or target video to be edited determined from one or more images or videos corresponding to the trajectory point is displayed on the third display page.

15. The method according to claim 14, It is characterized in that Also includes: On the third display page, in response to a user's selection operation on one or more positions in the target image or target video, a selection box is displayed at the position; the selection box is used to select the shooting target of this shooting.

16. The method according to claim 15, It is characterized in that A save control is displayed on the third display page, and the save control is used to save the selection box; The method further comprises: In response to the user's operation on the save control, the selection box on the target image or target video is saved, and a mark indicating the selection box is displayed on the thumbnail indicating the target image or target video.

17. The method according to claim 15 or 16, It is characterized in that Also includes: Acquire the image at the selection frame from the target image or target video, and identify the image at the selection frame to acquire the photographed target; The shooting target is used to assist the movable platform in performing a shooting task according to the track points and / or the track.

18. The method according to claim 6, It is characterized in that Also includes: In response to the user's operation on the thumbnail displayed near the track point, a fourth display page for displaying images and / or videos is displayed on the interactive interface, and the image or video indicated by the thumbnail is displayed on the fourth display page.

19. The method according to claim 1, It is characterized in that Also includes: After the trajectory of the movable platform is generated, a trajectory editing control is displayed on the interactive interface; the trajectory editing control is used to indicate that part or all of the trajectory or the trajectory points can be changed.

20. The method according to claim 19, It is characterized in that Also includes: In response to a user's operation on the track editing control, displaying a fifth display page for track editing on the interactive interface; The track points and the track are displayed on the fifth display page.

21. The method according to claim 20, It is characterized in that Also includes: In response to the user's operation on the track point, determining the starting track point and the ending track point of this track editing; After controlling the movable platform to move to the position indicated by the starting trajectory point, and in the process of the movable platform moving to the position indicated by the ending trajectory point, in response to the user's operation on the designated control, generating a new trajectory point according to the current position of the movable platform, and recording the current state parameters of the movable platform; The trajectory of the movable platform is updated according to the new trajectory point and the state parameter corresponding to the new trajectory point.

22. The method according to claim 21, It is characterized in that The fifth display page also displays the first prompt information and the second prompt information; The first prompt information is used to prompt the user to set the starting track point of this track editing; The second prompt information is used to prompt the user to set the end track point of this track editing.

23. The method according to claim 21, It is characterized in that The fifth display page also displays a control control, and the control control is used to control the movable platform to move to the position indicated by the starting trajectory point; and / or, The fifth display page also displays a track saving control, and the track saving control is used to instruct to update the track of the movable platform according to the new track point and the state parameter corresponding to the new track point.

24. The method according to claim 21, It is characterized in that The fifth display page also displays data retention controls for the starting trajectory point and the ending trajectory point, respectively, and the data retention controls indicate whether to retain the state parameters, images and / or videos corresponding to the starting trajectory point or the ending trajectory point.

25. The method according to claim 4, It is characterized in that Also includes: Before controlling the movement of the movable platform according to the trajectory of the movable platform, if it is detected that the capacity of the current memory of the movable platform does not meet the preset capacity, a fourth prompt message is output on the interactive interface; the fourth prompt message is used to prompt the user to replace the memory.

26. The method according to claim 25, It is characterized in that The preset capacity is not less than the data volume of the images and / or videos corresponding to all the track points of the track.

27. The method according to claim 1, It is characterized in that Also includes: When the movable platform is controlled to move to a position indicated by any trajectory point according to the trajectory of the movable platform, the movable platform is controlled to move according to the posture parameters corresponding to the trajectory point.

28. The method according to claim 17, It is characterized in that Also includes: When the movable platform is controlled to move to a position indicated by any track point according to the track of the movable platform, if the track point corresponds to an image and / or video, a camera of the movable platform is controlled to obtain a current picture at the position indicated by the track point according to a state parameter corresponding to the track point; Get the position of the shooting target in the current picture; According to the difference between the position of the shooting target in the current picture and the preset position, adjusting the state parameter corresponding to the track point; The movable platform and / or the photographing device are controlled to operate according to the adjusted state parameters.

29. The method according to claim 28, It is characterized in that The adjusting the state parameter corresponding to the track point according to the difference between the position of the shooting target in the current picture and the preset position includes: According to the difference between the actual position of the shooting target in the picture and the preset position, the adjustment amount of the state parameter corresponding to the track point is obtained to adjust the parameter value of the state parameter.

30. A remote control terminal, It is characterized in that comprising a processor, a memory for storing instructions executable by the processor, and a communication module; When the processor executes the executable instruction, it is used to: display a specified control on an interactive interface; The communication module is used to: communicate with the movable platform, and in response to the user's operation on the designated control during the movement of the movable platform, obtain the current position and current state parameters of the movable platform from the movable platform; When the processor executes the executable instruction, it is further configured to: In response to the user's operation on the designated control, generating a track point according to the current position of the movable platform, and recording the current state parameters of the movable platform; Generating a trajectory of the movable platform according to the plurality of trajectory points and corresponding state parameters, wherein the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory; Before controlling the movement of the movable platform according to the trajectory of the movable platform, detecting whether the current load of the movable platform is consistent with the load of the movable platform when the trajectory is generated; If they are inconsistent, a third prompt message is output on the interactive interface; the third prompt message is used to prompt the user to replace the load.

31. The remote control terminal according to claim 30, It is characterized in that The track points and the track are displayed on the interactive interface.

32. The remote control terminal according to claim 30, It is characterized in that The interactive interface includes a first display page and a second display page; The first display page is used to display the real-time picture acquired by the camera during the movement of the movable platform, and the designated control is displayed on the first display page; The second display page is used to display a map screen of the target area where the movable platform is located, and the track point and the track are displayed on the map screen.

33. The remote control terminal according to claim 30, It is characterized in that The designated control includes a first control and a second control, and the first control and the second control are both used to instruct the generation of the track point; Wherein, the second control is also used to instruct the shooting device on the movable platform to shoot a picture; The processor is further configured to: in response to a user's operation on the second control, control the shooting device to shoot the picture, and obtain one or more images and / or videos corresponding to the track point.

34. The remote control terminal according to claim 33, It is characterized in that The number of the photographing devices is multiple; The second control is specifically used to instruct different shooting devices to shoot the picture at different times.

35. The remote control terminal according to claim 33, It is characterized in that The processor is further configured to: display the track point on the interactive interface, and display a thumbnail indicating the image and / or video in an area near the track point.

36. The remote control terminal according to claim 35, It is characterized in that Each image or video corresponds to a thumbnail; when the track point corresponds to multiple images and / or videos, multiple thumbnails corresponding to the multiple images and / or videos are superimposed and displayed in the vicinity of the track point.

37. The remote control terminal according to claim 33, It is characterized in that The processor is further configured to: display trajectory parameters related to the trajectory on the interactive interface.

38. The remote control terminal according to claim 37, It is characterized in that The trajectory parameters include at least one of the following: the length of the trajectory, the travel time of the trajectory, the number of trajectory points included in the trajectory, or the total number of images and / or videos corresponding to all trajectory points.

39. The remote control terminal according to claim 33, It is characterized in that An image editing control is displayed on the interactive interface; the image editing control is used to indicate that an image or video can be edited; The processor is also used to: in response to the user's operation of the image editing control, display a third display page for editing the image or video on the interactive interface; and display the target image or target video to be edited determined from one or more images or videos corresponding to the trajectory point on the third display page.

40. The remote control terminal according to claim 39, It is characterized in that The processor is also used to: in response to a user's selection operation on one or more positions in the target image or target video on the third display page, display a selection box at the position; the selection box is used to select the shooting target of this shooting.

41. The remote control terminal according to claim 40, It is characterized in that A save control is displayed on the third display page, and the save control is used to save the selection box; The processor is also used to: in response to a user operation on the save control, save the selection box on the target image or target video, and display a mark indicating the selection box on a thumbnail indicating the target image or target video.

42. The remote control terminal according to claim 40 or 41, It is characterized in that The processor is also used to: obtain the image at the selection box from the target image or target video, and identify the image at the selection box to obtain the shooting target; the shooting target is used to assist the movable platform in performing shooting tasks according to the trajectory points and / or the trajectory.

43. The remote control terminal according to claim 35, It is characterized in that The processor is also used to: in response to a user's operation on the thumbnail displayed near the track point, display a fourth display page for displaying images and / or videos on the interactive interface, and the images and / or videos indicated by the thumbnail are displayed on the fourth display page.

44. The remote control terminal according to claim 30, It is characterized in that The processor is further used to: after generating the trajectory of the movable platform, display a trajectory editing control on the interactive interface; the trajectory editing control is used to indicate that part or all of the trajectory or the trajectory points can be changed.

45. The remote control terminal according to claim 44, It is characterized in that The processor is further configured to: in response to a user operation on the track editing control, display a fifth display page for track editing on the interactive interface; and display the track point and the track on the fifth display page.

46. ​​The remote control terminal according to claim 45, It is characterized in that The processor is further configured to: In response to the user's operation on the track point, determining the starting track point and the ending track point of this track editing; After controlling the movable platform to move to the position indicated by the starting trajectory point, and in the process of the movable platform moving to the position indicated by the ending trajectory point, in response to the user's operation on the designated control, generating a new trajectory point according to the current position of the movable platform, and recording the current state parameters of the movable platform; The trajectory of the movable platform is updated according to the new trajectory point and the state parameter corresponding to the new trajectory point.

47. The remote control terminal according to claim 46, It is characterized in that The fifth display page also displays the first prompt information and the second prompt information; The first prompt information is used to prompt the user to set the starting track point of this track editing; The second prompt information is used to prompt the user to set the end track point of this track editing.

48. The remote control terminal according to claim 46, It is characterized in that The fifth display page also displays a control control, and the control control is used to control the movable platform to move to the position indicated by the starting trajectory point; and / or, The fifth display page also displays a track saving control, and the track saving control is used to instruct to update the track of the movable platform according to the new track point and the state parameter corresponding to the new track point.

49. The remote control terminal according to claim 46, It is characterized in that The fifth display page also displays data retention controls for the starting trajectory point and the ending trajectory point, respectively, and the data retention controls indicate whether to retain the state parameters, images and / or videos corresponding to the starting trajectory point or the ending trajectory point.

50. The remote control terminal according to claim 33, It is characterized in that The processor is also used to: before controlling the movement of the movable platform according to the trajectory of the movable platform, if it is detected that the capacity of the current memory of the movable platform does not meet the preset capacity, output a fourth prompt information on the interactive interface; the fourth prompt information is used to prompt the user to replace the memory.

51. The remote control terminal according to claim 50, It is characterized in that The preset capacity is not less than the data volume of the images and / or videos corresponding to all the track points of the track.

52. The remote control terminal according to claim 30, It is characterized in that The processor is further configured to: when controlling the movable platform to move to a position indicated by any trajectory point according to the trajectory of the movable platform, control the movable platform to operate according to the posture parameters corresponding to the trajectory point.

53. The remote control terminal according to claim 42, It is characterized in that The processor is further configured to: When the movable platform is controlled to move to a position indicated by any track point according to the track of the movable platform, if the track point corresponds to an image and / or video, a camera of the movable platform is controlled to obtain a current picture at the position indicated by the track point according to a state parameter corresponding to the track point; Acquire the position of the photographing target in the current picture; adjust the state parameter corresponding to the track point according to the difference between the position of the photographing target in the current picture and the preset position; The movable platform and / or the photographing device are controlled to operate according to the adjusted state parameters.

54. The remote control terminal according to claim 53, It is characterized in that The processor is specifically used to obtain an adjustment amount of the state parameter corresponding to the trajectory point according to a difference between a position of the shooting target in the current picture and a preset position, so as to adjust a parameter value of the state parameter.

55. A trajectory generating device, It is characterized in that Applied to a remote control terminal, the device includes one or more processors, working individually or together to perform the following operations: Displaying a specified control on an interactive interface of the remote control terminal; During the movement of the movable platform, in response to the user's operation on the designated control, a track point is generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded; Generating a trajectory of the movable platform according to the plurality of trajectory points and corresponding state parameters, wherein the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory; Before controlling the movement of the movable platform according to the trajectory of the movable platform, detecting whether the current load of the movable platform is consistent with the load of the movable platform when the trajectory is generated; If they are inconsistent, a third prompt message is output on the interactive interface; the third prompt message is used to prompt the user to replace the load.

56. A trajectory generation system, It is characterized in that It comprises a remote control terminal and a movable platform, wherein the remote control terminal is communicatively connected with the movable platform; The remote control terminal displays a designated control on an interactive interface, and in response to a user's operation on the designated control, obtains the current position and state parameters of the movable platform from the movable platform, generates a trajectory point according to the current position of the movable platform, and records the current state parameters of the movable platform; generates a trajectory of the movable platform according to a plurality of the trajectory points and the corresponding state parameters, the trajectory being used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory; and detects whether the current load of the movable platform is consistent with the load of the movable platform when the trajectory is generated before controlling the movement of the movable platform according to the trajectory of the movable platform; If they are inconsistent, a third prompt message is output on the interactive interface; the third prompt message is used to prompt the user to replace the load.

57. A computer readable storage medium, It is characterized in that A computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 29.

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