Control method, device, system and computer readable storage medium

Abstract

A control method, device, system and computer readable storage medium, wherein the method comprises: receiving and displaying a shooting picture of a movable platform (S101); when the movable platform is in a preset working mode, displaying a motion instruction icon on the shooting picture, the state of the motion instruction icon in the shooting picture being used to indicate a posture change of a somatosensory remote controller (S102); in response to a user's posture adjustment operation on the somatosensory remote device, adjusting the state of the motion instruction icon in the shooting picture, the state of the motion instruction icon in the shooting picture being used to indicate a motion direction and / or a posture of the movable platform (S103). The method can improve the control convenience and user experience of the movable platform.

Description

Technical Field

[0001] This application relates to the field of control, and more particularly to a control method, device, system, and computer-readable storage medium. Background Technology

[0002] Mobile platforms, such as drones, can be used in scenarios such as aerial photography, inspection, forest protection, disaster survey, and pesticide spraying, which has led to their widespread application. However, the current control of mobile platforms is mainly through remote control devices or terminal devices (such as mobile phones). For example, the operation of the mobile platform is controlled by moving the joystick of the remote control device. Because this control method is relatively complicated, it is not convenient for users to control the mobile platform, resulting in a poor user experience. Summary of the Invention

[0003] Based on this, embodiments of this application provide a control method, device, system, and computer-readable storage medium, aiming to improve the control convenience and user experience of mobile platforms.

[0004] In a first aspect, embodiments of this application provide a control method applied to a display device, wherein the display device is configured to communicate with a mobile platform and a motion-sensing remote control device respectively, and the motion-sensing remote control device is configured to communicate with the mobile platform and control the mobile platform, the method comprising:

[0005] Receive and display the captured images from the mobile platform;

[0006] When the mobile platform is in a preset working mode, a motion indicator icon is displayed on the shooting screen. The state of the motion indicator icon on the shooting screen is used to indicate the posture change of the motion remote control.

[0007] In response to the user's posture adjustment operation on the motion-sensing remote control device, the state of the motion indicator icon in the shooting screen is adjusted. The state of the motion indicator icon in the shooting screen is used to indicate the movement direction and / or posture of the movable platform.

[0008] Secondly, embodiments of this application also provide a control method applied to a control system, the control system including a motion-sensing remote control device, a display device, and a mobile platform, the motion-sensing remote control device and the display device being respectively connected to the mobile platform, the motion-sensing remote control device being used to control the mobile platform, the method including:

[0009] The display device receives and displays the captured image from the movable platform, and displays the posture indicator icon of the motion-sensing remote control device on the captured image. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device.

[0010] The display device responds to the user's posture adjustment operation on the motion-sensing remote control device by adjusting the posture indicator icon according to the current posture information of the motion-sensing remote control device.

[0011] The motion-sensing remote control controls the movable platform based on the current posture information of the motion-sensing remote control device.

[0012] Thirdly, embodiments of this application also provide a control method applied to a display device, wherein the display device is used to communicate with a motion-sensing remote control device and a mobile platform respectively, the motion-sensing remote control device being communicated with the mobile platform and used to control the mobile platform, the method comprising:

[0013] Receive and display the captured images from the mobile platform;

[0014] Based on the posture information of the motion-sensing remote control device, a posture indicator icon of the motion-sensing remote control device is displayed on the shooting screen. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device.

[0015] In response to the user's posture adjustment operation on the motion-sensing remote control device, the posture indicator icon is adjusted according to the current posture information of the motion-sensing remote control device.

[0016] Fourthly, embodiments of this application also provide a control method applied to a motion-sensing remote control device. The motion-sensing remote control device is communicatively connected to a display device and a mobile platform, respectively. The motion-sensing remote control device is used to control the mobile platform. The display device is communicatively connected to the mobile platform and is used to display the captured image from the mobile platform. The method includes:

[0017] The posture information of the motion-sensing remote control device is sent to the display device so that the display device can display the posture indicator icon of the motion-sensing remote control device on the shooting screen based on the posture information. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device.

[0018] In response to the user's posture adjustment operation on the motion-sensing remote control device, the movable platform is controlled according to the current posture information of the motion-sensing remote control device;

[0019] The current posture information of the motion-sensing remote control device is sent to the display device so that the display device can adjust the posture indicator icon based on the current posture information.

[0020] Fifthly, embodiments of this application also provide a display device, which is used to communicate with a mobile platform and a motion-sensing remote control device respectively. The motion-sensing remote control device is used to communicate with the mobile platform and to control the mobile platform. The display device includes a display device, a memory, and a processor.

[0021] The memory is used to store computer programs;

[0022] The processor is configured to execute the computer program and, when executing the computer program, perform the following steps:

[0023] The camera footage captured by the mobile platform is displayed on the display device.

[0024] When the mobile platform is in a preset working mode, a motion indicator icon is displayed on the shooting screen. The state of the motion indicator icon on the shooting screen is used to indicate the posture change of the motion remote control.

[0025] In response to the user's posture adjustment operation on the motion-sensing remote control device, the state of the motion indicator icon in the shooting screen is adjusted. The state of the motion indicator icon in the shooting screen is used to indicate the movement direction and / or posture of the movable platform.

[0026] In a sixth aspect, embodiments of this application also provide a display device, which is used to communicate with a motion-sensing remote control device and a mobile platform respectively. The motion-sensing remote control device is communicated with the mobile platform and is used to control the mobile platform. The display device includes a display device, a memory, and a processor.

[0027] The memory is used to store computer programs;

[0028] The processor is configured to execute the computer program and, when executing the computer program, perform the following steps:

[0029] The camera footage captured by the mobile platform is displayed on the display device.

[0030] Based on the posture information of the motion-sensing remote control device, a posture indicator icon of the motion-sensing remote control device is displayed on the shooting screen. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device.

[0031] In response to the user's posture adjustment operation on the motion-sensing remote control device, the posture indicator icon is adjusted according to the current posture information of the motion-sensing remote control device.

[0032] In a seventh aspect, embodiments of this application also provide a motion-sensing remote control device, which is used to communicate with a display device and a mobile platform respectively. The motion-sensing remote control device is used to control the mobile platform. The display device is communicated with the mobile platform and is used to display the captured image of the mobile platform. The motion-sensing remote control device includes a motion sensor, a memory, and a processor.

[0033] The motion sensor is used to collect the attitude information of the motion-sensing remote control device;

[0034] The memory is used to store computer programs;

[0035] The processor is configured to execute the computer program and, when executing the computer program, perform the following steps:

[0036] The posture information of the motion-sensing remote control device is sent to the display device so that the display device can display the posture indicator icon of the motion-sensing remote control device on the shooting screen based on the posture information. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device.

[0037] In response to the user's posture adjustment operation on the motion-sensing remote control device, the movable platform is controlled according to the current posture information of the motion-sensing remote control device;

[0038] The current posture information of the motion-sensing remote control device is sent to the display device so that the display device can adjust the posture indicator icon based on the current posture information.

[0039] Eighthly, embodiments of this application also provide a control system, the control system including a mobile platform, a motion-sensing remote control device and a display device as described above, or the control system including a mobile platform, a display device and a display device as described above, the display device being used to communicate with the mobile platform and the motion-sensing remote control device respectively, the motion-sensing remote control device being used to communicate with the mobile platform and to control the mobile platform.

[0040] In a ninth aspect, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the control method described above.

[0041] This application provides a control method, device, system, and computer-readable storage medium. The display device receives and displays a captured image from a movable platform. When the movable platform is in a preset working mode, a motion indicator icon is displayed on the captured image. The state of the motion indicator icon in the captured image indicates the posture change of the motion-sensing remote control. In response to a user's posture adjustment operation on the motion-sensing remote control device, the state of the motion indicator icon in the captured image is adjusted. This state of the motion indicator icon in the captured image indicates the movement direction and / or posture of the movable platform. By using the state of the motion indicator icon in the captured image, users can accurately understand the posture changes of the motion-sensing remote control device and the movement direction and / or posture of the movable platform. This allows users to control the movable platform by adjusting the posture of the remote control device, greatly improving the control convenience and user experience of the movable platform.

[0042] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of a scenario in which the control method provided in the embodiments of this application is implemented;

[0045] Figure 2a This is a schematic diagram of the structure of the motion-sensing remote control device provided in the embodiments of this application;

[0046] Figure 2b This is another structural schematic diagram of the motion-sensing remote control device provided in the embodiments of this application;

[0047] Figure 3 This is a schematic diagram of the operation of the throttle trigger of the motion-sensing remote control device provided in the embodiments of this application;

[0048] Figure 4 This is a schematic flowchart illustrating the steps of a control method provided in an embodiment of this application;

[0049] Figure 5 This is a schematic diagram of the shooting page and motion indicator icon in an embodiment of this application;

[0050] Figure 6 This is another schematic diagram of the shooting page and motion indicator icon in the embodiments of this application;

[0051] Figure 7 This is another schematic diagram of the shooting page and motion indicator icon in the embodiments of this application;

[0052] Figure 8 This is another schematic diagram of the shooting page and motion indicator icon in the embodiments of this application;

[0053] Figure 9 This is another schematic diagram of the shooting page and motion indicator icon in the embodiments of this application;

[0054] Figure 10 This is a schematic flowchart illustrating the steps of another control method provided in an embodiment of this application;

[0055] Figure 11 This is a schematic diagram of the shooting page and posture indicator icon in an embodiment of this application;

[0056] Figure 12 This is another schematic diagram of the shooting page and posture indicator icon in the embodiments of this application;

[0057] Figure 13 This is a schematic diagram of the paddle start-up progress bar and paddle start-up prompt information in an embodiment of this application;

[0058] Figure 14 This is another schematic diagram of the paddle start-up progress bar and paddle start-up prompt information in the embodiments of this application;

[0059] Figure 15 This is a schematic flowchart illustrating the process of controlling a drone to take off using a motion-sensing remote control device in an embodiment of this application.

[0060] Figure 16 This is another schematic flowchart illustrating the process of controlling a drone to take off using a motion-sensing remote control device in this application embodiment;

[0061] Figure 17 This is another schematic flowchart illustrating the process of controlling a drone to take off using a motion-sensing remote control device in this application embodiment;

[0062] Figure 18 This is a schematic flowchart illustrating the process of controlling the hovering of a drone in an embodiment of this application;

[0063] Figure 19 This is a schematic flowchart illustrating a process of controlling a drone to return to home using a motion-sensing remote control device, as described in this application embodiment.

[0064] Figure 20 This is another schematic flowchart illustrating the process of controlling a drone to return to home using a motion-sensing remote control device in an embodiment of this application;

[0065] Figure 21 This is a schematic flowchart illustrating the process of controlling the landing of a drone using a motion-sensing remote control device in an embodiment of this application.

[0066] Figure 22 This is a schematic diagram of the status information displayed by the display device in an embodiment of this application;

[0067] Figure 23 This is another schematic diagram of the status information displayed by the display device in the embodiments of this application;

[0068] Figure 24 This is another schematic diagram of the status information displayed by the display device in the embodiments of this application;

[0069] Figure 25 This is another schematic diagram of the status information displayed by the display device in the embodiments of this application;

[0070] Figure 26 This is another schematic diagram of the status information displayed by the display device in the embodiments of this application;

[0071] Figure 27 This is another schematic diagram of the status information displayed by the display device in the embodiments of this application;

[0072] Figure 28 This is another schematic diagram of the status information displayed by the display device in the embodiments of this application;

[0073] Figure 29 This is another schematic diagram of the status information displayed by the display device in the embodiments of this application;

[0074] Figure 30 This is another schematic diagram of the status information displayed by the display device in the embodiments of this application;

[0075] Figure 31 This is another schematic diagram of the status information displayed by the display device in the embodiments of this application;

[0076] Figure 32 This is a schematic diagram of a flight instruction page in an embodiment of this application;

[0077] Figure 33 This is a schematic diagram of the blade inspection guide page in an embodiment of this application;

[0078] Figure 34 This is a schematic diagram of the fuselage orientation for inspecting the guidance page in an embodiment of this application;

[0079] Figure 35 This is a schematic diagram of the flight interface in an embodiment of this application;

[0080] Figure 36 This is another schematic diagram of the flight interface in the embodiments of this application;

[0081] Figure 37 This is another schematic diagram of the flight interface in the embodiments of this application;

[0082] Figure 38 This is another schematic diagram of the flight interface in the embodiments of this application;

[0083] Figure 39 This is another schematic diagram of the flight interface in the embodiments of this application;

[0084] Figure 40 This is another schematic diagram of the flight interface in the embodiments of this application;

[0085] Figure 41 This is a schematic diagram of the motion control introduction and prompt page in the embodiments of this application;

[0086] Figure 42 This is a schematic diagram of the function introduction page of the motion-sensing remote control in the embodiments of this application;

[0087] Figure 43 This is another schematic diagram of the function introduction page of the motion-sensing remote control in the embodiments of this application;

[0088] Figure 44 This is a schematic diagram of the takeoff control prompt page in an embodiment of this application;

[0089] Figure 45 This is another schematic diagram of the takeoff control prompt page in the embodiments of this application;

[0090] Figure 46 This is another schematic diagram of the takeoff control prompt page in the embodiments of this application;

[0091] Figure 47 This is a schematic diagram of a flight control instruction page in an embodiment of this application;

[0092] Figure 48 This is another schematic diagram of the flight control instruction page in the embodiments of this application;

[0093] Figure 49 This is another schematic diagram of the flight control instruction page in the embodiments of this application;

[0094] Figure 50 This is another schematic diagram of the flight control instruction page in the embodiments of this application;

[0095] Figure 51 This is another schematic diagram of the flight control instruction page in the embodiments of this application;

[0096] Figure 52 This is another schematic diagram of the flight control instruction page in the embodiments of this application;

[0097] Figure 53 This is another schematic diagram of the flight control instruction page in the embodiments of this application;

[0098] Figure 54 This is another schematic diagram of the flight control instruction page in the embodiments of this application;

[0099] Figure 55 This is another schematic diagram of the flight control instruction page in the embodiments of this application;

[0100] Figure 56 This is a schematic diagram of a pop-up window triggering free practice of flight control in an embodiment of this application;

[0101] Figure 57 This is a schematic diagram of a free practice page for flight control in an embodiment of this application;

[0102] Figure 58 This is a schematic diagram of the return-to-home instruction prompt page in an embodiment of this application;

[0103] Figure 59 This is another schematic diagram of the return-to-home instruction prompt page in the embodiments of this application;

[0104] Figure 60 This is a schematic diagram of a landing instruction prompt page in an embodiment of this application;

[0105] Figure 61 This is a schematic diagram of the return-to-home control prompt page in an embodiment of this application;

[0106] Figure 62 This is another schematic diagram of the return-to-home control prompt page in the embodiments of this application;

[0107] Figure 63 This is a schematic diagram of the landing control prompt page in an embodiment of this application;

[0108] Figure 64 This is another schematic diagram of the landing control prompt page in the embodiments of this application;

[0109] Figure 65 This is a schematic flowchart illustrating the steps of a flight guidance method provided in an embodiment of this application;

[0110] Figure 66 This is a schematic diagram of multiple status indicator icons in the embodiments of this application;

[0111] Figure 67 This is another schematic diagram of the multiple status indicator icons in the embodiments of this application;

[0112] Figure 68 This is another schematic diagram of the multiple status indicator icons in the embodiments of this application;

[0113] Figure 69This is a schematic flowchart illustrating the steps of another flight guidance method provided in this application embodiment;

[0114] Figure 70 This is a schematic diagram of the indicator map in the embodiments of this application;

[0115] Figure 71 This is a schematic flowchart illustrating the steps of a motor calibration method provided in an embodiment of this application;

[0116] Figure 72 This is a schematic diagram of the motor steering calibration guide interface in an embodiment of this application;

[0117] Figure 73 This is a schematic diagram of the motor steering calibration page in an embodiment of this application;

[0118] Figure 74 This is another schematic diagram of the motor steering calibration page in the embodiments of this application;

[0119] Figure 75 This is a schematic diagram showing the motor steering calibration results in an embodiment of this application;

[0120] Figure 76 This is another schematic diagram showing the motor steering calibration results in the embodiments of this application;

[0121] Figure 77 This is a schematic block diagram of the structure of a display device provided in an embodiment of this application;

[0122] Figure 78 This is a schematic block diagram of another display device provided in the embodiments of this application;

[0123] Figure 79 This is a schematic block diagram of the structure of a motion-sensing remote control device provided in an embodiment of this application;

[0124] Figure 80 This is a schematic block diagram of the structure of a control system provided in an embodiment of this application. Detailed Implementation

[0125] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0126] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0127] Mobile platforms, such as drones, can be used in scenarios such as aerial photography, inspection, forest protection, disaster survey, and pesticide spraying, which has led to their widespread application. However, the current control of mobile platforms is mainly through remote control devices or terminal devices (such as mobile phones). For example, the operation of the mobile platform is controlled by moving the joystick of the remote control device. Because this control method is relatively complicated, it is not convenient for users to control the mobile platform, resulting in a poor user experience.

[0128] To address the aforementioned issues, embodiments of this application provide a control method, device, system, and computer-readable storage medium, aiming to improve the user experience of operating a mobile platform and the operational security of the mobile platform.

[0129] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0130] It should be noted that the control method provided in this application embodiment can be applied to motion-sensing devices as well as display devices. Display devices include flight goggles, smartphones, tablets, etc. Mobile platforms include at least one of drones, manned aircraft, robots, and remote-controlled toys. Of course, it can also be used in other motion-sensing control scenarios, such as motion-sensing games. Drones can include rotary-wing drones, such as quadcopters, hexacopter drones, and octacopter drones, or fixed-wing drones, or a combination of rotary-wing and fixed-wing drones. This application embodiment does not specifically limit its application in this regard.

[0131] Motion-sensing devices can include electronic devices such as motion-sensing remote control devices, smartphones, tablets, or wearable devices. These electronic devices are equipped with posture sensors to collect posture information, which allows the motion-sensing device to generate control commands to control the operation of the mobile platform. The following description uses a motion-sensing remote control device as an example.

[0132] Please see Figure 1 , Figure 1 This is a schematic diagram of a scenario implementing the control method provided in the embodiments of this application. For example... Figure 1As shown, the scenario includes a mobile platform 100, a motion-sensing remote control device 200, and a display device 300. The mobile platform 100 is communicatively connected to both the motion-sensing remote control device 200 and the display device 300. The motion-sensing remote control device 200 is used to control the mobile platform 100. The display device 300 may include goggles, a smartphone, a tablet, etc. It is understood that communication data between the display device 300 and the motion-sensing remote control device 200 can be forwarded through the mobile platform 100. Alternatively, a communication link can be established between the display device 300 and the motion-sensing remote control device 200 to enable communication between them.

[0133] The mobile platform 100 includes a platform body 110, a power system 120 mounted on the platform body 110, and a control device. Figure 1 (Not shown in the diagram), the power system 120 provides mobility to the platform body 110. The power system 120 may include one or more propellers 121, one or more motors 122 corresponding to the propellers, and one or more electronic speed controllers (ESCs). The motors 122 are connected between the ESCs and the propellers 121, and the motors 122 and propellers 121 are mounted on the platform body 110 of the movable platform 100. The ESCs receive drive signals generated by a control device and provide drive current to the motors 122 according to the drive signals to control the rotational speed of the motors 122. The motors 122 drive the propellers 121 to rotate, thereby providing power for the movement of the movable platform 100, enabling the movable platform 100 to achieve one or more degrees of freedom of movement. In some embodiments, the movable platform 100 may rotate about one or more rotation axes. For example, these rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motors 122 may be DC motors or AC motors. In addition, motor 122 can be either a brushless motor or a brushed motor.

[0134] The control device may include a controller and a sensing system. The sensing system measures the attitude information of the mobile platform 100, i.e., the position and state information of the mobile platform 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system may include at least one of the following: a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system (GPS), and a barometer. For example, the GPS may be the Global Positioning System (GPS). The controller controls the movement of the mobile platform 100; for example, it can control the movement of the mobile platform 100 based on the attitude information measured by the sensing system. It should be understood that the controller can control the mobile platform 100 according to pre-programmed instructions.

[0135] In one embodiment, the display device 300 receives and displays the captured image from the mobile platform 100. When the mobile platform 100 is in a preset working mode, a motion indicator icon is displayed on the captured image. The state of the motion indicator icon in the captured image is used to indicate the posture change of the motion-sensing remote control 200. In response to the user's posture adjustment operation on the motion-sensing remote control device 200, the state of the motion indicator icon in the captured image is adjusted. The state of the motion indicator icon in the captured image is used to indicate the movement direction and / or posture of the mobile platform. By using the state of the motion indicator icon in the captured image, the user can accurately know the posture change of the motion-sensing remote control device, making it easier for the user to control the mobile platform by adjusting the posture of the remote control device, greatly improving the control convenience and user experience of the mobile platform.

[0136] In one embodiment, the display device 300 receives and displays a captured image from the mobile platform, and displays a posture indicator icon of the motion-sensing remote control device 200 on the captured image. This posture indicator icon indicates the posture of the motion-sensing remote control device 200. In response to a user's posture adjustment operation on the motion-sensing remote control device 200, the display device 300 adjusts the posture indicator icon according to the current posture information of the motion-sensing remote control device 200. The motion-sensing remote control device 200 controls the mobile platform 100 based on its current posture information. The posture indicator icon allows users to accurately understand the posture changes of the motion-sensing remote control device, facilitating user control of the mobile platform by adjusting the posture of the remote control device, greatly improving the control convenience and user experience of the mobile platform.

[0137] Before introducing the control method of the mobile platform, let's first introduce the structure and control principle of the motion-sensing remote control device 200. Specifically, as follows... Figures 2a to 2bAs shown, the motion-sensing remote control device 200 includes: a first control component 210, a second control component 220, a third control component 230, a fourth control component 240, a fifth control component 250, a sixth control component 260, and a seventh control component 270. The first control component 210 can be a throttle trigger, the second control component 220 can be a lock button (on / off button), the third control component 230 can be an emergency stop button, the fourth control component 240 can be a shooting button, the fifth control component 250 can be a gimbal control button, the sixth control component 260 can be a mode switching button, and the seventh control component 270 can be a power button. Different control components have different functions in different operating modes of the motion-sensing remote control device 200, as shown in Table 1. The different operating modes include at least a first operating mode and a second operating mode. Specifically, the first operating mode can include A / P / M modes, and the second operating mode can include a flashlight mode. A mode is the attitude mode, P mode is the GPS mode, and M mode is the manual mode. In flashlight mode, the drone flies along the direction indicated by the motion-sensing remote control device 200.

[0138] Table 1 shows the functions of different buttons on the motion-sensing remote control device 200 in different working modes.

[0139]

[0140] It should be noted that in Table 1, "ground click" and "air click" refer to the drone controlled by the motion-sensing remote control device 200 being located on the ground and in the air, respectively. "Airplane" refers to the drone. The mode in "switching mode" can be the working mode of the motion-sensing remote control device 200 or other modes, such as different flight modes of the drone.

[0141] It should also be noted that the buttons of the motion-sensing remote control device 200 are not limited to the functions in Table 1. For example, the power button 270 can also perform some or all of the functions of the lock button 220; or, in other words, the functions in Table 1 can also be implemented in other ways. For example, the automatic take-off trigger method can be "after the propellers start, press the throttle trigger 210 to the middle or higher position".

[0142] The control strategy of the motion-sensing remote control device 200 varies depending on the working mode and the control strategy at different gears within the same working mode, as shown in Table 2.

[0143] Table 2 shows the control strategies of the motion-sensing remote control device at different speeds.

[0144]

[0145] It should be noted that in Table 2, "remote control device" refers to the motion-sensing remote control device 200, and "aircraft" refers to a drone, such as... Figure 3 As shown, the throttle trigger 210 can be divided into "low," "medium," and "high" positions, corresponding to positions 1, 2, and 3 respectively, representing different throttle levels. It can also be divided into more or fewer levels to represent different throttle levels. It should be noted that the main difference between A and P modes is that in P mode, releasing the throttle trigger allows the vehicle to hover, while in A mode, releasing the throttle trigger does not, similar to ordinary remote control devices.

[0146] The following will combine Figure 1 The following describes in detail the control method for the mobile platform provided by the embodiments of this application in the context of the scenario. It should be noted that... Figure 1 The scenarios described are only used to explain the control method of the mobile platform provided in the embodiments of this application, but do not constitute a limitation on the application scenarios of the control method of the mobile platform provided in the embodiments of this application.

[0147] Please see Figure 4 , Figure 4 This is a schematic flowchart illustrating the steps of a control method provided in an embodiment of this application. The control method is applied to a display device, which is used to communicate with a mobile platform and a motion-sensing remote control device. The motion-sensing remote control device is used to communicate with the mobile platform and control the mobile platform, thereby improving the control convenience and user experience of the mobile platform.

[0148] like Figure 4 As shown, the control method includes steps S101 to S103.

[0149] Step S101: Receive and display the captured image from the mobile platform.

[0150] Among them, the shooting footage of the mobile platform includes first-person perspective FPV footage, which changes with the posture of the mobile platform or the gimbal of the mobile platform.

[0151] Step S102: When the mobile platform is in a preset working mode, a motion indicator icon is displayed on the shooting screen. The state of the motion indicator icon on the shooting screen is used to indicate the posture change of the motion remote control.

[0152] When the mobile platform is in a preset operating mode, it moves only in one direction. For example, if the mobile platform is a drone, and the drone is in the preset operating mode, the motion-sensing remote control device can only control the drone to fly forward during flight. It should be noted that the motion-sensing remote control has different operating modes, including at least a first operating mode and a second operating mode. Specifically, the first operating mode may include an A / P / M mode, and the second operating mode may include a flashlight mode. When the motion-sensing remote control device enters flashlight mode, the drone enters the preset operating mode, enabling the drone to fly forward under the control of the motion-sensing remote control device.

[0153] In one embodiment, when the mobile platform is in a preset operating mode, the display device displays a motion indicator icon on the shooting screen. The state of the motion indicator icon in the shooting screen is used to indicate the posture change of the motion remote control. The state of the motion indicator icon in the shooting screen includes the position and / or rotation angle of the motion indicator icon in the shooting screen. Further, the position of the motion indicator icon in the shooting screen is used to indicate the movement direction and / or posture of the mobile platform.

[0154] In one embodiment, the state of the motion indicator icon in the captured image includes the position and rotation angle of the motion indicator icon in the captured image.

[0155] In one embodiment, the position of the motion indicator icon in the captured image corresponds to the posture of the motion remote control. The vertical movement of the motion indicator icon in the captured image is related to the pitch axis rotation of the motion remote control; the horizontal movement of the motion indicator icon in the captured image is related to the yaw axis rotation of the motion remote control.

[0156] In one embodiment, the rotation angle of the motion indicator icon in the captured image corresponds to the posture of the motion-sensing remote control. The rotation angle of the motion indicator icon in the captured image is related to the rotation direction of the roll axis of the motion-sensing remote control.

[0157] Step S103: In response to the user's posture adjustment operation on the motion-sensing remote control device, adjust the state of the motion indicator icon in the shooting screen. The state of the motion indicator icon in the shooting screen is used to indicate the movement direction and / or posture of the movable platform.

[0158] The motion indicator icon's state in the shooting frame and the movable platform's posture can change with the posture of the motion-sensing remote control device. That is, after adjusting the posture of the motion-sensing remote control device, the motion indicator icon's state in the shooting frame will change accordingly, and the movable platform's posture will also change accordingly.

[0159] In one embodiment, the motion-sensing remote control device can control a movable platform to move in the direction indicated by a motion indicator icon. In another embodiment, the motion-sensing remote control device includes a first control component, which may include a throttle trigger. Based on user control parameters of the throttle trigger, the motion-sensing remote control device controls the movable platform to move along the direction and / or posture of the movable platform indicated by the motion indicator icon in the captured image. The control parameters include the throttle position. Because the motion-sensing remote control device can control the movable platform to move along the direction and / or posture of the movable platform indicated by the motion indicator icon in the captured image based on user control parameters of the throttle trigger, it can control the movable platform to move in the direction and / or posture desired by the user, greatly improving the control convenience and user experience of the movable platform.

[0160] In one embodiment, when the yaw angle of the motion-sensing remote control device changes, the motion indicator icon is adjusted to move left or right in the shooting frame. During the movement of the motion indicator icon to the left or right, the yaw angle of the movable platform deflects accordingly, and the corresponding PPV screen changes. When the pitch angle of the motion-sensing remote control device changes, the motion indicator icon is adjusted to move up or down in the shooting frame. During the movement of the motion indicator icon to the up or down, the gimbal of the movable platform rotates up or down along the pitch direction, and the corresponding PPV screen changes. When the roll angle of the motion-sensing remote control device is not zero, the motion indicator icon is adjusted to rotate left or right. During the rotation of the motion indicator icon to the left or right, the movable platform rotates left or right along the yaw direction according to the angular velocity corresponding to the current roll angle of the motion-sensing remote control device, and the corresponding PPV screen changes.

[0161] In one embodiment, the motion indicator icon includes shapes such as circles, squares, and light spots. The position of the motion indicator icon in the FPV screen maps to the flight direction of the UAV in the world coordinate system.

[0162] In one embodiment, the motion indicator icon includes a horizontal line segment, a first line segment, and a second line segment. When the roll angle of the motion-sensing remote control device is zero, both the first and second line segments are parallel to the horizontal line segment. The horizontal line segment does not change with the roll angle of the motion-sensing remote control device. For example, as shown... Figure 5 As shown, the motion indicator icon includes a horizontal line segment 11, a first line segment 12, a second line segment 13, and a circular icon 14, with the first line segment 12 and the second line segment 13 respectively connected to the circular icon 14.

[0163] In one embodiment, when the roll angle of the motion-sensing remote control device is not zero, the motion indicator icon is rotated left or right so that the first and second line segments are not parallel to the horizontal line segment. For an example, please refer to [link to example]. Figure 6 , Figure 6 This is a schematic diagram of a page after the motion indicator icon is rotated left or right in an embodiment of this application, such as... Figure 6 As shown, the first line segment 12 and the second line segment 13 are not parallel to the horizontal line segment 11, and Figure 5 Rotate the motion indicator icon to the right by a certain angle to achieve the desired effect. Figure 6 The motion indicator icon in the image.

[0164] In one embodiment, when the roll angle of the motion-sensing remote control device is not zero, a mark corresponding to the current roll angle of the motion-sensing remote control device is displayed on the outer contour of the motion indicator icon. When the roll angle of the motion-sensing remote control device is zero, this mark is not displayed on the outer contour of the motion indicator icon. Furthermore, the size of the mark displayed on the outer contour of the motion indicator icon is positively correlated with the roll angle of the motion-sensing remote control device; that is, the larger the roll angle of the motion-sensing remote control device, the larger the mark displayed on the outer contour of the motion indicator icon, and vice versa. This mark can be an arc segment, or other icons; this embodiment does not specifically limit its application. For example, as... Figure 7 As shown, the outer contour 15 of the motion indicator icon displays an arc segment 16 corresponding to the current roll angle of the motion-sensing remote control device.

[0165] In one embodiment, in response to a user's adjustment of the pitch angle of the motion-sensing remote control device, it is determined whether the pitch angle of the gimbal of the movable platform has reached a limit pitch angle. If the pitch angle of the gimbal reaches the limit pitch angle, a first control area and / or a second control area are displayed, and the motion indicator icon is controlled to move towards the first control area or the second control area. In another embodiment, during the adjustment of the pitch angle of the motion-sensing remote control device, if the pitch angle of the gimbal reaches the first limit pitch angle, the first control area is overlaid on the shooting page, and the motion indicator icon is controlled to move towards the first control area; if the pitch angle of the gimbal reaches the second limit pitch angle, the second control area is overlaid on the shooting page, and the motion indicator icon is controlled to move towards the second control area. The first limit pitch angle is greater than the second limit pitch angle. In one embodiment, the first control area is located at the top of the screen, and the second control area is located at the bottom of the screen.

[0166] In one embodiment, during the adjustment of the pitch angle of the motion-sensing remote control device, when the position of the motion indicator icon in the captured image exceeds the horizontal midline, a first control area and / or a second control area are displayed.

[0167] In one embodiment, during the adjustment of the pitch angle of the motion-sensing remote control device, the pitch angle of the gimbal and the position of the motion indicator icon in the captured image are continuously adjusted, causing the captured image to continuously change. When the rate of change of the captured image is lower than the rate of change of the position of the motion indicator icon in the captured image, the motion indicator icon will exceed the horizontal median line.

[0168] In one embodiment, the first control area is located at the top of the screen and the second control area is located at the bottom of the screen. During the continuous change of the shooting screen, when the motion indicator icon moves to coincide with the first control area or the second control area, the movable platform is controlled to enter a preset operation mode.

[0169] In one embodiment, when the motion indicator icon is located in the first control area, the movable platform is controlled to enter a preset first control mode. In the first control mode, the motion-sensing remote control device can control the movable platform to move along a first direction. Furthermore, in the first control mode, the motion-sensing remote control device responds to the user's operation of the throttle trigger in the motion-sensing remote control device, controlling the movable platform to move along the first direction. When the motion indicator icon is located in the second control area, the movable platform is controlled to enter a preset second control mode. In the second control mode, the motion-sensing remote control device can control the movable platform to move along a second direction. Furthermore, in the second control mode, the motion-sensing remote control device responds to the user's operation of the throttle trigger in the motion-sensing remote control device, controlling the movable platform to move along the second direction.

[0170] In one embodiment, a first direction icon is displayed in the first control area to indicate the movement direction of the movable platform as the first direction, and a second direction icon is displayed in the second control area to indicate the movement direction of the movable platform as the second direction. The first direction is opposite to the second direction. For example, the first direction is vertically upward and the second direction is vertically downward.

[0171] For example, such as Figure 8 As shown, the first control area 21 is located above the motion indicator icon 10, and the second control area 23 is located below the motion indicator icon 10. The first control area 21 displays a first direction icon 22, which indicates that when the motion indicator icon 10 is within the first control area 21, the motion-sensing remote control device can control the movable platform to fly vertically upwards. The second control area 23 displays a second direction icon 24, which indicates that when the motion indicator icon 10 is within the second control area 23, the motion-sensing remote control device can control the movable platform to fly vertically downwards. Figure 9As shown, motion indicator icon 10 is located in the first control area 21. At this time, the motion remote control device responds to the user's operation of the throttle trigger in the motion remote control device and controls the movable platform to fly vertically upward.

[0172] In one embodiment, the display device further displays a third control area and / or a fourth control area. When the motion indicator icon is located in the third control area, the movable platform is controlled to enter a preset third control mode, wherein the motion-sensing remote control device can control the movable platform to move along a third direction. When the motion indicator icon is located in the fourth control area, the movable platform is controlled to enter a preset fourth control mode, wherein the motion-sensing remote control device can control the movable platform to move along a fourth direction. The third direction and the fourth direction are opposite. For example, the third direction is the left side of the movable platform, and the fourth direction is the right side of the movable platform.

[0173] Please see Figure 10 , Figure 10 This is a schematic flowchart illustrating the steps of another control method provided in this application embodiment. The control method is applied to a control system, which includes a motion-sensing remote control device, a display device, and a mobile platform. The motion-sensing remote control device and the display device are respectively connected to the mobile platform. The motion-sensing remote control device is used to control the mobile platform to improve the control convenience and user experience of the mobile platform.

[0174] like Figure 10 As shown, the control method includes steps S201 to S203.

[0175] Step S201: The display device receives and displays the captured image of the movable platform, and displays the posture indicator icon of the motion-sensing remote control device on the captured image. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device.

[0176] Step S202: In response to the user's posture adjustment operation on the motion-sensing remote control device, the display device adjusts the posture indicator icon according to the current posture information of the motion-sensing remote control device;

[0177] Step S203: The motion-sensing remote controller controls the movable platform according to the current posture information of the motion-sensing remote control device.

[0178] The display device shows the captured image from the mobile platform and a posture indicator icon to indicate the posture information of the motion-sensing remote control device. The motion-sensing remote control device responds to the user's posture adjustment operation by changing the posture indicator icon and controlling the mobile platform based on its current posture information. The posture indicator icon allows users to accurately understand the posture changes of the motion-sensing remote control device, facilitating control of the mobile platform by adjusting the device's posture, greatly improving the convenience of control and user experience.

[0179] In one embodiment, the attitude indicator icon changes with the attitude of the motion-sensing remote control device. The attitude indicator icon includes a slider and a first icon. The position of the slider in the attitude indicator icon indicates the horizontal rotation direction of the motion-sensing remote control device, and the position of the first icon in the attitude indicator icon indicates the tilt direction of the motion-sensing remote control device in the pitch and roll directions. The first icon can be a dot, or of any other shape; this embodiment does not specifically limit its shape.

[0180] Specifically, when the horizontal rotation direction of the motion-sensing remote control device changes, the position of the slider in the attitude indicator icon also changes accordingly. That is, the slider can slide left and right in the attitude indicator icon as the horizontal rotation direction of the motion-sensing remote control device changes. When the tilt direction of the motion-sensing remote control device changes in the pitch and / or roll directions, the position of the first icon in the attitude indicator icon also changes accordingly. That is, the first icon can slide up and down in the attitude indicator icon as the tilt direction of the motion-sensing remote control device changes in the pitch direction, and can also slide left and right in the attitude indicator icon as the tilt direction of the motion-sensing remote control device changes in the roll direction.

[0181] In one embodiment, the attitude indicator icon further includes a slider, and the slider is located on the slider. The slider and the slider are used to indicate the position in the icon for indicating the horizontal rotation direction (yaw direction) of the motion-sensing remote control device. The slider can slide left and right on the slider as the horizontal rotation direction of the motion-sensing remote control device changes. The attitude indicator icon also includes a first region, and the position of the first icon in the first region is used to indicate the tilt direction of the motion-sensing remote control device in the pitch and roll directions. The slider is located within the first region, or there is a gap between the slider and the first region.

[0182] In one embodiment, the attitude indicator icon further includes a second region located in the center of the first region. When the first icon is located in the second region, the first icon is used to indicate that the roll angle and pitch angle of the motion-sensing remote control device are zero. When the roll angle and pitch angle of the motion-sensing remote control device are zero, it can be determined that the attitude of the motion-sensing remote control device is in a horizontal state.

[0183] In one embodiment, when the first icon is located within the second area, the display device changes the display color of the second area and the first icon. By changing the display color of the second area and the first icon, the user is prompted that the mobile platform can be started by manipulating the control component of the motion-sensing remote control device. Further, the mobile platform includes a drone. When the first icon is located within the second area, the second area and the first icon are used to prompt the user that the first control component of the motion-sensing remote control device can be manipulated to control the drone to take off.

[0184] In one embodiment, the attitude indicator icon further includes a second icon to indicate that the movable platform has not moved or has stopped moving. Alternatively, the attitude indicator icon may display a second icon on one side, indicating that the movable platform has not moved or has stopped moving. For example, if the movable platform is a drone, the display device shows the second icon when the drone has not taken off to indicate that the drone has not taken off, or when the user presses the emergency stop button while the drone is in flight, causing the drone to hover, the display device shows the second icon to indicate that the drone is in a hovering state.

[0185] For example, such as Figure 11 As shown, the attitude indicator icons include a slider 31, a slider 36 located on the slider 31, a first area 32, a second area 35, a first icon 33, and a second icon 34. (The last sentence appears to be incomplete and possibly refers to a different topic.) Figure 11 As indicated by the posture indicator icons, since slider 36 on slider 31 is located on the right side of slider 31, it can be determined that the user is rotating the motion-sensing remote control device to the right, that is, the motion-sensing remote control device is tilting to the right. Since the first icon 34 is located in the upper left area of ​​the first region 32, it can be determined that the user is rolling to the left and tilting their head up. Figure 12 As shown, if the first icon 33 is located within the second area 35, it indicates that the roll angle and pitch angle of the motion-sensing remote control device are both zero, and the motion-sensing remote control device is in a horizontal state.

[0186] The yaw angle of the motion-sensing remote control device controls the yaw angle of the movable platform; the roll angle controls the lateral translation of the movable platform; and the pitch angle controls the forward and backward translation of the movable platform. For example, if the movable platform is a drone, the yaw angle of the motion-sensing remote control device controls the yaw rotation of the drone; the roll angle controls the roll axis of the drone, enabling lateral translation; and the pitch angle controls the pitch axis of the drone, enabling forward and backward translation. For example, before adjusting the attitude of the motion-sensing remote control device, the attitude indicator icon looks like... Figure 11 As shown, after adjusting the posture of the motion-sensing remote control device, the posture indicator icon appears as follows: Figure 12As shown, the roll and pitch angles of the motion-sensing remote control device are both zero, while the yaw angle is not zero. Therefore, it does not control the left and right lateral translation of the movable platform, nor does it control the forward and backward translation of the movable platform. Instead, it controls the movable platform to turn right.

[0187] In one embodiment, the motion-sensing remote control device responds to a user's trigger operation on the second control component to control the drone to start propellers; a display device displays operation prompts for the first control component, which are used to prompt the user to operate the first control component; the motion-sensing remote control device acquires the user's operation parameters for the first control component and controls the drone to take off based on the operation parameters. The first control component can be a throttle trigger, and the second control component can be a lock button (on / off button), and the operation parameters include the throttle lever position. By outputting throttle trigger operation prompts after the drone starts propellers, the user can be prompted to operate the throttle trigger to control the drone to take off, improving the drone's control convenience and user experience.

[0188] In one embodiment, the display device, in response to a user's first trigger operation on the second control component, displays a propeller start-up progress bar and a propeller start-up prompt message, which prompts the user to control the drone to start propellers. The motion-sensing remote control device, in response to a user's second trigger operation on the second control component, controls the drone to start propellers. The display device, in response to the user's second trigger operation on the second control component, updates the propeller start-up progress bar, which indicates the drone's propeller start-up progress. By displaying the propeller start-up prompt message, the user can be prompted to control the drone to start propellers, and by displaying the propeller start-up progress bar, the user can easily know the drone's propeller start-up progress, greatly improving the convenience of controlling the drone's propeller start-up and the user experience.

[0189] The first trigger operation and the second trigger operation can be the same or different. For example, the first trigger operation is a short press by the user on the second control component, and the second trigger operation is a long press by the user on the second control component. For example, ... Figure 13 As shown, the display device shows a propeller start-up progress bar 41 and propeller start-up prompt information 42. After the user presses and holds the unlock button, the propeller start-up progress bar 41 begins to update, and the updated propeller start-up progress bar 41 can be displayed as follows: Figure 14 As shown, at this time, the propeller start-up progress of 41 indicates that the propeller start-up progress of the UAV is 50%.

[0190] In one embodiment, the motion-sensing remote control device responds to a third trigger operation by the user on the second control component to determine whether the motion-sensing remote control device is in a horizontal state. If the motion-sensing remote control device is in a horizontal state, it controls the drone to propel itself. If the motion-sensing remote control device is not in a horizontal state, the display device displays a horizontal prompt message to remind the user to keep the motion-sensing remote control device in a horizontal state. The third trigger operation includes a double-click operation by the user on the second control component, but may also include other operations; this embodiment does not specifically limit this. Since the motion-sensing remote control device is in a horizontal state, it can be determined that the drone is in a horizontal state. Therefore, by controlling the drone to propel itself when the motion-sensing remote control device is in a horizontal state, i.e., when the drone is in a horizontal state, the propeller safety of the drone can be ensured.

[0191] In one embodiment, if the user's control parameters for the first control component are greater than preset control parameters, the motion-sensing remote control device controls the drone to take off based on the user's control parameters for the first control component. Further, it is determined whether the motion-sensing remote control device is in a horizontal position. If the motion-sensing remote control device is in a horizontal position, then the motion-sensing remote control device controls the drone to take off based on the user's control parameters for the first control component. Since the motion-sensing remote control device is in a horizontal position, it can be determined that the drone is in a horizontal position. Therefore, by controlling the drone to take off when the motion-sensing remote control device is in a horizontal position, i.e., when the drone is in a horizontal position, the takeoff safety of the drone can be guaranteed.

[0192] In one embodiment, during the process of controlling the drone to propel itself, if a fourth trigger operation by the user on the third control component is detected, the motion-sensing remote control device controls the drone to stop propel itself. The third control component includes an emergency stop button, and the fourth trigger operation includes a single click operation by the user on the third control component; other operations may also be included, and this embodiment does not specifically limit this. By providing the function of controlling the drone to stop propel itself, users can quickly stop the drone from propel itself, improving the user experience.

[0193] Please see Figure 15 , Figure 15 This is a schematic block diagram illustrating a process of controlling a drone to take off using a motion-sensing remote control device, as described in an embodiment of this application. Figure 15As shown, when the drone is locked but not yet taken off, pressing any button other than the unlock button will prompt the user to unlock. After pressing the unlock button, the display device receives a takeoff / landing notification from the drone and displays a prompt to press the throttle trigger. The device then checks if the throttle trigger is past the center position. If the throttle trigger is past the center position, the drone will not respond and will remain in propeller mode, with the display device indicating that the throttle trigger is not past the center position. If the throttle trigger is past the center position, the device checks if the motion-sensor remote control is level. If the motion-sensor remote control is level, the device will take off, and the prompt to press the throttle trigger will disappear. If the motion-sensor remote control is not level, the device will prompt the user to keep the motion-sensor remote control level.

[0194] Please see Figure 16 , Figure 16 This is another schematic flowchart illustrating the process of controlling a drone to take off using a motion-sensing remote control device in an embodiment of this application. For example... Figure 16 As shown, the drone is locked but not yet launched. Pressing the power button displays a propeller start-up progress bar and a propeller start-up prompt. Holding down the power button moves the propeller start-up progress bar. If the power button is pressed for less than 3 seconds, the drone will not propel, and the propeller start-up progress bar and prompt disappear. If the power button is pressed for 3 seconds or more, the propeller start-up progress bar and prompt disappear, and a throttle trigger press prompt appears. The system checks if the throttle trigger is past the midpoint. If the throttle trigger is past the midpoint, the drone does not respond and remains in propeller start-up mode, with a prompt indicating the throttle trigger is past the midpoint. If the throttle trigger is past the midpoint, the drone is launched, and the throttle trigger press prompt disappears. Further, as... Figure 17 As shown, if the throttle trigger is in the middle position, it will determine whether the motion-sensing remote control device is level. If the motion-sensing remote control device is level, it will control the drone to take off and the prompt to press the throttle trigger will disappear. If the motion-sensing remote control device is not level, it will prompt you to keep the motion-sensing remote control device level.

[0195] In one embodiment, during the flight of the drone, if the motion-sensing remote control device detects a fifth trigger operation by the user on the third control component, the motion-sensing remote control device controls the drone to hover; and controls the motion-sensing remote control device to be in motion-sensing lock mode. In motion-sensing lock mode, the motion-sensing remote control device does not send control commands to the drone when its own attitude changes. The third control component includes an emergency stop button, and the user's fifth trigger operation on the third control component includes a single click operation, but may also include other operations; this embodiment does not specifically limit this. The emergency stop button allows the drone to be controlled to hover during flight, while simultaneously keeping the motion-sensing remote control device in motion-sensing lock mode, ensuring drone flight safety and improving user experience.

[0196] In one embodiment, when the motion-sensing remote control device is in motion-sensing lock mode, the device acquires the user's control parameters for the first control component. If the control parameters are greater than preset control parameters, the device continues to control the drone's flight based on these parameters and exits the motion-sensing lock mode. After exiting the motion-sensing lock mode, when the device's own posture changes, it sends control commands to the mobile platform based on the current posture information to control the mobile platform.

[0197] Please see Figure 18 , Figure 18 This is a schematic flowchart illustrating the process of controlling the hovering of a drone in an embodiment of this application. For example... Figure 18 As shown, during drone flight control, pressing the emergency stop button controls the drone to hover and puts the motion-sensing remote control device into motion-sensing lock mode. A hovering prompt message is pushed to the display device, informing the user that the drone has hovered and prompting them to press the throttle trigger to unlock. The system checks if the throttle trigger has passed the center position. If the throttle trigger has passed the center position, the system checks if the motion-sensing remote control device is level. If the motion-sensing remote control device is level, the system controls the drone to fly and controls the motion-sensing remote control device to exit motion-sensing lock mode. If the motion-sensing remote control device is not level, the system prompts the user to keep the motion-sensing remote control device level. If the throttle trigger has not passed the center position, the system prompts the user to keep the throttle trigger not level.

[0198] In one embodiment, the motion-sensing remote control device responds to a sixth trigger operation by the user on the third control component to control the drone to return to home. During the drone's return process, a display device shows the drone's return progress information, which is used to inform the user of the drone's return progress. The sixth trigger operation by the user on the third control component includes a long press operation, but may also include other operations; this embodiment does not specifically limit this. By displaying the return progress information, the user is able to easily know the drone's return progress, making it more convenient to control the drone's return and improving the user experience.

[0199] In one embodiment, after the drone returns to base, if the flatness of the ground beneath the drone is greater than or equal to a preset flatness, the motion-sensing remote control device controls the drone to land. If the flatness of the ground beneath the drone is less than the preset flatness, the display device displays a landing confirmation prompt to prompt the user to confirm the landing. The motion-sensing remote control device responds to the user's seventh trigger operation on the second control component to control the drone to land, or responds to the user's eighth trigger operation on the third control component to control the drone to hover. The seventh trigger operation includes a press operation on the second control component, and the eighth trigger operation includes a click operation on the third control component; other operations may also be included, and this embodiment does not specifically limit this. If the user's seventh trigger operation on the second control component is detected, it can be determined that the user has confirmed the drone's landing; if the user's eighth trigger operation on the third control component is detected, it can be determined that the drone's landing has been cancelled. The preset flatness can be set based on actual conditions, and this embodiment does not specifically limit this.

[0200] Please see Figure 19 , Figure 19 This is a schematic flowchart illustrating a process of controlling a drone to return to home using a motion-sensing remote control device, as described in an embodiment of this application. Figure 19 As shown, the drone is flying normally. Press and hold the emergency stop button, and the motion-sensing remote control device will control the drone to return to home. The device will receive the drone's return progress and display return progress prompts. During the return process, click the emergency stop button to cancel the return and control the drone to hover. After the return is completed, it will enter the landing process. It will check if the ground is uneven. If the ground is flat, it will control the drone to land. After landing, the motors will stop. If the ground is uneven, it will prompt whether to land. If you click the lock button (add / unlock button), you will confirm the landing and control the drone to land. After landing, the motors will stop. If you click the emergency stop button, you will confirm the cancellation of the landing and control the drone to hover.

[0201] In one embodiment, if the motion-sensing remote control device is in a first control mode or a second control mode, the motion-sensing remote control device responds to the user's sixth trigger operation on the third control component, controls itself to enter the third control mode, and controls the drone to return to home. The first control mode includes M mode, the second control mode includes S mode (flashlight control mode), and the third control mode includes P mode. In P mode, when the user releases the throttle trigger, the drone can hover and stabilize itself; in M ​​mode, when the user releases the throttle trigger, the drone does not hover and stabilize itself.

[0202] In one embodiment, after the drone returns to base, if the flatness of the ground beneath the drone is greater than or equal to a preset flatness, the motion-sensing remote control device controls the drone to land. After the drone lands, the motion-sensing remote control device controls itself to enter either a first control mode or a second control mode. If the flatness of the ground beneath the drone is less than the preset flatness, the display device displays a landing confirmation prompt to prompt the user to confirm the landing. The motion-sensing remote control device responds to the user's seventh trigger operation on the second control component to control the drone to land. After the drone lands, the motion-sensing remote control device controls itself to enter either the first control mode or the second control mode. In one embodiment, the motion-sensing remote control device responds to the user's eighth trigger operation on the third control component to control the drone to hover. The display device displays a mode switching prompt, which prompts the user to switch the control mode of the motion-sensing remote control device to either the first control mode or the second control mode.

[0203] Please see Figure 20 , Figure 20 This is another schematic flowchart illustrating the process of controlling a drone to return to home using a motion-sensing remote control device, as described in this application embodiment. Figure 20 As shown, when the drone is flying in M / S mode, pressing and holding the emergency stop button will cause the motion-sensing remote control device to control the drone to return home, displaying the return progress received by the device. It will automatically switch to P mode and display return progress prompts based on the return progress. During the return process, clicking the emergency stop button will cancel the return, control the drone to hover, and display a prompt to switch between M and S modes. After the return is completed, it will enter the landing process, checking if the ground is uneven. If the ground is level, it will control the drone to land, and the motors will stop after landing. If the ground is uneven, it will prompt whether to land. Clicking the lock button (plus unlock button) will confirm the landing, and the drone will land. After landing, the motors will stop, and it will automatically switch to M / S mode. Clicking the emergency stop button will confirm the cancellation of the landing, control the drone to hover, and display a prompt to switch between M and S modes.

[0204] In one embodiment, the motion-sensing remote control device responds to a user's ninth trigger operation on the second control component to control the drone to land; the display device responds to the user's ninth trigger operation on the second control component to display landing prompt information, which is used to indicate to the user that the drone is landing; during the drone landing process, if the flatness of the ground below the drone is less than a preset flatness, the display device displays landing confirmation prompt information to prompt the user whether to confirm the landing; the motion-sensing remote control device responds to a user's tenth trigger operation on the second control component to control the drone to continue landing, or responds to a user's eighth trigger operation on the third control component to control the drone to hover. The ninth trigger operation includes a user's downward flick operation on the second control component, and the tenth trigger operation includes a user's single-click operation on the second control component; other operations may also be included, and this embodiment does not specifically limit this.

[0205] In one embodiment, while controlling the drone to land, the motion-sensing remote control device is also kept in motion-sensing lock mode. In motion-sensing lock mode, the motion-sensing remote control device does not send control commands to the drone when its own posture changes.

[0206] Please see Figure 21 , Figure 21 This is a schematic flowchart illustrating the process of a motion-sensing remote control device controlling the landing of a drone in an embodiment of this application. Figure 21 As shown, the drone is flying normally. Pressing the lock button (or unlock button) will cause the drone to land. The display device will receive a landing notification from the drone, displaying a landing prompt and locking the motion-sensing remote control. Clicking the emergency stop button will cancel the landing. The drone will hover and check if the ground is uneven. If the ground is level, the drone will land, and the motors will stop after landing. If the ground is uneven, the drone will prompt whether to land. Pressing the lock button (or unlock button) will confirm the landing, and the drone will land, and the motors will stop after landing. Clicking the emergency stop button will confirm the cancellation of the landing, and the drone will hover.

[0207] In one embodiment, the display device displays the status information of the mobile platform, the status information of the motion-sensing remote control device, and the status information of the display device itself. The display device includes flight goggles, which include a five-way button, a shutter button, and a back button. Moving the five-way button forward, backward, left, or right scrolls the interface menu; pressing it confirms the view. When the flight goggles display the status information of the mobile platform, the motion-sensing remote control device, and the display device, pressing the five-way button brings up the menu bar. Moving it left or right adjusts the screen brightness, and moving it forward or backward adjusts the volume. A short press takes a photo or starts / stops recording. A long press switches between photo / video modes, and pressing it returns to the previous menu or exits the current mode.

[0208] For example, such as Figure 22As shown, an obstacle indicator bar 1 is overlaid on the shooting page. This bar indicates the distance between the movable platform and obstacles in different directions. The display color of the obstacle indicator bar 1 is determined based on the distance between the movable platform and obstacles; for example, red, orange, and gray indicate the relative distance to obstacles from near to far. MicroSD card information 2 is also displayed, showing the remaining number of photos or the remaining recording time on the microSD card of the movable platform or goggles. The recording time flashes during recording. The gimbal tilt angle 3 is also displayed; when the gimbal tilt control dial is turned, the current gimbal tilt angle is displayed.

[0209] It also displays prompts (4), including status switching information such as gear shifting and low battery warnings, as well as various alarm messages. It also displays the remaining battery power of the current flight goggles (5). A buzzer will sound an alarm when the battery is low, and it supports displaying the voltage of third-party batteries. It also displays the GPS status (6), indicating the strength of the GPS signal. It further displays the signal strength of the control link between the remote controller and the aircraft, and the signal strength of the image transmission link between the flight goggles and the aircraft (7). Finally, it displays the status icon of the forward-looking vision system. The color of the icon varies depending on the status of the forward-looking vision system; for example, a green icon indicates that the vision system is working normally, while a red icon indicates that the vision system is not activated or is malfunctioning, in which case it cannot automatically decelerate when encountering obstacles.

[0210] It also displays the uptime of the mobile platform as 9. Figure 22 The displayed runtime is 25 minutes and 2 seconds. It also shows the remaining battery power of the portable platform is 10%. Figure 22 The displayed remaining battery power of the mobile platform is 15%. It also displays the ground distance 11, which is displayed when the mobile platform's height above the ground is less than a preset height (e.g., 10 meters). Figure 22 The displayed ground distance is 2.5 meters. The system also displays the mobile platform's motion information 12, such as the horizontal distance D 1000 m between the mobile platform and the return point, the vertical distance H 100 m between the mobile platform and the return point, the horizontal flight speed of the mobile platform (9 m / s), and the vertical flight speed of the mobile platform (6 m / s). The system also displays the mobile platform's flight mode 13, such as the drone's flight mode. The location of the return point 14 is also displayed.

[0211] In one embodiment, pressing the five-way button on the flight goggles brings up a menu bar, which includes menu options such as status, photo album, image transmission, and settings. The user can switch between menu options by toggling the five-way button. For example... Figure 23As shown, when the user selects a status menu option by toggling the five-way button, detailed information on various current status warnings is displayed. If an IMU or compass malfunctions, calibration can be performed. Figure 24 As shown, when the user selects the album menu option by toggling the five-way button, photos or videos stored on the microSD card of the goggles are displayed. After selecting a file and confirming, a preview can be viewed. Figure 25 As shown, when a user selects the image transmission menu option by toggling the five-way button, the image transmission settings page is displayed. The image transmission settings page includes pilot sub-menu options and audience sub-menu options. After selecting the pilot sub-menu option, the user can configure the image transmission settings of the current mobile platform, such as setting the screen broadcast 1, image transmission ratio 2, focus 3, channel mode 4, image transmission frequency band 5, bandwidth 6, etc. After selecting the audience sub-menu option, the user can view nearby image transmission devices and signal strength, and select a channel to watch the corresponding image transmission screen.

[0212] When a user selects settings menu options by toggling the five-way button, the following submenus will be displayed: Safety, Control, Camera, Display, and About. Figure 26 As shown, in the safety submenu, users can set safety parameters such as maximum altitude, maximum distance, and return-to-home altitude. It also supports updating the return-to-home point, enabling or disabling obstacle deceleration, viewing and calibrating the compass and IMU status. Figure 27 As shown, after selecting the control submenu, users can set control parameters such as the color and lighting mode of the drone's nose / arm lights, gimbal pitch speed, and roll control (S mode). Gimbal calibration is supported, and remote controller settings are also available. Figure 28 As shown, after selecting the remote control settings submenu, users can customize the buttons, including custom button C1, custom switch C2, and custom gears. The joystick mode can be selected as American, Japanese, or Chinese. It also supports adjusting the remote control's M mode control feel and remote control calibration.

[0213] like Figure 29 As shown, after selecting the shooting submenu, users can adjust camera parameters such as ISO, shutter speed, EV, saturation, and white balance; set image transmission specifications, video specifications, video format, guide lines; enable screen center point; and format the SD card. Figure 30 As shown, after selecting the display submenu, users can adjust screen brightness, zoom, and choose whether to display the return point, etc. Figure 31 As shown, after selecting the "About" submenu, you can view information such as the firmware version and serial number of the flight goggles and the devices connected to them, select the interface language of the flight goggles, and restore factory settings.

[0214] In one embodiment, the display device displays a flight instruction page for the drone, which includes introductory information on the flight interface, motion control, and return-to-home landing. In response to user interaction with the flight instruction page, a pre-flight safety check instruction page for the drone is displayed. This instruction page includes guidance information for the pre-flight safety check, which guides the user to perform the pre-flight safety check, including checking the drone's propellers and fuselage orientation. In response to user interaction with the pre-flight safety check instruction page, the flight interface is displayed, and a pop-up window on the flight interface displays interface description information describing the function of each element in the flight interface.

[0215] After the flight interface is introduced, a function introduction page for the motion remote controller is displayed. This page includes information about the motion remote controller's functions and a simulated motion remote controller. In response to user actions on this page, a tutorial page for controlling the drone's takeoff using the motion remote controller is displayed. This tutorial page provides takeoff control prompts to guide the user in using the motion remote controller to take off. The motion remote controller responds to the user's propeller control actions by raising the propellers and then takes off. After takeoff, a landing tutorial page is displayed, including landing control prompts to instruct the user on how to land the drone using the motion remote controller. The motion remote controller responds to user actions... The landing control operation controls the drone to land; it displays the drone's flight control tutorial page, which includes flight control instructions. These instructions guide the user to control the drone's ascent, descent, hovering, right turn, left turn, forward, backward, leftward, or rightward movements using the motion-sensor remote control. The motion-sensor remote control receives user input; if the input is the same as the flight control instructions, it controls the drone to ascend, descend, hover, right turn, left turn, forward, backward, leftward, or rightward movements. Simultaneously, the device updates the flight control instructions, which instruct the drone to perform these actions.

[0216] After completing the drone flight control tutorial, a pop-up window for free flight control practice is displayed. In response to the user's confirmation of the pop-up, the free flight control practice page is displayed, including a countdown timer. When the countdown timer reaches zero, the free flight control practice ends, and the drone return-to-home tutorial page is displayed. This page includes return-to-home control prompts, instructing the user to control the drone's return-to-home operation using the motion-sensor remote controller. The motion-sensor remote controller receives user input; if the input matches the prompt, it controls the drone to return to home or land.

[0217] For example, such as Figure 32 As shown, the flight training page includes an introduction to the flight interface, motion controls, and a return-to-home / landing menu. When the user clicks or focuses their gaze... Figure 32 The device will display a "Next" icon or wait 5 seconds before showing the device's status. Figure 33 The blade inspection guide page shown includes a next step icon, a diagram of the blade installation method, and guidance information for the blade inspection: "Confirm that the blades are intact and check whether the installation positions of the white-marked and unmarked blades are correct. Incorrect installation positions will cause the aircraft to overturn during takeoff." The diagram of the blade installation method is used to indicate the blade installation method.

[0218] When the user clicks or focuses their eyes Figure 33 When the "Next" icon appears, the display device shows something like this. Figure 34 The shown fuselage orientation check guidance page includes a "Start Practical Tutorial" icon, a fuselage orientation diagram, and the guidance information "Tail facing you, maintain a safe distance of 5 meters from the aircraft." When the user clicks or focuses their gaze... Figure 34 When the "Start Practical Tutorial" icon appears in the display device, it displays something like this. Figure 35 The flight interface shown includes an introductory prompt to inform the user that the flight interface introduction process is about to begin. Following this, a pop-up window displays a description of the interface, such as... Figure 36 As shown, the pop-up window displays the descriptive information of the takeoff position: "In flight, this point can be used to determine the takeoff location." When the user clicks or focuses their eye, the pop-up window will display this information. Figure 36 When the "Next" icon appears, a pop-up window continues to display description information for the next element, such as... Figure 37 As shown, the pop-up window displays the description of the obstacle warning bar at the top of the flight interface: "Forward obstacle warning; the obstacle warning bar is displayed when the distance to the obstacle is less than 6 meters." When the user clicks or focuses their eye... Figure 37 When a pop-up window appears in the flight interface, it looks like... Figure 38As shown, the pop-up window displays the description of the restricted flight zone map: "Restricted flight zone warning. A warning map appears when an aircraft is near a restricted flight zone to help it fly away from the restricted flight zone." When the user clicks or focuses their eye, the warning will appear. Figure 38 When a pop-up window appears in the flight interface, it looks like... Figure 39 As shown, the pop-up window displays the description information for the aircraft status prompt element: "Tap the five-dimensional button on the glasses to enter the menu and view aircraft status details." When the user taps the five-dimensional button on the glasses, the flight interface appears as follows: Figure 40 The description information displayed is "Tap the Back button on the glasses to collapse the menu panel".

[0219] After the introduction to the flight interface is complete, the following will be displayed: Figure 41 The motion control introduction shown indicates that the user will soon enter the motion control introduction, and then displays something like... Figure 42 The page showing the functions of the motion-sensing remote control includes the functions of the simulated motion-sensing remote control, the emergency stop button: long press before takeoff: one-button takeoff; short press during flight: emergency stop and lock the aircraft; long press during flight: return to home, landing; and the gear shift button: short press: normal (P), sport (S), and comfortable (H); long press: manual (M). When tapped or with eye focus... Figure 42 When the next step icon appears, it displays something like this. Figure 43 The page showing the function introduction of the motion-sensing remote control, from Figure 43 It can be seen that tilting the motion remote control forward and backward controls the drone to move forward and backward, the throttle trigger controls the drone to rise, fall and hover, tilting the motion remote control left and right controls the drone to move left and right, and turning the motion remote control left and right controls the drone to turn left and right.

[0220] When the user clicks or focuses their eyes Figure 43 When the next step icon appears, it displays something like this. Figure 44 The takeoff control prompt message reads, "Press and hold the emergency stop button to start the propellers, then gently tap the throttle to take off. Please be careful." After the user presses and holds the emergency stop button, the motion-sensor remote controller will control the drone to start its propellers, and the display device will show the following: Figure 45 The shown progress bar indicates the drone's propeller engagement progress. After the drone completes propeller engagement, the display device shows... Figure 46 The takeoff control prompt message reads, "Propellers are engaged. Gently tap the throttle for takeoff, then press the emergency stop button to stop rotation." After takeoff, the display shows the drone's flight control tutorial page, such as... Figure 47 As shown, the upper left corner of the flight interface displays a pop-up window prompting the drone to ascend. This pop-up window includes an ascending control icon and the ascending control prompt message "Press the throttle lightly to ascend the aircraft by 10m". If the user controls the aircraft to ascend by 10m using the motion-sensor remote control, the color of the display area containing the ascending control prompt message will change to inform the user that the aircraft has ascended by 10m.

[0221] After that, as Figure 48 As shown, a pop-up window displaying instructions for controlling the drone's descent appears in the upper left corner of the flight interface. This pop-up includes a descent control icon and the descent control message "Slowly release the throttle to descend 1 meter." If the user descends 1 meter using the motion-sensor remote control, the color of the display area containing this descent control message changes to inform the user that the drone has descended 1 meter. Then, as... Figure 49 As shown, the upper left corner of the flight interface displays a pop-up window prompting you to control the drone's hovering. This pop-up includes a hovering control icon and the hovering control prompt message "Keep the throttle at the center to hover the aircraft." If the user controls the aircraft to hover using the motion-sensor remote control, the color of the display area containing this control prompt message will change to inform the user that the aircraft has successfully hovered.

[0222] After that, such as Figure 50 As shown, a pop-up window prompting the drone to turn left appears in the upper left corner of the flight interface. This pop-up includes a left-turn control icon and the prompt message "Left-turn remote controller makes the drone turn left for 1 second." If the user controls the drone to turn left for 1 second using the motion remote controller, the color of the display area containing this prompt message changes to inform the user that the drone has turned left for 1 second. After that, as... Figure 51 As shown, the upper left corner of the flight interface displays a prompt pop-up window for controlling the drone to turn right. This prompt pop-up window includes a right-turn control icon and a right-turn control prompt message: "Turn right with the remote controller to make the drone turn left for 1 second." If the user controls the drone to turn right for 1 second using the motion remote controller, the color of the display area containing this control prompt message will change to inform the user that the drone has turned right for 1 second.

[0223] After that, such as Figure 52 As shown, a pop-up window displaying a prompt to control the drone's forward movement appears in the upper left corner of the flight interface. This pop-up includes a forward control icon and the prompt message "Tilting the remote controller forward will make the drone move forward for 1 second." If the user controls the drone to move forward for 1 second using the motion-sensor remote controller, the color of the display area containing this prompt message changes to inform the user that the drone has moved forward for 1 second. After that, as... Figure 53 As shown, the upper left corner of the flight interface displays a pop-up window prompting the drone to move backward. This pop-up window includes a backward control icon and a backward control prompt message: "Tilting the remote controller backward will make the drone move backward for 1 second." If the user controls the drone to move backward for 1 second using the motion remote controller, the color of the display area containing this control prompt message will change to inform the user that the drone has moved backward for 1 second.

[0224] After that, such as Figure 54As shown, a pop-up window appears in the upper left corner of the flight interface, prompting the drone to move left. This pop-up includes a left-movement control icon and the prompt message "Til the remote controller to the left to move the drone left for 1 second." If the user controls the drone to move left for 1 second using the motion-sensor remote, the color of the display area containing this prompt message changes to inform the user that the drone has moved left for 1 second. After that, as... Figure 55 As shown, the upper left corner of the flight interface displays a prompt pop-up window for controlling the drone to move to the right. This prompt pop-up window includes a right-movement control icon and a right-movement control prompt message: "Til the remote controller to the right to move the drone to the right for 1 second." If the user controls the drone to move to the right for 1 second by operating the motion remote controller, the color of the display area where the control prompt message is located will change to inform the user that the drone has moved to the right for 1 second.

[0225] After completing the drone flight control tutorial, the following will be displayed: Figure 56 The pop-up window shown is a trigger for free practice of flight controls. It includes a 3-minute countdown timer, a skip button, a continue button, and the message "In an emergency, press the emergency stop button to bring the aircraft to a stop and lock." When the user clicks or focuses their gaze on the continue button, the following message appears: Figure 57 The free practice page for flight controls is shown below. After the free practice countdown reaches zero, the following will be displayed: Figure 58 The return-to-home tutorial page shown is to guide users through the subsequent tutorials on operating the drone to return to home. For example... Figure 59 As shown, the return-to-home instruction page includes a "Next" button and return-to-home control prompts: "When the aircraft is 5-20m from the return-to-home point, press and hold the emergency stop button to fly straight towards the return-to-home point at the current altitude," and "When the aircraft is more than 20m from the return-to-home point, press and hold the emergency stop button to ascend to the specified altitude and then fly straight towards the return-to-home point." Clicking or focusing the eye icon... Figure 59 The "Next" button in the middle displays as follows: Figure 60 The landing instruction page shown includes a previous button, a next button, and the landing control prompt message: "When the aircraft is within 5m of the return point, press and hold the emergency stop button. The aircraft will automatically descend from the current position. Please pay attention to nearby buildings and whether the descent position is level. If there is an emergency, please stop the landing."

[0226] When click or eye focus Figure 60 When the "Next" button is pressed, the following is displayed: Figure 61 The return-to-home control prompt page shown includes a return-to-home control icon and the prompt message "Press and hold the emergency stop button to return the aircraft to home or land. Please be careful." When the user controls the drone to return to home, the following will be displayed: Figure 62 The return-to-home progress bar shown indicates the drone's return progress. Following this, the following is displayed: Figure 63The landing control prompt page shown includes the message "Press and hold the emergency stop button to land." When the user controls the drone to land, the following message is displayed: Figure 64 The descent progress bar shown indicates the descent progress of the drone.

[0227] This application also provides a control method applied to a display device. The display device is communicatively connected to a motion-sensing remote control device and a mobile platform. The motion-sensing remote control device is communicatively connected to the mobile platform and is used to control the mobile platform. The display device receives and displays the captured image from the mobile platform. Based on the posture information of the motion-sensing remote control device, a posture indicator icon of the motion-sensing remote control device is displayed on the captured image. This posture indicator icon is used to indicate the posture of the motion-sensing remote control device. In response to a user's posture adjustment operation on the motion-sensing remote control device, the posture indicator icon is adjusted according to the current posture information of the motion-sensing remote control device. It should be noted that the specific implementation process of the control method provided in this embodiment can refer to the corresponding process in the foregoing embodiments, and will not be repeated here.

[0228] This application also provides a control method applied to a motion-sensing remote control device. The motion-sensing remote control device is communicatively connected to a display device and a mobile platform, respectively. The motion-sensing remote control device controls the mobile platform, and the display device is communicatively connected to the mobile platform, displaying the captured image from the mobile platform. The motion-sensing remote control device sends its posture information to the display device, so that the display device can display a posture indicator icon of the motion-sensing remote control device on the captured image based on the posture information. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device. In response to a user's posture adjustment operation on the motion-sensing remote control device, the mobile platform is controlled according to the current posture information of the motion-sensing remote control device. The current posture information of the motion-sensing remote control device is sent to the display device, so that the display device can adjust the posture indicator icon based on the current posture information. It should be noted that the specific implementation process of the control method provided in this embodiment can refer to the corresponding process in the foregoing embodiments, and will not be repeated here.

[0229] Please see Figure 65 , Figure 65 This is a schematic flowchart illustrating the steps of a flight guidance method provided in an embodiment of this application. The flight guidance method is applied to a display device, which is used to communicate with a drone and receive and display the drone's captured images in real time.

[0230] like Figure 65 As shown, the control method for the mobile platform includes steps S301 to S303.

[0231] Step S301: Display the drone's shooting page.

[0232] The footage includes a first-person perspective (FPV) view from the drone, and this FPV view changes with the attitude of the drone or the attitude of the drone's gimbal.

[0233] Step S302: Based on the current status information and control information of the UAV, obtain the predicted status information of the UAV within a preset time period after the current system time.

[0234] The current state information of the UAV includes its current speed, attitude, and position. The current control information includes attitude control parameters and / or speed control parameters. The attitude control parameters are determined by the attitude changes of the motion-sensing remote control device, and the speed control parameters are determined by the position of the throttle trigger in the motion-sensing remote control device. The predicted state information includes the predicted flight speed, predicted attitude, and / or predicted position of the UAV within a preset time period after the current system time. The preset time period can be set based on actual conditions; this embodiment does not specifically limit it, for example, the preset time period is 5 seconds.

[0235] Step S303: Display multiple status indicator icons on the shooting screen according to the predicted status information. The multiple status indicator icons are used to indicate the predicted flight trajectory and / or predicted attitude information of the UAV.

[0236] In one embodiment, the status indicator icon is used to indicate the predicted position and predicted attitude information of the UAV, and the distance between two adjacent status indicator icons is used to indicate the magnitude of the UAV's predicted flight speed. Specifically, the distance between two adjacent status indicator icons is positively correlated with the magnitude of the UAV's predicted flight speed; that is, the higher the predicted flight speed of the UAV, the larger the distance between two adjacent status indicator icons, and vice versa. One status indicator icon can indicate the predicted position and predicted attitude information of the UAV; therefore, multiple status indicator icons can indicate the predicted flight trajectory and / or predicted attitude information of the UAV.

[0237] In one embodiment, the tilt angle of the status indicator icon on the shooting page is used to indicate the roll or pitch angle of the drone. Specifically, the tilt angle of the status indicator icon on the shooting page is positively correlated with the roll or pitch angle of the drone; that is, the larger the roll or pitch angle of the drone, the larger the tilt angle of the status indicator icon on the shooting page, and vice versa.

[0238] In one embodiment, the multiple status indicator icons are of different colors. In another embodiment, the multiple status indicator icons are of different sizes. Further, the multiple status indicator icons are of the same shape, and the size of the status indicator icons is related to the prediction time in which the status indicator icons indicate the predicted position information and predicted attitude information of the UAV. Specifically, the shorter the prediction time is from the current system time, the larger the size of the corresponding status indicator icon, and the longer the prediction time is from the current system time, the smaller the size of the corresponding status indicator icon.

[0239] In one embodiment, multiple status indicator icons are of the same color, but have different levels of transparency. The transparency of the status indicator icons is related to the prediction time from which they indicate the predicted position and attitude information of the UAV; that is, the shorter the prediction time is from the current system time, the lower the transparency of the corresponding status indicator icon, and the longer the prediction time is from the current system time, the higher the transparency of the corresponding status indicator icon. In another embodiment, adjacent status indicator icons partially overlap.

[0240] In one embodiment, the status indicator icons are centrally symmetrical, and multiple status indicator icons are used to indicate the predicted flight trajectory of the UAV; or, the status indicator icons are centrally symmetrical, and multiple status indicator icons are used to indicate the predicted flight trajectory and predicted attitude information of the UAV; or, the status indicator icons are non-centrally symmetrical, and multiple status indicator icons are used to indicate the predicted flight trajectory and predicted attitude information of the UAV.

[0241] For example, such as Figure 66 As shown, five status indicator icons are superimposed on the shooting page, and all five status indicator icons are circular. At this time, these five status indicator icons can indicate the predicted flight trajectory of the drone.

[0242] For example, such as Figure 67 As shown, five status indicator icons are superimposed on the shooting page, and all five status indicator icons are squares. At this time, these five status indicator icons can indicate the predicted flight trajectory and predicted attitude information of the drone.

[0243] For example, such as Figure 68 As shown, five status indicator icons are superimposed on the shooting page, and all five status indicator icons are directional icons. At this time, these five status indicator icons can indicate the predicted flight trajectory and predicted attitude information of the drone.

[0244] The flight guidance method provided in the above embodiments, by superimposing multiple status indicator icons on the captured image to indicate the predicted flight trajectory and / or predicted attitude information of the drone, facilitates users to accurately control the drone's flight according to the predicted flight trajectory and / or predicted attitude information, thereby improving the drone's flight safety and user experience.

[0245] Please see Figure 69 , Figure 69 This is a schematic flowchart illustrating the steps of another flight guidance method provided in this application embodiment. The flight guidance method is applied to a display device, which is used to communicate with the drone and receive and display the drone's captured images in real time.

[0246] like Figure 69 As shown, the control method includes steps S401 to S402.

[0247] Step S401: Display the footage captured by the drone.

[0248] The footage includes a first-person perspective (FPV) view from the drone, and this FPV view changes with the attitude of the drone or the attitude of the drone's gimbal.

[0249] Step S402: During the flight of the drone, if a preset flight area exists within a preset distance of the drone, an indication map of the preset flight area is displayed in the captured image. The indication map is used to prompt the user that the preset flight area exists near the drone.

[0250] In one embodiment, the guidance map displays a directional icon for the drone, the distance between the drone and the nearest preset flight area, a polygonal box corresponding to at least one preset flight area, and a compass icon. The directional icon indicates one or more of the drone's nose direction. The preset flight areas include restricted flight zones and no-fly zones. For example, such as... Figure 70 As shown, the top left corner of the shooting page displays an indicator. Figure 50 , indicating Figure 50 The display shows a polyline box 51 corresponding to the first restricted flight zone, a polyline box 52 corresponding to the second restricted flight zone, a directional icon 53, a distance 54 between the drone and the nearest first restricted flight zone (20 meters), and a compass icon 55.

[0251] In one embodiment, the polyline frame corresponding to the preset flight area is related to the shape of the preset flight area. The size of the polyline frame corresponding to the preset flight area is related to the size of the preset flight area; that is, the larger the preset flight area, the larger the corresponding polyline frame, and the smaller the preset flight area, the smaller the corresponding polyline frame. The color of the directional icon is different from the color of the polyline frame corresponding to the preset flight area.

[0252] In one embodiment, if the distance between the drone and the preset flight area is less than a first distance threshold, the color of the border of the indicator map is changed and / or the border of the indicator map is controlled to flash. Further, the color of the directional icon is changed so that its color is the same as the border color of the indicator map. The first distance threshold can be set based on actual conditions, and this embodiment does not specifically limit it. By changing the color of the border of the indicator map and / or controlling the flashing of the border when the drone is close to the preset flight area, the user is alerted that the drone is close to the preset flight area, which facilitates the user's control of the drone to move away from the preset flight area and improves the user experience.

[0253] In one embodiment, the distance between the drone and a preset flight area is obtained; if the distance between the drone and the preset flight area is less than or equal to a second distance threshold, it is determined that a preset flight area exists near the drone; if the distance between the drone and the preset flight area is greater than the second distance threshold, it is determined that no preset flight area exists near the drone. The second distance threshold can be set based on actual conditions, and this embodiment does not specifically limit it; the second distance threshold is greater than a first distance threshold.

[0254] In one embodiment, after displaying a map indicating a preset flight area overlaid on the shooting page, if the distance between the drone and the preset flight area is greater than a second distance threshold, the map is hidden. By displaying the map indicating the preset flight area overlaid on the shooting page only when the distance between the drone and the preset flight area is less than the second distance threshold, i.e., when the preset flight area exists near the drone, it is easier for users to view and the user experience is improved.

[0255] In one embodiment, the current location information of the drone and the preset location information of a preset flight area are obtained; based on the current location information and the preset location information, the distance between the drone and the preset flight area is determined. Specifically, the display device obtains the current location information of the drone transmitted by the drone; obtains the preset location information of the preset flight area transmitted by the drone, or obtains the preset location information of the preset flight area from the memory of the display device. The current location information of the drone can be determined by the drone's positioning device, and the preset location information of the preset flight area can be stored in the drone or in the memory of the display device.

[0256] In one embodiment, the detection result of the nearby area sent by the UAV is obtained. The detection result of the nearby area is determined by the UAV based on the current location information of the UAV and the preset location information of the preset flight area. If the detection result of the nearby area is that the distance between the UAV and the preset flight area is less than or equal to a second distance threshold, it is determined that there is a preset flight area near the UAV. If the detection result of the nearby area is that the distance between the UAV and the preset flight area is greater than the second distance threshold, it is determined that there is no preset flight area near the UAV.

[0257] In one embodiment, when the display device receives information about a preset flight area sent by the drone, it displays an indication map of the preset flight area; wherein, the information about the preset flight area is generated when the drone detects the existence of the preset flight area within a preset distance.

[0258] The flight guidance method provided in the above embodiments displays an indication map of the preset flight area in the shooting screen if a preset flight area exists within a preset distance of the drone during the drone's flight. This allows the user to know that a preset flight area exists near the drone, making it easier for the user to control the drone to avoid the preset flight area, ensuring the drone's flight safety and improving the user experience.

[0259] Please see Figure 71 , Figure 71 This is a schematic flowchart illustrating the steps of a motor calibration method provided in an embodiment of this application.

[0260] like Figure 71 As shown, the motor calibration method includes steps S501 to S503.

[0261] Step S501: Display the guide interface for motor steering calibration of the UAV, the guide interface including steering icons for multiple motors;

[0262] Step S502: In response to the user's first operation on the guide interface, control the rotation of the multiple motors of the drone;

[0263] Step S503: During the process of controlling the rotation of the multiple motors of the drone, in response to the user's second operation on the steering icon of one of the motors, the corresponding motor is controlled to reverse.

[0264] In one embodiment, the drone is a multi-rotor drone. The motor steering calibration guidance interface also includes a drone nose-facing icon and a steering icon number, with the steering icon number located within the steering icon, which indicates the current motor steering. The guidance interface also includes guidance prompts for motor steering calibration, instructing the user on how to perform motor steering calibration.

[0265] like Figure 72 As shown, the motor steering calibration guidance interface includes steering icons 61, 62, 63, and 64, a start icon, and guidance prompts. This interface also includes the drone's nose-facing icon 65 and steering icon numbers. The steering icon numbers for steering icons 61, 62, 63, and 64 are 1, 2, 3, and 4, respectively. Figure 72 It can be seen that when controlling the motors of the drone to rotate, the motor corresponding to steering icon 61 rotates clockwise, the motor corresponding to steering icon 62 rotates counterclockwise, the motor corresponding to steering icon 63 rotates clockwise, and the motor corresponding to steering icon 64 rotates counterclockwise.

[0266] In one embodiment, the user's first operation on the guidance interface includes the user's touch operation on the start icon in the guidance interface and the user's eye focusing operation on the start icon in the guidance interface. The user's second operation on the steering icon of one of the motors includes the user's touch operation on the steering icon of one of the motors, the user's eye focusing operation on the steering icon of one of the motors, and the user's selection confirmation operation on the steering icon of one of the motors. The selection confirmation operation is specifically the user's pressing operation on the five-way button of the flight goggles.

[0267] In one embodiment, after controlling the corresponding motor to reverse, the direction icon of the corresponding motor is changed. For example, when user input is detected... Figure 72 During the second operation of the steering icon 62, the motor corresponding to the steering icon 62 on the drone is reversed, that is, the motor corresponding to the steering icon 62 is controlled to rotate clockwise. After the motor corresponding to the steering icon 62 is controlled to rotate clockwise, the direction icon in the steering icon 62 is changed.

[0268] In one embodiment, a guide interface for calibrating the motor steering of a drone is displayed, the guide interface including steering icons for multiple motors; in response to a first operation by the user on the guide interface, the multiple motors of the drone are controlled to rotate; a motor steering calibration page is displayed, the motor steering calibration page including steering calibration buttons for multiple motors; during the control of the multiple motors of the drone to rotate, in response to a third operation by the user on the steering calibration button of one of the motors, the corresponding motor is controlled to reverse. The third operation by the user on the steering calibration button of one of the motors includes a touch operation by the user on the steering calibration button of one of the motors, a focusing operation by the user's eyes on the steering calibration button of one of the motors, and a selection confirmation operation by the user on the steering calibration button of one of the motors, specifically a pressing operation by the user on the five-dimensional button of the flight goggles.

[0269] For example, such as Figure 73 As shown, the motor steering calibration page includes steering calibration buttons 66 for motor 1, 67 for motor 2, 68 for motor 3, and 69 for motor 4. If a third operation on steering calibration button 67 is detected, motor 2 is controlled to reverse, that is, motor 2 corresponding to steering icon 62 is controlled to rotate clockwise. Figure 73 The steering calibration button 67 in the middle slides to the right, changing to Figure 74 Similarly, if a third operation of the steering calibration button 69 is detected, the motor 4 is controlled to reverse, that is, the motor 4 corresponding to the steering icon 64 is controlled to rotate clockwise. Figure 73 The steering calibration button 69 in the middle is slid to the right, changing to Figure 74 Steering calibration button 69.

[0270] In one embodiment, the motor steering calibration page also includes a completion icon, which displays the motor steering calibration result upon detecting a fourth user action on the completion icon. Figure 75 As shown, the motor rotation calibration was successful. Figure 76 As shown, the motor steering calibration failed. The fourth user action on the completed icon includes touch operation, eye focus on the completed icon, and pressing the five-way button.

[0271] The motor calibration method provided in the above embodiments displays a guide interface for calibrating the motor steering of a drone, which includes steering icons for multiple motors. In response to a user's first operation on the guide interface, the method controls the rotation of multiple motors of the drone. During the process of controlling the rotation of multiple motors of the drone, in response to a user's second operation on the steering icon of one of the motors, the method controls the corresponding motor to reverse. This facilitates the user's calibration of the drone's motor steering and improves the user experience.

[0272] Please see Figure 77 , Figure 77 This is a schematic block diagram illustrating the structure of a display device according to an embodiment of this application. The display device is used for communicative connection with a mobile platform and a motion-sensing remote control device, which is used to control the mobile platform. Figure 77 As shown, the display device 400 includes a processor 401, a memory 402, and a display device 403. The processor 401, memory 402, and display device 403 are connected via a bus 404, such as an I2C (Inter-integrated Circuit) bus. The display device 403 can be a liquid crystal display screen or a touch screen.

[0273] Specifically, the processor 401 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0274] Specifically, the memory 402 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0275] The processor 401 is used to run a computer program stored in the memory 402, and performs the following steps when executing the computer program:

[0276] The display device 403 displays the captured image from the movable platform;

[0277] When the mobile platform is in a preset working mode, a motion indicator icon is displayed on the shooting screen. The state of the motion indicator icon on the shooting screen is used to indicate the posture change of the motion remote control.

[0278] In response to the user's posture adjustment operation on the motion-sensing remote control device, the state of the motion indicator icon in the shooting screen is adjusted. The state of the motion indicator icon in the shooting screen is used to indicate the movement direction and / or posture of the movable platform.

[0279] In one embodiment, the captured footage of the mobile platform includes a first-person perspective (FPV) view, which changes with the posture of the mobile platform or the posture of the gimbal of the mobile platform.

[0280] In one embodiment, the position of the motion indicator icon in the captured image is used to indicate the motion direction and / or posture of the movable platform.

[0281] In one embodiment, the state of the motion indicator icon in the captured image and the posture of the movable platform can change with the posture of the motion-sensing remote control device.

[0282] In one embodiment, the processor is further configured to perform the following steps:

[0283] When the yaw angle of the motion-sensing remote control device changes, the motion indicator icon is adjusted to move left or right in the shooting screen. During the movement of the motion indicator icon to the left or right, the heading angle of the movable platform deflects accordingly.

[0284] When the pitch angle of the motion-sensing remote control device changes, the motion indicator icon is adjusted to move up or down in the shooting screen. During the upward or downward movement of the motion indicator icon, the gimbal of the movable platform rotates up or down along the pitch direction.

[0285] When the roll angle of the motion-sensing remote control device is not zero, the motion indicator icon is adjusted to rotate left or right. When the motion indicator icon rotates left or right, the movable platform rotates left or right along the yaw direction according to the angular velocity corresponding to the current roll angle of the motion-sensing remote control device.

[0286] In one embodiment, the motion indicator icon includes a horizontal line segment, a first line segment, and a second line segment. When the roll angle of the motion-sensing remote control device is zero, both the first line segment and the second line segment are parallel to the horizontal line segment. The processor is further configured to implement the following steps:

[0287] When the roll angle of the motion-sensing remote control device is not zero, adjust the motion indicator icon to rotate left or right so that the first line segment and the second line segment are not parallel to the horizontal line segment.

[0288] In one embodiment, the processor is further configured to perform the following steps:

[0289] When the roll angle of the motion-sensing remote control device is not zero, a mark corresponding to the current roll angle of the motion-sensing remote control device is displayed on the outer contour of the motion indicator icon. When the roll angle of the motion-sensing remote control device is zero, the mark is not displayed on the outer contour of the motion indicator icon.

[0290] In one embodiment, the motion-sensing remote control device can control the movable platform to move in the direction indicated by the motion indicator icon.

[0291] In one embodiment, the motion-sensing remote control device can control the movable platform to move in the direction indicated by the motion indicator icon according to the user's control parameters of the first control component in the motion-sensing remote control device.

[0292] In one embodiment, the processor is further configured to perform the following steps:

[0293] In response to the user's adjustment of the pitch angle of the motion-sensing remote control device, determine whether the pitch angle of the gimbal of the movable platform has reached the limit pitch angle;

[0294] If the pitch angle of the gimbal reaches the limit pitch angle, the first control area and / or the second control area are displayed, and the motion indicator icon is controlled to move towards the first control area or the second control area.

[0295] In one embodiment, the processor is further configured to perform the following steps:

[0296] When the motion indicator icon is located in the first control area, the movable platform is controlled to enter a preset first control mode, wherein, in the first control mode, the motion-sensing remote control device can control the movable platform to move along a first direction;

[0297] When the motion indicator icon is located in the second control area, the movable platform is controlled to enter a preset second control mode, wherein, in the second control mode, the motion-sensing remote control device can control the movable platform to move along a second direction.

[0298] In one embodiment, the first direction is opposite to the second direction.

[0299] In one embodiment, a first direction icon is displayed in the first control area, which is used to indicate that the movement direction of the movable platform is a first direction. A second direction icon is displayed in the second control area, which is used to indicate that the movement direction of the movable platform is a second direction.

[0300] In one embodiment, the display device further displays a third control area and / or a fourth control area, and the processor is further configured to implement the following steps:

[0301] When the motion indicator icon is located in the third control area, the movable platform is controlled to enter a preset third control mode, wherein, in the third control mode, the motion-sensing remote control device can control the movable platform to move along a third direction;

[0302] When the motion indicator icon is located in the fourth control area, the movable platform is controlled to enter a preset fourth control mode. In the fourth control mode, the motion-sensing remote control device can control the movable platform to move along a fourth direction.

[0303] In one embodiment, the third direction is opposite to the fourth direction.

[0304] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the display device described above can be referred to the corresponding process in the aforementioned control method embodiments, and will not be repeated here.

[0305] Please see Figure 78 , Figure 78This is a schematic block diagram illustrating the structure of a display device according to an embodiment of this application. The display device is used for communicative connection with a mobile platform and a motion-sensing remote control device, which is used to control the mobile platform. Figure 78 As shown, the display device 500 includes a processor 501, a memory 502, and a display device 503. The processor 501, memory 502, and display device 503 are connected via a bus 504, such as an I2C (Inter-integrated Circuit) bus. The display device 503 can be a liquid crystal display screen or a touch screen.

[0306] Specifically, the processor 501 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0307] Specifically, the memory 502 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0308] The processor 501 is used to run a computer program stored in the memory 502, and performs the following steps when executing the computer program:

[0309] The display device 503 displays the captured image from the movable platform;

[0310] Based on the posture information of the motion-sensing remote control device, a posture indicator icon of the motion-sensing remote control device is displayed on the shooting screen. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device.

[0311] In response to the user's posture adjustment operation on the motion-sensing remote control device, the posture indicator icon is adjusted according to the current posture information of the motion-sensing remote control device.

[0312] In one embodiment, the attitude indicator icon includes a slider and a first icon. The position of the slider in the attitude indicator icon is used to indicate the horizontal rotation direction of the motion-sensing remote control device, and the position of the first icon in the attitude indicator icon is used to indicate the tilt direction of the motion-sensing remote control device in the pitch and roll directions.

[0313] The slider can slide left and right on the posture indicator icon as the horizontal rotation direction of the motion-sensing remote control device changes.

[0314] In one embodiment, the posture indicator icon further includes a slider, and the slider is located on the slider. The slider and the slider are used to indicate the position in the icon for indicating the horizontal rotation direction of the motion-sensing remote control device.

[0315] In one embodiment, the slider is capable of sliding left and right on the slider bar as the horizontal rotation direction of the motion-sensing remote control device changes.

[0316] In one embodiment, the attitude indicator icon further includes a first area, the position of the first icon in the first area being used to indicate the tilt direction of the motion-sensing remote control device in the pitch and roll directions.

[0317] In one embodiment, the slider is located within the first region, or there is a gap between the slider and the first region.

[0318] In one embodiment, the attitude indicator icon further includes a second region located at the center of the first region, and the processor is further configured to implement the following steps:

[0319] When the roll and pitch angles of the motion-sensing remote control device are zero, the first icon is moved to the second area.

[0320] In one embodiment, the processor is further configured to perform the following steps:

[0321] When the roll and pitch angles of the motion-sensing remote control device are zero, the first icon is moved into the second area, and the display colors of the second area and the first icon are changed.

[0322] In one embodiment, the mobile platform includes a drone, and when the first icon is located within the second area, the second area and the first icon are used to prompt the user to manipulate a first control component of the motion-sensing remote control device to control the drone to take off.

[0323] In one embodiment, the attitude indicator icon further includes a second icon, or the attitude indicator icon has a second icon displayed on one side, the second icon being used to indicate that the movable platform has not moved or has stopped moving.

[0324] In one embodiment, the processor is further configured to perform the following steps:

[0325] The status information of the mobile platform, the status information of the motion-sensing remote control device, and the status information of the display device are displayed.

[0326] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the display device described above can be referred to the corresponding process in the aforementioned control method embodiments, and will not be repeated here.

[0327] Please see Figure 79 , Figure 79 This is a schematic block diagram illustrating the structure of a motion-sensing remote control device according to an embodiment of this application. The motion-sensing remote control device is used to communicate with a display device and a mobile platform, respectively. The motion-sensing remote control device is used to control the mobile platform, and the display device is communicatively connected to the mobile platform to display the captured image from the mobile platform.

[0328] like Figure 79 As shown, the motion-sensing remote control device 600 includes a processor 601, a memory 602, and a motion sensor 603. The processor 601, memory 602, and motion sensor 603 are connected via a bus 604, such as an I2C (Inter-integrated Circuit) bus. The motion sensor 603 is used to collect the attitude information of the motion-sensing remote control device 600.

[0329] Specifically, the processor 601 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0330] Specifically, the memory 602 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0331] The processor 601 is used to run a computer program stored in the memory 602, and performs the following steps when executing the computer program:

[0332] The posture information of the motion-sensing remote control device is sent to the display device so that the display device can display the posture indicator icon of the motion-sensing remote control device on the shooting screen based on the posture information. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device.

[0333] In response to the user's posture adjustment operation on the motion-sensing remote control device, the movable platform is controlled according to the current posture information of the motion-sensing remote control device;

[0334] The current posture information of the motion-sensing remote control device is sent to the display device so that the display device can adjust the posture indicator icon based on the current posture information.

[0335] In one embodiment, the mobile platform includes a drone, the motion-sensing remote control device includes a first control component and a second control component, the first control component being used to control the drone to take off, and the processor being used to implement the following steps:

[0336] In response to a user's trigger operation on the second control component, the drone is controlled to start propellers;

[0337] The system acquires the user's control parameters for the first control component and controls the drone to take off based on the control parameters.

[0338] In one embodiment, when the processor controls the drone to propel itself in response to a user's trigger operation on the second control unit, it is configured to:

[0339] In response to a third trigger operation by the user on the second control component, determine whether the motion-sensing remote control device is in a horizontal state;

[0340] If the motion-sensing remote control device is in a horizontal position, it controls the drone to start propulsion.

[0341] In one embodiment, controlling the drone to take off according to the control parameters includes:

[0342] If the control parameters are greater than the preset control parameters, then the drone is controlled to take off according to the control parameters.

[0343] In one embodiment, before controlling the drone to take off according to the control parameters, the processor is further configured to:

[0344] Determine whether the motion-sensing remote control device is in a horizontal position;

[0345] If the motion-sensing remote control device is in a horizontal position, the drone is controlled to take off according to the control parameters.

[0346] In one embodiment, the motion-sensing remote control device includes a third control component for controlling the drone to hover or stop propellers, and the processor is further configured to implement the following steps:

[0347] If a fourth trigger operation by the user on the third control component is detected during the process of controlling the drone to start propellers, the drone will be controlled to stop starting propellers.

[0348] In one embodiment, the processor is further configured to perform the following steps:

[0349] During the flight of the drone, if a fifth trigger operation by the user on the third control unit is detected, the drone is controlled to hover; and

[0350] The motion-sensing remote control device is controlled to be in motion-sensing lock mode. In motion-sensing lock mode, the motion-sensing remote control device does not send control commands to the drone when its own posture changes.

[0351] In one embodiment, the processor is further configured to perform the following steps:

[0352] When the motion-sensing remote control device is in motion-sensing lock mode, the user's control parameters for the first control component are acquired;

[0353] If the control parameters are greater than the preset control parameters, then the drone will continue to fly according to the control parameters, and the motion-sensing remote control device will exit the motion-sensing lock mode.

[0354] In one embodiment, the processor is further configured to perform the following steps:

[0355] In response to a sixth trigger operation by the user on the third control component, the drone is controlled to return to home. During the process of controlling the drone to return to home, the display device displays the return progress information of the drone, which is used to inform the user of the return progress of the drone.

[0356] In one embodiment, the processor is further configured to perform the following steps:

[0357] After the drone returns to base, if the flatness of the ground beneath the drone is greater than or equal to a preset flatness, the drone will be controlled to land.

[0358] In one embodiment, the processor is further configured to perform the following steps:

[0359] If the flatness of the ground beneath the drone is less than a preset flatness, the drone will be controlled to land in response to the user's seventh trigger operation on the second control component, or the drone will be controlled to hover in response to the user's eighth trigger operation on the third control component.

[0360] In one embodiment, the processor is further configured to perform the following steps:

[0361] If the motion-sensing remote control device is in the first control mode or the second control mode, then in response to the user's sixth trigger operation on the third control component, the motion-sensing remote control device is controlled to be in the third control mode, and the drone is controlled to return to home.

[0362] In one embodiment, the processor is further configured to perform the following steps:

[0363] After the drone returns to base, if the flatness of the ground beneath the drone is greater than or equal to a preset flatness, then the drone is controlled to land.

[0364] After the drone lands, the motion-sensing remote control device controls itself to either the first control mode or the second control mode.

[0365] In one embodiment, the processor is further configured to perform the following steps:

[0366] If the flatness of the ground beneath the drone is less than a preset flatness, the drone will be controlled to land in response to the user's seventh trigger operation on the second control unit.

[0367] After the drone lands, the motion-sensing remote control device controls itself to either the first control mode or the second control mode.

[0368] In one embodiment, the processor is further configured to perform the following steps:

[0369] If the flatness of the ground beneath the drone is less than a preset flatness, the drone will be controlled to hover in response to the user's eighth trigger operation on the third control component.

[0370] In one embodiment, the mobile platform includes a drone, and the processor is further configured to perform the following steps:

[0371] In response to a user's ninth trigger operation on the second control unit, the drone is controlled to land;

[0372] During the landing of the drone, if the flatness of the ground beneath the drone is less than a preset flatness, the drone will continue to land in response to the tenth trigger operation of the second control component, or the drone will hover in response to the eighth trigger operation of the third control component.

[0373] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the motion-sensing remote control device described above can be referred to the corresponding process in the aforementioned control method embodiments, and will not be repeated here.

[0374] Please see Figure 80 , Figure 80 This is a schematic block diagram of the structure of a control system provided in an embodiment of this application. Figure 80As shown, the control system 700 includes a movable platform 710, a display device 720, and a motion-sensing remote control device 730. The display device 720 is used for communication connection with both the movable platform 710 and the motion-sensing remote control device 730. The motion-sensing remote control device 730 is used for communication connection with the movable platform 710 to control the movable platform 710. The display device 720 can be... Figure 77 or Figure 78 The display device shown, the motion-sensing remote control device 730 can be Figure 79 The motion-sensing remote control device shown.

[0375] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control system described above can be referred to the corresponding process in the aforementioned control method embodiments, and will not be repeated here.

[0376] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement the steps of the control method, flight guidance method, or motor steering calibration method provided in the above embodiments.

[0377] The computer-readable storage medium can be an internal storage unit of the display device or motion-sensing remote control device described in any of the foregoing embodiments, such as a hard disk or memory of the display device or motion-sensing remote control device. The computer-readable storage medium can also be an external storage device of the display device or motion-sensing remote control device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the display device or motion-sensing remote control device.

[0378] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0379] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0380] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method, characterized in that, The method is applied to a display device, which is used to communicate with a mobile platform and a motion-sensing remote control device, respectively. The motion-sensing remote control device is used to communicate with the mobile platform and control the mobile platform. The method includes: Receive and display the captured images from the mobile platform; When the mobile platform is in a preset working mode, a motion indicator icon is displayed on the shooting screen. The state of the motion indicator icon in the shooting screen is used to indicate the posture change of the motion-sensing remote control device. In response to the user's posture adjustment operation on the motion-sensing remote control device, the state of the motion indicator icon in the shooting screen is adjusted. The state of the motion indicator icon in the shooting screen is used to indicate the movement direction and / or posture of the movable platform. The position of the motion indicator icon in the captured image is used to indicate the direction of movement of the movable platform, and the change in the position of the motion indicator icon in the captured image is used to indicate the posture change of the motion-sensing remote control device.

2. The control method according to claim 1, characterized in that, The footage captured by the mobile platform includes a first-person perspective (FPV) view, which changes with the posture of the mobile platform or the gimbal of the mobile platform.

3. The control method according to claim 1, characterized in that, The state of the motion indicator icon in the shooting screen and the posture of the movable platform can change with the posture of the motion-sensing remote control device.

4. The control method according to claim 1, characterized in that, The method further includes: When the yaw angle of the motion-sensing remote control device changes, the motion indicator icon is adjusted to move left or right in the shooting screen. During the movement of the motion indicator icon to the left or right, the heading angle of the movable platform deflects accordingly. When the pitch angle of the motion-sensing remote control device changes, the motion indicator icon is adjusted to move up or down in the shooting screen. During the upward or downward movement of the motion indicator icon, the gimbal of the movable platform rotates up or down along the pitch direction. When the roll angle of the motion-sensing remote control device is not zero, the motion indicator icon is adjusted to rotate left or right. When the motion indicator icon rotates left or right, the movable platform rotates left or right along the yaw direction according to the angular velocity corresponding to the current roll angle of the motion-sensing remote control device.

5. The control method according to claim 4, characterized in that, The motion indicator icon includes a horizontal line segment, a first line segment, and a second line segment. When the roll angle of the motion-sensing remote control device is zero, both the first line segment and the second line segment are parallel to the horizontal line segment. The method further includes: When the roll angle of the motion-sensing remote control device is not zero, adjust the motion indicator icon to rotate left or right so that the first line segment and the second line segment are not parallel to the horizontal line segment.

6. The control method according to claim 4, characterized in that, The method further includes: When the roll angle of the motion-sensing remote control device is not zero, a mark corresponding to the current roll angle of the motion-sensing remote control device is displayed on the outer contour of the motion indicator icon. When the roll angle of the motion-sensing remote control device is zero, the mark is not displayed on the outer contour of the motion indicator icon.

7. The control method according to claim 1, characterized in that, The motion-sensing remote control device can control the movable platform to move in the direction indicated by the motion indicator icon.

8. The control method according to claim 7, characterized in that, The motion-sensing remote control device can control the movable platform to move in the direction indicated by the motion indicator icon according to the user's operation parameters on the first control component in the motion-sensing remote control device.

9. The control method according to any one of claims 1-8, characterized in that, The method further includes: In response to the user's adjustment of the pitch angle of the motion-sensing remote control device, determine whether the pitch angle of the gimbal of the movable platform has reached the limit pitch angle; If the pitch angle of the gimbal reaches the limit pitch angle, the first control area and / or the second control area are displayed, and the motion indicator icon is controlled to move towards the first control area or the second control area.

10. The control method according to claim 9, characterized in that, The method further includes: When the motion indicator icon is located in the first control area, the movable platform is controlled to enter a preset first control mode, wherein, in the first control mode, the motion-sensing remote control device can control the movable platform to move along a first direction; When the motion indicator icon is located in the second control area, the movable platform is controlled to enter a preset second control mode, wherein, in the second control mode, the motion-sensing remote control device can control the movable platform to move along a second direction.

11. The control method according to claim 10, characterized in that, The first direction is opposite to the second direction.

12. The control method according to claim 9, characterized in that, The first control area displays a first direction icon, which is used to indicate that the movement direction of the movable platform is a first direction. The second control area displays a second direction icon, which is used to indicate that the movement direction of the movable platform is a second direction.

13. The control method according to any one of claims 1-8, characterized in that, The display device further displays a third control area and / or a fourth control area, and the method further includes: When the motion indicator icon is located in the third control area, the movable platform is controlled to enter a preset third control mode, wherein, in the third control mode, the motion-sensing remote control device can control the movable platform to move along a third direction; When the motion indicator icon is located in the fourth control area, the movable platform is controlled to enter a preset fourth control mode. In the fourth control mode, the motion-sensing remote control device can control the movable platform to move along a fourth direction.

14. The control method according to claim 13, characterized in that, The third direction is opposite to the fourth direction.

15. A control method, characterized in that, The method is applied to a control system, the control system including a motion-sensing remote control device, a display device, and a movable platform, wherein the motion-sensing remote control device and the display device are respectively connected to the movable platform, and the motion-sensing remote control device is used to control the movable platform. The display device receives and displays the captured image from the movable platform, and displays the posture indicator icon of the motion-sensing remote control device on the captured image. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device. The display device responds to the user's posture adjustment operation on the motion-sensing remote control device by adjusting the posture indicator icon according to the current posture information of the motion-sensing remote control device. The motion-sensing remote control device controls the mobile platform based on the current posture information of the motion-sensing remote control device, and the mobile platform includes a drone; During the flight of the drone, if the motion-sensing remote control device detects a fifth trigger operation by the user on the third control component, the motion-sensing remote control device controls the drone to hover; and The motion-sensing remote control device is controlled to be in motion-sensing lock mode. When the motion-sensing remote control device is in motion-sensing lock mode, the motion-sensing remote control device does not send control commands to the mobile platform when its own posture changes.

16. The control method according to claim 15, characterized in that, The attitude indicator icon includes a slider and a first icon. The position of the slider in the attitude indicator icon is used to indicate the horizontal rotation direction of the motion-sensing remote control device, and the position of the first icon in the attitude indicator icon is used to indicate the tilt direction of the motion-sensing remote control device in the pitch and roll directions.

17. The control method according to claim 16, characterized in that, The slider can slide left and right on the posture indicator icon as the horizontal rotation direction of the motion-sensing remote control device changes.

18. The control method according to claim 16, characterized in that, The posture indicator icon also includes a slider, and the slider is located on the slider. The slider and the slider are used to indicate the position in the icon for indicating the horizontal rotation direction of the motion-sensing remote control device.

19. The control method according to claim 18, characterized in that, The slider can slide left and right on the slider bar as the horizontal rotation direction of the motion-sensing remote control device changes.

20. The control method according to claim 18, characterized in that, The attitude indicator icon also includes a first area, the position of which is used to indicate the tilt direction of the motion-sensing remote control device in the pitch and roll directions.

21. The control method according to claim 20, characterized in that, The slider is located within the first area, or there is a gap between the slider and the first area.

22. The control method according to claim 20, characterized in that, The posture indicator icon further includes a second region, which is located in the center of the first region, and the method further includes: When the roll and pitch angles of the motion-sensing remote control device are zero, the first icon is moved to the second area.

23. The control method according to claim 22, characterized in that, The method further includes: When the roll and pitch angles of the motion-sensing remote control device are zero, the display device moves the first icon into the second area and changes the display color of the second area and the first icon.

24. The control method according to claim 23, characterized in that, When the first icon is located within the second area, the second area and the first icon are used to prompt the user that they can manipulate the first control component of the motion-sensing remote control device to control the drone to take off.

25. The control method according to claim 16, characterized in that, The attitude indicator icon may also include a second icon, or the attitude indicator icon may have a second icon displayed on one side, the second icon being used to indicate that the movable platform has not moved or has stopped moving.

26. The control method according to any one of claims 15-25, characterized in that, The motion-sensing remote control device includes a first control component and a second control component, wherein the first control component is used to control the takeoff of the drone, and the method further includes: The motion-sensing remote control device responds to the user's trigger operation on the second control component to control the drone to start propellers; The display device displays operation prompts for the first control component, which are used to prompt the user to operate the first control component. The motion-sensing remote control device acquires the user's control parameters for the first control component and controls the drone to take off based on the control parameters.

27. The control method according to claim 26, characterized in that, The method further includes: The display device responds to the user's first trigger operation on the second control component by displaying a propeller start-up progress bar and a propeller start-up prompt message, the propeller start-up prompt message being used to prompt the user to control the drone to start propellers; The motion-sensing remote control device responds to a second trigger operation by the user on the second control component to control the drone to start propellers; The display device updates the propeller start-up progress bar in response to a second trigger operation by the user on the second control component. The propeller start-up progress bar is used to indicate the propeller start-up progress of the UAV.

28. The control method according to claim 26, characterized in that, The motion-sensing remote control device responds to a user's trigger operation on the second control component to control the drone to propel itself, including: The motion-sensing remote control device responds to the user's third trigger operation on the second control component to determine whether the motion-sensing remote control device is in a horizontal state; If the motion-sensing remote control device is in a horizontal position, the motion-sensing remote control device controls the drone to start propulsion.

29. The control method according to claim 28, characterized in that, The method further includes: If the motion-sensing remote control device is not in a horizontal position, the display device displays a horizontal prompt message to remind the user to keep the motion-sensing remote control device in a horizontal position.

30. The control method according to claim 26, characterized in that, The motion-sensing remote control device controls the drone to take off according to the control parameters, including: If the control parameters are greater than the preset control parameters, the motion-sensing remote control device controls the drone to take off according to the control parameters.

31. The control method according to claim 26, characterized in that, Before the motion-sensing remote control device controls the drone to take off according to the control parameters, it also includes: The motion-sensing remote control device determines whether the motion-sensing remote control device is in a horizontal state; If the motion-sensing remote control device is in a horizontal position, the motion-sensing remote control device controls the drone to take off according to the control parameters.

32. The control method according to claim 26, characterized in that, The motion-sensing remote control device includes a third control component, which is used to control the drone to hover or stop propellers. The method further includes: During the process of controlling the drone to start propellers, if the motion-sensing remote control device detects a fourth trigger operation by the user on the third control component, the motion-sensing remote control device controls the drone to stop starting propellers.

33. The control method according to claim 15, characterized in that, The method further includes: When the motion-sensing remote control device is in motion-sensing lock mode, the motion-sensing remote control device acquires the user's control parameters for the first control component; If the control parameters are greater than the preset control parameters, the motion-sensing remote control device will continue to control the drone to fly according to the control parameters, and control the motion-sensing remote control device to exit the motion-sensing lock mode.

34. The control method according to claim 26, characterized in that, The method further includes: The motion-sensing remote control device responds to the user's sixth trigger operation on the third control component to control the drone to return to home; During the process of controlling the drone to return to home, the display device displays the drone's return progress information, which is used to inform the user of the drone's return progress.

35. The control method according to claim 34, characterized in that, The method further includes: After the drone returns to base, if the flatness of the ground beneath the drone is greater than or equal to a preset flatness, the motion-sensing remote control device controls the drone to land.

36. The control method according to claim 35, characterized in that, The method further includes: If the flatness of the ground beneath the drone is less than a preset flatness, the display device will display a landing confirmation prompt to ask the user whether to confirm the landing. The motion-sensing remote control device responds to a seventh trigger operation by the user on the second control component to control the drone to land, or responds to an eighth trigger operation by the user on the third control component to control the drone to hover.

37. The control method according to claim 34, characterized in that, The method further includes: If the motion-sensing remote control device is in the first control mode or the second control mode, then in response to the user's sixth trigger operation on the third control component, the motion-sensing remote control device controls itself to be in the third control mode and controls the drone to return to home.

38. The control method according to claim 37, characterized in that, The method further includes: After the drone returns to base, if the flatness of the ground beneath the drone is greater than or equal to a preset flatness, the motion-sensing remote control device controls the drone to land. After the drone lands, the motion-sensing remote control device controls itself to either a first control mode or a second control mode.

39. The control method according to claim 38, characterized in that, The method further includes: If the flatness of the ground beneath the drone is less than a preset flatness, the display device will display a landing confirmation prompt to ask the user whether to confirm the landing. The motion-sensing remote control device responds to the user's seventh trigger operation on the second control component to control the drone to land; After the drone lands, the motion-sensing remote control device controls itself to either a first control mode or a second control mode.

40. The control method according to claim 39, characterized in that, The display device displays a landing confirmation message to prompt the user whether to confirm the landing, and also includes: The motion-sensing remote control device responds to the user's eighth trigger operation on the third control component to control the drone to hover; The display device displays a mode switching prompt, which prompts the user to switch the control mode of the motion-sensing remote control device to either the first control mode or the second control mode.

41. The control method according to any one of claims 15-25, characterized in that, The mobile platform includes a drone, and the method further includes: The motion-sensing remote control device responds to the user's ninth trigger operation on the second control component to control the drone to land; The display device responds to the user's ninth trigger operation on the second control component and displays a landing prompt message, which is used to inform the user that the drone is landing; During the landing of the drone, if the flatness of the ground beneath the drone is less than a preset flatness, the display device will display a landing confirmation prompt to ask the user whether to confirm the landing. The motion-sensing remote control device responds to the user's tenth trigger operation on the second control component to control the drone to continue landing, or responds to the user's eighth trigger operation on the third control component to control the drone to hover.

42. The control method according to claim 41, characterized in that, The method further includes: While controlling the drone to land, the motion-sensing remote control device is also kept in motion-sensing lock mode. In motion-sensing lock mode, the motion-sensing remote control device does not send control commands to the drone when its own attitude changes.

43. The control method according to any one of claims 15-25, characterized in that, The method further includes: The display device displays the status information of the mobile platform, the status information of the motion-sensing remote control device, and the status information of the display device itself.

44. A control method, characterized in that, The method, applied to a display device, is used to communicate with a motion-sensing remote control device and a mobile platform, respectively. The motion-sensing remote control device is communicated with the mobile platform and used to control the mobile platform. The method includes: Receive and display the captured images from the mobile platform; Based on the posture information of the motion-sensing remote control device, a posture indicator icon of the motion-sensing remote control device is displayed on the shooting screen. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device. In response to the user's posture adjustment operation on the motion-sensing remote control device, the posture indicator icon is adjusted according to the current posture information of the motion-sensing remote control device; The attitude indicator icon includes a slider and a first icon. The position of the slider in the attitude indicator icon is used to indicate the horizontal rotation direction of the motion-sensing remote control device, and the position of the first icon in the attitude indicator icon is used to indicate the tilt direction of the motion-sensing remote control device in the pitch and roll directions. The attitude indicator icon also includes a second area, and the method further includes: When the roll and pitch angles of the motion-sensing remote control device are zero, the first icon is moved to the second area, and the display color of the second area is changed.

45. The control method according to claim 44, characterized in that, The slider can slide left and right on the posture indicator icon as the horizontal rotation direction of the motion-sensing remote control device changes.

46. ​​The control method according to claim 44, characterized in that, The posture indicator icon also includes a slider, and the slider is located on the slider. The slider and the slider are used to indicate the position in the icon for indicating the horizontal rotation direction of the motion-sensing remote control device.

47. The control method according to claim 46, characterized in that, The slider can slide left and right on the slider bar as the horizontal rotation direction of the motion-sensing remote control device changes.

48. The control method according to claim 46, characterized in that, The attitude indicator icon also includes a first area, the position of which is used to indicate the tilt direction of the motion-sensing remote control device in the pitch and roll directions.

49. The control method according to claim 48, characterized in that, The slider is located within the first area, or there is a gap between the slider and the first area.

50. The control method according to claim 48, characterized in that, The second region is located in the center of the first region.

51. The control method according to claim 50, characterized in that, The mobile platform includes a drone. When the first icon is located in the second area, the second area and the first icon are used to prompt the user to operate the first control component of the motion-sensing remote control device to control the drone to take off.

52. The control method according to claim 44, characterized in that, The attitude indicator icon also includes a second icon, or the attitude indicator icon has a second icon displayed on one side, the second icon being used to indicate that the movable platform has not moved or has stopped moving.

53. The control method according to any one of claims 44-52, characterized in that, The method further includes: The status information of the mobile platform, the status information of the motion-sensing remote control device, and the status information of the display device are displayed.

54. A control method, characterized in that, An application of a motion-sensing remote control device, wherein the motion-sensing remote control device is used to communicate with a display device and a mobile platform respectively, the motion-sensing remote control device is used to control the mobile platform, the display device is communicated with the mobile platform, and the display device is used to display the captured image from the mobile platform, the method comprising: The posture information of the motion-sensing remote control device is sent to the display device so that the display device can display the posture indicator icon of the motion-sensing remote control device on the shooting screen based on the posture information. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device. In response to the user's posture adjustment operation on the motion-sensing remote control device, the movable platform is controlled according to the current posture information of the motion-sensing remote control device; The current posture information of the motion-sensing remote control device is sent to the display device so that the display device can adjust the posture indicator icon based on the current posture information; The mobile platform includes a drone, and the method further includes: During the flight of the drone, if a fifth trigger operation by the user on the third control unit is detected, the drone is controlled to hover; and The motion-sensing remote control device is controlled to be in motion-sensing lock mode. In motion-sensing lock mode, the motion-sensing remote control device does not send control commands to the drone when its own posture changes.

55. The control method according to claim 54, characterized in that, The motion-sensing remote control device includes a first control component and a second control component, wherein the first control component is used to control the takeoff of the drone, and the method further includes: In response to a user's trigger operation on the second control component, the drone is controlled to start propellers; The system acquires the user's control parameters for the first control component and controls the drone to take off based on the control parameters.

56. The control method according to claim 55, characterized in that, The step of controlling the drone to propel itself in response to a user's trigger operation on the second control component includes: In response to a third trigger operation by the user on the second control component, determine whether the motion-sensing remote control device is in a horizontal state; If the motion-sensing remote control device is in a horizontal position, it controls the drone to start propulsion.

57. The control method according to claim 55, characterized in that, The step of controlling the drone to take off according to the control parameters includes: If the control parameters are greater than the preset control parameters, then the drone is controlled to take off according to the control parameters.

58. The control method according to claim 55, characterized in that, Before controlling the drone to take off according to the control parameters, the method further includes: Determine whether the motion-sensing remote control device is in a horizontal position; If the motion-sensing remote control device is in a horizontal position, the drone is controlled to take off according to the control parameters.

59. The control method according to claim 55, characterized in that, The motion-sensing remote control device includes a third control component, which is used to control the drone to hover or stop propellers. The method further includes: If a fourth trigger operation by the user on the third control component is detected during the process of controlling the drone to start propellers, the drone will be controlled to stop starting propellers.

60. The control method according to claim 54, characterized in that, The method further includes: When the motion-sensing remote control device is in motion-sensing lock mode, the user's control parameters for the first control component are acquired; If the control parameters are greater than the preset control parameters, then the drone will continue to fly according to the control parameters, and the motion-sensing remote control device will exit the motion-sensing lock mode.

61. The control method according to claim 55, characterized in that, The method further includes: In response to a sixth trigger operation by the user on the third control component, the drone is controlled to return to home. During the process of controlling the drone to return to home, the display device displays the return progress information of the drone, which is used to inform the user of the return progress of the drone.

62. The control method according to claim 61, characterized in that, The method further includes: After the drone returns to base, if the flatness of the ground beneath the drone is greater than or equal to a preset flatness, the drone will be controlled to land.

63. The control method according to claim 62, characterized in that, The method further includes: If the flatness of the ground beneath the drone is less than a preset flatness, the drone will be controlled to land in response to the user's seventh trigger operation on the second control component, or the drone will be controlled to hover in response to the user's eighth trigger operation on the third control component.

64. The control method according to claim 61, characterized in that, The method further includes: If the motion-sensing remote control device is in the first control mode or the second control mode, then in response to the user's sixth trigger operation on the third control component, the motion-sensing remote control device is controlled to be in the third control mode, and the drone is controlled to return to home.

65. The control method according to claim 64, characterized in that, The method further includes: After the drone returns to base, if the flatness of the ground beneath the drone is greater than or equal to a preset flatness, then the drone is controlled to land. After the drone lands, the motion-sensing remote control device controls itself to either the first control mode or the second control mode.

66. The control method according to claim 65, characterized in that, The method further includes: If the flatness of the ground beneath the drone is less than a preset flatness, the drone will be controlled to land in response to the user's seventh trigger operation on the second control unit. After the drone lands, the motion-sensing remote control device controls itself to either the first control mode or the second control mode.

67. The control method according to claim 66, characterized in that, The method further includes: If the flatness of the ground beneath the drone is less than a preset flatness, the drone will be controlled to hover in response to the user's eighth trigger operation on the third control component.

68. The control method according to claim 54, characterized in that, The mobile platform includes a drone, and the method further includes: In response to a user's ninth trigger operation on the second control unit, the drone is controlled to land; During the landing of the drone, if the flatness of the ground beneath the drone is less than a preset flatness, the drone will continue to land in response to the tenth trigger operation of the second control component, or the drone will hover in response to the eighth trigger operation of the third control component.

69. A display device, characterized in that, The display device is used to communicate with the mobile platform and the motion-sensing remote control device respectively. The motion-sensing remote control device is used to communicate with the mobile platform and to control the mobile platform. The display device includes a display device, a memory, and a processor. The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, perform the following steps: The camera footage captured by the mobile platform is displayed on the display device. When the mobile platform is in a preset working mode, a motion indicator icon is displayed on the shooting screen. The state of the motion indicator icon in the shooting screen is used to indicate the posture change of the motion-sensing remote control device. In response to the user's posture adjustment operation on the motion-sensing remote control device, the state of the motion indicator icon in the shooting screen is adjusted. The state of the motion indicator icon in the shooting screen is used to indicate the movement direction and / or posture of the movable platform. The position of the motion indicator icon in the captured image is used to indicate the direction of movement of the movable platform, and the change in the position of the motion indicator icon in the captured image is used to indicate the posture change of the motion-sensing remote control device.

70. The display device according to claim 69, characterized in that, The footage captured by the mobile platform includes a first-person perspective (FPV) view, which changes with the posture of the mobile platform or the gimbal of the mobile platform.

71. The display device according to claim 69, characterized in that, The state of the motion indicator icon in the shooting screen and the posture of the movable platform can change with the posture of the motion-sensing remote control device.

72. The display device according to claim 69, characterized in that, The processor is also used to perform the following steps: When the yaw angle of the motion-sensing remote control device changes, the motion indicator icon is adjusted to move left or right in the shooting screen. During the movement of the motion indicator icon to the left or right, the heading angle of the movable platform deflects accordingly. When the pitch angle of the motion-sensing remote control device changes, the motion indicator icon is adjusted to move up or down in the shooting screen. During the upward or downward movement of the motion indicator icon, the gimbal of the movable platform rotates up or down along the pitch direction. When the roll angle of the motion-sensing remote control device is not zero, the motion indicator icon is adjusted to rotate left or right. When the motion indicator icon rotates left or right, the movable platform rotates left or right along the yaw direction according to the angular velocity corresponding to the current roll angle of the motion-sensing remote control device.

73. The display device according to claim 72, characterized in that, The motion indicator icon includes a horizontal line segment, a first line segment, and a second line segment. When the roll angle of the motion-sensing remote control device is zero, both the first line segment and the second line segment are parallel to the horizontal line segment. The processor is further configured to implement the following steps: When the roll angle of the motion-sensing remote control device is not zero, adjust the motion indicator icon to rotate left or right so that the first line segment and the second line segment are not parallel to the horizontal line segment.

74. The display device according to claim 72, characterized in that, The processor is also used to perform the following steps: When the roll angle of the motion-sensing remote control device is not zero, a mark corresponding to the current roll angle of the motion-sensing remote control device is displayed on the outer contour of the motion indicator icon. When the roll angle of the motion-sensing remote control device is zero, the mark is not displayed on the outer contour of the motion indicator icon.

75. The display device according to claim 69, characterized in that, The motion-sensing remote control device can control the movable platform to move in the direction indicated by the motion indicator icon.

76. The display device according to claim 75, characterized in that, The motion-sensing remote control device can control the movable platform to move in the direction indicated by the motion indicator icon according to the user's operation parameters on the first control component in the motion-sensing remote control device.

77. The display device according to any one of claims 69-76, characterized in that, The processor is also used to perform the following steps: In response to the user's adjustment of the pitch angle of the motion-sensing remote control device, determine whether the pitch angle of the gimbal of the movable platform has reached the limit pitch angle; If the pitch angle of the gimbal reaches the limit pitch angle, the first control area and / or the second control area are displayed, and the motion indicator icon is controlled to move towards the first control area or the second control area.

78. The display device according to claim 77, characterized in that, The processor is also used to perform the following steps: When the motion indicator icon is located in the first control area, the movable platform is controlled to enter a preset first control mode, wherein, in the first control mode, the motion-sensing remote control device can control the movable platform to move along a first direction; When the motion indicator icon is located in the second control area, the movable platform is controlled to enter a preset second control mode, wherein, in the second control mode, the motion-sensing remote control device can control the movable platform to move along a second direction.

79. The display device according to claim 78, characterized in that, The first direction is opposite to the second direction.

80. The display device according to claim 77, characterized in that, The first control area displays a first direction icon, which is used to indicate that the movement direction of the movable platform is a first direction. The second control area displays a second direction icon, which is used to indicate that the movement direction of the movable platform is a second direction.

81. The display device according to any one of claims 69-76, characterized in that, The display device also displays a third control area and / or a fourth control area, and the processor is further configured to perform the following steps: When the motion indicator icon is located in the third control area, the movable platform is controlled to enter a preset third control mode, wherein, in the third control mode, the motion-sensing remote control device can control the movable platform to move along a third direction; When the motion indicator icon is located in the fourth control area, the movable platform is controlled to enter a preset fourth control mode. In the fourth control mode, the motion-sensing remote control device can control the movable platform to move along a fourth direction.

82. The display device according to claim 81, characterized in that, The third direction is opposite to the fourth direction.

83. A display device, characterized in that, The display device is used to communicate with the motion-sensing remote control device and the mobile platform respectively. The motion-sensing remote control device is communicated with the mobile platform and is used to control the mobile platform. The display device includes a display device, a memory, and a processor. The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, perform the following steps: The camera footage captured by the mobile platform is displayed on the display device. Based on the posture information of the motion-sensing remote control device, a posture indicator icon of the motion-sensing remote control device is displayed on the shooting screen. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device. In response to the user's posture adjustment operation on the motion-sensing remote control device, the posture indicator icon is adjusted according to the current posture information of the motion-sensing remote control device; The attitude indicator icon includes a slider and a first icon. The position of the slider in the attitude indicator icon is used to indicate the horizontal rotation direction of the motion-sensing remote control device, and the position of the first icon in the attitude indicator icon is used to indicate the tilt direction of the motion-sensing remote control device in the pitch and roll directions. The attitude indicator icon also includes a second area, and the processor is further configured to implement: When the roll and pitch angles of the motion-sensing remote control device are zero, the first icon is moved to the second area, and the display color of the second area is changed.

84. The display device according to claim 83, characterized in that, The slider can slide left and right on the posture indicator icon as the horizontal rotation direction of the motion-sensing remote control device changes.

85. The display device according to claim 83, characterized in that, The posture indicator icon also includes a slider, and the slider is located on the slider. The slider and the slider are used to indicate the position in the icon for indicating the horizontal rotation direction of the motion-sensing remote control device.

86. The display device according to claim 85, characterized in that, The slider can slide left and right on the slider bar as the horizontal rotation direction of the motion-sensing remote control device changes.

87. The display device according to claim 85, characterized in that, The attitude indicator icon also includes a first area, the position of which is used to indicate the tilt direction of the motion-sensing remote control device in the pitch and roll directions.

88. The display device according to claim 87, characterized in that, The slider is located within the first area, or there is a gap between the slider and the first area.

89. The display device according to claim 87, characterized in that, The second region is located in the center of the first region.

90. The display device according to claim 83, characterized in that, The mobile platform includes a drone. When the first icon is located in the second area, the second area and the first icon are used to prompt the user to operate the first control component of the motion-sensing remote control device to control the drone to take off.

91. The display device according to claim 83, characterized in that, The attitude indicator icon may also include a second icon, or the attitude indicator icon may have a second icon displayed on one side, the second icon being used to indicate that the movable platform has not moved or has stopped moving.

92. The display device according to any one of claims 83-91, characterized in that, The processor is also used to perform the following steps: The status information of the mobile platform, the status information of the motion-sensing remote control device, and the status information of the display device are displayed.

93. A motion-sensing remote control device, characterized in that, The motion-sensing remote control device is used to communicate with a display device and a mobile platform respectively. The motion-sensing remote control device is used to control the mobile platform. The display device is communicated with the mobile platform and is used to display the captured image of the mobile platform. The motion-sensing remote control device includes a motion sensor, a memory, and a processor. The motion sensor is used to collect the attitude information of the motion-sensing remote control device; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, perform the following steps: The posture information of the motion-sensing remote control device is sent to the display device so that the display device can display the posture indicator icon of the motion-sensing remote control device on the shooting screen based on the posture information. The posture indicator icon is used to indicate the posture of the motion-sensing remote control device. In response to the user's posture adjustment operation on the motion-sensing remote control device, the movable platform is controlled according to the current posture information of the motion-sensing remote control device; The current posture information of the motion-sensing remote control device is sent to the display device so that the display device can adjust the posture indicator icon based on the current posture information; The mobile platform includes a drone, and the processor is further configured to perform the following steps: During the flight of the drone, if a fifth trigger operation by the user on the third control component is detected, the drone is controlled to hover. as well as The motion-sensing remote control device is controlled to be in motion-sensing lock mode. When the motion-sensing remote control device is in motion-sensing lock mode, the motion-sensing remote control device does not send control commands to the mobile platform when its own posture changes.

94. The motion-sensing remote control device according to claim 93, characterized in that, The motion-sensing remote control device includes a first control component and a second control component. The first control component is used to control the drone to take off. The processor is also used to implement the following steps: In response to a user's trigger operation on the second control component, the drone is controlled to start propellers; The system acquires the user's control parameters for the first control component and controls the drone to take off based on the control parameters.

95. The motion-sensing remote control device according to claim 94, characterized in that, When the processor controls the drone to propel itself in response to a user's trigger operation on the second control component, it performs the following: In response to a third trigger operation by the user on the second control component, determine whether the motion-sensing remote control device is in a horizontal state; If the motion-sensing remote control device is in a horizontal position, it controls the drone to start propulsion.

96. The motion-sensing remote control device according to claim 94, characterized in that, The step of controlling the drone to take off according to the control parameters includes: If the control parameters are greater than the preset control parameters, then the drone is controlled to take off according to the control parameters.

97. The motion-sensing remote control device according to claim 94, characterized in that, Before controlling the drone to take off according to the control parameters, the processor is also used to: Determine whether the motion-sensing remote control device is in a horizontal position; If the motion-sensing remote control device is in a horizontal position, the drone is controlled to take off according to the control parameters.

98. The motion-sensing remote control device according to claim 94, characterized in that, The motion-sensing remote control device includes a third control component, which is used to control the drone to hover or stop propellers. The processor is also used to implement the following steps: If a fourth trigger operation by the user on the third control component is detected during the process of controlling the drone to start propellers, the drone will be controlled to stop starting propellers.

99. The motion-sensing remote control device according to claim 93, characterized in that, The processor is also used to perform the following steps: When the motion-sensing remote control device is in motion-sensing lock mode, the user's control parameters for the first control component are acquired; If the control parameters are greater than the preset control parameters, then the drone will continue to fly according to the control parameters, and the motion-sensing remote control device will exit the motion-sensing lock mode.

100. The motion-sensing remote control device according to claim 94, characterized in that, The processor is also used to perform the following steps: In response to a sixth trigger operation by the user on the third control component, the drone is controlled to return to home. During the process of controlling the drone to return to home, the display device displays the return progress information of the drone, which is used to inform the user of the return progress of the drone.

101. The motion-sensing remote control device according to claim 100, characterized in that, The processor is also used to perform the following steps: After the drone returns to base, if the flatness of the ground beneath the drone is greater than or equal to a preset flatness, the drone will be controlled to land.

102. The motion-sensing remote control device according to claim 101, characterized in that, The processor is also used to perform the following steps: If the flatness of the ground beneath the drone is less than a preset flatness, the drone will be controlled to land in response to the user's seventh trigger operation on the second control component, or the drone will be controlled to hover in response to the user's eighth trigger operation on the third control component.

103. The motion-sensing remote control device according to claim 101, characterized in that, The processor is also used to perform the following steps: If the motion-sensing remote control device is in the first control mode or the second control mode, then in response to the user's sixth trigger operation on the third control component, the motion-sensing remote control device is controlled to be in the third control mode, and the drone is controlled to return to home.

104. The motion-sensing remote control device according to claim 103, characterized in that, The processor is also used to perform the following steps: After the drone returns to base, if the flatness of the ground beneath the drone is greater than or equal to a preset flatness, then the drone is controlled to land. After the drone lands, the motion-sensing remote control device controls itself to either the first control mode or the second control mode.

105. The motion-sensing remote control device according to claim 104, characterized in that, The processor is also used to perform the following steps: If the flatness of the ground beneath the drone is less than a preset flatness, the drone will be controlled to land in response to the user's seventh trigger operation on the second control unit. After the drone lands, the motion-sensing remote control device controls itself to either the first control mode or the second control mode.

106. The motion-sensing remote control device according to claim 105, characterized in that, The processor is also used to perform the following steps: If the flatness of the ground beneath the drone is less than a preset flatness, the drone will be controlled to hover in response to the user's eighth trigger operation on the third control component.

107. The motion-sensing remote control device according to claim 93, characterized in that, The processor is also used to perform the following steps: In response to a user's ninth trigger operation on the second control unit, the drone is controlled to land; During the landing of the drone, if the flatness of the ground beneath the drone is less than a preset flatness, the drone will continue to land in response to the tenth trigger operation of the second control component, or the drone will hover in response to the eighth trigger operation of the third control component.

108. A control system, characterized in that, The control system includes a mobile platform, a motion-sensing remote control device, and a display device as described in any one of claims 69-92; or, the control system includes a mobile platform, a display device, and a motion-sensing remote control device as described in any one of claims 93-107, wherein the display device is used to communicate with the mobile platform and the motion-sensing remote control device respectively, and the motion-sensing remote control device is used to communicate with the mobile platform for controlling the mobile platform.

109. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to perform the steps of the control method as described in any one of claims 1-68.

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