Movable platform control method and device and movable platform system

Abstract

The invention discloses a control method and device of a movable platform, the movable platform and a storage medium. According to the embodiment of the invention, the control rod amount used for controlling the movable platform is obtained, and the control rod amount is converted into the control instruction of the movable platform according to the position of the movable platform and the position of the target object shot by the movable platform; the control command can control the movable platform to move relative to the target object by taking a connecting line of the movable platform and the target object as a reference, and compared with the prior art, the control rod amount takes the forward direction or a certain fixed direction of a machine body of the movable platform as a reference; according to the technical scheme, the user can more visually feel the relationship between the operation of the user on the control equipment and the composition, so that the time and energy of the user for controlling the target object at the preset position in the picture are saved, and the user can clearly know how to control the control equipment to shoot a better picture, especially when the target object is a moving object, the user experience is improved. And the control difficulty of a user on the movable platform through the control equipment is greatly reduced.

Description

[0001] This application is a divisional application with application number 202080029313.3, application date March 31, 2020, and invention name “Control method, device, movable platform and storage medium for movable platform”. Technical Field

[0002] The embodiments of the present application relate to the field of control, and in particular, to a control method and device for a movable platform, a movable platform, and a storage medium. Background Art

[0003] In the prior art, a user can control a movable platform such as a drone through a control device, which can be a remote controller, a smart phone, a tablet computer, etc. Specifically, the user can operate a joystick on a remote controller or a virtual joystick on a user interface to control the drone.

[0004] However, the current control of drones is based on the direction of the nose or a fixed direction. When the drone is equipped with a camera and needs to shoot a target object through the camera, it is difficult for the user to determine how to control the joystick to shoot a better picture. This is especially true for moving targets such as people, cars, and ships, which greatly increases the control difficulty for users. Summary of the invention

[0005] The embodiments of the present application provide a control method and device for a movable platform, a movable platform, and a storage medium, which reduce the difficulty of a user controlling the movable platform through a control device.

[0006] A first aspect of an embodiment of the present application is to provide a control method for a movable platform, wherein the movable platform is communicatively connected to a control device of the movable platform, and the method comprises:

[0007] Acquire a control stick amount for controlling the movable platform, wherein the control stick amount is generated according to a user's operation on the control device;

[0008] converting the joystick amount into a control instruction for the movable platform according to the position of the movable platform and the position of the target object photographed by the movable platform;

[0009] According to the control instruction, the movable platform is controlled to move relative to the target object.

[0010] A second aspect of an embodiment of the present application is to provide a control device for a movable platform, wherein the movable platform is communicatively connected to a control device of the movable platform, and the control device comprises: a memory, a processor, and a communication interface;

[0011] The memory is used to store program code;

[0012] The processor calls the program code, and when the program code is executed, is used to perform the following operations:

[0013] Acquire a control stick amount for controlling the movable platform, wherein the control stick amount is generated according to a user's operation on the control device;

[0014] converting the joystick amount into a control instruction for the movable platform according to the position of the movable platform and the position of the target object photographed by the movable platform;

[0015] According to the control instruction, the movable platform is controlled to move relative to the target object.

[0016] A third aspect of the embodiments of the present application is to provide a movable platform, including:

[0017] body;

[0018] A power system, installed on the fuselage, for providing power for movement;

[0019] And the control device described in the second aspect above.

[0020] A fourth aspect of the embodiments of the present application is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect.

[0021] The control method, device, movable platform and storage medium of the movable platform provided in the present embodiment obtain the control lever amount used to control the movable platform, and convert the control lever amount into the control instruction of the movable platform according to the position of the movable platform and the position of the target object photographed by the movable platform. Compared with the prior art in which the control lever amount is based on the forward direction of the movable platform body or a fixed direction, the control lever amount is based on the position of the movable platform and the target object, which allows the user to more intuitively feel the relationship between his operation on the control device and the composition, so that the user can clearly understand how to control the control device to shoot a better picture, especially when the target object is a moving object, which greatly reduces the difficulty of the user controlling the movable platform through the control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic diagram of the corresponding relationship between the control method of the drone and the joystick provided by the prior art;

[0024] Figure 2 A schematic diagram of the direction of the nose provided by the prior art;

[0025] Figure 3 A schematic diagram of an application scenario provided in an embodiment of the present application;

[0026] Figure 4 A flow chart of a control method for a movable platform provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of a drone and a target object provided in an embodiment of the present application;

[0028] Figure 6 A schematic diagram of a user interface for selecting a target object provided in an embodiment of the present application;

[0029] Figure 7 A schematic diagram of the connection between the drone and the target object provided in an embodiment of the present application;

[0030] Figure 8 A flowchart of a control method for a movable platform provided in another embodiment of the present application;

[0031] Fig. 9 A schematic diagram of the connection direction between the drone and the target object provided in an embodiment of the present application;

[0032] Fig.10 A schematic diagram of the connection between the drone and the target object provided in an embodiment of the present application;

[0033] Fig.11 A schematic diagram of adjusting a photographing device to face a target object according to another embodiment of the present application;

[0034] Fig.12 A schematic diagram of a direction perpendicular to a line connecting a drone and a target object provided in an embodiment of the present application;

[0035] Fig.13 A schematic diagram of a flight trajectory of a drone provided in an embodiment of the present application;

[0036] Fig.14 A flowchart of a control method for a movable platform provided in another embodiment of the present application;

[0037] Fig.15 A schematic diagram of the smart eye mode interface provided in an embodiment of the present application;

[0038] Fig.16 A structural diagram of a control device for a movable platform provided in an embodiment of the present application.

[0039] Reference numerals:

[0040] 10: drone; 101: filming device; 102: supporting equipment;

[0041] 103: communication module; 104: flight controller; 11: control device;

[0042] 20: UAV; 21: Nose; 22: Nose direction;

[0043] 30: target object; 31: object; 40: image;

[0044] 51: the line between the drone 10 and the target object 30;

[0045] 52: direction perpendicular to the line connecting the drone 10 and the target object 30;

[0046] 53: direction perpendicular to the line connecting the drone 10 and the target object 30;

[0047] 90: arc; 121: horizontal line between the drone 10 and the target object 30;

[0048] 122: a line between the center point of the drone 10 and the center point of the target object 30;

[0049] 130: Smart Eyes Mode Interface;

[0050] 131: Icon; 132: Icon; 133: Icon;

[0051] 160: control device; 161: memory; 162: processor;

[0052] 163: Communication interface. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0056] In the prior art, users can control a mobile platform such as a drone through a control device. Specifically, the user can operate the joystick on the remote control or the virtual joystick on the user interface to control the drone. For example, the remote control is provided with a left joystick and a right joystick. The corresponding relationship between the user's operation mode of the left joystick and the right joystick and the movement mode of the drone can be as follows: Figure 1 When the user pushes the left stick up, the drone goes up. When the user pushes the left stick down, the drone goes down. When the user pushes the left stick to the left, the drone turns left. When the user pushes the left stick to the right, the drone turns right. When the user pushes the right stick up, the drone flies forward. When the user pushes the right stick down, the drone flies backward. When the user pushes the right stick to the left, the drone moves to the left. When the user pushes the right stick to the right, the drone moves to the right.

[0057] However, the current control of drones is based on the direction of the nose, or a fixed direction. Figure 2 As shown, 21 represents the nose of the drone 20, and 22 represents the direction of the nose of the drone 20. Figure 1 When the right stick is pressed as shown, the drone flies forward with the nose direction 22 as the reference. Figure 2 As shown, the drone flies forward along the nose direction 22. Alternatively, when the user pushes upward as shown in FIG. Figure 1 When the user presses the right joystick as shown, the drone flies forward based on a fixed direction, which can be, for example, the north direction. Figure 1 When you push the right stick up as shown, the drone flies forward in the north direction.

[0058] When a drone is equipped with a camera and needs to shoot a target object through the camera, if the control of the drone is based on the direction of the nose or a fixed direction, it may be difficult for the user to determine how to control the joystick to shoot a better picture. This is especially true for moving targets such as people, cars, and ships, which greatly increases the control difficulty for users.

[0059] In view of the above problems, the embodiments of the present application provide a control method, device, movable platform and storage medium for a movable platform.

[0060] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0061] The present application embodiment provides a control method for a movable platform. In the present application embodiment, the movable platform may be a movable device such as a drone or a mobile robot. The following is a schematic description using a drone as an example. Figure 3 As shown, the drone 10 is equipped with a shooting device 101. Specifically, the shooting device 101 is mounted on the body of the drone 10 through a supporting device 102. The supporting device 102 can be a gimbal. The shooting device 101 is used to capture images or record videos during the movement of the drone. In addition, the user can control the flight of the drone through a ground control device 11. The control device 11 can be a remote controller corresponding to the drone (for example, a remote controller with a screen), a mobile phone, a tablet computer, a laptop computer, and other devices. Here, the remote controller is used as an example for schematic description. Specifically, the remote controller can be provided with operating elements for the user to operate, such as a joystick.

[0062] The remote controller generates a control stick amount according to the user's operation on the joystick, and further, the remote controller sends the control stick amount to the drone 10 through wireless communication. For example, the drone 10 is provided with a communication module 103 and a flight controller 104. After the flight controller 104 receives the control stick amount from the remote controller through the communication module 103, it generates a control instruction according to the control stick amount to control the flight of the drone. Alternatively, in some scenarios, the remote controller can also generate a control instruction according to the control stick amount and send the control instruction to the drone 10, so that the flight controller 104 can control the drone according to the control instruction.

[0063] It is understandable that the operating element provided on the remote control for user operation is not limited to the joystick, for example, it can also be an icon or a virtual key displayed on the remote control screen, or the operating element can also be a physical key or button provided on the remote control body. In the embodiment of the present application, the control method of the mobile platform can be executed on the mobile platform or on the control device of the mobile platform, and the following is explained by taking the execution on the mobile platform as an example.

[0064] Figure 4 The flow chart of the control method of the mobile platform provided in the embodiment of the present application. The mobile platform is connected to the control device of the mobile platform in communication, and the mobile platform is specifically a drone as an example. Figure 3 As shown, the drone 10 is in communication with the control device 11. Figure 4 As shown, the control method of the movable platform provided in this embodiment may include:

[0065] S401: Acquire a control stick quantity for controlling the movable platform, where the control stick quantity is generated according to a user's operation on the control device.

[0066] In an embodiment of the present application, a user can operate the control device 11. Optionally, the operation includes operating a joystick, a dial or a button of the control device. For example, the control device 11 is specifically a remote control, which is provided with a joystick, a dial or a button. Among them, the joystick can be used to control the drone, and the dial can be used to control the gimbal carried by the drone. The button can be a virtual button displayed on the screen of the remote control, or the button can also be a physical button or button provided on the body of the remote control. When the user operates the joystick, dial or button on the remote control, the remote control can generate a control stick amount according to the operation. For example, the control stick amount is a control stick amount for controlling the drone. Further, the remote control can send the control stick amount to the drone 10.

[0067] Optionally, the method further includes: determining the target object according to a point selection operation, a frame selection operation or a position input operation performed by a user on a user interface of the control device.

[0068] like Figure 5 As shown, the target object 30 and the object 31 are within the shooting range of the shooting device 101. The drone 10 can send the image captured by the shooting device 101 to the control device 11 through the communication module 103, and the control device 11 displays the image on the user interface of the control device 11. Figure 6 As shown, 40 represents an image displayed on the user interface of the control device 11, and the image 40 includes the target object 30 and the image area corresponding to the object 31. Further, the user can perform point selection and frame selection operations on the user interface to determine the target object photographed by the drone 10. Taking the frame selection operation as an example, the user can slide from the upper left corner of the image area corresponding to the target object 30 to the lower right corner, and the control device 11 determines that the target object selected by the user is the target object 30 according to the frame selection operation of the user. Further, the control device 11 determines the position information of the target object 30 in the image, so that the drone can determine the position information of the target object 30 in the three-dimensional space according to the position information of the target object 30 in the image.

[0069] The user can also perform a position input operation on the user interface of the control device, and the position input operation can directly input the position information of the target object in the three-dimensional space.

[0070] S402: Convert the control stick amount into a control instruction of the movable platform according to the position of the movable platform and the position of the target object photographed by the movable platform.

[0071] When the drone 10 receives the control stick amount sent by the control device 11 , the flight controller 104 may convert the control stick amount into a control instruction for the drone 10 according to the position of the drone and the position of the target object photographed by the drone.

[0072] Alternatively, in some other embodiments, after the remote controller generates a control stick amount according to the user's operation on the control device 11, the remote controller may also convert the control stick amount into a control instruction for the drone 10 according to the position of the drone and the position of the target object photographed by the drone. Further, the remote controller may send the control instruction to the drone 10. The position of the drone and the position of the target object photographed by the drone may be sent by the drone 10 to the remote controller.

[0073] S403: Control the movable platform to move relative to the target object according to the control instruction.

[0074] In the embodiment of the present application, the control command of the drone converted from the control stick can be used to control the drone to move relative to the target object. Specifically, the drone moves relative to the target object based on the line connecting the drone and the target object. Figure 7 As shown, the dotted line 51 represents the line connecting the drone 10 and the target object 30 . The flight controller 104 can control the drone 10 to move relative to the target object 30 based on the line connecting the drone 10 and the target object 30 according to the control instruction.

[0075] This embodiment obtains a control stick amount for controlling the movable platform, and converts the control stick amount into a control instruction for the movable platform according to the position of the movable platform and the position of the target object photographed by the movable platform. The control instruction can control the movable platform to move relative to the target object with the line connecting the movable platform and the target object as a reference. Compared with the prior art in which the control stick amount is based on the forward direction of the movable platform body or a fixed direction, the use of the line connecting the movable platform and the target object as a reference allows the user to more intuitively feel the relationship between his or her operation of the control device and the composition, thereby saving the user's time and energy in controlling the target object at a preset position in the picture, allowing the user to clearly understand how to control the control device to capture a better picture, especially when the target object is a moving object, which greatly reduces the difficulty of the user controlling the movable platform through the control device.

[0076] An embodiment of the present application provides a control method for a movable platform. Figure 8 This is a flow chart of a control method for a mobile platform provided by another embodiment of the present application. Figure 8As shown, based on the above embodiment, the method of converting the joystick amount into a control instruction of the movable platform according to the position of the movable platform and the position of the target object photographed by the movable platform includes:

[0077] S801: Establish a coordinate system according to the position of the movable platform and the position of the target object.

[0078] The flight controller 104 may establish a coordinate system according to the position of the drone and the position of the target object photographed by the drone.

[0079] Optionally, the coordinate system is a polar coordinate system, the pole of the polar coordinate system is determined according to the position of the movable platform, and the polar axis direction of the polar coordinate system is the direction of the line connecting the movable platform and the target object; wherein, the line connecting the movable platform and the target object is the line connecting the movable platform and the target object in the horizontal direction, or the line connecting the movable platform and the center point of the target object.

[0080] The flight controller 104 can establish a polar coordinate system according to the position of the drone 10 and the position of the target object 30 photographed by the drone. Fig. 9 As shown, the pole of the polar coordinate system can be determined according to the position of the drone 10. For example, the pole of the polar coordinate system can be the current position of the drone 10. Alternatively, the pole of the polar coordinate system can be a point within a preset range around the current position of the drone 10. The polar axis direction of the polar coordinate system is the direction of the line connecting the drone 10 and the target object 30. Fig. 9 As shown, the direction of the connection line can be from the drone 10 to the target object 30, or from the target object 30 to the drone 10. Here, the direction from the drone 10 to the target object 30 is taken as an example for schematic description.

[0081] In some embodiments, the drone 10 and the target object 30 may be on the same horizontal plane, or may not be on the same horizontal plane. Fig.10 Therefore, the line connecting the drone 10 and the target object 30 may be a line 121 connecting the drone 10 and the target object 30 in the horizontal direction, or may be a line 122 connecting the center point of the drone 10 and the center point of the target object 30 .

[0082] S802: Map the joystick quantity to the coordinate system to convert the joystick quantity into a control instruction for the movable platform.

[0083] In the embodiment of the present application, mapping the control stick amount to the polar coordinate system to convert the control stick amount into the control instruction of the drone can be implemented in the following ways:

[0084] One possible implementation is: first map the control stick amount to a preset coordinate system, and then map the control stick amount from the preset coordinate system to the polar coordinate system according to the conversion relationship between the preset coordinate system and the polar coordinate system to convert the control stick amount into a control instruction for the UAV, so that the flight controller 104 can control the UAV to move relative to the target object based on the line connecting the UAV and the target object according to the control instruction. The preset coordinate system can be the UAV's body coordinate system, the world coordinate system, or the earth coordinate system.

[0085] Another possible implementation method is to directly map the control stick amount to the polar coordinate system to convert the control stick amount into the control command of the drone. Figure 1 When the right joystick is pushed upward in the manner shown, the remote controller or the flight controller 104 can convert the corresponding joystick amount into a control instruction based on the line connecting the drone and the target object. Thus, the flight controller 104 can control the drone to fly forward along the line connecting the drone and the target object according to the control instruction, that is, to approach the target object.

[0086] In this embodiment, a polar coordinate system is established through the position of the movable platform and the position of the target object. The control instructions converted from the control stick amount according to the polar coordinate system can be used to control the drone to move relative to the target object with the line connecting the drone and the target object as a reference, so that the user can more intuitively feel the relationship between his operation of the control device and the composition, thereby saving the user's time and energy in controlling the target object at a preset position in the picture, allowing the user to clearly understand how to control the control device to take a better picture, especially when the target object is a moving object, which greatly reduces the difficulty of the user's control of the movable platform through the control device.

[0087] In a possible scenario, controlling the movable platform to move relative to the target object includes controlling the movable platform to move away from or closer to the target object along a line connecting the movable platform and the target object.

[0088] like Figure 7 As shown, the dotted line 51 represents the line connecting the drone 10 and the target object 30. In the embodiment of the present application, the flight controller 104 can control the drone 10 to move away from or approach the target object 30 along the line connecting the drone 10 and the target object 30. Specifically, when the user pushes upward or downward, as shown in FIG. Figure 1When the right joystick is pushed upward, the control device 11 may generate a control stick amount. Further, the control device 11 sends the control stick amount to the drone 10, and the flight controller 104 maps the control stick amount to the polar coordinate system as described above to convert the control stick amount into a control instruction for the drone. Further, the flight controller 104 controls the drone 10 to move away from or approach the target object 30 along the line connecting the drone 10 and the target object 30 according to the control instruction. Specifically, when the user pushes upward, as shown in FIG. Figure 1 When the user pushes the right joystick as shown, the drone 10 approaches the target object 30 along the line connecting the drone 10 and the target object 30. Figure 1 When the user pushes the right joystick upward or downward, the drone 10 moves away from the target object 30 along the line connecting the drone 10 and the target object 30. Figure 1 When the right joystick is moved as shown, the drone 10 can be controlled to move away from or approach the target object 30 along the line connecting the drone 10 and the target object 30 .

[0089] In other embodiments, the control device 11 may map the control stick amount to the polar coordinate system as described above to convert the control stick amount into a control instruction for the drone. Further, the control device 11 sends the control instruction to the drone 10, so that the flight controller 104 controls the drone 10 to move away from or approach the target object 30 along the line connecting the drone 10 and the target object 30 according to the control instruction.

[0090] It is understandable that, in the process of the drone 10 moving away from or approaching the target object 30 along the line connecting the drone 10 and the target object 30, the nose direction of the drone 10 may be toward the target object 30 or may not be toward the target object 30. The shooting device 101 carried by the drone 10 may be toward the target object 30, so that the target object 30 can be kept in the shooting picture. Fig.11 As shown, the flight controller 104 can adjust the direction of the shooting device 101 to face the target object 30 by adjusting the direction of the supporting device 102 (such as a gimbal).

[0091] Optionally, the line connecting the movable platform and the target object is a line connecting the movable platform and the target object in a horizontal direction, or a line connecting the movable platform and a center point of the target object. Fig.10 As shown, the line connecting the drone 10 and the target object 30 may be a line 121 connecting the drone 10 and the target object 30 in the horizontal direction, or may be a line 122 connecting the center point of the drone 10 and the center point of the target object 30 .

[0092] This embodiment controls the movable platform to move away from or closer to the target object based on the line connecting the movable platform and the target object, so that the user can more intuitively feel the corresponding relationship between his / her operation on the control device and the moving platform away from or closer to the target object, thereby saving the user's time and energy in controlling the size of the target object in the shooting picture, and allowing the user to clearly know how to control the control device to capture a better picture, especially when the target object is a moving object, which greatly reduces the difficulty of the user's control over the movable platform through the control device.

[0093] In another possible scenario: controlling the movable platform to move relative to the target object includes: controlling the movable platform to move in a direction perpendicular to a line connecting the movable platform and the target object.

[0094] Specifically, when the user pushes left or right Figure 1 When the user pushes the right joystick as shown, the control device 11 may generate a control stick amount, and further, the control device 11 sends the control stick amount to the drone 10, and the flight controller 104 maps the control stick amount to the polar coordinate system as described above to convert the control stick amount into a control instruction for the drone. Further, the flight controller 104 controls the drone 10 to move in a direction perpendicular to the line connecting the drone 10 and the target object 30 according to the control instruction. That is, when the user pushes the left or right joystick as shown Figure 1 When the right joystick is used as shown, the drone 10 can be controlled to fly around the target object 30 .

[0095] like Fig.12 As shown, 52 or 53 represents a direction perpendicular to the line connecting the drone 10 and the target object 30. Optionally, when the user pushes right as shown in FIG. Figure 1 When the user pushes the right joystick as shown, the flight controller 104 can control the drone 10 to move in the direction 53. Figure 1 When the right joystick is moved as shown, the flight controller 104 can control the drone 10 to move along the direction 52.

[0096] Optionally, the direction vector corresponding to the direction perpendicular to the line connecting the movable platform and the target object is parallel to the horizontal plane. Fig.12 As shown, a line 51 connecting the drone 10 and the target object 30 , and a direction 52 or a direction 53 perpendicular to the line 51 connecting the drone 10 and the target object 30 are all within a plane parallel to the horizontal plane.

[0097] For example, when the drone moves along a direction 52 perpendicular to the line connecting the drone 10 and the target object 30, the flight trajectory of the drone may be an arc centered on the target object 30, such as Fig.13The arc 90 is shown. In some other embodiments, when a control stick amount for controlling the drone to ascend is superimposed, the drone can perform an ascending flight around the target object 30 and relative to the target object 30 .

[0098] It is understandable that the connection line between the movable platform and the target object is as follows: Fig.10 As shown, no further description is given here.

[0099] In addition, in other embodiments, the control device 11 may map the control stick amount to the polar coordinate system as described above to convert the control stick amount into a control instruction for the drone. Further, the control device 11 sends the control instruction to the drone 10.

[0100] This embodiment controls the movable platform to move in a direction perpendicular to the line connecting the movable platform and the target object, so that the user can more intuitively feel the correspondence between his / her operation on the control device and the rotation direction of the movable platform with the target object as the center, thereby saving the user's time and energy in controlling the shooting angle of the target object, and allowing the user to clearly know how to control the control device to capture a better picture, especially when the target object is a moving object, which greatly reduces the difficulty of the user's control over the movable platform through the control device.

[0101] In another possible scenario: controlling the movable platform to move relative to the target object includes: controlling the movable platform to move in a yaw direction based on a line connecting the movable platform and the target object.

[0102] Specifically, when the user pushes left or right Figure 1 When the left joystick is pushed, the control device 11 may generate a control stick amount. Further, the control device 11 sends the control stick amount to the drone 10, and the flight controller 104 maps the control stick amount to the polar coordinate system as described above to convert the control stick amount into a control instruction for the drone. Further, the flight controller 104 controls the drone 10 to move in the yaw direction based on the line connecting the drone 10 and the target object 30 according to the control instruction, so that the target object 30 moves left and right in the shooting picture, that is, controls the left and right composition position of the target object 30 in the shooting picture. For example, when the user pushes the left joystick as shown in FIG. Figure 1 When the user pushes the left joystick as shown, the drone 10 moves in the yaw direction to the left of the reference line between the drone 10 and the target object 30. Figure 1 When the left joystick is pushed as shown, the drone 10 moves in the yaw direction to the right of the line connecting the drone 10 and the target object 30 as a reference. Figure 1The left joystick shown can control the left and right composition positions of the target object 30 in the shooting picture.

[0103] Additionally, when the user pushes up or down, such as Figure 1 When the left joystick is pushed upward, the control device 11 may generate a control stick amount. Further, the control device 11 sends the control stick amount to the drone 10, and the flight controller 104 maps the control stick amount to the polar coordinate system as described above to convert the control stick amount into a control instruction for the drone. Further, the flight controller 104 controls the drone 10 to rise or fall according to the control instruction. For example, when the user pushes upward, as shown in FIG. Figure 1 When the user pushes the left joystick as shown, the drone 10 rises; when the user pushes down as shown Figure 1 When the left joystick is pushed upward or downward, the drone 10 descends. Figure 1 The left joystick shown can control the flight altitude of the drone 10.

[0104] It is understandable that the connection line between the movable platform and the target object is as follows: Fig.10 As shown, no further description is given here.

[0105] In addition, in other embodiments, the control device 11 may map the control stick amount to the polar coordinate system as described above to convert the control stick amount into a control instruction for the drone. Further, the control device 11 sends the control instruction to the drone 10.

[0106] This embodiment controls the movable platform to move in the yaw direction based on the line connecting the movable platform and the target object, so that the user can more intuitively feel the corresponding relationship between his / her operation on the control device and the yaw direction of the movable platform based on the line connecting the movable platform and the target object, thereby saving the user's time and energy in controlling the left and right composition position of the target object in the shooting picture, allowing the user to clearly understand how to control the control device to capture a better picture, especially when the target object is a moving object, which greatly reduces the difficulty of the user's control of the movable platform through the control device.

[0107] Obviously, the correspondence between the control mode of the drone and the joystick is not limited to the above embodiments, and those skilled in the art can set the correspondence between the control mode of the drone and the joystick according to actual conditions. In addition, the above controls on the movable platform can be combined with each other, for example, the movable platform moves in the yaw direction while approaching the target object, or the movable platform rises or descends while moving around the target object, which will not be described in detail here.

[0108] The present application embodiment provides a control method for a movable platform. Optionally, when the movable platform is in the first sub-mode, the following is performed: Figure 4In the method shown, the working mode of the movable platform further includes a second sub-mode or a third sub-mode for the target object.

[0109] In this embodiment, the working modes of the drone include free mode, follow mode and surround mode, wherein the free mode may be specifically the first sub-mode, the surround mode may be specifically the second sub-mode, and the follow mode may be specifically the third sub-mode. For example, in the first sub-mode, the user may control the drone through the joystick as described above, and in some embodiments, when the drone is in the first sub-mode, the drone also has the function of bypassing obstacles.

[0110] It is understandable that when the drone is in the first sub-mode, the user can use the joystick as described above to control the drone to move relative to the target object based on the line between the drone and the target object. When the drone exits the first sub-mode, the user can also use the joystick as described above to control the drone to move based on the direction of the drone's nose or a fixed direction. In other words, the joystick can be reused in the first sub-mode and non-first sub-mode, which not only saves the number of joysticks on the control device, but also improves the flexibility of the joystick on the control device.

[0111] Optionally, the second sub-mode is used to control the movable platform to automatically surround the target object, and the third sub-mode is used to control the movable platform to automatically follow the target object.

[0112] For example, when the drone is in the second sub-mode, the drone can automatically surround the target object, so that the camera can surround the target object. When the drone is in the third sub-mode, the drone can automatically maintain the relative position between the drone and the target object according to the target object selected by the user and then follow the target object.

[0113] Optionally, the method further includes: when the movable platform enters any one of the first sub-mode, the second sub-mode or the third sub-mode, adjusting a shooting device of the movable platform to face the target object.

[0114] For example, when the drone enters any of the first sub-mode, the second sub-mode or the third sub-mode, the drone can adjust the shooting device on the gimbal to face the target object, so that when the user subsequently operates the joystick or calls the automatic control program, the target object can be guaranteed to appear in the picture.

[0115] Optionally, adjusting the shooting device of the movable platform to the direction of the target object includes: adjusting the shooting device to the direction of the target object by adjusting the orientation of the movable platform; or adjusting the shooting device to the direction of the target object by adjusting the orientation of the gimbal of the movable platform, the shooting device being mounted on the gimbal.

[0116] For example, there are several feasible ways for a drone to adjust a camera mounted on a gimbal to face a target object: one feasible way is to adjust the camera to face the target object by adjusting the direction of the drone, where the direction of the drone may be the direction of the nose of the drone; another feasible way is to adjust the camera to face the target object by adjusting the direction of the gimbal.

[0117] The present application embodiment provides a control method for a movable platform. Based on the above embodiment, Fig.14 As shown, the method also includes:

[0118] S1401. Receive a mode switching instruction sent by the control device.

[0119] For example, the control device 11 may be provided with a mode switching key or button, which may be an icon or a virtual key displayed on the screen of the control device 11, or may be a physical key or button provided on the body of the control device 11. When the user operates the mode switching key or button, the control device may generate a mode switching instruction and send the mode switching instruction to the drone 10.

[0120] S1402: According to the mode switching instruction, control the working mode of the movable platform to switch between at least two sub-modes of the first sub-mode, the second sub-mode, and the third sub-mode.

[0121] The drone 10 can control the working mode of the drone to switch between at least two sub-modes of the first sub-mode, the second sub-mode and the third sub-mode according to the mode switching instruction. For example, the current working mode of the drone is the first sub-mode, and when the user operates the mode switching key or button on the control device 11, the control device 11 can control the drone to switch the current working mode to the second sub-mode.

[0122] Optionally, the working mode of the movable platform includes a smart eye mode, and the smart eye mode includes the first sub-mode, the second sub-mode and the third sub-mode.

[0123] For example, the working mode of the drone may include a smart eye mode, which includes the first sub-mode, the second sub-mode, and the third sub-mode as described above. That is, the first sub-mode, the second sub-mode, and the third sub-mode may be unified in the smart eye mode, and the smart eye mode may serve as a unified entrance to the first sub-mode, the second sub-mode, and the third sub-mode. Fig.15 As shown, 130 represents the smart eye mode interface displayed by the control device 11, and the smart eye mode interface includes 3 icons, which are respectively recorded as icon 131, icon 132 and icon 133. Among them, the user clicks icon 131 to make the drone work in the first sub-mode, the user clicks icon 132 to make the drone work in the second sub-mode, and the user clicks icon 133 to make the drone work in the third sub-mode.

[0124] This embodiment unifies the first sub-mode, the second sub-mode and the third sub-mode in the smart eye mode, so that seamless switching between the three sub-modes can be achieved, that is, it is convenient for users to switch the working mode of the drone.

[0125] Optionally, when the working mode of the movable platform is switched between at least two sub-modes among the first sub-mode, the second sub-mode and the third sub-mode, the target object remains unchanged.

[0126] For example, when the drone is operating in the first sub-mode, the user can select a target object through the method described above. When the working mode of the drone is switched from the first sub-mode to the second sub-mode, the target object remains the target object in the first sub-mode. In other words, when the working mode of the drone changes, the user does not need to reselect a new target object, thereby ensuring a smoother picture.

[0127] The embodiment of the present application provides a control method for a movable platform. Based on the above embodiment, the method further includes: when the movable platform moves relative to the target object, receiving a locking instruction sent by the control device, the locking instruction is used to lock the control rod amount of the movable platform.

[0128] For example, the control device 11 may be provided with a lock key or button, which may be an icon or a virtual key displayed on the screen of the control device 11, or may be a physical key or button provided on the fuselage of the control device 11. When the user operates the lock key or button, the control device may generate a lock instruction. Specifically, when the drone moves relative to the target object with the connection line between the drone and the target object as the reference, if the user operates the lock key or button, the drone may receive the lock instruction sent by the control device. Further, the drone or the control device may lock the control stick amount of the drone according to the lock instruction. Thus, the flight controller 104 may control the drone to fly according to the locked control stick amount. For example, the flight controller 104 may control the drone to fly at a fixed speed or acceleration according to the locked control stick amount, the speed may be a linear velocity or an angular velocity, and the acceleration may be a linear acceleration or an angular acceleration.

[0129] In addition, based on the above embodiments, the target object is not limited to a moving object, for example, it can also be a stationary object, or the target object can also be a target point determined by the positioning system of the drone. In addition, when identifying the target object, the embodiments of the present application do not limit the specific recognition algorithm. For example, when identifying a moving object, a machine learning algorithm can be used; when identifying a stationary object, a visual ranging algorithm can be used.

[0130] The present application provides a control device for a mobile platform. The control device may be a control device in the mobile platform, such as a flight controller. Alternatively, the control device may be a control device as described above, or a module in the control device. The mobile platform is in communication with the control device of the mobile platform. Fig.16 A structural diagram of a control device for a movable platform provided in an embodiment of the present application, such as Fig.16 As shown, the control device 160 includes: a memory 161 and a processor 162. The memory 161 is used to store program codes; the processor 162 calls the program codes, and when the program codes are executed, it is used to perform the following operations: obtaining a joystick amount for controlling the movable platform, the joystick amount is generated according to the user's operation on the control device; according to the position of the movable platform and the position of the target object photographed by the movable platform, converting the joystick amount into a control instruction of the movable platform; according to the control instruction, controlling the movable platform to move relative to the target object.

[0131] Optionally, when the processor 162 converts the joystick amount into a control instruction of the movable platform according to the position of the movable platform and the position of the target object photographed by the movable platform, it is specifically used to: establish a coordinate system according to the position of the movable platform and the position of the target object; and map the joystick amount into the coordinate system to convert the joystick amount into the control instruction of the movable platform.

[0132] Optionally, the coordinate system is a polar coordinate system, the pole of the polar coordinate system is determined according to the position of the movable platform, and the polar axis direction of the polar coordinate system is the direction of the line connecting the movable platform and the target object; wherein, the line connecting the movable platform and the target object is the line connecting the movable platform and the target object in the horizontal direction, or the line connecting the movable platform and the center point of the target object.

[0133] Optionally, when the processor 162 controls the movable platform to move relative to the target object, it is specifically used to: control the movable platform to move away from or approach the target object along a line connecting the movable platform and the target object.

[0134] Optionally, when the processor 162 controls the movable platform to move relative to the target object, it is specifically used to: control the movable platform to move in a direction perpendicular to a line connecting the movable platform and the target object.

[0135] Optionally, the direction vector corresponding to the direction perpendicular to the line connecting the movable platform and the target object is parallel to a horizontal plane.

[0136] Optionally, when the processor 162 controls the movable platform to move relative to the target object, it is specifically used to: control the movable platform to move in a yaw direction based on a line connecting the movable platform and the target object.

[0137] Optionally, the line connecting the movable platform and the target object is a line connecting the movable platform and the target object in a horizontal direction, or a line connecting the movable platform and a center point of the target object.

[0138] Optionally, when the movable platform is in the first sub-mode, the working mode of the movable platform further includes a second sub-mode or a third sub-mode for the target object.

[0139] Optionally, the second sub-mode is used to control the movable platform to automatically surround the target object, and the third sub-mode is used to control the movable platform to automatically follow the target object.

[0140] Optionally, the processor 162 is further configured to: when the movable platform enters any one of the first sub-mode, the second sub-mode or the third sub-mode, adjust the camera of the movable platform to face the target object.

[0141] Optionally, when the processor 162 adjusts the shooting device of the movable platform to be in the direction of the target object, it is specifically used to: adjust the shooting device to be in the direction of the target object by adjusting the direction of the movable platform; or adjust the shooting device to be in the direction of the target object by adjusting the direction of the gimbal of the movable platform, and the shooting device is mounted on the gimbal.

[0142] Optionally, the control device also includes: a communication interface 163; the processor 162 is also used to: receive a mode switching instruction sent by the control device through the communication interface 163; and control the working mode of the movable platform to switch between at least two sub-modes of the first sub-mode, the second sub-mode and the third sub-mode according to the mode switching instruction.

[0143] Optionally, the working mode of the movable platform includes a smart eye mode, and the smart eye mode includes the first sub-mode, the second sub-mode and the third sub-mode.

[0144] Optionally, when the working mode of the movable platform is switched between at least two sub-modes among the first sub-mode, the second sub-mode and the third sub-mode, the target object remains unchanged.

[0145] Optionally, the processor 162 is further used to: when the movable platform moves relative to the target object, receive a locking instruction sent by the control device through the communication interface 163, wherein the locking instruction is used to lock the control rod amount of the movable platform.

[0146] Optionally, the operation includes operating a joystick, a dial or a button of the control device.

[0147] Optionally, the processor 162 is further used to determine the target object according to a point selection operation, a frame selection operation or a position input operation performed by the user on the user interface of the control device.

[0148] The specific principles and implementation methods of the control device provided in the embodiments of the present application are similar to those in the above embodiments and will not be repeated here.

[0149] The embodiment of the present application provides a movable platform. The movable platform includes: a fuselage, a power system and a control device as described above, wherein the power system is installed on the fuselage to provide power for movement, and the control device can be used to execute the technical solution of the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here. Optionally, the movable platform includes a drone.

[0150] In addition, this embodiment further provides a computer-readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement the control method of the movable platform described in the above embodiment.

[0151] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0152] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0153] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0154] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0155] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for a movable platform, characterized in that: The method comprises: Displaying a mode interface corresponding to the target working mode of the movable platform on a display interface of a control device of the movable platform, wherein the mode interface displays at least two sub-modes that can be switched between each other, the at least two sub-modes being sub-modes included in the target working mode, and the at least two sub-modes both control the movable platform to move based on a target object; Acquire a target sub-pattern selected from the at least two sub-patterns; The movable platform is controlled to move based on a target object according to the target sub-mode.

2. The method according to claim 1, characterized in that The at least two sub-modes include a first sub-mode and a second sub-mode / a third sub-mode; The second sub-mode is used to control the movable platform to automatically surround the target object, and the third sub-mode is used to control the movable platform to automatically follow the target object.

3. The method according to claim 1, characterized in that The method further comprises: When the movable platform enters any one of the at least two sub-modes, the shooting device of the movable platform is adjusted to face the target object.

4. The method according to claim 3, characterized in that The step of adjusting the shooting device of the movable platform to face the target object includes: By adjusting the orientation of the movable platform, the photographing device is adjusted to face the target object; or By adjusting the direction of the pan-tilt head of the movable platform, the shooting device is adjusted to face the target object, and the shooting device is mounted on the pan-tilt head.

5. The method according to claim 1, characterized in that The method further comprises: receiving a mode switching instruction sent by the control device; According to the mode switching instruction, the working mode of the movable platform is controlled to switch between any two sub-modes of the at least two sub-modes.

6. The method according to claim 2, characterized in that The working mode of the movable platform includes a smart eye mode, and the smart eye mode includes the first sub-mode, the second sub-mode and the third sub-mode.

7. The method according to claim 1, characterized in that When the working mode of the movable platform is switched between the at least two sub-modes, the target object remains unchanged.

8. The method according to claim 1, characterized in that The controlling the movable platform to move based on the target object comprises: The movable platform is controlled to move relative to the target object based on a line connecting the movable platform and the target object.

9. A control method for a movable platform, characterized in that: The method comprises: Controlling the movable platform to switch between at least two sub-modes included in the target working mode of the movable platform, wherein the at least two sub-modes are sub-modes included in the target working mode, and both of the at least two sub-modes control the movable platform to move based on a target object; The movable platform is controlled to move based on a target object according to a target sub-mode selected from the at least two sub-modes, wherein the target object remains unchanged when the working mode of the movable platform is switched between the at least two sub-modes.

10. A control device for a movable platform, characterized in that: The control device comprises: a memory and a processor; The memory is used to store program instructions; The processor calls the program instruction, and when the program instruction is executed, is used to perform the following operations: Using a display interface to display a mode interface corresponding to the target working mode of the movable platform, the mode interface displays at least two sub-modes that can be switched between each other, the at least two sub-modes are sub-modes included in the target working mode, and the at least two sub-modes are for controlling the movable platform to move based on the target object; Acquire a target sub-pattern selected from the at least two sub-patterns; The movable platform is controlled to move based on a target object according to the target sub-mode.

11. A control device for a movable platform, characterized in that: The control device comprises: a memory and a processor; The memory is used to store program instructions; The processor calls the program instruction, and when the program instruction is executed, is used to perform the following operations: Controlling the movable platform to switch between at least two sub-modes included in the target working mode of the movable platform, wherein the at least two sub-modes are sub-modes included in the target working mode, and both of the at least two sub-modes control the movable platform to move based on a target object; The movable platform is controlled to move based on a target object according to a target sub-mode selected from the at least two sub-modes, wherein the target object remains unchanged when the working mode of the movable platform is switched between the at least two sub-modes.

12. A movable platform system, characterized in that: include: body; A power system, installed on the fuselage, for providing power for movement; And the control device according to claim 10 and / or 11.

13. The method according to any one of claims 1 to 9, the control device according to claim 10 or 11, or the movable platform system according to claim 12, characterized in that: The movable platform includes a drone.

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