Movable platform control method and device, movable platform and storage medium

Abstract

A control method and device for a movable platform, the movable platform and a storage medium, the method comprising: receiving a first operation and a second operation input by a user, the first operation and the second operation being operations for different objects in a somatosensory controller, one of the first operation and the second operation is an operation for changing the somatosensory posture of the somatosensory controller; and in response to the first operation and the second operation, a control instruction is generated, the control instruction is used for controlling the movable platform, and the control instruction can enable an included angle larger than 0 degree to be generated between the orientation of a machine head of the movable platform and a horizontal component of a motion velocity vector of the movable platform.

Description

Control method and device for movable platform, movable platform and storage medium Technical Field

[0001] The present application relates 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

[0002] Motion-sensing remote controls offer a completely new experience for controlling mobile platforms, such as aircraft. Users can control the platform's movements by controlling the remote's gestures. However, current motion control methods using motion-sensing remote controls always follow the aircraft's heading, resulting in limited freedom for users.

[0003] Summary of the Invention

[0004] Based on this, the embodiments of the present application provide a control method, device, mobile platform and storage medium for a movable platform, aiming to solve the problem of low degree of freedom when a user uses a motion controller to control the movable platform.

[0005] In a first aspect, the present application provides a method for controlling a mobile platform, comprising:

[0006] receiving a first operation and a second operation input by a user, wherein the first operation and the second operation are operations on different objects in a motion controller, and one of the first operation and the second operation is a motion control operation of the motion controller;

[0007] In response to the first operation and the second operation, a control instruction is generated, where the control instruction is used to control the movable platform, and the control instruction can cause an angle greater than 0° to be generated between the head direction of the movable platform and the horizontal component of the motion velocity vector of the movable platform.

[0008] In a second aspect, the present application provides a control device for a mobile platform, comprising a memory and a processor;

[0009] The memory is used to store computer programs;

[0010] The processor is configured to execute the computer program and implement the following steps when executing the computer program:

[0011] receiving a first operation and a second operation input by a user, wherein the first operation and the second operation are operations on different objects in a motion controller, and one of the first operation and the second operation is an operation for changing a motion posture of the motion controller;

[0012] In response to the first operation and the second operation, a control instruction is generated, where the control instruction is used to control the movable platform, and the control instruction can cause an angle greater than 0° to be generated between the head direction of the movable platform and the horizontal component of the motion velocity vector of the movable platform.

[0013] In a third aspect, the present application further provides a somatosensory controller, comprising:

[0014] a housing; and

[0015] A trigger assembly is movably connected to the housing, and the trigger assembly includes a trigger and a reset member. The trigger is connected to the reset member and can move relative to the housing. The reset member is used to provide a restoring force to keep the trigger in a target position; when the trigger moves from the target position in the first direction or the second direction, it can be affected by the restoring force provided by the reset member.

[0016] In a fourth aspect, the present application also provides a movable platform comprising the control device as described in the first aspect.

[0017] In a fifth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the control method as described in the first aspect.

[0018] In an embodiment of the present application, the somatosensory controller can receive a first operation and a second operation of a user on different objects, and one of the first operation and the second operation is a somatosensory control operation of the somatosensory controller, and can generate a control instruction in response to the first operation and the second operation. The control instruction is used to control the movable platform and can make an angle greater than 0° between the head direction of the movable platform and the horizontal component of the motion velocity vector of the movable platform, so that when the user uses the somatosensory controller to control the movable platform, more control strategies can be generated, thereby improving the user's freedom to control using the somatosensory controller.

[0019] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] FIG1 is a schematic diagram of an application scenario of a control system provided in an embodiment of the present application;

[0022] FIG2 is a flowchart of the steps of the control method provided in an embodiment of the present application;

[0023] FIG3 is a schematic diagram of one of the control scenarios of the mobile platform provided in an embodiment of the present application;

[0024] FIG4 is a second schematic diagram of a control scenario of a mobile platform provided in an embodiment of the present application;

[0025] FIG5 is a third schematic diagram of a control scenario of a mobile platform provided in an embodiment of the present application;

[0026] FIG6 is a fourth schematic diagram of a control scenario of a mobile platform provided in an embodiment of the present application;

[0027] FIG7 is a fifth schematic diagram of a control scenario of a mobile platform provided in an embodiment of the present application;

[0028] FIG8 is a sixth schematic diagram of a control scenario of a mobile platform provided in an embodiment of the present application;

[0029] FIG9 is a seventh schematic diagram of a control scenario of a mobile platform provided in an embodiment of the present application;

[0030] FIG10 is an eighth schematic diagram of a control scenario of a mobile platform provided in an embodiment of the present application;

[0031] FIG11 is a ninth schematic diagram of a control scenario of a mobile platform provided in an embodiment of the present application;

[0032] FIG12 is a schematic structural diagram of a somatosensory controller provided in an embodiment of the present application;

[0033] FIG13 is a schematic diagram of a partial structure of a motion sensing controller according to an embodiment of the present application;

[0034] FIG14 is a schematic diagram of the structure of a trigger assembly of a motion sensing controller according to an embodiment of the present application;

[0035] FIG15 is a second structural diagram of the trigger assembly of the motion sensing controller provided in an embodiment of the present application;

[0036] FIG16 is a third structural diagram of the trigger assembly of the motion sensing controller provided in an embodiment of the present application;

[0037] FIG17 is a structural diagram of a thumbwheel assembly of a motion sensing controller according to an embodiment of the present application;

[0038] FIG18 is a second structural diagram of the thumbwheel assembly of the somatosensory controller provided in an embodiment of the present application;

[0039] FIG19 is a second schematic diagram of a partial structure of a somatosensory controller provided in an embodiment of the present application;

[0040] FIG20 is a schematic diagram of a control screen provided in an embodiment of the present application;

[0041] FIG21 is a schematic diagram of the structure of the control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0043] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0044] The following embodiments of the present application are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0045] Embodiments of the present invention disclose a somatosensory control method for a movable platform, and a corresponding control system. The movable platform can be an unmanned aerial vehicle (UAV), a ground-based mobile robot, a surface-based somatosensory control robot, or other platforms capable of somatosensory control. In the illustrated embodiment, an UAV is used as an example for detailed description. It should be understood that when the movable platform is an UAV, the motion of the movable platform can be understood as the flight of the UAV.

[0046] Please refer to Figure 1, which is a schematic diagram of the structure of a control system provided by an embodiment of the present application. As shown in Figure 1, a control system includes an aircraft 100 and a control terminal 200, and the aircraft 100 can be communicatively connected to the control terminal 200. The control terminal 200 can be used to control the aircraft 100. The control terminal 200 may include at least one of a remote control, a somatosensory controller, a smart phone, and a tablet computer, and may also include at least one of a remote control, a smart phone, and a wearable device, wherein the wearable device includes a head-mounted display device, and the head-mounted display device may include a virtual reality (VR) display device or a first-person view (FPV) display device.

[0047] In some embodiments, aircraft 100 includes a fuselage 110, a power system 120, an imaging device 130, and a control device (not shown in FIG1 ). The fuselage 110 may include a nose 111. In some embodiments, aircraft 100 further includes an arm connected to the fuselage 110 and used to mount the power system. In some embodiments, the power system 120 may be mounted directly on the fuselage 110.

[0048] The power system 120 is used to provide flight power for the aircraft. The power system 120 may include a motor and a propeller mounted on the motor and driven by the motor. The power system 120 can drive the fuselage 110 of the aircraft 100 to rotate around one or more rotation axes. For example, the above-mentioned rotation axes may include a roll axis, a yaw axis, and a pitch axis. When the power system 120 drives the fuselage 110 to rotate around the yaw axis, the yaw direction of the nose of the fuselage will change, that is, the yaw rotation of the fuselage 110 can be controlled by controlling the power system 120. It should be understood that the motor can be a DC motor or an AC motor. In addition, the motor can be a brushless motor or a brushed motor.

[0049] The camera 130 is carried directly or via a gimbal on the fuselage 110 and is used to capture images, which may be pictures and / or videos. In some embodiments, as shown in FIG1 , the aircraft may include a gimbal 140 , on which the camera 130 is mounted, and which is connected to the fuselage 110 . In some embodiments, the gimbal 140 can control the yaw rotation of the camera 130 to adjust the yaw orientation of the camera 130 . Specifically, the gimbal 140 can include a yaw motor 141 , which is used to control the yaw rotation of the camera 130 . In some embodiments, the gimbal 140 can control the pitch rotation of the camera 130 to adjust the pitch orientation of the camera 130 . Specifically, the gimbal 140 can include a pitch motor , which is used to control the pitch rotation of the camera 130 . In some embodiments, the gimbal 140 can control the roll rotation of the camera 130 to adjust the roll direction of the camera 130. Specifically, the gimbal 140 may include a roll motor and a pitch motor for controlling the roll rotation of the camera 130.

[0050] In the yaw direction, the yaw rotation of the camera 130 and the yaw rotation of the body 110 may be associated. Further, the camera 130 may yaw and rotate following the yaw rotation of the body 110 , or the body 110 may yaw and rotate following the yaw rotation of the camera 130 .

[0051] The control terminal may include an input device, wherein the input device may detect control operations performed by a user of the control terminal. The control terminal may generate control instructions for the aircraft based on the user's control operations detected by the input device. For example, the control terminal may generate a yaw control instruction based on a yaw control operation performed by the user of the control terminal detected by the input device, and may transmit the yaw control instruction to the aircraft. Alternatively, the control terminal may generate a pitch control instruction based on a gimbal pitch control operation performed by the user of the control terminal detected by the input device, and may transmit the gimbal pitch control instruction to the aircraft.

[0052] Referring to FIG. 1 , in some embodiments, the control terminal 200 includes a remote controller, which is provided with an input device and a communication device. The communication device is a wireless communication device, which may include at least one of a high-frequency radio transceiver, a Wi-Fi module, and a Bluetooth module. The input device is used to generate corresponding control instructions in response to user manipulation, so that the remote controller can control the aircraft to adjust its flight attitude and / or flight speed through the control instructions. The input device includes at least one of a button, a joystick, a dial, and a touch screen. For example, the input device is a joystick mounted on the main body of the remote controller. The remote controller senses the user's yaw control manipulation of the joystick, generates a corresponding control instruction, and transmits a first yaw control instruction to the aircraft 100 via the communication device.

[0053] In some embodiments, the control terminal 200 can receive images transmitted by the aircraft 100 and display them on a display device. The display device can be integrated into the control terminal 200, or the display device can be separately set from the control terminal 200 and communicated with the control terminal 200. The communication connection method can be a wired communication connection method or a wireless communication connection method. For example, the wireless communication connection method can be a WiFi connection, a Bluetooth connection, or a high-frequency wireless signal connection.

[0054] The user may generate control instructions by using buttons, joysticks, or dials, or by inputting operations on a touch screen display, which is not limited here.

[0055] The following will describe in detail the control method for an aircraft according to an embodiment of the present application in conjunction with the scenario in Figure 1. It should be noted that the scenario in Figure 1 is only used to explain the control method for a movable platform according to an embodiment of the present application, and does not limit the application scenarios of the control method for a movable platform according to an embodiment of the present application.

[0056] Please refer to Figure 2, which is a flow chart of a method for controlling a mobile platform provided in an embodiment of the present application. The method includes:

[0057] Step 101: receiving a first operation and a second operation input by a user, where the first operation and the second operation are operations on different objects in a motion controller, and one of the first operation and the second operation is a motion control operation of the motion controller;

[0058] Step 102: Generate a control instruction in response to the first operation and the second operation, where the control instruction is used to control the movable platform. The control instruction can generate an angle greater than 0° between the head direction of the movable platform and the horizontal component of the motion velocity vector of the movable platform.

[0059] One of the first operation and the second operation can be an operation for changing the somatosensory posture of the somatosensory controller. It should be understood that the somatosensory controller can be provided with a posture sensor, such as an inertial measurement unit (IMU), and the first operation and / or the second operation can be an operation for changing the measurement quantity of the posture sensor. For example, in some embodiments, the posture sensor can be provided at the handle of the somatosensory controller, and the first operation and / or the second operation can be an operation for changing the posture of the handle. Of course, in other optional embodiments, the first operation and the second operation can also be operations for changing the posture of the somatosensory controller as a whole or other components, which are not listed one by one here.

[0060] The control instruction may be an instruction generated by the somatosensory controller, which may be an instruction for communicating with the mobile platform. For example, in some embodiments, the control instruction may include measurement information obtained by the sensor of the somatosensory controller, and the measurement information is sent to the mobile platform end, and then the mobile platform end performs the corresponding control operation based on the measurement information. Of course, the control instruction may also include control information, and the somatosensory controller may also obtain control information based on the measurement information and send the control information to the mobile platform, which is not limited here.

[0061] The head orientation of a movable platform can be understood as the horizontal posture of the movable platform along the yaw axis. The movable platform can change its head orientation during motion by rotating in place or turning. The velocity vector of the movable platform can include the current direction and magnitude of the movable platform's motion. The horizontal component of the velocity vector can be the vector component of the velocity vector in the horizontal plane, and can also include the direction and magnitude of the motion along the horizontal plane.

[0062] When an angle greater than 0° is generated between the head direction of the movable platform and the horizontal component of the motion velocity vector of the movable platform, the head direction of the movable platform can be offset relative to the direction of its movement, that is, the movable platform can move away from the direction of its head. Referring to Figure 3, the movable platform can yaw at an angle of α while moving straight ahead in Figure 3, that is, the angle between the head direction and the direction of the horizontal component of the motion velocity vector is α. In this way, when the user uses the somatosensory controller to control the movable platform, the first operation and the second operation can be used to make the angle greater than 0° between the head direction of the movable platform and the horizontal component of the motion velocity vector of the movable platform, thereby expanding the user's freedom in controlling the movable platform using the somatosensory controller.

[0063] Furthermore, since the yaw axis of the gimbal of the movable platform can change with the direction of the head, when an angle greater than 0° is generated between the head direction and the horizontal component of the motion velocity vector, the shooting direction of the movable platform can also generate an angle greater than 0° with the motion. This allows users to achieve more camera movements when using the motion controller to control the movable platform, such as surround shooting, point of interest tracking, etc., further improving the user experience.

[0064] The first operation and the second operation may be operations on different objects in the somatosensory controller. In some embodiments, the first operation and the second operation may be operations on different components in the somatosensory controller, for example, the first operation may be an operation on a joystick, and the second operation may be an operation on a handle. In some embodiments, the first operation and the second operation may also be operations on different physical quantities of the same component in the somatosensory controller, for example, the first operation may be a somatosensory posture on a certain axis in the somatosensory controller, and the second operation may be a somatosensory posture on another axis in the somatosensory controller.

[0065] Furthermore, in some embodiments, the motion controller may include a joystick. When the first operation and the second operation are respectively directed to different components of the motion controller, the first operation may be an operation of changing the stick amount of the joystick, and the second operation may be an operation of changing the motion posture of the motion controller.

[0066] It should be understood that the rocker can have one or more axial lever amounts, that is, the first operation can change the lever amount of one axial direction of the rocker, and can also change the lever amounts of multiple axial directions of the rocker.

[0067] For example, for a joystick, it can generally include the stick amount of the X axis and the stick amount of the Y axis. The first operation can change the stick amount of the X axis or the Y axis only, or can change the stick amount of the X axis and the Y axis at the same time.

[0068] Optionally, the motion controller may further include a trigger, and the method may further include:

[0069] Receiving a third operation of the user on the trigger; generating a control instruction, which may specifically include:

[0070] Based on the first operation, the second operation, and the third operation, a control instruction is generated.

[0071] Among them, one of the first operation, the second operation and the third operation is at least used to control the movable platform to change the direction of the motion velocity vector, one is at least used to control the movable platform to change the size of the motion velocity vector, and the other is at least used to control the movable platform to change the direction of the head.

[0072] The user can control the head orientation of the movable platform and the direction and magnitude of the motion velocity vector through the first operation, the second operation, and the third operation. Any of the first operation, the second operation, and the third operation can control one or more of the head orientation of the movable platform, the direction of the motion velocity vector, and the magnitude of the motion velocity vector, without limitation herein.

[0073] Specifically, the third operation may be a push-pull operation on the trigger.

[0074] Optionally, in order to facilitate user control, the first operation, the second operation and the third operation can respectively control the head direction of the movable platform, the direction of the motion speed vector and the magnitude of the motion speed vector.

[0075] Furthermore, when controlling the direction and / or magnitude of the motion velocity vector of the movable platform, the component of the movable platform along one of its axes can be controlled. Specifically, the axis can be a coordinate axis in the body coordinate system or a coordinate axis in the captured image coordinate system, which is not limited here.

[0076] In some embodiments, the control instructions may be specifically used to:

[0077] According to the first operation, controlling the movable platform to change the component of the motion velocity vector along one axis;

[0078] According to the second operation, controlling the movable platform to change the direction of the head of the movable platform;

[0079] According to the third operation, controlling the movable platform to change the component of the motion velocity vector along another axis;

[0080] Or used for: controlling the movable platform to change the head direction of the movable platform according to the first operation;

[0081] According to the second operation, controlling the movable platform to change the component of the motion velocity vector along one axis;

[0082] According to the third operation, the movable platform is controlled to change the component of the motion velocity vector along another axis.

[0083] In some embodiments, the control instructions may be used to:

[0084] According to the first operation, controlling the direction and / or magnitude of the movement speed along one of the axes in the body coordinate system of the movable platform;

[0085] According to the second operation, the movable platform is controlled to change the direction of the head of the movable platform;

[0086] According to the third operation, the movable platform is controlled to change the direction and / or magnitude of the movement speed along one of the axes in the body coordinate system of the movable platform.

[0087] In some embodiments, the control instructions may be used to:

[0088] According to the first operation, the vertical and / or horizontal movement speed of the movable platform with respect to the body coordinate system of the movable platform is controlled:

[0089] According to the second operation, the movable platform is controlled to change the direction of the head of the movable platform;

[0090] According to the third operation, the movable platform is controlled to change the movement speed along the direction of the nose.

[0091] 6, 8, 9, and 10 together, in a specific embodiment, the motion controller may include a joystick and a trigger, wherein the X-axis of the joystick is used to control the left and right direction of the movable platform in the body coordinate system, and the Y-axis of the joystick is used to control the up and down direction of the movable platform in the body coordinate system; the motion controller's motion posture along the roll axis or yaw axis is used to control the head direction of the movable platform, and the motion controller's motion posture along the pitch axis is used to control the posture of the camera carried by the movable platform along the pitch axis; when the trigger of the motion controller is pulled inward, it controls the speed and / or acceleration of the movable platform along the head direction, and when it is pulled outward, it controls the speed and / or acceleration of the movable platform in the opposite direction of the head direction. In this way, when the user wants to make the head direction of the movable platform and the movement produce an angle greater than 0°, the user can change the position of the joystick along the X-axis while pulling the trigger inward, so that the movable platform can generate horizontal velocity components in the head direction and the right direction in the body coordinate system as shown in Figure 10. The final synthesized motion velocity vector can generate an angle between the direction of the horizontal plane and the head direction, thereby improving the user's freedom in controlling the movable platform using the somatosensory controller.

[0092] Joysticks and gesture controls can have two or more dimensions of control variables, while triggers can control relatively few dimensions. Therefore, the trigger can be used to control the magnitude of the movable platform's velocity vector, creating a "throttle" acceleration or deceleration effect, making it easier for users to understand and operate. Of course, in other optional embodiments, the third operation can also be used to control the movable platform's head orientation or the direction of its velocity vector, etc., which are not listed here.

[0093] 4 , the trigger of the motion controller shown in FIG4 can be moved in a first direction or a second direction. The user can accelerate, decelerate, and fly forward or backward on the movable platform by pushing or pulling the trigger.

[0094] In some embodiments, when the third operation is used to control the movable platform to change the magnitude of the motion velocity vector, the control instruction is further used to:

[0095] When the trigger moves in a first direction, controlling the movable platform to generate a speed and / or acceleration in a target direction;

[0096] When the trigger moves in the second direction, the movable platform is controlled to generate a speed and / or acceleration in the opposite direction to the target direction.

[0097] The target direction may be the direction of a motion velocity vector, or the direction of the head of the movable platform, or may be a direction associated with the first operation or the second operation.

[0098] For example, in some embodiments, a user can push or pull a trigger to cause the movable platform to generate a corresponding velocity in a target direction or a direction opposite to the target direction. For example, when the user pulls the trigger inward, the movable platform generates velocity in the target direction; when the user pushes the trigger outward, the movable platform generates velocity in the direction opposite to the target direction; and when the trigger is pulled back to center, the movable platform's velocity can be zero, meaning it remains in a hovering state. In some embodiments, a user can push or pull the trigger to accelerate or decelerate based on the target direction, generating corresponding acceleration in the target direction or the direction opposite to the target direction. It should be understood that when the movable platform decelerates to zero, the acceleration can be controlled to return to zero, causing the movable platform to remain in a hovering state; of course, acceleration can also continue to be generated, causing the movable platform to move in the direction opposite to the target direction. It should be understood that when the trigger is held stationary, if the trigger controls velocity, the velocity can remain constant; if the trigger controls acceleration, the acceleration can remain constant.

[0099] In some embodiments, the user can also generate a new velocity and / or acceleration based on the head orientation of the movable platform by pushing or pulling the trigger. That is, if there is an offset between the current velocity vector of the movable platform and the head orientation, the generated velocity and / or acceleration can be superimposed on the movable platform to cause the movable platform to change its current motion.

[0100] In some embodiments, the target direction may also be determined based on the first operation and / or the second operation. For example, when the first operation or the second operation is used to control the direction of a component of the motion velocity vector of the movable platform, the direction may also be used as the target direction.

[0101] Specifically, when the head orientation of the movable platform changes, the target direction can also change accordingly. For example, when the user changes the head orientation of the movable platform through the first operation or the second operation, the target direction can change accordingly. The user can control the speed along the target direction through a third operation, namely, controlling the trigger. In other words, when the head orientation of the movable platform is as shown in Figure 3, if the trigger is pulled without any other control operations, the movable platform will move in the direction of the head orientation.

[0102] Optionally, one of the first operation and the second operation may be used at least to control the movable platform to change the direction of the nose, and the other may be used at least to control the movable platform to change the motion speed vector.

[0103] In some embodiments, the first operation can be used to change the direction of the head while also changing the motion speed vector. In some embodiments, the first operation may include two sub-operations, one of which is used to change the direction of the head and the other is used to change the motion speed vector. In some embodiments, the first operation can be used only to change the direction of the head, and the second operation can be used only to change the motion speed vector. The same is true for the second operation. Specifically, in order to facilitate user control, the head direction and motion speed vector of the movable platform can be controlled by the first operation and the second operation respectively, so as to achieve decoupling of the control of the head direction and motion speed vector of the movable platform by the somatosensory controller.

[0104] Optionally, when the motion controller includes a joystick, the user can control the direction and / or motion speed vector of the movable platform head by operating the joystick.

[0105] In some embodiments, the control instruction may be used to perform at least one of the following:

[0106] Controlling the movable platform to change the motion velocity vector according to the stick amount and / or stick amount change of the joystick;

[0107] According to the stick amount and / or stick amount change of the joystick, the movable platform is controlled to change the direction of the nose.

[0108] Optionally, the user can also change the posture of the shooting device carried by the movable platform according to the operation of the joystick.

[0109] In some embodiments, the control instructions may also be used to:

[0110] According to the stick amount and / or stick amount change of the joystick, the movable platform is controlled to change the posture of the camera device carried thereon.

[0111] Among them, the control instruction can be generated based on the stick amount of the rocker, or based on the change in the stick amount of the rocker, or a combination of the two, which is not limited here. For example, the positive and negative stick amount of the rocker can correspond to the direction of the speed, and the size of the stick amount corresponds to the size of the speed. It should be understood that the rocker can have multiple axial stick amounts, and the multiple axial stick amounts can be synthesized in a plane to facilitate control, such as synthesizing into stick amounts of the X-axis, Y-axis and Z-axis. For example, in the XOY plane, when the rocker is pushed in a direction that is not parallel to the X-axis and the Y-axis, the rocker can be regarded as having both the stick amount along the X-axis and the stick amount along the Y-axis.

[0112] Optionally, since the joystick may have two or more axial composite levers, different control parameters of the movable platform may be controlled by operating the joystick in different axial directions.

[0113] In some embodiments, the stick amount of the joystick may include a stick amount along a first axis and a stick amount along a second axis, and the first axis and the second axis are not parallel to each other.

[0114] In some embodiments, controlling the movable platform to change the motion velocity vector according to the joystick's stick position and / or stick position change may include at least one of the following:

[0115] Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the third axis according to the stick amount and / or stick amount change of the joystick along the first axis;

[0116] Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the fourth axis according to the stick amount and / or stick amount change of the joystick along the second axis;

[0117] Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the fifth axis according to the stick amount and / or stick amount change of the joystick along the second axis;

[0118] The third axis and the fourth axis are located in the same plane and are not parallel to each other, and the fifth axis is perpendicular to the plane where the third axis and the fourth axis are located.

[0119] Furthermore, to facilitate user understanding and control, the third and fourth axes may be the left and right directions and the front and back directions in the body coordinate system of the movable platform, respectively, and the fifth axis may be the up and down direction in the body coordinate system of the movable platform.

[0120] Referring to Figures 5 and 6, in Figure 5, the first axis can be the X-axis of the joystick, and the second axis can be the Y-axis of the joystick. When the joystick moves in the positive X-axis direction, the control instructions can be used to control the movable platform to change its motion velocity vector to move rightward in the body coordinate system; when the joystick moves in the negative X-axis direction, the control instructions can be used to control the movable platform to change its motion velocity vector to move leftward in the body coordinate system; when the joystick moves in the positive Y-axis direction, the control instructions can be used to control the movable platform to change its motion velocity vector to move forward in the body coordinate system; and when the joystick moves in the negative Y-axis direction, the control instructions can be used to control the movable platform to change its motion velocity vector to move backward in the body coordinate system. Alternatively, referring to Figure 6, when the joystick moves along the Y-axis, the control instructions can be used to control the movable platform to change its motion velocity vector to move up and down in the body coordinate system. In other optional embodiments, the first and second axes of the joystick can also be used to control other motion parameters.

[0121] In some embodiments, to facilitate landing control, the user can control the movable platform based on the coordinate system of the captured image. In some embodiments, the third and fourth axes can be the left-right and front-back directions, respectively, in the coordinate system of the image captured by the camera mounted on the movable platform, and the fifth axis can be the up-down direction in the coordinate system of the image captured by the camera mounted on the movable platform. Referring to Figure 11, if the camera mounted on the movable platform is oriented at an arrow pointing 45 degrees diagonally downward, the top of the coordinate system of the image captured by the camera can be an arrow pointing 45 degrees diagonally upward.

[0122] Optionally, the control instruction may be used to control the movable platform to perform different operations when the movable platform is in different states.

[0123] In some embodiments, the method may further include:

[0124] When the movable platform is in a flight state, controlling the movable platform based on a first control strategy;

[0125] When the movable platform is in the landing state, the movable platform is controlled based on a second control strategy; wherein the first control strategy is based on the movable platform's body coordinate system, and the second control strategy is based on the coordinate system of the image captured by the camera device mounted on the movable platform. The first control strategy and the second control strategy can control the velocity vector of the movable platform based on different reference coordinate systems. The specific implementation methods can be referred to the description of the above embodiment and will not be repeated here.

[0126] In some embodiments, controlling the movable platform to change the nose orientation based on the joystick's stick position and / or stick position change may include:

[0127] According to the stick amount and / or stick amount change of the rocker along the first axis or the second axis, the movable platform is controlled to change the direction of the nose clockwise or counterclockwise.

[0128] For example, referring to Figure 7, when the joystick moves along the positive direction of the X-axis, the control instruction can be used to control the movable platform to rotate clockwise along the yaw axis. When the joystick moves along the negative direction of the X-axis, the control instruction can be used to control the movable platform to rotate counterclockwise. The specific setting can be based on the actual application scenario.

[0129] Correspondingly, the somatosensory posture of the somatosensory controller may also include multiple axial postures, and the multiple axial postures may realize the control of different motion parameters of different movable platforms.

[0130] In some embodiments, the somatosensory gesture of the somatosensory controller may include at least one of the following:

[0131] Somatosensory posture along the yaw axis; Somatosensory posture along the pitch axis; Somatosensory posture along the roll axis.

[0132] In some embodiments, the control instructions may be used to:

[0133] According to the somatosensory posture and / or the amount of change in somatosensory posture of the somatosensory controller, the movable platform is controlled to change the head direction and / or the motion speed vector.

[0134] In some embodiments, when the somatosensory gesture is used to control the movable platform to change the motion velocity vector, the control instruction may be used to perform at least one of the following:

[0135] Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the third axis according to the somatosensory posture and / or the amount of change in the somatosensory posture of the somatosensory controller along the yaw or roll axis;

[0136] Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the fourth axis according to the somatosensory posture and / or the amount of change in the somatosensory posture of the somatosensory controller along the yaw or roll axis;

[0137] Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the fifth axis according to the somatosensory posture and / or the amount of change in the somatosensory posture of the somatosensory controller along the pitch axis;

[0138] The third axis and the fourth axis are located in the same plane and are not parallel to each other, and the fifth axis is perpendicular to the plane where the third axis and the fourth axis are located.

[0139] The third axis, fourth axis, and fifth axis are similar to those in the above embodiment and will not be described in detail here to avoid repetition. It should be understood that when the somatosensory posture and / or somatosensory posture change of the somatosensory controller along the yaw axis is used to control the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the third axis, the somatosensory posture and / or somatosensory posture of the somatosensory controller along the roll axis can also be used to control the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the third axis, without limitation herein.

[0140] In some embodiments, when the body-sensing gesture is used to control the movable platform to change the head orientation, the control instruction is used to execute:

[0141] According to the somatosensory posture and / or the amount of change of the somatosensory posture along one of the yaw axis, the roll axis or the pitch axis of the somatosensory controller, the movable platform is controlled to change the direction of the head in a clockwise or counterclockwise direction.

[0142] 8 , when the somatosensory controller shown in FIG8 changes the somatosensory posture along the yaw axis, the movable platform can also change the direction of the head clockwise or counterclockwise.

[0143] Similar to the above embodiment, the body-sensing gesture can also be used to control the gesture of the camera device carried by the movable platform. In some embodiments, the control instruction can also be used to:

[0144] According to the somatosensory posture and / or the amount of change of the somatosensory posture of the somatosensory controller along the pitch axis, the movable platform is controlled to change the posture of the camera mounted thereon along the pitch axis.

[0145] For example, referring to Figure 9 , when the motion controller "raises" along the pitch axis, the control command can control the camera to "raise" along the pitch axis; when the motion controller "lowers" along the pitch axis, the control command can control the camera to "lower" along the pitch axis. Controlling the camera's posture along the pitch axis based on the motion controller's posture and / or the amount of change in that posture makes it easier for users to understand, adapts to their operating habits, and enhances their user experience.

[0146] Optionally, referring to FIG. 11 , the motion sensing controller may further include a pulley, and the user may control the movable platform by operating the pulley.

[0147] In some embodiments, the method may further include:

[0148] Receive a fourth operation of the user on the pulley; the control instruction is also used to:

[0149] According to the fourth operation, the shooting parameters of the shooting device carried by the movable platform are controlled.

[0150] In some embodiments, the pulley can slide and move when pressed. According to the fourth operation, controlling the camera mounted on the movable platform may include at least one of the following:

[0151] According to the sliding operation of the pulley, the shooting device is controlled to adjust the shooting parameters;

[0152] Determine the shooting parameters by short-pressing the pulley;

[0153] According to the long press operation on the pulley, the control of the shooting device to adjust the shooting parameters is cancelled.

[0154] The pulley can be connected to the housing of the motion controller via a rotating connector, so that the pulley can move relative to the housing when pressed. The motion controller can also be provided with a corresponding pressure sensor. When the pulley moves under pressure, the pressure sensor is triggered, causing the motion controller to generate corresponding control instructions.

[0155] Shooting parameters may include the camera's posture or optical parameters, and are not limited here. For example, a user can control the pitch of the camera along the pitch axis by sliding a pulley; the user can also control the focal length, aperture, and other parameters of the camera by sliding a pulley.

[0156] Of course, in other optional embodiments, the fourth operation can also be used to control interactive menu options in another control device (such as a mobile device or a wearable device). The control device is communicatively connected to the mobile platform and controls the mobile platform by controlling the interactive menu options of the other control device, which is not limited here.

[0157] 12 to 18 , the present invention also provides a somatosensory controller 300 , including:

[0158] housing 310; and

[0159] The trigger assembly 320 is connected to the housing 310. The trigger assembly 320 includes a trigger 321 and a reset member 322. The trigger 321 is connected to the reset member 322 and can move relative to the housing 310. The reset member 322 is used to provide a restoring force to keep the trigger 321 in the target position; when the trigger 321 moves from the target position along the first direction or the second direction, it can be affected by the restoring force provided by the reset member 322.

[0160] Among them, the somatosensory controller can be used to control the movable platform. When the trigger 321 moves along the first direction, the somatosensory controller can control the movable platform to generate a speed and / or acceleration along the target direction; when the trigger 321 moves along the second direction, the somatosensory controller can control the movable platform to generate a speed and / or acceleration in the opposite direction of the target direction.

[0161] In this way, when using the motion controller, the user can pull the trigger in two directions to realize the forward and reverse movement of the movable platform along the target direction, thereby improving the user's control freedom of the movable platform using the motion controller.

[0162] Referring to FIG. 12 , as shown in FIG. 12 , the housing 310 of the motion controller can be roughly in an inverted L-shape, with a grip portion 312 at the bottom for the user to grip, and a control portion 311 at the top, which is provided with a plurality of function buttons. The trigger assembly 320 can be located at the junction of the grip portion 312 and the control portion 311, allowing the user to simultaneously use the trigger assembly 320 and the function buttons on the control portion 311 while gripping the controller.

[0163] The trigger 321 of the trigger assembly 320 can be movable relative to the housing 310. Specifically, the trigger 321 of the trigger assembly 320 can be rotatably connected or slidably connected to the housing 310, and the specific configuration can be based on actual needs. The target position can be the initial position of the trigger 321, or the position of the trigger 321 when no external force is applied.

[0164] Optionally, since it is easier for the user to pull the trigger 321 toward the grip portion 312 and more difficult to push the trigger 321 away from the grip portion 312 when holding the motion controller, in order to enable the user to more conveniently pull the trigger 321 to move in two directions, the force required for the trigger 321 to move the same stroke in the two directions may be different.

[0165] In some embodiments, the shell 310 may include a grip portion 312. When the movement stroke is the same, the restoring force provided by the reset member 322 to the trigger 321 during the movement from the target position along the first direction is greater than the restoring force provided by the reset member 322 to the trigger 321 during the movement from the target position along the second direction; the first direction is the direction in which the trigger 321 moves toward the grip portion 312, and the second direction is the direction in which the trigger 321 moves away from the grip portion 312.

[0166] In this way, when the movement stroke is the same, the force required for the user to push the trigger 321 in the direction away from the grip portion 312 is smaller than the force required to pull the trigger 321 in the direction toward the grip portion 312, thereby making it easier for the user to push the trigger 321 in the opposite direction and improving the user experience.

[0167] Furthermore, the restoring member can provide restoring forces in two directions for the trigger 321 through the cooperation of the elastic member 3221 and the linkage member 3222 .

[0168] In some embodiments, the return member may include an elastic member 3221 and a linkage member 3222, wherein one end of the elastic member 3221 is fixedly connected to the housing 310 and the other end is connected to the linkage member 3222; one end of the linkage member 3222 is rotatably connected to the housing 310 and the other end is connected to the elastic member 3221;

[0169] The trigger 321 is rotationally connected to the housing 310, and the trigger 321 is connected to the linkage component 3222. During the process of rotating from the target position along the first direction and from the target position along the second direction, the trigger 321 drives the end of the linkage component 3222 connected to the elastic component 3221 to move in a direction away from the elastic component 3221.

[0170] Furthermore, the trigger 321 can be connected to the housing 310 in a rotational connection, so that the trigger 321 can rotate along the first rotation axis 32111 in the first direction and the second direction.

[0171] 14 , in some embodiments, the trigger 321 may include a rotating member 3211 , the rotating member 3211 including a first rotating shaft 32111 , a first protrusion 32112 , and a second protrusion 32113 . The first rotating shaft 32111 is rotatably connected to the housing 310 , and the first protrusion 32112 and the second protrusion 32113 are respectively connected to two sides of the first rotating shaft 32111 and extend in different directions.

[0172] The linkage component 3222 is rotationally connected to the shell 310, and the linkage component 3222 abuts against the first protrusion 32112 and the second protrusion 32113 respectively, and in the process of the rotating member 3211 rotating along the first rotating shaft 32111, the first protrusion 32112 or the second protrusion 32113 drives the end of the linkage component 3222 connected to the elastic component 3221 to rotate in the direction away from the elastic component 3221.

[0173] In some embodiments, a rotation groove may be defined between both ends of the linkage component 3222 , and the first rotation axis 32111 may be at least partially located in the rotation groove; the first protrusion 32112 and the second protrusion 32113 are respectively located on either side of the rotation groove.

[0174] In some embodiments, the elastic component 3221 may be a telescopic spring, one end of which is fixedly connected to the housing 310 , and the other end of which is fixedly connected to the linkage component 3222 .

[0175] Referring to Figures 13 to 15 , in some embodiments, the elastic member 3221 may be a compression spring. The first rotation axis 32111, first protrusion 32112, and second protrusion 32113 of the trigger 321 may be arranged in a generally T-shaped configuration. The linkage member 3222 may be provided with a rotation groove for partially accommodating the first rotation axis 32111. The rotation groove may be located in the middle of the linkage member 3222, that is, between the rotation axis end of the linkage member 3222 and the connection end between the linkage member 3222 and the elastic member 3221.

[0176] 15 , when the trigger 321 rotates in a first direction along the first rotation axis 32111, the first protrusion 32112 rotates in the first direction, driving the linkage member 3222 to move away from the elastic member 3221, thereby extending the elastic member 3221 and generating a return force in the opposite direction, thereby automatically returning the trigger 321 to the target position. Similarly, when the trigger 321 rotates in a second direction along the first rotation axis 32111, the second protrusion 32113 rotates in the second direction, driving the linkage member 3222 to move away from the elastic member 3221, thereby extending the elastic member 3221 and generating a return force in the opposite direction, thereby automatically returning the trigger 321 to the target position.

[0177] Through the cooperation between the elastic component 3221 and the linkage component 3222 , the trigger 321 can be made to automatically return to the center when moving in two directions.

[0178] Further, referring to Figure 16, in order to achieve that under the same movement stroke, the force required for the user to push the trigger 321 in the direction away from the grip portion 312 is smaller than the force required to pull the trigger 321 in the direction toward the grip portion 312, in some embodiments, the distance S1 from the end of the second protrusion 32113 away from the first rotation axis 32111 to the first rotation axis 32111 is greater than the distance S2 from the end of the first protrusion 32112 away from the first rotation axis 32111 to the first rotation axis 32111.

[0179] In this way, in the process of pulling the trigger 321, the second protrusion 32113 and the first protrusion 32112 need to respectively abut against the linkage part 3222 and drive the linkage part 3222 to move. Since the distance from the first protrusion 32112 to the first rotating shaft 32111 is longer, the lever arm is also longer. When the required torque is the same, the force required for the second protrusion 32113 to rotate in the second direction is less than the force required for the first protrusion 32112 to rotate in the first direction. Therefore, the user can use a smaller force to make the trigger 321 move in the second direction, which adapts to the user's force habits and improves the user's usage experience.

[0180] Continuing with FIG. 15 , in some embodiments, the linkage member 3222 may include a second rotation axis 32221, through which the linkage member 3222 is rotatably connected to the housing 310. The distance between the end of the second protrusion 32113 distal from the first rotation axis 32111 and the second rotation axis 32221 is greater than the distance between the end of the first protrusion 32112 distal from the first rotation axis 32111 and the second rotation axis 32221. Similarly, the distance between the second protrusion 32113 and the second rotation axis 32221 is longer. Therefore, when the trigger 321 is pulled, the second protrusion 32113 and the first protrusion 32112 need to respectively abut the linkage member 3222, thereby driving the linkage member 3222 to move. Therefore, when the required torque is the same, the force required for the second protrusion 32113 to rotate in the second direction is less than the force required for the first protrusion 32112 to rotate in the first direction. Therefore, the user can use a smaller force to move the trigger 321 in the second direction, which adapts to the user's force habits and improves the user's usage experience.

[0181] In some embodiments, the rotating member 3211 may be located inside the housing 310 .

[0182] In some embodiments, the restoration member 322 may be located within the housing 310 .

[0183] In some embodiments, the trigger 321 may include a first force-bearing portion 3212 and a second force-bearing portion 3213. The first force-bearing portion 3212 and the second force-bearing portion 3213 are located outside the shell 310. When the first force-bearing portion 3212 is subjected to a force along a first direction, it drives the trigger 321 to rotate along the first direction. When the second force-bearing portion 3213 is subjected to a force along a second direction, it drives the trigger 321 to rotate along the second direction.

[0184] In some embodiments, the side of the first force-bearing portion 3212 and the side of the second force-bearing portion 3213 are combined to form a receiving groove.

[0185] Referring to Figure 14, the first force-bearing portion 3212 and the second force-bearing portion 3213 in Figure 14 are roughly V-shaped, so that the user can place his finger into the V-shaped slot and apply force inward or outward to move the trigger 321 in the first direction or the second direction. By setting the first force-bearing portion 3212 and the second force-bearing portion 3213, it is convenient for the user to apply force in both directions, further improving the user experience.

[0186] Furthermore, since users' fingers vary in size, the size of the accommodating slot may be changed in order to make the accommodating slot fit the user's finger better and facilitate the user to exert force.

[0187] In some embodiments, the first force-bearing portion 3212 can be rotatably connected to the second force-bearing portion 3213 so that the size of the receiving groove can be changed;

[0188] Furthermore, the trigger 321 may further include a fastener. When the fastener is in a first state, the first force-bearing portion 3212 and the second force-bearing portion 3213 are fixed; when the fastener is in a second state, the first force-bearing portion 3212 and the second force-bearing portion 3213 can rotate relative to each other.

[0189] The first force-bearing portion 3212 and the second force-bearing portion 3213 can be fastened by bolts while being rotatably connected. The first state can be a state in which the bolts are fastened, and the second state can be a state in which the bolts are disengaged. Thus, when the fastener is in the second state, the user can adjust the distance between the first force-bearing portion 3212 and the second force-bearing portion 3213, and fix the first force-bearing portion 3212 and the second force-bearing portion 3213 by the fastener, thereby achieving an adjustable accommodation slot between the first force-bearing portion 3212 and the second force-bearing portion 3213, thereby improving the user experience.

[0190] Of course, in other optional embodiments, the trigger 321 may also be partially set in a ring, and the user may place a finger in the ring. The specific setting may be made according to actual conditions.

[0191] In some embodiments, the motion controller may further include a thumbwheel assembly 313 , which is connected to the housing 310 and at least partially located outside the housing 310 ;

[0192] The thumbwheel assembly 313 includes a thumbwheel 3131 and a connecting member 3132. The thumbwheel 3131 is rotatably connected to the connecting member 3132 and can rotate relative to the connecting member 3132 along its center axis; the connecting member 3132 is movably connected to the shell 310 and can move relative to the shell 310 to drive the thumbwheel 3131 to move.

[0193] The thumbwheel 3131 of the thumbwheel assembly 313 is not only rotatable along its central axis relative to the connecting member 3132, that is, the user can perform control operations by turning the thumbwheel 3131. Furthermore, since the connecting member 3132 is movably connected to the housing 310, the thumbwheel 3131 can also move relative to the housing 310 through the movement of the connecting member 3132, and the user can perform other control operations by pressing the thumbwheel 3131.

[0194] Referring to Figure 17, in one embodiment, the dial 3131 can be rotatably connected to the connector 3132 via a central axis. Simultaneously, the connector 3132 can be rotatably connected to the housing 310, allowing the dial 3131 to rotate along with the connector 3132. A pressure sensor can also be provided within the housing 310. As the dial 3131 rotates within the housing 310, it abuts against the pressure sensor, generating a corresponding electrical signal. This allows the user to simultaneously perform a control operation by turning the dial 3131 and perform other control operations by pressing the dial 3131. By reusing the control unit 311, the richness of control functions and space utilization are enhanced.

[0195] Referring to the above method embodiment, the user can control the shooting parameters of the shooting device by turning the dial 3131, and confirm or cancel the shooting parameters by pressing the dial 3131. The specific settings can be made according to actual needs and are not limited here.

[0196] Furthermore, referring to FIG18 , to provide a damped feel to the dial wheel 3131 as it rotates about its central axis, the dial wheel 3131 may include an elastic member 31311, a stopper 31312, and a dial ring 31313. The inner wall of the dial ring 31313 may be provided with a plurality of stopper grooves. The stopper 31312 may be spherical, and the stopper grooves may be correspondingly semicircular. The stopper 31312 abuts against the inner wall of the dial ring 31313 through the action of the elastic member 31311. When the dial wheel 3131 is moved, the stopper 31312 may be at least partially located within the stopper groove. This allows for damping when the stopper 31312 is released from the stopper groove, thereby enhancing the feel of the operation.

[0197] Optionally, the motion controller may further include a heat sink 315 , which may be located inside the housing 310 and configured to dissipate heat from a circuit board in the motion controller.

[0198] Further, referring to Figure 19, the heat sink 315 can be adapted to the shape of the shell 310 of the somatosensory controller, and has a bent portion in the middle, and the heat sink 315 can be respectively attached and fixed to the upper circuit board and the lower circuit board of the somatosensory controller. Heat dissipation is achieved through the integrated heat sink 315, which facilitates the processing and installation of the heat sink 315 and can also effectively improve the heat dissipation efficiency by increasing the heat dissipation area.

[0199] Optionally, referring to FIG4 , the motion controller may further include a joystick 316 , which may be partially disposed outside the housing 310 . The joystick 316 may be used to implement the control method of the above-described method embodiment, or may be used to implement other control methods, which are not listed here one by one.

[0200] An embodiment of the present application also provides a control method, which can be applied to a wearable device, wherein the wearable device includes a display device that can be used to display a first-person perspective (FPV) picture during movement. Referring to Figure 20, the method may include the display device displaying an indicator icon (the circled part in the figure) while displaying the FPV picture. The indicator icon can be used to indicate the current movement of the movable platform, or can indicate the direction of the current motion velocity vector. At the same time, as shown above in Figure 20, the display device can also display an indicator bar, which is used to indicate the offset between the direction of the current motion velocity vector and the direction of the nose.

[0201] It should be understood that when the angle between the movable platform's nose orientation and the motion is greater than 0°, the direction of the motion velocity vector indicated by the indicator icon may exceed the displayed FPV image because the movable platform's camera device can change along with the movable platform's nose orientation. In some embodiments, the direction of the motion velocity vector indicated by the indicator icon can be prevented from exceeding the displayed FPV image by limiting the maximum angle between the movable platform's nose orientation and the motion velocity vector. In some embodiments, when the direction of the motion velocity vector indicated by the indicator icon exceeds the displayed FPV image, it can be displayed at the edge of the FPV image.

[0202] Please refer to Figure 21, which is a schematic block diagram of the structure of a control device provided in an embodiment of the present application. The control device is applied to the aforementioned movable platform 100. The control device can be integrated into the aforementioned movable platform 100, or can be independently provided and communicatively connected to the movable platform 100. The aforementioned control method can also be applied to the control device.

[0203] As shown in FIG20 , the control device 400 includes a processor 401 and a memory 402 . The processor 401 and the memory 402 are connected via a bus 403 , which is, for example, an I 2 C (Inter-integrated Circuit) bus.

[0204] Specifically, the processor 401 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0205] Specifically, the memory 402 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0206] The processor 401 is configured to run the computer program stored in the memory 402 and implement the following steps when executing the computer program:

[0207] receiving a first operation and a second operation input by a user, wherein the first operation and the second operation are operations on different objects in the somatosensory controller, and one of the first operation and the second operation is a somatosensory control operation of the somatosensory controller;

[0208] In response to the first operation and the second operation, a control instruction is generated, which is used to control the movable platform. The control instruction can generate an angle greater than 0° between the head direction of the movable platform and the horizontal component of the motion velocity vector of the movable platform.

[0209] At the same time, it can also be used to implement the steps in the above method embodiment, which will not be described again here to avoid repetition.

[0210] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control device described above can refer to the corresponding process in the aforementioned control method embodiment, and will not be repeated here.

[0211] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions. The processor executes the program instructions to implement the steps of the control method provided in the above embodiment.

[0212] The computer-readable storage medium may be an internal storage unit of the removable platform of any of the aforementioned embodiments, such as a hard disk or memory of the removable platform. The computer-readable storage medium may also be an external storage device of the removable platform, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc., provided on the removable platform.

[0213] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present 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.

[0214] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0215] The above are only specific embodiments of the present application, but the scope of protection of the present 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 such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A somatosensory control method for a movable platform, characterized in that: include: receiving a first operation and a second operation input by a user, wherein the first operation and the second operation are operations on different objects in a motion controller, and one of the first operation and the second operation is a motion control operation of the motion controller; In response to the first operation and the second operation, a control instruction is generated, wherein the control instruction is used to control the movable platform, and the control instruction can cause an angle greater than 0° between the direction of the head of the movable platform and the horizontal component direction of the movement speed of the movable platform.

2. The method according to claim 1, characterized in that The first operation and the second operation are operations on different components in the motion controller.

3. The method according to claim 1, characterized in that The first operation and the second operation are operations on different physical quantities of the same component in the motion controller.

4. The method according to claim 1, wherein One of the first operation and the second operation is at least used to control the movable platform to change the head orientation of the movable platform, and the other is at least used to control the movable platform to change the motion speed vector.

5. The method according to claim 2, characterized in that The somatosensory controller includes a joystick, the first operation is an operation of changing a stick amount of the joystick, and the second operation is an operation of changing a somatosensory posture of the somatosensory controller.

6. The method according to any one of claims 1 to 5, characterized in that The somatosensory controller further includes a trigger, and the method further includes: Receiving a third operation of the user on the trigger; generating a control instruction, including: Based on the first operation, the second operation and the third operation, the control instruction is generated; wherein, One of the first operation, the second operation and the third operation is at least used to control the movable platform to change the direction of the motion velocity vector, one is at least used to control the movable platform to change the size of the motion velocity vector, and the other is at least used to control the movable platform to change the direction of the head.

7. The method according to claim 6, characterized in that The control instructions are used to: According to the first operation, controlling the movable platform to change the component of the motion velocity vector along one axis; According to the second operation, controlling the movable platform to change the direction of the head of the movable platform; According to the third operation, controlling the movable platform to change the component of the motion velocity vector along another axis; Or for: According to the first operation, controlling the movable platform to change the direction of the head of the movable platform; According to the second operation, controlling the movable platform to change the component of the motion velocity vector along one axis; According to the third operation, the movable platform is controlled to change the component of the motion velocity vector along another axis.

8. The method according to claim 6, characterized in that In the case where the third operation is used to control the movable platform to change the magnitude of the motion velocity vector, the control instruction is further used to: When the trigger moves in a first direction, controlling the movable platform to generate a speed and / or acceleration in a target direction; When the trigger moves in a second direction, the movable platform is controlled to generate a speed and / or acceleration in a direction opposite to the target direction.

9. The method according to claim 8, characterized in that The target direction is the direction of the nose, or the target direction is the direction of the motion velocity vector, or the target direction is associated with the first operation and / or the second operation.

10. The method according to claim 5, characterized in that The control instruction is used to perform at least one of the following: Controlling the movable platform to change a motion velocity vector according to a stick amount and / or a change in the stick amount of the joystick; According to the stick amount and / or stick amount change of the rocker, the movable platform is controlled to change the direction of the nose.

11. The method according to claim 10, characterized in that The control instructions are also used to: According to the stick amount and / or stick amount change of the joystick, the movable platform is controlled to change the posture of the camera device carried thereon.

12. The method according to claim 10 or 11, characterized in that The stick amount of the rocker includes a stick amount along a first axis and a stick amount along a second axis, and the first axis and the second axis are not parallel to each other.

13. The method according to claim 12, characterized in that Controlling the movable platform to change the motion velocity vector according to the stick amount and / or stick amount change of the joystick includes at least one of the following: Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the third axis according to the stick amount and / or stick amount change of the joystick along the first axis; Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the fourth axis according to the stick amount and / or stick amount change of the joystick along the second axis; Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the fifth axis according to the stick amount and / or stick amount change of the joystick along the second axis; The third axis and the fourth axis are located in the same plane and are not parallel to each other, and the fifth axis is perpendicular to the plane where the third axis and the fourth axis are located.

14. The method according to claim 12, characterized in that The controlling the movable platform to change the direction of the nose according to the stick amount and / or stick amount change of the joystick includes: According to the stick amount and / or stick amount change of the rocker along the first axis or the second axis, the movable platform is controlled to change the direction of the nose in a clockwise or counterclockwise direction.

15. The method according to claim 13, characterized in that The third axis and the fourth axis are respectively the left-right direction and the front-back direction of the movable platform in the body coordinate system, and the fifth axis is the up-down direction of the movable platform in the body coordinate system.

16. The method according to claim 13, characterized in that The third axis and the fourth axis are respectively the left and right directions and the front and back directions in the coordinate system of the image captured by the camera mounted on the movable platform, and the fifth axis is the up and down direction in the coordinate system of the image captured by the camera mounted on the movable platform.

17. The method according to claim 12, wherein: In the case where the control instruction is used to control the movable platform to change the posture of the camera mounted thereon according to the stick amount and / or stick amount change of the joystick, the control instruction is specifically used to: According to the stick amount and / or stick amount change of the joystick along the first axis or the second axis, the movable platform is controlled to change the posture of the camera mounted thereon along the pitch axis.

18. The method according to claim 1, wherein The somatosensory gesture of the somatosensory controller includes at least one of the following: Somatosensory posture along the yaw axis; Somatosensory posture along the pitch axis; Somatosensory posture along the roll axis.

19. The method according to claim 1 or 18, characterized in that The control instructions are used to: According to the somatosensory posture and / or somatosensory posture change amount of the somatosensory controller, the movable platform is controlled to change the head direction and / or movement speed vector.

20. The method according to claim 19, characterized in that The control instruction is used to perform at least one of the following: Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the third axis according to the somatosensory posture and / or the amount of change in the somatosensory posture of the somatosensory controller along the yaw or roll axis; Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the fourth axis according to the somatosensory posture and / or the amount of change in the somatosensory posture of the somatosensory controller along the yaw or roll axis; Controlling the movable platform to change the direction and / or magnitude of the component of the motion velocity vector along the fifth axis according to the somatosensory posture and / or the amount of change of the somatosensory posture along the pitch axis of the somatosensory controller; The third axis and the fourth axis are located in the same plane and are not parallel to each other, and the fifth axis is perpendicular to the plane where the third axis and the fourth axis are located.

21. The method according to claim 19, wherein The control instructions are used to execute: According to the somatosensory posture and / or somatosensory posture change amount of the somatosensory controller along one of the yaw axis, the roll axis or the pitch axis, the movable platform is controlled to change the head direction clockwise or counterclockwise.

22. The method according to claim 19, wherein The control instructions are also used to: According to the somatosensory posture and / or the amount of change of the somatosensory posture of the somatosensory controller along the pitch axis, the movable platform is controlled to change the posture of the camera mounted thereon along the pitch axis.

23. The method according to claim 1, wherein The control instructions are used to: When the movable platform is in a flight state, controlling the movable platform based on a first control strategy; When the movable platform is in a landing state, the movable platform is controlled based on a second control strategy; wherein, the first control strategy is based on the body coordinate system of the movable platform, and the second control strategy is based on the shooting screen coordinate system of the shooting device carried by the movable platform.

24. The method according to claim 1, wherein The somatosensory controller includes a pulley, and the method further includes: receiving a fourth operation of the pulley by the user; the control instruction is further used to: According to the fourth operation, shooting parameters of the shooting device carried by the movable platform are controlled.

25. The method according to claim 24, characterized in that The pulley can slide and move after being pressed. The controlling of the photographing device carried by the movable platform according to the fourth operation includes at least one of the following: controlling the photographing device to adjust photographing parameters according to the sliding operation of the pulley; determining the shooting parameters according to a short press operation on the pulley; According to the long-press operation on the pulley, the control of the shooting device to adjust the shooting parameters is canceled.

26. A somatosensory controller, characterized in that: include: case; as well as, A trigger assembly is movably connected to the housing, and the trigger assembly includes a trigger and a reset member. The trigger is connected to the reset member and can move relative to the housing. The reset member is used to provide a restoring force to keep the trigger in a target position; when the trigger moves from the target position in the first direction or the second direction, it can be affected by the restoring force provided by the reset member.

27. The somatosensory controller according to claim 26, characterized in that: The housing includes a grip portion, and under the condition of the same movement stroke, the restoring force provided by the reset member to the trigger during the process of moving from the target position in the first direction is greater than the restoring force provided by the reset member to the trigger during the process of moving from the target position in the second direction; The first direction is a direction in which the trigger moves toward the grip portion, and the second direction is a direction in which the trigger moves away from the grip portion.

28. The somatosensory controller according to claim 26, wherein: The return member includes an elastic component and a linkage component, one end of the elastic component is fixedly connected to the housing, and the other end is connected to the linkage component; one end of the linkage component is rotatably connected to the housing, and the other end is connected to the elastic component; The trigger is rotationally connected to the housing and is connected to the linkage component. During the process of rotating from the target position along the first direction and from the target position along the second direction, the trigger drives the end of the linkage component connected to the elastic component to move in a direction away from the elastic component.

29. The somatosensory controller according to claim 28, characterized in that: The trigger includes a rotating member, the rotating member including a first rotating shaft, a first protrusion, and a second protrusion, the first rotating shaft being rotatably connected to the housing, the first protrusion and the second protrusion being respectively connected to two sides of the first rotating shaft and extending in different directions; The linkage component is rotatably connected to the shell, and the linkage component abuts against the first protrusion and the second protrusion respectively. During the rotation of the rotating member along the first rotating shaft, the first protrusion or the second protrusion drives the end of the linkage component connected to the elastic component to rotate in a direction away from the elastic component.

30. The somatosensory controller according to claim 29, characterized in that: A distance between an end of the second protrusion away from the first rotating shaft and the first rotating shaft is greater than a distance between an end of the first protrusion away from the first rotating shaft and the first rotating shaft.

31. The somatosensory controller according to claim 29, wherein: The linkage component includes a second rotating shaft, and the linkage component is rotatably connected to the housing via the second rotating shaft; A distance from an end of the second protrusion away from the first rotation axis to the second rotation axis is greater than a distance from an end of the first protrusion away from the first rotation axis to the second rotation axis.

32. The somatosensory controller according to claim 29, wherein a rotation groove is provided between the two ends of the linkage component, the first rotating shaft is at least partially located in the rotation groove; the first convex portion and the second convex portion are respectively located on both sides of the rotation groove.

33. The somatosensory controller according to claim 28, characterized in that The elastic member is a telescopic spring, one end of which is fixedly connected to the housing, and the other end of which is fixedly connected to the linkage component.

34. The somatosensory controller according to claim 29, characterized in that The rotating member is located in the housing.

35. The somatosensory controller according to claim 26, characterized in that: The reset element is located in the housing.

36. The somatosensory controller according to claim 26, characterized in that: The trigger includes a first force-bearing part and a second force-bearing part, the first force-bearing part and the second force-bearing part are located outside the shell, and when the first force-bearing part is subjected to a force along the first direction, the trigger is driven to rotate along the first direction, and when the second force-bearing part is subjected to a force along the second direction, the trigger is driven to rotate along the second direction.

37. The somatosensory controller according to claim 36, characterized in that: The side edge of the first force-bearing portion and the side edge of the second force-bearing portion are combined to form an accommodating groove.

38. The somatosensory controller according to claim 37, characterized in that: The first force-bearing portion is rotatably connected to the second force-bearing portion so that the size of the receiving groove can be changed; The trigger further includes a fastener. When the fastener is in a first state, the first force-bearing portion and the second force-bearing portion are fixed; when the fastener is in a second state, the first force-bearing portion and the second force-bearing portion can rotate relative to each other.

39. The somatosensory controller according to claim 26, characterized in that The somatosensory controller further includes a thumbwheel assembly, which is connected to the housing and at least partially located outside the housing; The thumbwheel assembly includes a thumbwheel and a connecting member, wherein the thumbwheel is rotatably connected to the connecting member and can rotate relative to the connecting member along its central axis; the connecting member is movably connected to the shell and can move relative to the shell to drive the thumbwheel to move.

40. A control device for a movable platform, characterized in that: The control device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and implement the following steps when executing the computer program: receiving a first operation and a second operation input by a user, wherein the first operation and the second operation are operations on different objects in a motion controller, and one of the first operation and the second operation is an operation for changing a motion posture of the motion controller; In response to the first operation and the second operation, a control instruction is generated, where the control instruction is used to control the movable platform, and the control instruction can cause an angle greater than 0° to be generated between the head direction of the movable platform and the horizontal component of the motion velocity vector of the movable platform.

41. A movable platform, characterized in that: The movable platform comprises a control device as claimed in claim 40.

42. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the steps of the control method according to any one of claims 1 to 25.

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