Image and / or video editing method, photographing method, device, medium and product

Abstract

An image and / or video editing method, a shooting method, a device, a medium and a product. The image and / or video editing method comprises: displaying a target image and / or a target video to be edited on an interactive interface, the target image and / or the target video being obtained by a movable platform during execution of a trajectory generation task, a trajectory generated based on the trajectory generation task being used to enable the movable platform to move according to trajectory points and state parameters corresponding to the trajectory; and in response to receiving a box selection operation on at least one position in the target image and / or the target video, determining a shooting target so that the movable platform can find the shooting target for shooting when subsequently performing a playback according to the trajectory. The shooting effect when performing the playback according to the trajectory is improved.

Description

[0001] This application is a divisional application filed on April 24, 2020, with application number CN 2020800385987, entitled "Trajectory Generation Method, Remote Control Terminal, Mobile Platform, System and Computer-Readable Storage Medium". Technical Field

[0002] This application relates to the field of human-computer interaction technology, and in particular to an image and / or video editing method, shooting method, apparatus, computer-readable storage medium, and computer program product. Background Technology

[0003] With the development of technology, mobile platforms (such as mobile robots and drones) can be applied to a wider range of fields. For example, mobile platforms can be used in the fields of inspection or security. They can be controlled to travel along pre-programmed trajectories, thereby realizing an intelligent search and inspection process, which significantly reduces labor costs and improves inspection efficiency.

[0004] Currently, the methods for editing driving trajectories in related technologies are quite complex, mainly including the following two:

[0005] The first method is map-based trajectory editing, which involves editing the trajectory on the map provided by the map software. However, this method does not take into account the slow map updates from map service providers, which may result in discrepancies between the actual situation and the map. Furthermore, when the edited trajectory is too long or there are too many related parameter settings, users may need to spend a lot of time on trajectory editing and parameter settings, leading to a poor user experience. In addition, users cannot see the effect of the edited driving trajectory and need to try driving and make adjustments multiple times.

[0006] The second method is trajectory editing based on 3D models. This involves creating a 3D model of the target area, then editing the trajectory and setting related parameters on that model. However, this method requires a 3D model as a foundation. While the trajectory editing effect is good, it is time-consuming, demands high-end equipment, and involves complex 3D modeling. Furthermore, when the trajectory is too long or there are too many parameters to set, users may spend a lot of time on trajectory editing and parameter settings, resulting in a poor user experience. Summary of the Invention

[0007] This application provides an image and / or video editing method, a shooting method, an apparatus, a computer-readable storage medium, and a computer program product.

[0008] A first aspect of this application is to provide an image and / or video editing method, comprising:

[0009] The target image and / or target video to be edited are displayed on the interactive interface. The target image and / or target video are captured by the mobile platform during the execution of the trajectory generation task. The trajectory generated based on the trajectory generation task is used to enable the mobile platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0010] In response to receiving a selection operation for at least one location in the target image and / or target video, a shooting target is determined so that the mobile platform can locate and shoot the shooting target when subsequently replaying the trajectory.

[0011] This can include the following beneficial effects: Users can define shooting targets simply by intuitively selecting the target image and / or target video displayed on the interactive interface, without needing programming or complex parameter settings, thus directly translating "visual intent" into "execution instructions" for the mobile platform. By allowing users to explicitly specify the shooting target (such as a specific object, area, or dynamic object) through selection on the target image / video in the interactive interface, the mobile platform can accurately locate and capture the target based on preset trajectory points and state parameters during subsequent trajectory replay, improving shooting results.

[0012] In one implementation, determining the target in response to receiving a selection operation on at least one location in the target image and / or target video includes:

[0013] In response to receiving a selection operation on at least one location in the target image and / or target video, a selection box is displayed at the at least one location; the selection box is used to select the target being captured.

[0014] Obtain the image at the selected area from the target image and / or target video;

[0015] The image within the selected frame is identified to determine the target to be photographed.

[0016] Beneficial effects: By displaying a selection box at the selected location and acquiring and recognizing the image at the selection box to determine the shooting target, the system can achieve automated shooting target recognition based on intuitive user operation, thereby improving the accuracy and efficiency of shooting target determination.

[0017] In one implementation, the method further includes: displaying thumbnails of at least some of the images and / or videos captured by the mobile platform during the trajectory generation task on the interactive interface; the at least some of the images and / or videos include: the target image and / or target video, and other images and / or other videos.

[0018] Beneficial effects: Provides a quick preview of the overall captured content, improving editing efficiency; helps users quickly locate the desired editing shots.

[0019] In one implementation, the thumbnail corresponding to any of the images and / or videos containing the selection box displays a mark indicating the selection box.

[0020] Beneficial effects: The marker display makes it easier for users to quickly identify edited content and avoid repetitive operations.

[0021] In one implementation, the method further includes: hiding the thumbnail in response to receiving an operation on the target image and / or target video.

[0022] Beneficial effects: The thumbnail hiding function prevents obstruction, improves editing focus and interface clarity.

[0023] In one implementation, the interactive interface displays a save control; the method further includes: in response to receiving an operation on the save control, saving the selection box on the target image and / or target video, and displaying a marker indicating the selection box in a thumbnail corresponding to the target image and / or target video.

[0024] Beneficial effects: Enables effective preservation of user editing results; enhances user awareness of editing status through linkage with thumbnail markers.

[0025] In one implementation, displaying the target image and / or target video to be edited on the interactive interface of the remote control terminal includes:

[0026] When the interactive interface displays thumbnails corresponding to at least some images and / or videos, in response to receiving an operation on the thumbnail corresponding to any image and / or video, the any image and / or video is determined as the target image and / or target video to be edited and displayed on the interactive interface;

[0027] And / or, if a switching control is displayed on the interactive interface, in response to receiving an operation on the switching control, the target image and / or target video currently displayed is switched from another target image and / or target video to be edited in the interactive interface of the remote control terminal.

[0028] Beneficial effects: Supports different editing entry points, enhancing compatibility and adaptability. Quickly switch editing content by clicking thumbnails, improving navigation efficiency. Image switching controls enhance editing continuity and smoothness.

[0029] A second aspect of this application is to provide a shooting method, the method comprising:

[0030] During the process of controlling the movement of the mobile platform according to the trajectory generated by the trajectory generation task, the current image and / or current video captured by the mobile platform according to the preset state parameters of the trajectory are acquired.

[0031] Identify the shooting target from the current image and / or current video; wherein the shooting target is determined based on the image and / or video editing method described in any one of the first aspects;

[0032] The preset state parameters are adjusted based on the difference between the position of the target in the current image and / or current video and the preset position.

[0033] The movable platform is controlled to operate according to the adjusted state parameters so that the target being photographed is in a preset position in the re-captured image and / or video.

[0034] Beneficial effects: Supports automatic correction of shooting deviation, ensuring that the shooting target is always in the ideal position in the output image, thus improving shooting quality.

[0035] In one implementation, the preset position includes the center position of the image and / or video.

[0036] In one implementation, adjusting the preset state parameter based on the difference between the position of the shooting target in the current image and / or the current video and the preset position includes: obtaining the adjustment amount of the preset state parameter based on the difference between the position of the shooting target in the current image and / or the current video and the preset position, so as to adjust the preset state parameter.

[0037] A third aspect of this application is to provide an apparatus for use in a remote control terminal, the apparatus including one or more processors, which operate individually or jointly for performing the method described in the first or second aspect.

[0038] A fourth aspect of this application is to provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method described in the first or second aspect.

[0039] A fifth aspect of this application is to provide a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the method described in the first or second aspect.

[0040] This application provides a trajectory generation method, a remote control terminal, a mobile platform, a system, and a computer-readable storage medium.

[0041] A sixth aspect of this application is to provide a trajectory generation method applied to a remote control terminal, the remote control terminal being used to communicate with a mobile platform, including:

[0042] The specified controls are displayed on the interactive interface of the remote control terminal;

[0043] During the movement of the movable platform, in response to the user's operation on the designated control, trajectory points are generated based on the current position of the movable platform, and the current state parameters of the movable platform are recorded;

[0044] The trajectory of the mobile platform is generated based on multiple trajectory points and corresponding state parameters. The trajectory is used to enable the mobile platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0045] A seventh aspect of this application is to provide a remote control terminal, including a processor, a memory for storing processor-executable instructions, and a communication module;

[0046] When the processor executes the executable instructions, it is used to: display specified controls on the interactive interface;

[0047] The communication module is used to: communicate with the mobile platform, and during the movement of the mobile platform, in response to the user's operation on the designated control, obtain the current position and current status parameters of the mobile platform from the mobile platform;

[0048] When the processor executes the executable instructions, it is also used to:

[0049] In response to the user's operation on the specified control, a trajectory point is generated based on the current position of the movable platform, and the current state parameters of the movable platform are recorded;

[0050] The trajectory of the mobile platform is generated based on multiple trajectory points and corresponding state parameters. The trajectory is used to enable the mobile platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0051] An eighth aspect of this application is to provide a trajectory generation apparatus for use on a remote control terminal, the apparatus including one or more processors, which operate individually or jointly for performing the following operations:

[0052] The specified controls are displayed on the interactive interface of the remote control terminal;

[0053] During the movement of the movable platform, in response to the user's operation on the designated control, trajectory points are generated based on the current position of the movable platform, and the current state parameters of the movable platform are recorded;

[0054] The trajectory of the mobile platform is generated based on multiple trajectory points and corresponding state parameters. The trajectory is used to enable the mobile platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0055] A ninth aspect of this application is to provide a trajectory generation system, including a remote control terminal and a mobile platform. The remote control terminal is communicatively connected to the mobile platform.

[0056] The remote control terminal displays a specified control on the interactive interface. In response to the user's operation on the specified control, it obtains the current position and status parameters of the mobile platform from the mobile platform, generates trajectory points based on the current position of the mobile platform, and records the current status parameters of the mobile platform. It generates a trajectory of the mobile platform based on multiple trajectory points and corresponding status parameters. The trajectory is used to enable the mobile platform to move according to the trajectory points and status parameters corresponding to the trajectory.

[0057] A tenth aspect of this application is to provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method described in the first aspect.

[0058] The trajectory generation method, remote control terminal, mobile platform, system, and computer-readable storage medium provided in this embodiment can be executed during mobile movement. When generating the trajectory points and the trajectory, the user only needs to operate the specified control, making the operation simple and easy to learn. In response to the user's operation of the specified control, the current position and status parameters of the mobile device can be directly obtained from the mobile device in real time. Then, trajectory points are generated based on the current position of the mobile platform, and the current status parameters of the mobile platform are recorded. This not only ensures the accuracy of the obtained information but also eliminates the need for manual editing by the user, further reducing the user's operation steps and making it convenient for the user. Finally, the trajectory of the mobile platform is generated based on multiple trajectory points and corresponding status parameters, so that the mobile platform can automatically perform inspection or security tasks based on the generated trajectory. The automation process helps improve inspection efficiency and reduces manual repetitive operations in subsequent operations. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1A structural diagram of a trajectory generation system provided in an embodiment of this application;

[0061] Figure 2 A structural diagram of an unmanned aerial system provided in an embodiment of this application;

[0062] Figure 3A A schematic flowchart illustrating a trajectory generation method provided in an embodiment of this application;

[0063] Figure 3B A schematic flowchart illustrating a trajectory generation method provided in an embodiment of this application;

[0064] Figure 4 A schematic diagram of a first interactive interface provided in an embodiment of this application;

[0065] Figure 5 A schematic diagram of a second interactive interface provided in an embodiment of this application;

[0066] Figure 6 A schematic diagram of a third interactive interface provided in an embodiment of this application;

[0067] Figure 7 A schematic diagram of a fourth interactive interface provided in an embodiment of this application;

[0068] Figure 8 A schematic diagram of the fifth interactive interface provided in the embodiments of this application;

[0069] Figure 9 A schematic diagram of the sixth interactive interface provided in the embodiments of this application;

[0070] Figure 10 A schematic diagram of the seventh interactive interface provided in the embodiments of this application;

[0071] Figure 11 A schematic diagram of the eighth interactive interface provided in the embodiments of this application;

[0072] Figure 12 A schematic diagram of the ninth interactive interface provided in the embodiments of this application;

[0073] Figure 13 A schematic diagram of the tenth interactive interface provided in the embodiments of this application;

[0074] Figure 14 A schematic diagram of the eleventh interactive interface provided in the embodiments of this application;

[0075] Figure 15 A schematic diagram of the twelfth type of interactive interface provided in the embodiments of this application;

[0076] Figure 16A schematic diagram of the thirteenth interactive interface provided in this application embodiment;

[0077] Figure 17 A schematic diagram of the fourteenth interactive interface provided in this application embodiment;

[0078] Figure 18 A schematic diagram of the fifteenth interactive interface provided in the embodiments of this application;

[0079] Figure 19 A schematic diagram of the sixteenth type of interactive interface provided in the embodiments of this application;

[0080] Figure 20 A schematic diagram of the seventeenth interactive interface provided in the embodiments of this application;

[0081] Figure 21 A schematic diagram of the eighteenth type of interactive interface provided in the embodiments of this application;

[0082] Figure 22 A schematic diagram of the trajectory of a mobile platform provided in an embodiment of this application;

[0083] Figure 23 This is a schematic diagram of the structure of a remote control terminal provided in an embodiment of this application;

[0084] Figure 24 This is a schematic diagram of another remote control terminal provided in an embodiment of this application;

[0085] Figure 25 This is a schematic diagram of another trajectory generation system provided in an embodiment of this application. Detailed Implementation

[0086] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0087] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0088] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0089] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0090] To address the complexity of editing driving trajectories in existing technologies, this application provides a trajectory generation method, a remote control terminal, a mobile platform, a system, and a computer-readable storage medium. This application allows for trajectory editing during the movement of the mobile platform. Based on user input, it obtains the current position of the mobile platform, generates trajectory points, and records the current state parameters of the mobile platform. Finally, it generates the trajectory of the mobile platform based on multiple trajectory points and their corresponding state parameters. Therefore, this embodiment allows for trajectory editing while the user controls the mobile platform for an inspection task via a remote control terminal. Because trajectory points are generated in real-time based on the mobile platform's position, the accuracy of the trajectory is ensured. Furthermore, trajectory-related parameters (i.e., state parameters) can be obtained from the mobile platform without manual user setting, significantly reducing user steps and providing greater convenience.

[0091] Please see Figure 1 This is a structural diagram of a trajectory generation system provided in an embodiment of this application. The trajectory generation system includes at least a trajectory generation device 11 and at least one mobile platform 12. The trajectory generation device 11 includes one or more processors, which work collaboratively or independently. The processors are used to implement the trajectory generation method. The trajectory generation device 11 can be installed on a remote control terminal, which includes, but is not limited to, mobile phones, computers, personal tablets, remote controls, personal digital assistants (PDAs), or wearable devices. The remote control terminal is communicatively connected to the mobile platform 12, which includes, but is not limited to, unmanned aerial vehicles, unmanned vessels, or mobile robots. Figure 1 The mobile platform is used as an example of an unmanned aerial vehicle.

[0092] The following description of the mobile platform of this application uses an unmanned aerial vehicle (UAV) as an example. It will be apparent to those skilled in the art that other types of UAVs can be used without limitation, and the embodiments of this application can be applied to various types of UAVs. For example, the UAV can be small or large. In some embodiments, the UAV can be a rotorcraft, such as a multi-rotor UAV propelled by multiple propulsion devices through the air. The embodiments of this application are not limited to this, and the UAV can also be other types of UAVs.

[0093] Figure 2 This is a schematic architecture diagram of an unmanned aerial vehicle (UAV) system according to an embodiment of this application. This embodiment uses a rotorcraft UAV as an example for illustration. The UAV system 100 may include an UAV 110, a display device 130, and a remote control terminal 140. The UAV 110 may include a power system 150, a flight control system 160, a frame, and a gimbal 120 mounted on the frame. The UAV 110 can wirelessly communicate with the remote control terminal 140 and the display device 130. The UAV 110 can be an agricultural UAV or an industrial application UAV, requiring cyclical operation.

[0094] The frame may include a fuselage and landing gear (also known as landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, with the arms extending radially from the center frame. The landing gear is connected to the fuselage and serves to provide support during the landing of the unmanned aerial vehicle 110.

[0095] The power system 150 may include one or more electronic speed controllers (ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the propellers 153. The motors 152 are connected between the ESCs 151 and the propellers 153, and the motors 152 and propellers 153 are mounted on the arms of the unmanned aerial vehicle (UAV) 110. The ESCs 151 receive drive signals generated by the flight control system 160 and provide drive current to the motors 152 according to the drive signals to control the rotational speed of the motors 152. The motors 152 drive the propellers to rotate, thereby providing power for the flight of the UAV 110, enabling the UAV 110 to achieve one or more degrees of freedom of motion. In some embodiments, the UAV 110 may rotate about one or more rotation axes. For example, these rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motors 152 may be DC motors or AC motors. Additionally, the motors 152 may be brushless motors or brushed motors.

[0096] The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the unmanned aerial vehicle (UAV), i.e., the position and state information of the UAV 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include at least one of the following sensors: a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a visual sensor, a global navigation satellite system (GPS), and a barometer. For example, the GPS may be a Global Positioning System (GPS). The flight controller 161 is used to control the flight of the UAV 110, for example, by controlling the flight of the UAV 110 based on the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 can control the UAV 110 according to pre-programmed instructions or by responding to one or more remote control signals from the remote control terminal 140.

[0097] The gimbal 120 may include a motor 122. The gimbal is used to carry the shooting device 123. The flight controller 161 can control the movement of the gimbal 120 via the motor 122. Optionally, as another embodiment, the gimbal 120 may also include a controller for controlling the movement of the gimbal 120 by controlling the motor 122. It should be understood that the gimbal 120 may be independent of the unmanned aerial vehicle 110 or may be part of the unmanned aerial vehicle 110. It should be understood that the motor 122 may be a DC motor or an AC motor. Additionally, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the gimbal may be located at the top or bottom of the unmanned aerial vehicle.

[0098] The imaging device 123 may be, for example, a camera or video camera, a device used to capture images. The imaging device 123 can communicate with the flight controller and perform imaging under the control of the flight controller. In this embodiment, the imaging device 123 includes at least a photosensitive element, such as a complementary metal-oxide-semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor. It is understood that the imaging device 123 can also be directly fixed to the unmanned aerial vehicle 110, thus the gimbal 120 can be omitted.

[0099] The display device 130 is located on the ground end of the unmanned aerial vehicle system 100. It can communicate wirelessly with the unmanned aerial vehicle 110 and can be used to display the attitude information of the unmanned aerial vehicle 110. In addition, images captured by the imaging device 123 can also be displayed on the display device 130. It should be understood that the display device 130 can be a standalone device or integrated into the remote control terminal 140.

[0100] The remote control terminal 140 is located on the ground end of the unmanned flight system 100 and can communicate with the unmanned aerial vehicle 110 wirelessly to remotely control the unmanned aerial vehicle 110.

[0101] It should be understood that the naming of the components of the unmanned aerial system described above is for identification purposes only and should not be construed as a limitation on the embodiments of this application.

[0102] Please see Figure 3A , Figure 3A A flowchart illustrating an image and / or video editing method provided in this application embodiment, the method comprising:

[0103] In S301, the target image and / or target video to be edited are displayed on the interactive interface. The target image and / or target video are captured by the mobile platform during the execution of the trajectory generation task. The trajectory generated based on the trajectory generation task is used to enable the mobile platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0104] In S302, in response to receiving a selection operation of at least one location in the target image and / or target video, a shooting target is determined so that the mobile platform can find the shooting target and shoot it when replaying the trajectory in a subsequent manner.

[0105] Please see Figure 3B as well as Figure 4 , Figure 3B A flowchart illustrating a trajectory generation method provided in an embodiment of this application. Figure 4 This is a schematic diagram of an interactive interface provided in an embodiment of this application. Figure 3B and Figure 4 In the illustrated embodiment, the trajectory generation method can be applied to a remote control terminal, which is used to communicate with a mobile platform. The method includes:

[0106] In step S201, a specified control is displayed on the interactive interface of the remote control terminal.

[0107] In step S202, during the movement of the movable platform, in response to the user's operation on the designated control, trajectory points are generated based on the current position of the movable platform, and the current state parameters of the movable platform are recorded.

[0108] In step S203, a trajectory of the mobile platform is generated based on the multiple trajectory points and their corresponding state parameters. The trajectory is used to enable the mobile platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0109] For step S201, the remote control terminal includes a display device, which includes, but is not limited to, CRT (Cathode Ray Tube) display devices, LCD (Liquid Crystal Display) display devices, LED (Light Emitting Diode) display devices, PDP (Plasma Display Panel) display devices, or OLED (Organic Light-Emitting Diode) display devices. In this embodiment, an interactive interface can be displayed on the display device, and the user controls the remote control terminal and / or the movable platform through interaction with the interactive interface, wherein "and / or" represents both or one of them.

[0110] Based on trajectory generation requirements, please refer to Figure 4 The remote control terminal can display a designated control on the interactive interface. This designated control is used to indicate the generation of trajectory points, and the user can operate the designated control to perform the trajectory point generation step. The operation on the designated control includes at least one of the following: single-click, double-click, long-press, or dragging. In this embodiment, the user can operate the designated control using any one of the following methods: single-click, double-click, long-press, or dragging; this embodiment does not impose any limitation.

[0111] In another embodiment, the function of the specified control can also be integrated into a physical button. Users can operate the physical button by clicking, double-clicking, long-pressing, or dragging. This embodiment does not impose any restrictions on this.

[0112] In step S202, the user can control the movement of the movable platform through the remote control terminal, such as controlling the platform to move or rotate. During the movement of the movable platform, the user can operate on the designated control. The remote control terminal responds to the user's operation on the designated control by obtaining the current position and status parameters of the movable platform, generating trajectory points based on the current position, and recording the current status parameters of the movable platform. Therefore, in this embodiment, generating trajectory points only requires the user to operate on the designated control, making the operation simple. The relevant parameter information can be directly obtained from the movable device in real time, ensuring the accuracy of the obtained parameter information and eliminating the need for manual editing by the user, further reducing the user's operation steps and making it convenient for the user.

[0113] The mobile platform includes a positioning module, which is used to obtain the current location of the mobile platform. The positioning technology used by the positioning module includes, but is not limited to, GPS (Global Positioning System) positioning technology, RTK (Real-time kinematic) positioning technology, or GNSS (Global Navigation Satellite System) positioning technology. This embodiment does not impose any restrictions on this.

[0114] The status parameters of the mobile platform include at least one of the following: the status parameters of the mobile platform, the status parameters of the gimbal installed on the mobile platform, or the status parameters of the shooting device installed on the gimbal and / or the mobile platform.

[0115] In one example, the state parameters of the mobile platform include at least one of the following: the current attitude, position, height, velocity, acceleration, angular velocity, or angular acceleration of the mobile platform.

[0116] The gimbal can be fixedly mounted on the movable platform or detachably mounted on the movable platform. In one example, the state parameters of the gimbal include at least one of the following: the rotation speed, rotation angle, attitude, joint angle, or orientation of the gimbal. The joint angle is the angle from which the gimbal axis rotates about a specified rotation axis.

[0117] The shooting device can be mounted on the gimbal (either fixedly or detachably) or on the movable platform (either fixedly or detachably). In one example, the state parameters of the shooting device include at least one of the following: the shooting action performed by the shooting device, shutter speed, aperture, ISO, or focal length.

[0118] It should be noted that the above description of the state parameters of the mobile platform is only an example and does not constitute a limitation on the state parameters of the mobile platform. The specific settings can be made according to the actual application scenario. For example, when the mobile platform is an unmanned aerial vehicle, the state parameters of the unmanned aerial vehicle also include flight altitude, etc.

[0119] In one embodiment, please refer to Figure 4 Each time a trajectory point is generated, it can be displayed on the interactive interface immediately, without having to wait until the trajectory is generated. This allows users to see and understand the trajectory point generation process in real time, thus optimizing the user experience.

[0120] Next, after generating multiple trajectory points, in step S103, the remote control terminal can generate the trajectory of the movable platform based on the multiple trajectory points and corresponding state parameters. Please refer to [link to relevant documentation]. Figure 4 The trajectory points and trajectory can be displayed on the interactive interface. Therefore, this embodiment can execute the trajectory generation method while the user operates the mobile platform to perform an inspection or security task within a target area. When generating the trajectory points and trajectory, the user only needs to operate the designated controls, making the operation simple and easy to learn. Relevant parameter information can be directly obtained from the mobile device in real time, ensuring the accuracy of the obtained parameter information and eliminating the need for manual editing by the user, further reducing the user's operation steps and facilitating use. Subsequently, the mobile platform can automatically perform inspection or security tasks based on the generated trajectory. The automation process improves inspection efficiency and reduces repetitive manual operations in subsequent work processes.

[0121] In an exemplary application scenario, such as an inspection scenario where a certain area needs to be inspected repeatedly, the trajectory generation method of this application embodiment can be applied to this scenario. By generating the trajectory of the mobile platform in a certain area through steps S201 to S203, the mobile platform can move according to the trajectory points and state parameters corresponding to the trajectory in subsequent inspection tasks, realizing the trajectory replay process in the area, that is, performing automated inspection tasks based on the trajectory, thereby improving inspection efficiency and reducing repetitive work of inspection personnel.

[0122] In one embodiment, please refer to Figure 5 as well as Figure 6 , Figure 5 This is a schematic diagram of the second interactive interface provided in the embodiments of this application. Figure 6 This is a schematic diagram of a third interactive interface provided in the embodiments of this application. The interactive interface includes a first display page and a second display page. In order to allow the user to focus on one of the display pages, the first display page and the second display page may not be displayed on the interactive interface at the same time. Of course, based on the actual needs of the user, the first display page and the second display page may also be displayed on the interactive interface at the same time. This application embodiment does not impose any restrictions on this.

[0123] Figure 5 In the illustrated embodiment, the interactive interface displays a first display page. The first display page is used to display real-time images (image transmission images) acquired by the camera device during the movement of the mobile platform. The designated control is displayed on the first display page. In this embodiment, since the first display page displays the real-time image of the current position of the mobile platform, it is convenient for the user to clearly confirm whether to generate trajectory points related to the current position of the mobile platform. The display of the designated control on the first display page further facilitates the user's operation. When the user confirms that trajectory points are to be generated, they can directly operate the designated control on the same display page, avoiding the cumbersome operation of switching pages, reducing the user's operation steps, and optimizing the user experience.

[0124] In one example, such as Figure 5 As shown, the specified control can be displayed overlaid on the live screen; in one example, the specified control and the live screen can also be displayed separately on the first display page, such as displaying the specified control on the left area and the live screen on the right area. This application does not impose any restrictions on the display method of the specified control and the live screen on the first display page, and specific settings can be made according to the actual application scenario.

[0125] Furthermore, the current location information of the mobile platform, such as latitude and longitude, current speed, distance from the remote control terminal, or flight altitude, can also be displayed on the first display screen to facilitate users to further understand the current status of the mobile platform.

[0126] exist Figure 6In the illustrated embodiment, the second display page is used to display a map of the target area where the mobile platform is located, and the trajectory points and the trajectory are displayed on the map. The target area can be set by the user, or it can be a region within a specified range centered on the mobile platform; this embodiment does not impose any restrictions. In this embodiment, displaying the trajectory points and the trajectory on the map allows the user to intuitively understand the overall distribution of the trajectory points and the trajectory within the target area, improving the user's viewing experience. In one embodiment, each trajectory point generated can be displayed on the display page immediately, without waiting for the trajectory to be generated, allowing the user to see and understand the trajectory point generation process in real time, further optimizing the user's viewing experience.

[0127] In one possible implementation, if the first display page and the second display page are not displayed on the interactive interface at the same time, in order to facilitate the user to switch between the first display page and the second display page, a page switching control for switching to the second display page can be displayed on the first display page, and a page switching control for switching to the first display page can be displayed on the second display page, thereby facilitating the user to switch between the two display pages through the page switching control.

[0128] In another possible implementation, if the first display page and the second display page are not displayed on the interactive interface at the same time, the interactive interface may further include a thumbnail indicating the first display page and a thumbnail indicating the second display page. Displaying the thumbnail indicating the second display page while displaying the first display page, and displaying the thumbnail indicating the first display page while displaying the second display page, is beneficial to improving the user's viewing experience.

[0129] Furthermore, to facilitate user switching between the first and second display pages, page switching controls can be displayed on both the thumbnails indicating the first and second display pages. Of course, the page switching controls may also be displayed elsewhere in the interactive interface instead of on the thumbnails; this embodiment does not impose any limitations on this.

[0130] Alternatively, the thumbnails can be configured to have a page-switching function. When a user interacts with the thumbnails, the system can switch between a first display page and a second display page in response to the user's interaction. For example, clicking the thumbnail indicating the first display page will display the first display page, and clicking the thumbnail indicating the second display page will display the second display page. Of course, the interaction with the thumbnails includes at least one of the following: single-click, double-click, long-press, drag, or swipe. In this embodiment, the user can interact with the thumbnails using any of the following methods: single-click, double-click, long-press, swipe, or drag. This embodiment does not impose any limitations on this method. Please refer to [link to previous document]. Figure 7 as well as Figure 8 , Figure 7 This is a schematic diagram of the fourth interactive interface provided in the embodiments of this application. Figure 8 This is a schematic diagram of the fifth interactive interface provided in the embodiments of this application. Figure 7 as well as Figure 8 The following explanation uses an example of a thumbnail displaying page switching controls:

[0131] exist Figure 7 In this context, the remote control terminal can respond to the user's operation on the page switching control on the thumbnail indicating the second display page, thereby enabling... Figure 8 The second display page and a thumbnail indicating the first display page are displayed. In this embodiment, the page switching control allows the user to easily switch between the first and second display pages.

[0132] It is understood that this application does not impose any restrictions on the display method between the thumbnail of the first display page and the second display page, and specific settings can be made according to the actual application scenario. Figure 8 In the example shown, the thumbnail indicating the first display page is overlaid on the second display page. In another example, the thumbnail indicating the first display page is displayed independently of the second display page, for example, the thumbnail indicating the first display page is displayed on the left, and the second display page is displayed on the right.

[0133] Furthermore, the operation on the page switching control on the thumbnail indicating the second display page includes at least one of the following: clicking, double-clicking, long-pressing, or dragging the page switching control. In this embodiment, the user can operate the page switching control by any one of the following methods: clicking, double-clicking, long-pressing, or dragging; this embodiment does not impose any limitations.

[0134] exist Figure 8In this context, the remote control terminal can respond to the user's operation on the page switching control on the thumbnail indicating the first display page, thereby enabling... Figure 7 The system displays the first display page and a thumbnail indicating the second display page. In this embodiment, the page switching control allows the user to easily switch between the first and second display pages.

[0135] It is understood that this application does not impose any restrictions on the display method between the thumbnail indicating the second display page and the first display page, and specific settings can be made according to the actual application scenario. Figure 7 In the example shown, the thumbnail indicating the second display page is overlaid on the first display page. In another example, the thumbnail indicating the second display page is displayed independently from the first display page, for example, the thumbnail indicating the second display page is displayed on the left, and the first display page is displayed on the right.

[0136] Furthermore, the operation on the page switching control on the thumbnail indicating the first displayed page includes at least one of the following: clicking, double-clicking, long-pressing, or dragging the page switching control. In this embodiment, the user can operate the page switching control by any one of the following methods: clicking, double-clicking, long-pressing, or dragging; this embodiment does not impose any limitations on this method.

[0137] In one embodiment, considering that the mobile platform may include multiple shooting devices, the interactive interface may accordingly include multiple first display pages. Each first display page displays the real-time image acquired by one of the shooting devices. The user can select one of the first display pages to view the real-time image acquired by a specific shooting device according to actual needs. Alternatively, multiple first display pages can be displayed on the interactive interface to view the real-time images acquired by each shooting device from each first display page, thereby assisting the user in quickly determining whether to generate trajectory points and further facilitating user operation.

[0138] In one example, please refer to Figure 9 This is a schematic diagram of the sixth interactive interface provided in this application embodiment. Taking a mobile platform equipped with two shooting devices, and correspondingly, the interactive interface including two first display pages and one second display page as an example: the two first display pages and the second display page can be displayed simultaneously on the interactive interface, or they can be displayed at different times. Each of the two first display pages and the second display page has a corresponding thumbnail, and the thumbnail displays a page switching control. The remote control terminal responds to the user's operation on the page switching control on the thumbnail of one of the first display pages, such as... Figure 9 As shown, the first display page is displayed, along with a thumbnail indicating another first display page and a thumbnail indicating a second display page.

[0139] It is understood that this application does not impose any restrictions on the display method between the first display page and the thumbnail indicating another first display page and the thumbnail indicating the second display page, and specific settings can be made according to the actual application scenario. Figure 9 In the example shown, the thumbnail indicating another first display page and the thumbnail indicating the second display page are overlaid on the first display page. In another example, the first display page, the thumbnails indicating another first display page, and the thumbnails indicating the second display page can also be displayed separately and independently. For example, the thumbnail indicating another first display page can be displayed on the left side of the interactive interface, one of the first display pages can be displayed in the middle, and the thumbnail indicating the second display page can be displayed on the right side.

[0140] In one embodiment, please refer to Figure 10 This is a schematic diagram of the seventh interactive interface provided in this application embodiment. The designated control includes a first control and a second control, both of which are displayed on the interactive interface. Optionally, since both the first control and the second control are used to indicate the generation of the trajectory points, for user convenience, the first control and the second control can be displayed on the first display page. When the user confirms that they want to generate trajectory points, they can directly operate the first control or the second control on the same display page, avoiding the cumbersome operation of switching pages, reducing the user's operation steps, and optimizing the user experience. Of course, the first control and the second control may not be displayed on the first display page, and this embodiment does not impose any restrictions on this.

[0141] The second control is further used to instruct the camera on the mobile platform to capture images. In one embodiment, the second control is a shooting control, meaning that the remote control terminal can acquire user operations on the shooting control, and then, in response to the user's operations, generate trajectory points based on the current position of the mobile platform, record the current state parameters of the mobile platform, and control the camera on the mobile platform to capture images, obtaining one or more images and / or videos, and associate the generated trajectory points with the images and / or videos.

[0142] In a first possible implementation, the remote control terminal responds to the user's operation on the first control, generates trajectory points based on the current position of the movable platform, and records the current state parameters of the movable platform; the state parameters of the movable platform include at least one of the following: the current position, attitude, height, speed, acceleration, angular velocity, or angular acceleration of the movable platform.

[0143] The operation on the first control includes at least one of the following: single-click, double-click, long-press, or dragging the first control. In this embodiment, the user can operate the first control by any one of the following methods: single-click, double-click, long-press, or dragging; this embodiment does not impose any restrictions.

[0144] Furthermore, to avoid generating multiple trajectory points at the same location, before generating the trajectory point in response to the user's operation on the first control, the remote control terminal can first detect whether there is already a corresponding trajectory point at the current location of the movable platform. If so, no new trajectory point will be generated. Optionally, a prompt message can be displayed on the interactive interface to remind the user that a corresponding trajectory point has already been generated at the current location of the movable platform and that it should not be generated again.

[0145] In a second possible implementation, the remote control terminal, in response to the user's operation on the second control, generates trajectory points based on the current position of the movable platform, records the current state parameters of the movable platform and the state parameters of the shooting device, and controls the shooting device to capture the image, obtaining one or more images and / or videos corresponding to the trajectory points. The state parameters of the movable platform include at least one of the following: the current attitude, position, height, rotation direction, speed, acceleration, angular velocity, or angular acceleration of the movable platform; the state parameters of the shooting device include at least one of the following: the shooting action performed by the shooting device, shutter speed, aperture, ISO, or focal length. The shooting action includes, but is not limited to, taking a picture, recording video, or ending recording.

[0146] Furthermore, if the shooting device is mounted on the gimbal, the remote control terminal can also record the gimbal's attitude parameters. The gimbal's attitude parameters include at least one of the following: the gimbal's rotation speed, attitude, rotation angle, joint angle, or orientation.

[0147] The operation on the second control includes at least one of the following: single-click, double-click, long-press, or dragging the second control. In this embodiment, the user can operate the second control by any one of the following methods: single-click, double-click, long-press, or dragging; this embodiment does not impose any restrictions.

[0148] Furthermore, to avoid generating multiple trajectory points at the same location, before generating the trajectory point in response to the user's operation on the second control, the remote control terminal can first detect whether a corresponding trajectory point already exists at the current location of the movable platform. If so, no new trajectory point is generated, i.e., the function of generating the trajectory point indicated by the second control is not responded to. However, the remote control terminal can still respond to the user's operation on the second control to control the shooting device on the movable platform to capture the scene, obtain images and / or videos, and associate the images and / or videos with the trajectory points at the current location of the movable platform, and record the state parameters of the shooting device when capturing the scene. Optionally, if the shooting device is mounted on the gimbal, the remote control terminal can also record the attitude parameters of the gimbal. In this way, one or more images and / or videos at a trajectory point, one or more state parameters of the corresponding shooting device, and / or one or more state parameters of the corresponding gimbal can be obtained. Here, "and / or" means both or one of them. In this embodiment, the user can capture multiple images and / or videos at the same trajectory point according to actual needs, meet the user's personalized needs, and help optimize the user experience.

[0149] Furthermore, the mobile platform can be equipped with multiple shooting devices. The second control is specifically used to instruct one shooting device to capture the image simultaneously, and to instruct different shooting devices to capture the image at different times. Thus, the remote control terminal can respond to user operations on the second control, controlling different shooting devices to capture images and / or videos corresponding to the trajectory points. In this embodiment, multiple shooting devices are provided, allowing the user to select one according to their needs, satisfying personalized requirements and improving the user experience.

[0150] Furthermore, if the shooting device is mounted on the gimbal, and there are multiple gimbals, then in order to distinguish which shooting device and gimbal acquired the image and / or video, the remote control terminal also needs to record the identifier of the shooting device and / or gimbal corresponding to the image and / or video. The identifier is used to indicate the shooting device and / or gimbal.

[0151] In one embodiment, please refer to Figure 11 This is a schematic diagram of the eighth interactive interface provided in the embodiments of this application. After acquiring one or more images and / or videos corresponding to the trajectory points, in Figure 11 On the interactive interface, thumbnails indicating the image and / or video can be displayed in the vicinity of the trajectory points; optionally, the trajectory points and the trajectory are displayed on the second display page, such as... Figure 11As shown, a corresponding thumbnail is displayed near the first trajectory point. In this embodiment, the thumbnails indicating the images and / or videos allow users to intuitively understand the shooting situation corresponding to each trajectory point, improving the user's viewing experience.

[0152] In one embodiment, each time a trajectory point is generated, the trajectory point can be displayed on the interactive interface. When the image and / or video corresponding to the trajectory point is obtained, a thumbnail of the image and / or video can be displayed in the vicinity of the trajectory point on the interactive interface. There is no need to wait for the trajectory to be generated before displaying it, which helps users understand the generation status of the trajectory point in a timely manner and is conducive to optimizing the user experience.

[0153] Furthermore, each image or video corresponds to a thumbnail; when the trajectory point corresponds to multiple images and / or videos, multiple thumbnails corresponding to the multiple images and / or videos are displayed in the vicinity of the trajectory point.

[0154] It is understood that this application does not impose any restrictions on the display method of multiple thumbnails corresponding to multiple images and / or videos, and specific settings can be made according to the actual application scenario. For one example, please refer to... Figure 12 This is a schematic diagram of the ninth interactive interface provided in the embodiments of this application. To avoid excessive thumbnails occupying too much space and affecting the display of other trajectory points, multiple thumbnails corresponding to multiple images and / or videos are superimposed and displayed in the vicinity of the trajectory point, such as... Figure 12 As shown, the thumbnail corresponding to the third trajectory point is displayed overlaid. In another example, multiple thumbnails corresponding to multiple images and / or videos can also be displayed separately, such as surrounding the trajectory point in the vicinity of the trajectory point. This embodiment does not impose any limitations on this.

[0155] Furthermore, to allow users to intuitively understand the trajectory information of the mobile platform, trajectory parameters related to the trajectory can also be displayed on the interactive interface. Optionally, the trajectory of the mobile platform is displayed on a second display page, and the trajectory parameters related to the trajectory are also displayed on the second display page. Of course, the trajectory of the mobile platform and the trajectory parameters related to the trajectory may not be displayed on the second display page, but may be displayed on the interactive interface in other ways; this application embodiment does not impose any restrictions on this.

[0156] The trajectory parameters may include at least one of the following: the length of the trajectory, the travel time of the trajectory, the number of trajectory points included in the trajectory, or the total number of images and / or videos corresponding to all trajectory points. Of course, the content included in the trajectory parameters is merely illustrative and may also include other content such as the geographical location of the trajectory. Specific settings can be made according to the actual application scenario, and this application embodiment does not impose any limitations in this regard.

[0157] Based on any of the above embodiments, please refer to Figure 13 This is a schematic diagram of the tenth interactive interface provided in this application embodiment. After generating the trajectory points and obtaining the corresponding images and / or videos, the user can also edit the images and / or videos according to actual needs. Please refer to [link to relevant documentation]. Figure 13 The interactive interface displays an image editing control, which indicates that the image or video can be edited. Optionally, since the second display page displays the trajectory point, the trajectory, and thumbnails of the corresponding image and / or video, the image editing control may be displayed on the second display page for user convenience. Of course, the image editing control may not be displayed on the second display page, and this embodiment does not impose any restrictions on this.

[0158] exist Figure 13 In the illustrated embodiment, the remote control terminal can respond to the user's operation on the image editing control by displaying a third display page on the interactive interface for editing images or videos; the target image or target video to be edited, determined from one or more images or videos corresponding to the trajectory point, is displayed on the third display page.

[0159] It is understood that this application embodiment does not specify the display method of the third display screen, and the specific settings can be made according to the actual application scenario. In one example, the third display screen can be displayed full-screen on the interactive interface. In another example, the third display screen can be overlaid on the second display screen in a non-full-screen manner.

[0160] In one embodiment, please refer to Figure 14 This is a schematic diagram of the eleventh interactive interface provided in the embodiments of this application. Figure 14 Taking the full-screen display of the third display screen as an example: it can be explained by... Figure 14The third display page shown displays partial thumbnails for indicating images and / or videos. The number of thumbnails displayed is determined based on the size of the third display screen and the size of the thumbnails. Users can view other parts of the thumbnails by dragging, swiping, or other operations. That is, the remote control terminal can respond to the user's dragging, swiping, or other operations on the area where the partial thumbnails are located and display other parts of the thumbnails.

[0161] Furthermore, Figure 14 In the illustrated embodiment, the target image or target video to be edited can be selected and displayed on the third display screen via the thumbnail; the remote control terminal can respond to the user's operation on the thumbnail on the third display page and display the target image or target video corresponding to the thumbnail on the third display page.

[0162] The operation on the thumbnails on the third display page includes at least one of the following: clicking, double-clicking, long-pressing, or dragging the thumbnails on the third display page. In this embodiment, the user can operate on the thumbnails on the third display page by clicking, double-clicking, long-pressing, or dragging, and this embodiment does not impose any restrictions.

[0163] In addition, considering that Figure 14 The thumbnail displayed on the third screen may obscure part of the target image or video. In such cases, the user can interact with the target image or video, and the remote control terminal, responding to the interaction, will hide the thumbnail, allowing the user to fully view the target image or video. These interactions include, but are not limited to, single-clicking, double-clicking, or long-pressing.

[0164] Furthermore, considering that other images or videos cannot be obtained as target images or videos after the thumbnail is hidden, an image switching control can also be displayed on the third display page. The image switching control indicates that images or videos can be switched on the third display page to display the previous image or video, or the next image or video. Thus, the user can switch to the previous image or video, or the next image or video, for editing according to actual needs.

[0165] Further, please refer to Figure 15This is a schematic diagram of the twelfth interactive interface provided in this application embodiment. On the third display page, the remote control terminal responds to the user's selection operation on one or more locations in the target image or target video, and displays a selection box at the location; the selection box is used to select the shooting target for this shooting. The image area corresponding to the selection box is used to find the same shooting target for shooting in subsequent playbacks according to the trajectory. The selection box has functions including, but not limited to: rotating the selection box, scaling the selection box, and deselecting the selection box, which can be specifically operated according to the actual application scenario; optionally, such as Figure 15 As shown, the functions of the selection box can be set around the selection box to facilitate direct operation by the user; of course, the functions of the selection box can also be set in other positions, and this application embodiment does not impose any restrictions on this.

[0166] Please refer to Figure 16 This is a schematic diagram of the thirteenth interactive interface provided in this application embodiment. The third display page displays a save control, which is used to save the selection box; the remote control terminal, in response to the user's operation on the save control, saves the selection box on the target image or target video, and displays a mark indicating the selection box on a thumbnail used to indicate the target image or target video, such as... Figure 16 The text displays a "+". In this embodiment, the marker allows users to quickly identify images and / or videos that have been selected, avoiding repetitive confirmation processes and improving image and / or video editing efficiency.

[0167] The operation on the save control includes at least one of the following: single-click, double-click, long-press, or dragging the save control. In this embodiment, the user can operate the save control by any of the following methods: single-click, double-click, long-press, or dragging; this embodiment does not impose any restrictions.

[0168] In one embodiment, after the user selects the target image and / or target video, the remote control terminal can obtain the image at the selected area from the target image or target video, and perform recognition on the image at the selected area (e.g., semantic segmentation algorithm) to obtain the target image. The remote control terminal can also record information indicating the target image (which may be image data at the selected area, such as image features extracted from the image at the selected area) to find the same target image for subsequent playback along the trajectory. The target image assists the mobile platform in its shooting task based on the trajectory points and the trajectory. In this embodiment, by identifying and recording the target image, the mobile platform is assisted in its shooting task based on the trajectory points and the trajectory. The target image accurately assists in the shooting task at the location indicated by the trajectory points, resulting in more accurate image capture. Furthermore, the interactive interface also displays a trajectory saving control, which is used to generate the trajectory of the mobile platform based on the trajectory and corresponding state parameters. Therefore, in response to the user's operation of the trajectory saving control, the trajectory of the mobile platform can be generated based on multiple trajectory points and corresponding state parameters. The operations on the trajectory saving control include, but are not limited to, single-click, double-click, long-press, or swipe operations.

[0169] In one possible implementation, the trajectory saving control is displayed on the second display page. After all trajectory points are generated, the user can directly operate the trajectory saving control on the same page to obtain the trajectory of the mobile platform, further facilitating the user's use.

[0170] In another possible implementation, considering that after the trajectory points are generated, the user may edit the image corresponding to the trajectory points according to actual needs, the trajectory saving control can be displayed on the third display page. After the user finishes editing the image, they can directly operate the trajectory saving control on the same page to obtain the trajectory of the mobile platform, further facilitating the user's use.

[0171] It should be noted that, before generating all the trajectory points but before generating the trajectory, the user can edit the image and / or image corresponding to the trajectory points based on the image editing control; after generating the trajectory, the user can also edit the image and / or image corresponding to the trajectory points based on the image editing control. This embodiment does not impose any restrictions on the timing of image editing.

[0172] Additionally, to meet users' needs for viewing images and / or videos, please refer to [link / reference needed]. Figure 17This is a schematic diagram of the fourteenth interactive interface provided in this application embodiment. The remote control terminal can respond to a user's operation on the thumbnail displayed near the trajectory point, and display a fourth display page on the interactive interface for displaying images and / or videos, with the image or video indicated by the thumbnail displayed on the fourth display page.

[0173] Furthermore, considering that there may be multiple images or videos acquired in the generated trajectory, if the user wants to view other images or videos, they need to re-operate on other thumbnails to display the corresponding images or videos on the fourth display page, which is too cumbersome. Therefore, in this embodiment, the fourth display page can be equipped with an image switching function. The fourth display page can respond to user operations (such as swiping, clicking, double-clicking, etc.) to switch between different images or videos, such as switching between adjacent images or videos. In one example, a swipe operation can be performed on the fourth display page, and the remote control terminal responds to the swipe operation by displaying other images or videos of the trajectory. In another example, a swipe operation can be performed on the fourth display page to switch the image corresponding to adjacent waypoints. For example, if the current page displays a photo or video of the second waypoint, when a swipe operation in one direction is detected, it can switch to the photo or video of the first or third waypoint. For example, if the current page displays a fifth photo or video, when a swipe operation in one direction is detected, it can switch to the fourth or sixth photo or video.

[0174] The operation on the thumbnail displayed near the trajectory point includes at least one of the following: single-click, double-click, long-press, or dragging the thumbnail displayed near the trajectory point. In this embodiment, the user can perform the operation on the thumbnail displayed near the trajectory point by any of the following methods: single-click, double-click, long-press, or dragging. This embodiment does not impose any limitations on this method.

[0175] It is understood that this application embodiment does not impose any restrictions on the display method of the fourth display page, and can be specifically set according to the actual application scenario. In one example, Figure 17 In the example shown, the fourth display page is overlaid on the second display page. In another example, the fourth display page can also be displayed full-screen on the interactive interface.

[0176] Optionally, for user convenience, please refer to Figure 17Furthermore, the image editing control can also be displayed on the fourth display page. This image editing control indicates that the image or video can be edited. In this embodiment, by displaying the image editing control on the fourth display page, the user can directly access the third display page for image or video editing through the image editing control, without needing to exit the fourth display page and manually operate the image editing control on the interactive interface. This reduces the number of steps required for the user and improves the user experience.

[0177] Based on any of the above embodiments, please refer to Figure 18 This is a schematic diagram of the fifteenth interactive interface provided in the embodiments of this application. After generating the trajectory of the movable platform, if the generated trajectory does not meet the actual needs, the trajectory can be re-edited. Please refer to [link to relevant documentation]. Figure 18 The interactive interface displays a trajectory editing control; this control indicates that part or all of the trajectory or the trajectory points can be modified. Optionally, since the trajectory editing control targets the trajectory points or trajectory, to further facilitate user operation, the trajectory editing control can be displayed on the second display page, thus eliminating the need for users to switch pages to operate the control and reducing user operation steps. Of course, the trajectory editing control can also be displayed in other ways instead of on the second display screen; this embodiment does not impose any limitations on this.

[0178] In one embodiment, in response to a user's operation on the trajectory editing control, a fifth display page for trajectory editing can be displayed on the interactive interface; the trajectory points and the trajectory are displayed on the fifth display page. On the fifth display page, the user can edit part of the trajectory or part of the trajectory points according to actual needs, thereby replacing the original part with the edited trajectory and trajectory points. The operation on the trajectory editing control includes, but is not limited to: clicking, double-clicking, long-pressing, dragging, or sliding the trajectory points.

[0179] In one implementation, when a user needs to replace a segment of the trajectory, the remote control terminal can respond to the user's operation on the trajectory points and determine the starting and ending trajectory points of the trajectory segment to be replaced. The starting trajectory point represents the starting position of this trajectory editing, and the ending trajectory point represents the ending position of this trajectory editing. The operation on the trajectory points includes at least one of the following: single-click, double-click, long-press, or dragging the trajectory point. In this embodiment, the user can perform the operation on the trajectory points through any of the following methods: single-click, double-click, long-press, or dragging; this embodiment does not impose any limitations.

[0180] The fifth display page may display a first prompt message and a second prompt message; the first prompt message is used to prompt the user to set the starting trajectory point for this trajectory editing, for example, in Figure 19 middle, Figure 19 This is a schematic diagram of the sixteenth interactive interface provided in the embodiments of this application. The first prompt message may be "Click on a certain trajectory point as the starting point for restarting the journey," for example, in... Figure 19 The system determines the second trajectory point as the starting trajectory point based on the user's operation on the second trajectory point, and then... Figure 19 The second trajectory point is marked as "S".

[0181] The second prompt message is used to prompt the user to set the end point of this trajectory edit, for example, at... Figure 20 middle, Figure 20 This is a schematic diagram of the seventeenth interactive interface provided in the embodiments of this application. The second prompt information may be "Click on a certain trajectory point as the endpoint for restarting the journey," for example, in... Figure 20 The system determines the fourth trajectory point as the termination trajectory point based on the user's operation on the fourth trajectory point, and then... Figure 20 The fourth trajectory point is marked as "E".

[0182] In one possible implementation, the fifth display page further displays data retention controls for the starting trajectory point and the ending trajectory point, respectively. These data retention controls indicate whether to retain the status parameters, images, and / or videos corresponding to the starting trajectory point or the ending trajectory point. The remote control terminal, in response to the user's operation on the data retention controls, retains the status parameters, images, and / or videos corresponding to the starting trajectory point or the ending trajectory point. This embodiment, by setting data retention controls, allows users to confirm whether to retain relevant data according to actual needs, thus meeting users' personalized requirements.

[0183] In one example, please refer to Figure 19 as well as Figure 20 , Figure 19 The display page shown contains a data retention control for the starting trajectory point. Figure 20The display page shows a data retention control for the termination trajectory point. The remote control terminal responds to the user's operation on the data retention control, confirming whether to retain the status parameters, images, and / or videos corresponding to the starting or ending trajectory point. The operation on the data retention control includes, but is not limited to, any one of the following: single click, double click, long press, swipe, or drag. The user can retain the status parameters, images, and / or videos corresponding to the starting or ending trajectory point according to actual needs. In one example, the data retention control is a checkbox. If the user checks the box, it indicates that the status parameters, images, and / or videos corresponding to the starting or ending trajectory point will be retained; otherwise, the status parameters, images, and / or videos corresponding to the starting or ending trajectory point will not be retained.

[0184] Understandably, to facilitate user operation and avoid displaying too much information that might overwhelm the user experience, [the following text is incomplete and likely refers to a separate topic:] In order ... Figure 19 as well as Figure 20 In the example described, information related to the starting trajectory point, such as the first prompt message and the data retention control for the starting trajectory point, is displayed as follows: Figure 19 On the page shown, users can... Figure 19 The initial trajectory point can be set on the page shown. Figure 19 Set up a control in the middle, for example, a "Next" control ( Figure 19 (Not shown) to achieve jump to Figure 20 The page shown, thus in Figure 20 On the page shown, users can set the termination point of the trajectory. Figure 20 The page also displays a second prompt message and a control to retain data for the termination trajectory point. Of course, these can also be set on the same page; this embodiment does not impose any restrictions on this.

[0185] The starting trajectory point represents the starting position of this trajectory editing, and the ending trajectory point represents the ending position of this trajectory editing. The portion between the starting trajectory point and the ending trajectory point (partial trajectory points and partial trajectory) is the part that needs to be replaced in this trajectory editing. Furthermore, the fifth display page also displays control controls, which are used to control the movable platform to move to the position indicated by the starting trajectory point; the remote control terminal responds to the user's operation on the control controls, controlling the movable platform to move to the position indicated by the starting trajectory point. The operation on the control controls includes at least one of the following: single-click, double-click, long-press, and dragging the control controls. In this embodiment, the user can operate the control controls through any one of the following methods: single-click, double-click, long-press, or dragging; this embodiment does not impose any limitations.

[0186] In one example, the control can be displayed as follows: Figure 20 The page shown ( Figure 20 (Not shown) After the user completes the setting of the termination trajectory point, the control control can be operated, so that the remote control terminal responds to the user's operation of the control control and controls the movable platform to move to the position indicated by the starting trajectory point, further facilitating the user's use.

[0187] When the movable platform moves to the position indicated by the starting trajectory point, a prompt message indicating "Moved to the position indicated by the starting trajectory point" can be displayed on the interactive interface to allow the user to understand the movement status of the movable platform in real time. After the movable platform moves to the position indicated by the starting trajectory point, it can be controlled by the remote control terminal. During its movement to the position indicated by the ending trajectory point, trajectory points and status parameters between the starting and ending trajectory points can be recorded using the same method as during trajectory generation, regenerating new trajectory points and a new trajectory between the starting and ending trajectory points. One or more images and / or videos corresponding to the new trajectory points can also be acquired in the same manner as described above. In this embodiment, the user can re-edit a segment of trajectory or several trajectory points that are unsatisfactory according to actual needs to meet their requirements; and the re-editing process does not require manual parameter setting, reducing user operation steps and further facilitating user use.

[0188] In one example, please refer to Figure 21 , Figure 21 This is a schematic diagram of the eighteenth interactive interface provided in this application embodiment. On this interactive interface, the remote control terminal can respond to the user's operation on the designated control, generate new trajectory points based on the current position of the movable platform and display them on the interactive interface, and record the current state parameters of the movable platform. Further, please refer to... Figure 21 The interactive interface displays a trajectory saving control. The remote control terminal can respond to the user's operation on the trajectory saving control, generating a new trajectory between the starting and ending trajectory points based on the new trajectory points and their corresponding state parameters. Then, it replaces the portion of the movable platform's trajectory between the starting and ending trajectory points with the new trajectory between the starting and ending trajectory points, resulting in... Figure 22 The trajectory is shown. Furthermore, during the process of the movable platform moving to the position indicated by the termination trajectory point, the shooting device can also be controlled to capture images and / or videos corresponding to the new trajectory point.

[0189] It should be noted that this application embodiment also supports the method of directly editing the trajectory on the map software, as described in related technologies. In this embodiment, if the generated trajectory does not meet the actual needs, the trajectory can also be edited offline, and an offline trajectory editing control is displayed on the interactive interface. The offline trajectory editing control is used to instruct the user to edit part or all of the trajectory or the trajectory points on the interactive interface without the assistance of a mobile platform. Optionally, since the offline trajectory editing control is for the function of trajectory points or trajectories, in order to further facilitate user use, the offline trajectory editing control can be displayed on the second display page, so that the user does not need to switch pages to operate the control, which helps to reduce the user's operation steps. Of course, the offline trajectory editing control can also be displayed in other ways instead of on the second display screen, and this application embodiment does not impose any restrictions on this.

[0190] Considering that in some cases, the amount of content that may need to be changed is small, and that changing the trajectory points or trajectory by re-controlling the mobile platform may result in greater losses, or for other reasons, the user can modify part or all of the trajectory or the trajectory points on the interactive interface of the remote control terminal based on the trajectory offline editing control. That is, without re-controlling the mobile platform, the user can directly modify the relevant parameters of the trajectory or trajectory points on the remote control terminal to obtain the modified trajectory and trajectory points.

[0191] In one example, in response to a user's operation on the offline trajectory editing control, the remote control terminal displays a sixth display page for offline editing on the interactive interface, on which the trajectory points and the trajectory are displayed; wherein, the user can modify the relevant parameters of the trajectory or trajectory points on the sixth display page.

[0192] In one example, offline editing allows setting the trajectory name, aircraft type or model, and trajectory flight altitude. The trajectory flight altitude can be either a relative flight altitude or an absolute flight altitude. The relative flight altitude can be the altitude relative to the starting point.

[0193] In one example, offline editing allows for setting the trajectory, such as flight speed, altitude, whether the aircraft yaw angle is set according to each trajectory point, whether the aircraft yaw angle is set uniformly, whether the gimbal is set according to each trajectory point, whether the gimbal is set uniformly, trajectory point type, and the flight actions to be performed at the trajectory points (such as hovering, taking pictures, etc.).

[0194] In one example, offline editing also allows for setting trajectory points, such as their altitude, speed, aircraft yaw angle, aircraft rotation direction, gimbal pitch angle, waypoint actions (taking photos, recording videos, and ending photo taking), latitude and longitude, etc. You can also manually add trajectory point actions, such as taking photos and recording videos.

[0195] In one example, if the mobile platform is an unmanned aerial vehicle (UAV) equipped with a camera and gimbal, the sixth display page can display the status parameters corresponding to the trajectory point in response to the user's operation on the trajectory point. This allows for changes to the location of the trajectory point, such as changing its latitude and longitude; changes to the status parameters of the UAV corresponding to the trajectory point, such as modifying its altitude, speed, and yaw angle; changes to the status parameters of the gimbal corresponding to the trajectory point, such as changing its pitch angle; and changes to the status parameters of the shooting device corresponding to the trajectory point, such as adding, deleting, or modifying shooting actions (taking photos, recording videos, ending recording, etc.).

[0196] In one embodiment, the trajectory editing control and the offline trajectory editing control can also be used in combination. This application embodiment does not impose any restrictions on this, and specific settings can be made according to the actual application scenario.

[0197] In one embodiment, considering that displaying too much content on the interactive interface may affect the user's viewing experience, the interactive interface can be further simplified. For example, since the image editing control, trajectory editing control, and offline trajectory editing control displayed on the interactive interface all belong to editing functions, an editing control can be set to be displayed on the interactive interface. After the user operates the editing control, the interactive interface can respond to the user's operation on the editing control (single click, double click, long press, etc.) by displaying the image editing control, trajectory editing control, and offline trajectory editing control on the interactive interface respectively for the user to select.

[0198] In one embodiment, before controlling the movement of the mobile platform according to its trajectory, the mobile platform can feed back information indicating its current installed load to the remote control terminal. The remote control terminal detects whether the current load of the mobile platform is consistent with the load when the trajectory was generated. If they are inconsistent, it may cause the mobile platform to malfunction in its task execution. In this case, the remote control terminal can output a third prompt message on the interactive interface. The third prompt message is used to prompt the user to change the load so that the execution result is consistent with the execution result when the trajectory was generated, thereby realizing an automated inspection process and reducing repetitive work for inspection personnel.

[0199] In one embodiment, before controlling the movement of the mobile platform according to its trajectory, the current storage capacity of the mobile platform is detected. If the current storage capacity is found to be insufficient, a fourth prompt message is output on the interactive interface; the fourth prompt message is used to prompt the user to replace the storage. The preset capacity is not less than the amount of image and / or video data corresponding to all trajectory points, thereby ensuring the smooth execution of the task and avoiding execution failure due to insufficient storage memory.

[0200] Furthermore, when there are multiple storage devices on the mobile platform (for example, the mobile platform is equipped with multiple gimbals, and each gimbal is equipped with a storage device), it is necessary to check whether the capacity of each storage device meets the specified capacity. The specified capacity is not less than the amount of image and / or video data stored in the storage device when the trajectory points are generated. If it does not meet the specified capacity, a fourth prompt message is output on the interactive interface to ensure the smooth execution of this task and avoid execution failure due to insufficient storage memory.

[0201] In one embodiment, after acquiring the trajectory of the mobile platform, within the same area as when the trajectory was generated, the mobile platform can move according to the trajectory points and state parameters corresponding to the trajectory. When controlling the mobile platform to move to the position indicated by any trajectory point according to the trajectory, the mobile platform is controlled to run according to the attitude parameters corresponding to the trajectory point. In this embodiment, the trajectory can be reproduced by the mobile platform in the same area, and the automated execution of tasks in the same area can be achieved based on the trajectory, which helps to reduce repetitive work for staff and optimize the user experience.

[0202] Furthermore, considering that the mobile platform may encounter errors due to environmental factors when performing related shooting tasks based on the trajectory, this embodiment can assist in accurate shooting based on the aforementioned shooting target. Specifically, when controlling the mobile platform to move to any position indicated by a trajectory point according to the trajectory of the mobile platform, if the trajectory point corresponds to an image and / or video, or in other words, the trajectory point corresponds to the posture parameters of the shooting device, then the shooting device of the mobile platform is controlled to obtain the current image at the position indicated by the trajectory point according to the state parameters corresponding to the trajectory point. Through feature point matching or image block matching, the current image and the aforementioned information indicating the shooting target (e.g., the information indicating the shooting target is the image data at the aforementioned selection box, such as image features) are compared. Feature matching is performed using (e.g., [specific features]). Since the selection box is used to select the target to be photographed, the image within the aforementioned selection box includes the target. Therefore, after successful matching, the position of the target in the current frame can be obtained. Then, based on the difference between the target's position in the current frame and a preset position, the state parameters corresponding to the trajectory points are adjusted. Finally, the movable platform and / or the shooting device are controlled to operate according to the adjusted state parameters, so that after reshooting based on the adjusted state parameters, the target is in the preset position in the reshot image. In one example, the preset position can be the center of the image. This embodiment uses the pre-acquired target to assist the movable platform in accurate shooting, ensuring the accuracy of the images and / or videos obtained based on the adjusted state parameters.

[0203] In one implementation, the remote control terminal can obtain the adjustment amount of the state parameter corresponding to the trajectory point based on the difference between the actual position of the shooting target in the picture and the preset position, so as to adjust the parameter value of the state parameter, so that after reshooting based on the adjusted state parameter, the shooting target is in the preset position in the reshot picture; the preset position can be specifically set according to the actual application scenario, and this application embodiment does not impose any restrictions on it.

[0204] Accordingly, please refer to Figure 23 This is a schematic diagram of a remote control terminal 30 provided in an embodiment of this application. The remote control terminal 30 includes a processor 31, a memory 32 for storing executable instructions of the processor 31, and a communication module 33.

[0205] When the processor 31 executes the executable instructions, it is used to: display a specified control on the interactive interface.

[0206] The communication module 33 is used to: communicate with the mobile platform, and during the movement of the mobile platform, in response to the user's operation on the designated control, obtain the current position and current status parameters of the mobile platform from the mobile platform.

[0207] When the processor 31 executes the executable instructions, it is further configured to: in response to the user's operation on the specified control, generate trajectory points based on the current position of the movable platform and record the current state parameters of the movable platform; generate a trajectory of the movable platform based on multiple trajectory points and corresponding state parameters, the trajectory being used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0208] The processor 31 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor 31 can be a microprocessor or any conventional processor.

[0209] The memory 32 may include at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory 32, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory 32 (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. The memory 32 may be an internal storage unit of the remote control terminal 30, such as a hard disk or RAM. The memory 32 may also be an external storage device of the remote control terminal 30, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the remote control terminal 30. Furthermore, the memory 32 may include both internal storage units and external storage devices of the remote control terminal 30. The memory 32 is used to store computer programs and other programs and data required by the device. The memory 32 can also be used to temporarily store data that has been output or will be output.

[0210] The communication module 33 communicates wirelessly with the mobile platform. In one exemplary embodiment, the mobile device can access a wireless network based on a communication standard, such as WiFi, 3G, or 4G, or a combination thereof, to communicate with the electronic device. In one exemplary embodiment, the mobile platform receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. As an example, the electronic device and the mobile platform can establish a connection via Near Field Communication (NFC), for example, based on Radio Frequency Identification (RFID), Infrared Data Association (IrDA) technology, Ultra-Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0211] Further, please refer to Figure 24 This is a schematic diagram of another remote control terminal 30 provided in an embodiment of this application. The remote control terminal 30 further includes a display device 34, which is used to display the interactive interface; in one example, the display device 34 includes, but is not limited to, a CRT (Cathode Ray Tube) display device, an LCD (Liquid Crystal Display) display device, an LED (Light Emitting Diode) display device, a PDP (Plasma Display Panel) display device, or an OLED (Organic Light-Emitting Diode) display device, etc.

[0212] In this embodiment, during the movement of the mobile platform, the remote control terminal 30 can, based on communication with the mobile platform, respond to the user's operation on the remote control terminal 30, obtain the current position and status parameters from the mobile platform, then generate trajectory points based on the current position of the mobile platform, and record the current status parameters of the mobile platform. This not only ensures the accuracy of the obtained information, but also eliminates the need for manual editing by the user, further reducing the user's operation steps and making it more convenient for the user. Finally, the trajectory of the mobile platform is generated based on multiple trajectory points and corresponding status parameters, so that the mobile platform can automatically perform inspection or security tasks based on the generated trajectory. The automation process helps improve inspection efficiency and reduces manual repetitive operations in subsequent operations.

[0213] In one embodiment, the interactive interface includes a first display page and a second display page.

[0214] The first display page is used to display real-time images captured by the camera device during the movement of the mobile platform, and the designated control is displayed on the first display page.

[0215] The second display page is used to display a map of the target area where the mobile platform is located, and the trajectory points and the trajectory are displayed on the map.

[0216] In one embodiment, the first display page and the second display page are not displayed on the interactive interface at the same time.

[0217] In one embodiment, the designated control includes a first control and a second control, both of which are used to indicate the generation of the trajectory points.

[0218] The second control is also used to instruct the camera on the mobile platform to capture images.

[0219] The processor 31 is further configured to: in response to the user's operation on the second control, control the shooting device to capture the image, and obtain one or more images and / or videos corresponding to the trajectory points.

[0220] In one embodiment, the number of shooting devices is multiple; the second control is specifically used to instruct different shooting devices to capture the image at different times.

[0221] In one embodiment, the processor 31 is further configured to: display a thumbnail in the vicinity of the trajectory point to indicate the image and / or video.

[0222] In one embodiment, each image or video corresponds to a thumbnail; when the trajectory point corresponds to multiple images and / or videos, the multiple thumbnails corresponding to the multiple images and / or videos are superimposed and displayed in the vicinity of the trajectory point.

[0223] In one embodiment, the processor 31 is further configured to: display trajectory parameters related to the trajectory on the interactive interface.

[0224] In one embodiment, the trajectory parameters include at least one of the following: the length of the trajectory, the travel time of the trajectory, the number of trajectory points included in the trajectory, or the total number of images and / or videos corresponding to all trajectory points.

[0225] In one embodiment, the interactive interface displays an image editing control; the image editing control is used to indicate that an image or video can be edited.

[0226] The processor 31 is further configured to: in response to a user's operation on the image editing control, display a third display page on the interactive interface for editing images or videos; and display the target image or target video to be edited, determined from one or more images or videos corresponding to the trajectory point, on the third display page.

[0227] In one embodiment, the processor 31 is further configured to: in response to a user's selection operation of one or more locations in a target image or target video on the third display page, display a selection box at the location; the selection box is used to select the shooting target for this shooting.

[0228] In one embodiment, a save control is displayed on the third display page, the save control being used to save the selection box.

[0229] The processor 31 is further configured to: in response to a user's operation on the save control, save the selection box on the target image or target video, and display a mark indicating the selection box on a thumbnail indicating the target image or target video.

[0230] In one embodiment, the processor 31 is further configured to: acquire an image at the selected area from the target image or target video, and identify the image at the selected area to obtain the shooting target; the shooting target is used to assist the mobile platform in performing shooting tasks based on the trajectory points and / or the trajectory.

[0231] In one embodiment, the processor 31 is further configured to: in response to a user's operation on the thumbnail displayed near the trajectory point, display a fourth display page on the interactive interface for displaying images and / or videos, the images and / or videos indicated by the thumbnails being displayed on the fourth display page.

[0232] In one embodiment, the processor 31 is further configured to: after generating the trajectory of the movable platform, display a trajectory editing control on the interactive interface; the trajectory editing control is configured to indicate that part or all of the trajectory or the trajectory points can be modified.

[0233] In one embodiment, the processor 31 is further configured to: in response to a user's operation on the trajectory editing control, display a fifth display page for trajectory editing on the interactive interface; the trajectory points and the trajectory are displayed on the fifth display page.

[0234] In one embodiment, the processor 31 is further configured to: determine the starting trajectory point and the ending trajectory point for this trajectory editing in response to the user's operation on the trajectory point; after controlling the movable platform to move to the position indicated by the starting trajectory point, and during the process of the movable platform moving to the position indicated by the ending trajectory point, generate a new trajectory point based on the current position of the movable platform in response to the user's operation on the designated control, and record the current state parameters of the movable platform; update the trajectory of the movable platform based on the new trajectory point and the state parameters corresponding to the new trajectory point.

[0235] In one embodiment, the fifth display page also displays a first prompt message and a second prompt message.

[0236] The first prompt message is used to prompt the user to set the starting trajectory point for this trajectory editing.

[0237] The second prompt message is used to prompt the user to set the end point of this trajectory editing.

[0238] In one embodiment, the fifth display page also displays control controls for controlling the movable platform to move to the position indicated by the starting trajectory point.

[0239] In one embodiment, the fifth display page also displays data retention controls for the starting trajectory point and the ending trajectory point, respectively. The data retention controls indicate whether to retain the status parameters, images and / or videos corresponding to the starting trajectory point or the ending trajectory point.

[0240] In one embodiment, the processor 31 is further configured to: before controlling the movement of the mobile platform according to the trajectory of the mobile platform, detect whether the current load of the mobile platform is consistent with the load of the mobile platform when the trajectory was generated; if they are inconsistent, output a third prompt message on the interactive interface; the third prompt message is used to prompt the user to change the load.

[0241] In one embodiment, the processor 31 is further configured to: before controlling the movement of the mobile platform according to the trajectory of the mobile platform, if it is detected that the current capacity of the memory 32 of the mobile platform does not meet the preset capacity, output a fourth prompt message on the interactive interface; the fourth prompt message is used to prompt the user to replace the memory 32.

[0242] In one embodiment, the preset capacity is not less than the data volume of images and / or videos corresponding to all trajectory points of the trajectory.

[0243] In one embodiment, the processor 31 is further configured to: control the mobile platform to move to the position indicated by any trajectory point when the mobile platform is controlled to move according to the trajectory of the mobile platform, and control the mobile platform to run according to the attitude parameters corresponding to the trajectory point.

[0244] In one embodiment, the processor 31 is further configured to:

[0245] When the mobile platform is controlled to move to any position indicated by a trajectory point according to the trajectory of the mobile platform, if the trajectory point corresponds to an image and / or video, the shooting device of the mobile platform is controlled to acquire the current image at the position indicated by the trajectory point according to the state parameters corresponding to the trajectory point.

[0246] Obtain the position of the target being photographed within the current frame;

[0247] Based on the difference between the position of the target in the current frame and the preset position, adjust the state parameters corresponding to the trajectory point;

[0248] Control the movable platform and / or the shooting device to operate according to the adjusted state parameters.

[0249] In one embodiment, the processor 31 is specifically used to: obtain the adjustment amount of the state parameter corresponding to the trajectory point based on the difference between the position of the shooting target in the current frame and the preset position, so as to adjust the parameter value of the state parameter.

[0250] The various embodiments described herein can be implemented using, for example, computer software, hardware, or any combination thereof, a computer-readable medium. For hardware implementations, the embodiments described herein can be implemented using at least one of an application-specific integrated circuit (ASIC), a digital signal processor 31 (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field-programmable gate array (FPGA), a processor 31, a controller, a microcontroller, a microprocessor 31, or an electronic unit designed to perform the functions described herein. For software implementations, embodiments such as processes or functions can be implemented with a separate software module that allows the performance of at least one function or operation. The software code can be implemented by a software application program (or program) written in any suitable programming language, and the software code can be stored in memory 32 and executed by processor 31.

[0251] Accordingly, this application also provides a trajectory generation device for use on a remote control terminal. The device includes one or more processors, which operate individually or jointly to perform the following operations:

[0252] The specified controls are displayed on the interactive interface of the remote control terminal;

[0253] During the movement of the movable platform, in response to the user's operation on the designated control, trajectory points are generated based on the current position of the movable platform, and the current state parameters of the movable platform are recorded;

[0254] The trajectory of the mobile platform is generated based on multiple trajectory points and corresponding state parameters. The trajectory is used to enable the mobile platform to move according to the trajectory points and state parameters corresponding to the trajectory.

[0255] The specific implementation process of the trajectory generation device in this embodiment can be referred to the above description of the trajectory generation method, and will not be repeated here.

[0256] Accordingly, please refer to Figure 25 This application also provides a trajectory generation system, including a remote control terminal 30 and a mobile platform 40, wherein the remote control terminal 30 is communicatively connected to the mobile platform 40.

[0257] The remote control terminal 30 displays a designated control on the interactive interface. In response to the user's operation on the designated control, it obtains the current position and status parameters of the movable platform 40 from the movable platform 40, generates trajectory points based on the current position of the movable platform 40, and records the current status parameters of the movable platform 40. It generates a trajectory of the movable platform 40 based on multiple trajectory points and corresponding status parameters. The trajectory is used to enable the movable platform 40 to move according to the trajectory points and status parameters corresponding to the trajectory.

[0258] The specific implementation process of the trajectory generation system in this embodiment can be referred to the above description of the trajectory generation method, and will not be repeated here.

[0259] In addition, this embodiment also provides a computer-readable storage medium storing a computer program thereon, which is executed by a processor to implement the trajectory generation method described in the above embodiment. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0260] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0261] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0262] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0263] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0264] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0265] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An image and / or video editing method, characterized in that, include: The target image and / or target video to be edited are displayed on the interactive interface. The target image and / or target video are captured by the mobile platform during the execution of the trajectory generation task. The trajectory generated based on the trajectory generation task is used to enable the mobile platform to move according to the trajectory points and state parameters corresponding to the trajectory. In response to receiving a selection operation for at least one location in the target image and / or target video, a shooting target is determined so that the mobile platform can locate and shoot the shooting target when subsequently replaying the trajectory; Before controlling the mobile platform to reproduce the trajectory, it is detected whether the current load of the mobile platform is the same as the load of the mobile platform when the trajectory was generated; If there is a discrepancy, a third prompt message will be output on the interactive interface; the third prompt message is used to prompt the user to change the load.

2. The method according to claim 1, characterized in that, The step of determining the target in response to receiving a selection operation of at least one location in the target image and / or target video includes: In response to receiving a selection operation on at least one location in the target image and / or target video, a selection box is displayed at the at least one location; the selection box is used to select the target being captured. Obtain the image at the selected area from the target image and / or target video; The image within the selected frame is identified to determine the target to be photographed.

3. The method according to claim 2, characterized in that, Also includes: The interactive interface displays thumbnails of at least some of the images and / or videos captured by the mobile platform during the trajectory generation task. The at least partial images and / or videos include: the target images and / or target videos, as well as other images and / or other videos.

4. The method according to claim 3, characterized in that, The thumbnail corresponding to any of the images and / or videos containing the selection box displays a mark used to indicate the selection box; And / or, The method further includes: hiding the thumbnail in response to receiving an operation on the target image and / or target video.

5. The method according to claim 3, characterized in that, The interactive interface displays a save control; The method further includes: In response to receiving an operation on the save control, the selection box on the target image and / or target video is saved, and a marker indicating the selection box is displayed in the thumbnail corresponding to the target image and / or target video.

6. The method according to claim 1, characterized in that, Displaying the target image and / or target video to be edited on the interactive interface includes: When the interactive interface displays thumbnails corresponding to at least some images and / or videos, in response to receiving an operation on the thumbnail corresponding to any image and / or video, the any image and / or video is determined as the target image and / or target video to be edited and displayed on the interactive interface; And / or, When the interactive interface displays a switching control, in response to receiving an operation on the switching control, the remote control terminal switches from the currently displayed target image and / or target video to another target image and / or target video to be edited in the interactive interface.

7. A shooting method, characterized in that, The method includes: During the process of controlling the movement of the mobile platform according to the trajectory generated by the trajectory generation task, the current image and / or current video captured by the mobile platform according to the preset state parameters of the trajectory are acquired. Identify the shooting target from the current image and / or current video; wherein the shooting target is determined based on the image and / or video editing method according to any one of claims 1 to 6; The preset state parameters are adjusted based on the difference between the position of the target in the current image and / or current video and the preset position. The movable platform is controlled to operate according to the adjusted state parameters so that the target being photographed is in a preset position in the re-captured image and / or video.

8. The method according to claim 7, wherein the preset position includes: The center location of the image and / or video; And / or, adjusting the preset state parameters based on the difference between the position of the captured target in the current image and / or current video and a preset position includes: Based on the difference between the position of the shooting target in the current image and / or the current video and the preset position, the adjustment amount of the preset state parameter is obtained to adjust the preset state parameter.

9. An apparatus, characterized in that, Applied to a remote control terminal, the device includes one or more processors, which operate individually or together, for performing the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, It stores a computer program thereon, which is executed by a processor to implement the method as described in any one of claims 1 to 8.

11. A computer program product, characterized in that, Includes a computer program / instructions that, when executed by a processor, implement the steps of the method as described in any one of claims 1 to 8.

Images