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

Abstract

A control method and apparatus for a movable platform, a movable platform and a storage medium. The method comprises: acquiring a first motion progress of a followed target on a preset target trajectory at present (S302); and controlling a second movement progress of the movable platform on a preset following trajectory based on the first movement progress, the second movement progress being related to the first movement progress (S304). In this way, a user does not need to manually control the movable platform, the intelligence of the whole following process is achieved, and more convenience is achieved.

Description

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

[0001] The embodiments of the present application relate to the field of intelligent control technology, and specifically, to a control method and device for a movable platform, a movable platform, and a storage medium. Background Art

[0002] In many scenarios, a mobile platform is needed to follow a target. This process requires close coordination between the mobile platform and the target, ensuring both follow their predetermined trajectories to achieve the desired tracking effect. Currently, for these types of following scenarios, the user typically manually controls the mobile platform to follow the target, which is difficult and cumbersome to operate.

[0003] For example, in film and television shooting, when capturing long shots, both the subject and the camera need to move along predetermined trajectories, requiring precise coordination to achieve the desired image quality. Currently, for these types of shooting scenarios, the camera is typically mounted on a movable platform, with the user manually controlling the platform's movement to follow the subject and complete the shot. This approach is difficult to operate and inconvenient. Therefore, a more intelligent tracking solution is needed.

[0004] Summary of the Invention

[0005] In view of this, the present application provides a control method and device for a movable platform, a movable platform, and a storage medium.

[0006] According to a first aspect of the present application, a method for controlling a movable platform is provided, the method comprising:

[0007] Obtaining the first motion progress of the target being followed on the preset target trajectory;

[0008] A second movement progress of the movable platform on a preset following trajectory is controlled based on the first movement progress, wherein the second movement progress is related to the first movement progress.

[0009] According to a second aspect of the present application, a method for controlling a movable platform is provided, the method comprising:

[0010] Obtaining a first characteristic value of a movement characteristic of a target being followed on a preset target trajectory;

[0011] A second characteristic value of the movement characteristic of the movable platform on a preset following trajectory is controlled based on the first characteristic value, wherein the second characteristic value is related to the first characteristic value.

[0012] According to a third aspect of the present application, a control device for a mobile platform is provided, the control device comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the processor executes the computer program, the following steps can be implemented:

[0013] Obtaining the first motion progress of the target being followed on the preset target trajectory;

[0014] A second movement progress of the movable platform on a preset following trajectory is controlled based on the first movement progress, wherein the second movement progress is related to the first movement progress.

[0015] According to a fourth aspect of the present application, a control device for a mobile platform is provided, the control device comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the processor executes the computer program, the following steps can be implemented:

[0016] Obtaining a first characteristic value of a movement characteristic of a target being followed on a preset target trajectory;

[0017] A second characteristic value of the movement characteristic of the movable platform on a preset following trajectory is controlled based on the first characteristic value, wherein the second characteristic value is related to the first characteristic value.

[0018] According to the fifth aspect of the present application, a movable platform is provided, on which a shooting device is mounted. The movable platform also includes a processor, a memory, and computer instructions stored in the memory. When the processor executes the computer instructions, the method mentioned in the first aspect and / or the second aspect is implemented.

[0019] According to a sixth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed, the method mentioned in the first aspect and / or the second aspect is implemented.

[0020] By applying the solution provided in this application, in following scenarios where both the target being followed and the movable platform must move along a preset trajectory, the motion trajectories of both can be recorded. As the movable platform follows the target being followed, a first characteristic value of the target's movement along the target trajectory can be obtained. Based on this first characteristic value, the second characteristic value of the movable platform's movement along the following trajectory can then be controlled, ensuring that the characteristic values ​​of both movement characteristics meet the preset conditions. This approach eliminates the need for the user to manually manipulate the movable platform, making the entire following process intelligent and more convenient.

[0021] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] FIG1 is a schematic diagram of an application scenario of an embodiment of the present application.

[0024] FIG2 is a schematic diagram of an application scenario of another embodiment of the present application.

[0025] FIG3 is a flow chart of a method for controlling a movable platform according to an embodiment of the present application.

[0026] FIG4 is a schematic diagram of an application scenario of another embodiment of the present application.

[0027] FIG5 is a schematic diagram showing a first motion progress using a stroke ratio according to an embodiment of the present application.

[0028] FIG6 is a schematic diagram showing a first exercise progress represented by a time ratio according to an embodiment of the present application.

[0029] FIG7 is a schematic diagram of projecting the current target position point of the target to be followed onto the target trajectory according to an embodiment of the present application.

[0030] FIG8 is a schematic diagram of an interactive interface according to an embodiment of the present application.

[0031] FIG9 is a schematic diagram of the logical structure of a control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] In many scenarios, a mobile platform is needed to follow a target. During the following process, the positional relationship between the mobile platform and the target must meet certain conditions to achieve the desired tracking effect. Because the target's motion changes in real time during the following process, and the need for close coordination between the mobile platform and the target, manually controlling the mobile platform to follow the target is often difficult and cumbersome.

[0034] Currently, some following scenarios can be fully automated by the mobile platform, eliminating the need for manual user control. For example, in intelligent following and parallel following scenarios, the only requirement is to ensure that the relative position of the mobile platform and the target meets certain conditions during the following process, such as maintaining a distance of 2 meters. Generally, in these following scenarios, there's no need to pre-set the mobile platform's trajectory; rather, the mobile platform automatically adjusts its own trajectory based on the target's trajectory to achieve automatic following.

[0035] However, some scenarios may require both the mobile platform and the target to follow their own predetermined trajectories, placing requirements on the motion trajectories of both. For example, in film and television shooting, the motion trajectories of both the subject and the camera are usually pre-designed when shooting long shots. Both must follow their respective predetermined trajectories to achieve precise coordination and capture the desired image.

[0036] Currently, for following scenarios where both the movable platform and the followed target need to move according to a predetermined trajectory, the user usually manually controls the movable platform to follow the followed target, which is difficult to control and the operation is cumbersome.

[0037] Of course, in order to reduce the difficulty of control, there are also some solutions that can pre-store the following trajectory of the movable platform. During the movement of the followed target, the movable platform can be controlled to move according to the stored following trajectory. In this scenario, since the motion trajectory has been set, the user only needs to adjust the movement speed of the movable platform based on the observed motion state of the followed target. The control is slightly simpler, but it still requires manual operation by the user, which is cumbersome and not intelligent enough.

[0038] Based on this, an embodiment of the present application provides a control method for a movable platform. For a following scenario in which both the followed target and the movable platform need to move according to a preset trajectory, the respective motion trajectories of the two can be recorded (for ease of distinction, the predetermined motion trajectory of the followed target is referred to as the target trajectory, and the predetermined motion trajectory of the movable platform is referred to as the following trajectory). In the process of the movable platform following the followed target, a first characteristic value of the movement characteristic of the followed target on the target trajectory can be obtained, and then based on the first characteristic value, a second characteristic value of the movement characteristic of the movable platform on the following trajectory can be controlled, so that the characteristic values ​​of the movement characteristics of the two meet the preset conditions. In this way, there is no need for the user to manually operate the movable platform, and the entire following process is made intelligent and more convenient.

[0039] The movement characteristics may be the movement progress (or motion progress), movement step length, movement speed, etc. of the target being followed on the target track (or the movable platform on the following track). The following describes the movement characteristics as motion progress as an example.

[0040] The movable platform of the embodiment of the present application can be various devices that can move autonomously, such as aircraft such as drones, vehicles such as unmanned vehicles, and ship transportation equipment such as unmanned ships.

[0041] The target to be followed in the embodiment of the present application can be a single target object or a cluster of multiple target objects. The target to be followed can be a person (for example, an actor), a device or a cluster of devices (for example, a vehicle, a cluster of drones used for aerial performances, etc.), or a changing pattern, etc. The embodiment of the present application does not impose any restrictions.

[0042] In some embodiments, the control method of the embodiments of the present application can be executed by a movable platform. For example, as shown in Figure 1, which is a schematic diagram of an application scenario of the present application, for example, the subject being photographed can be an actor, and the movable platform can be an unmanned vehicle equipped with a shooting device. The unmanned vehicle can obtain the first motion progress of the actor and control its own second motion progress in following the trajectory to achieve follow-up shooting of the actor.

[0043] In some embodiments, the control method of the embodiments of the present application can be executed by a control device that is communicatively connected to the mobile platform. The control device can be a remote control for controlling the mobile platform, a mobile phone, a smart wearable device such as smart glasses, or a cloud server, etc. The remote control can be a remote control carried by the user of the mobile platform, or a remote control carried by the target that the mobile platform needs to track. For example, as shown in Figure 2, it is a schematic diagram of an application scenario of the present application. For example, the object to be photographed can be a moving vehicle, the mobile platform can be a drone equipped with a shooting device, and the control device can be a remote control for controlling the drone. The remote control can obtain the first motion progress of the actor, and then control the second motion progress of the drone in following the trajectory based on the first motion progress.

[0044] It should be noted that the execution entities of each step of the control method in the embodiment of the present application can be flexibly set based on actual needs, and the embodiment of the present application does not impose any restrictions on this.

[0045] As shown in FIG3 , which is a flowchart of the control method provided in an embodiment of the present application, the control method may specifically include the following steps:

[0046] S302: Obtaining a first motion progress of the target being followed on a preset target trajectory;

[0047] In step S302, the first motion progress of the followed target on the preset target trajectory can be obtained. The target trajectory can be the expected motion trajectory of the followed target, which can be generated and stored in advance, or temporarily generated during the following process. For example, the target trajectory of the followed target can be stored on a movable platform, or on a control device of a movable platform, or on a third-party device (such as a cloud server, etc.), or can also be stored on a positioning device carried by the followed target. It can be flexibly set based on actual needs. When determining the first motion progress based on the target trajectory, it can be obtained from the above-mentioned device based on the actual storage location.

[0048] The first motion progress may be various types of information reflecting the motion progress of the followed target on the target trajectory, for example, it may be the distance progress of the followed target during its motion on the target trajectory, or it may be the time progress of the followed target during its motion on the target trajectory.

[0049] In some embodiments, as shown in Figure 4, the followed target may carry a positioning device, and the first motion progress may be determined by the positioning device based on the real-time position information and target trajectory of the followed target collected by the positioning device itself. The movable platform or control device that executes the control method may obtain the first motion progress from the positioning device, and then control the movable platform based on the first motion progress.

[0050] In some embodiments, as shown in FIG4 , the real-time position information of the target being followed collected by the positioning device may be acquired by the movable platform or the control device, and the first motion progress may be determined based on the acquired real-time position information and the target trajectory.

[0051] S304: Control a second movement progress of the movable platform on a preset following trajectory based on the first movement progress, wherein the second movement progress is related to the first movement progress.

[0052] In step S304, the motion progress between the mobile platform and the target being followed typically needs to meet certain conditions to achieve the desired tracking effect. For example, in filming a video, the progress of the two must be consistent, or not significantly different, to ensure that the captured image meets the expectations. Therefore, after obtaining a first motion progress of the target being followed along a preset target trajectory, the second motion progress of the mobile platform along the preset tracking trajectory can be controlled based on the first motion progress, where the second motion progress is related to the first motion progress.

[0053] Similarly, the tracking trajectory of the mobile platform can also be pre-generated and stored, or it can be temporarily generated during the tracking process. For example, the tracking trajectory can be stored on the mobile platform, or on the control device of the mobile platform, or it can also be stored on a third-party device (such as a cloud server, etc.). When determining the second motion progress based on the tracking trajectory, it can be obtained from the above devices based on the actual storage location.

[0054] The device executing the control method (eg, a movable platform or a control device) may execute the control method once at regular intervals to ensure that the movement progress of both during the following process meets the requirements.

[0055] In some embodiments, the target trajectory may be a trajectory of position changes and / or posture changes of the target, taking into account that the target may maintain a constant posture and only change position, or maintain a constant position and only change posture, or change both position and posture.

[0056] Similarly, in some embodiments, while following a target, the movable platform may maintain its posture and only change its position, maintain its position and only change its posture, or change both its position and posture simultaneously. Therefore, the tracking trajectory may be a trajectory of position changes and / or a trajectory of posture changes of the movable platform.

[0057] In some embodiments, the movable platform may also be equipped with a payload, such as a gimbal. When following a target, the platform may also control the position and / or attitude of the payload. Therefore, the tracking trajectory may also be the trajectory of the payload's position and / or attitude changes.

[0058] For example, in a scenario where a camera is being filmed following a target, a camera can be mounted on a mobile platform's gimbal, and the gimbal's movement drives the camera's movement to film the target. Therefore, the tracking trajectory can be a trajectory of the gimbal's position changes and / or posture changes during the filming process.

[0059] In some embodiments, the target being followed may be a single target object, and thus, the target trajectory may be the motion trajectory of the single target object. In some embodiments, the target being followed may be a cluster of multiple target objects. In such a case, the multiple target objects may be abstracted into a single target point. For example, a single target point (e.g., the center point of the cluster) may be determined based on the cluster, and the target trajectory may be the motion trajectory of the target point.

[0060] In some embodiments, the target being followed is a cluster of multiple target objects, and the target trajectory can also be the motion trajectory of a performance pattern formed by the multiple target objects during their movement. For example, taking a drone formation performing a light show in the air as an example, the performance pattern formed during the performance usually changes in a certain way. Therefore, the target trajectory can also be the motion trajectory of the performance pattern. For example, the motion trajectory of a target point in the performance pattern (e.g., the center of the performance pattern) can be recorded as the target trajectory.

[0061] In some embodiments, the target to be followed may be a group of aircraft performing an aerial performance.

[0062] In some embodiments, as shown in FIG5 , the first motion progress may be the travel progress of the followed target on the target track, for example, the ratio of the travel distance of the followed target on the target track to the total travel distance corresponding to the target track.

[0063] In some embodiments, as shown in FIG6 , the first motion progress may be the time progress of the followed target on the target track, for example, the ratio of the movement time of the followed target on the target track to the total movement time corresponding to the target track.

[0064] In some embodiments, if the first movement progress is the distance traveled by the followed target along the target trajectory, the first movement progress can be determined based on the real-time position information of the followed target. For example, the current position of the followed target along the target trajectory can be determined based on the real-time position information of the followed target and the target trajectory, and the distance traveled by the followed target can then be determined. This, combined with the total distance traveled by the target trajectory, can yield the travel progress.

[0065] In some embodiments, if the first motion progress is the time progress of the followed target on the target trajectory, since the total motion duration of the followed target on the target trajectory is usually known in advance and can be recorded, the first motion progress can be determined by simply determining the motion duration of the current followed target on the target trajectory.

[0066] In some scenarios, the duration of time the target being followed has been moving on the target trajectory can be determined based on the target's real-time location information. For example, the real-time location information of the target can be used to determine whether the target is already moving on the target trajectory. Once the target is determined to be moving on the target trajectory, a timer is started to calculate the current duration of the target's movement.

[0067] In some scenarios, it is also possible to determine the duration of the movement of the target without using the real-time location information of the target being followed. For example, in scenarios where the target being followed can communicate with a mobile platform, such as a vehicle or drone, when the target being followed begins to move along the target trajectory, a signal can be sent to the mobile platform so that the mobile platform starts timing after receiving the signal, thereby counting the current duration of the movement of the target being followed. Alternatively, in scenarios where the target being followed is an actor or other actor that cannot communicate with the mobile platform, the mobile platform can also collect a video of the target being followed, analyze the video to determine whether the target being followed has begun to move on the target trajectory, and start timing after determining that the target has begun to move on the target trajectory, and count the current duration of the movement.

[0068] For this type of scenario, since the first movement progress can be determined without using the real-time position information of the followed target, the followed target is not required to carry a positioning device, which is more convenient.

[0069] In some embodiments, the target being followed carries a positioning device or other terminal device (such as a wearable device) equipped with a positioning device, and the real-time location information can be collected by the positioning device. For example, the positioning device can be a GPS device or other device capable of collecting real-time location information.

[0070] In some embodiments, the mobile platform is equipped with a perception sensor, and the real-time location information can also be determined based on data collected by the perception sensor. For example, the perception sensor can be one or more of a visual sensor, a radar, and a UWB (Ultra Wide Band) positioning system. After the mobile platform collects sensor data of the tracked target through the perception sensor, the real-time location information of the target can be determined based on the sensor data.

[0071] In some embodiments, the above two methods may be combined to determine the real-time location information of the target being followed, so as to obtain more accurate real-time location information.

[0072] In some embodiments, it is difficult for the followed target to move completely along the preset target trajectory during its movement, and there may be some deviations from the target trajectory. For example, as shown in Figure 7, the target position point where the followed target is currently located may not be on the target trajectory. Therefore, when determining the first movement progress based on the real-time position information of the followed target, the target position point where the followed target is currently located can be projected onto the target trajectory, the corresponding position point of the target position point on the target trajectory can be determined, and then the first movement progress can be determined based on the corresponding position point. For example, taking the determination of the distance traveled by the followed target on the target trajectory as an example, if it is determined that the target position point where the followed target is currently located is not on the target trajectory based on the real-time position information of the followed target, the corresponding position point of the target position point is determined on the target trajectory, and the distance traveled by the followed target is determined based on the corresponding position point and the target trajectory. Among them, the distance between the corresponding position point and the target position point can meet certain conditions.

[0073] For example, in some embodiments, in order to more accurately determine the first motion progress of the followed target on the target trajectory, the position point on the target trajectory that is closest to the current target position point of the followed target may be selected as the corresponding position point.

[0074] In some embodiments, if the target trajectory is a track of the position change of the followed target, the traveled distance is the distance the followed target has traveled, and the total travel distance is the total distance corresponding to the target trajectory. For example, if the target trajectory is a track of the followed target moving from point A to point B, the total travel distance is the total distance corresponding to the track, and the traveled distance is the distance the photographed target has traveled along the track.

[0075] In some embodiments, if the target trajectory is a trajectory of posture changes of the followed target, the distance traveled is the amount of posture change of the followed target, and the total distance traveled is the total amount of posture change corresponding to the target trajectory. For example, assuming the target trajectory is a trajectory of the followed target rotating from angle X to angle Y, the total distance traveled is the total angle change corresponding to the trajectory (e.g., YX), and the distance traveled is the angle that the captured target has currently rotated.

[0076] In some embodiments, the target being followed is a group of aircraft performing in the air, and the elapsed motion duration is the elapsed performance duration of the target being followed, and the total duration is the total performance duration of the target being followed.

[0077] In some embodiments, the target being followed is a swarm of aircraft performing an aerial performance. The target trajectory can be the trajectory of the performance pattern changes of multiple aircraft in the swarm, the traveled distance is the trajectory of the performance pattern changes of the multiple aircraft, and the total travel is the trajectory of the total performance pattern changes of the multiple aircraft. In this implementation, multiple drones in the swarm are used to perform a drone show in the air (each drone is equipped with a light, and the performance is achieved by controlling the position and color of the lights of different drones). In addition, a drone is used to film the performance of the swarm of drones to generate a performance video. In this scenario, the drone used for filming can plan the follow-up trajectory in advance based on the optimal shooting position, and the swarm of drones used for the performance can plan the target trajectory in advance according to the desired performance pattern. During the actual filming process, the drone used for filming controls its own movement progress along the follow-up trajectory based on the performance progress of the performing drones, thereby capturing a performance video with the optimal perspective.

[0078] In some embodiments, the second exercise progress being related to the first exercise progress may include any of the following situations:

[0079] (1) The second motion progress is consistent with the first motion progress. For example, if the motion progress is expressed as a travel ratio, and the distance traveled by the photographed object on the target trajectory accounts for 10% of the total travel, then the distance traveled by the movable platform on the following trajectory can be controlled to account for 10% of the total travel.

[0080] (2) The ratio of the second motion progress to the first motion progress is a target ratio. For example, the ratio of the second motion progress to the first motion progress can be maintained at a target ratio, such as 1:1.1. If the distance traveled by the followed target on the target trajectory accounts for 10% of the total distance, the distance traveled by the movable platform on the following trajectory can be controlled to account for 11% of the total distance.

[0081] In some embodiments, the target ratio may be pre-set and stored by a user, and during the following process, the pre-stored ratio may be obtained as the target ratio.

[0082] In some embodiments, after the user sets the ratio, the user can also adjust the ratio in real time during the following process. For example, the device executing the control method can receive the user's ratio adjustment instruction, and adjust the pre-stored ratio based on the ratio adjustment instruction to obtain the target ratio.

[0083] In some embodiments, in scenarios where a mobile platform is tracking and photographing a target, the target scale can be automatically and dynamically adjusted to ensure optimal images throughout the tracking process. For example, the target scale can be determined based on the composition of an image captured by a camera mounted on the mobile platform, ensuring that the target is positioned as close to the center of the frame as possible.

[0084] (3) The deviation between the second movement progress and the first movement progress is less than a preset deviation threshold. For example, considering that it is difficult to control the movement progress of the two to be completely consistent, it is not necessary to maintain the movement progress of the two to be completely consistent. As long as the deviation between the two is less than the preset deviation threshold, it is sufficient to be within a certain deviation range.

[0085] The target trajectory and the following trajectory may be consistent in length, change trend, etc., or inconsistent. For example, in some embodiments, the target trajectory and the following trajectory may be inconsistent in length. In some embodiments, at least part of the change trend of the target trajectory and the following trajectory may be inconsistent.

[0086] In some embodiments, after automatically determining the second motion progress of the movable platform on the following trajectory based on the first motion progress, the user can also manually fine-tune the second motion progress. For example, a motion progress adjustment instruction input by the user can be obtained, and the movement of the movable platform can be controlled based on the motion progress adjustment instruction to adjust the second motion progress. For example, as shown in FIG8 , the target trajectory of the followed target, the current first motion progress of the followed target, the following trajectory of the movable platform, and the current second motion progress of the movable platform can be displayed on the interactive interface of the control device of the movable platform. Then, a progress adjustment component for manually adjusting the second motion progress is set on the interactive interface. The user can adjust the second motion progress through the progress adjustment component based on the observed real-time motion of the followed target and the movable platform.

[0087] In some embodiments, when controlling the second motion progress of the movable platform on the following trajectory based on the first motion progress, the position movement speed and / or posture change speed of the movable platform can be adjusted based on the first motion progress to adjust the second motion progress of the movable platform on the following trajectory.

[0088] In some embodiments, when adjusting the position movement speed and / or attitude change speed of the movable platform based on the first motion progress so that the motion progress of the two meets the preset requirements, the position movement speed and / or the attitude change speed are positively correlated with the target difference, wherein the target difference is the difference between the current motion progress of the movable platform and the expected motion progress, and the expected motion progress is the motion progress when the first motion progress meets the preset requirements. For example, taking the need for the motion progress of the two to be consistent as an example, assuming that the first motion progress of the currently acquired target being followed on the target trajectory is 10%, and the second motion progress of the movable platform on the following trajectory is 8%, the position change speed and / or attitude change speed of the movable platform can be adjusted based on the difference between the two. The greater the difference between the two, the greater the position change speed and / or attitude change speed of the movable platform, so as to ensure that the progress of the two can reach consistency as soon as possible.

[0089] Among them, when controlling the movable platform to ensure that the movement progress of the movable platform and the followed target meets the preset requirements, a PID (Proportional Integral Derivative) control algorithm or an optimal control algorithm can be used to regulate the position, posture, speed, etc. of the movable platform.

[0090] In some embodiments, the target trajectory of the target being followed can be pre-generated and stored. For example, the position and / or posture information of the target being followed can be sampled at intervals while the target being followed moves along a pre-planned motion trajectory to obtain a plurality of sampling points, and then the target trajectory is generated based on the plurality of sampling points. In particular, when generating the target trajectory based on the plurality of sampling points, a Bezier curve or a polynomial curve can be generated to simulate the target trajectory. The target trajectory can also be set in advance on a trajectory editing page on a control device (such as a remote control of a movable platform or a controller carried by the target being followed) (such as a trajectory can be planned by dotting on a map or a real-time captured image) or on a page of other terminal devices, and the pre-set target trajectory can be imported into the movable platform or the control device of the movable platform by wired or wireless means.

[0091] Of course, in some embodiments, the target trajectory may not need to be directly stored, and the target trajectory may be temporarily generated during the following process. For example, the starting position and / or starting posture of the followed target, as well as the position change trend and / or posture change trend of the followed target, may be stored, and then the target trajectory may be generated based on the starting position and / or starting posture, and the position change trend and / or posture change trend.

[0092] Similarly, the following trajectory of the movable platform can also be generated using the above two methods, which will not be repeated here.

[0093] In some embodiments, the target trajectory and / or the following trajectory may be generated before the mobile platform follows the followed target. For example, the target trajectory may be generated and stored before the mobile platform follows the followed target, and the stored target trajectory may be directly called when the mobile platform follows the followed target.

[0094] In some embodiments, the target trajectory and / or the following trajectory may be generated after the mobile platform follows the followed target. For example, after the mobile platform follows the following target, the target trajectory may be predicted based on the changing trend of the target trajectory and / or the following trajectory, and then the target trajectory may be generated.

[0095] In some embodiments, the movable platform may be a drone, and the target trajectory and / or the following trajectory are generated before the movable platform follows the target to be followed. The target trajectory and / or the following trajectory may be generated before the movable platform takes off, or the target trajectory and / or the following trajectory may be generated after the movable platform takes off.

[0096] In some embodiments, the movable platform is equipped with a photographing device. When the movable platform is following the target, the photographing device can be controlled to capture an image of the target.

[0097] In some embodiments, to ensure that images are captured with good quality, the mobile platform can ensure that the target is located at the center of at least some of the images captured by the camera while the mobile platform is tracking the target and capturing images of the target. For example, the mobile platform should ensure that the target is located at the center of the images captured by the camera during at least some of the time periods while the mobile platform is tracking the target to ensure good image quality.

[0098] In some embodiments, this method can be used in film and television shooting scenarios. In addition to controlling the movable platform based on the first motion progress of the tracked target, the method can also control the target prop to perform a preset action based on the first motion progress. For example, in scenes requiring the capture of an explosion, the actor is typically required to walk to a fixed position and then ignite the explosive device in order to capture a video of the explosion. Therefore, the detonation of the explosive device can also be automatically controlled based on the first motion progress of the tracked target.

[0099] In some embodiments, the control method can be executed by a mobile platform. The trajectory of the target being followed can be stored on a control device of the mobile platform. The mobile platform can obtain the target trajectory from the control device and obtain the real-time position information of the target being followed from a positioning device carried by the target. The mobile platform can then determine a first motion progress based on the real-time position information and the target trajectory. The mobile platform can then adjust its motion speed along the preset tracking trajectory based on the first motion progress so that the second motion progress of the mobile platform along the tracking trajectory is consistent with the first motion progress.

[0100] In addition, an embodiment of the present application further provides a method for controlling a movable platform, the method comprising:

[0101] Obtaining a first characteristic value of a movement characteristic of a target being followed on a preset target trajectory;

[0102] A second characteristic value of the movement characteristic of the movable platform on a preset following trajectory is controlled based on the first characteristic value, wherein the second characteristic value is related to the first characteristic value.

[0103] In some embodiments, the movement characteristics include one or more of the following:

[0104] Movement progress, movement speed, and movement step length.

[0105] In some embodiments, the first characteristic value is determined based on real-time position information of the followed target.

[0106] In some embodiments, the movement characteristic is movement progress, and the first characteristic value is a ratio of the movement distance of the followed object on the target trajectory to the total distance corresponding to the target trajectory; or

[0107] The first characteristic value is a ratio of the movement time of the target being followed on the target trajectory to the total movement time corresponding to the target trajectory.

[0108] In some embodiments, the traveled distance is determined based on the real-time position information of the followed target and the target trajectory.

[0109] In some embodiments, the target being followed carries a positioning device, and the real-time position information is collected by the positioning device; and / or

[0110] The movable platform is provided with a perception sensor, and the real-time position information is determined based on data collected by the perception sensor.

[0111] In some embodiments, the perception sensor includes one or more of the following: a visual sensor, a radar, or a UWB positioning system.

[0112] In some embodiments, the traveled distance is determined based on the real-time position information of the followed target and the target trajectory, including:

[0113] If it is determined based on the real-time position information of the followed target that the current target position point of the followed target is not on the target trajectory, a corresponding position point of the target position point is determined on the target trajectory, and the traveled distance is determined based on the corresponding position point and the target trajectory.

[0114] In some embodiments, the corresponding position point is a position point on the target trajectory that is closest to the target position point.

[0115] In some embodiments, the second characteristic value is related to the first characteristic value, including:

[0116] The second characteristic value is consistent with the first characteristic value;

[0117] The ratio of the second characteristic value to the first characteristic value is a target ratio;

[0118] A deviation between the second characteristic value and the first characteristic value is smaller than a preset deviation threshold.

[0119] In some embodiments, the target ratio is obtained based on any of the following methods:

[0120] Obtaining a pre-stored ratio as the target ratio; or

[0121] receiving a ratio adjustment instruction from a user, and adjusting a pre-stored ratio based on the ratio adjustment instruction to obtain the target ratio; or

[0122] The movable platform is equipped with a shooting device, and the target ratio is determined based on a composition of the followed target in an image captured by the shooting device.

[0123] In some embodiments, after controlling the movable platform to follow the second characteristic value of the movement characteristic on the trajectory based on the first characteristic value, the method further includes:

[0124] Acquire a movement progress adjustment instruction of the user, and control the movement of the movable platform based on the movement progress adjustment instruction to adjust the second characteristic value.

[0125] In some embodiments, controlling a second characteristic value of the movement characteristic of the movable platform on the following trajectory based on the first characteristic value includes:

[0126] The position movement speed and / or attitude change speed of the movable platform are adjusted based on the first characteristic value to adjust the second characteristic value of the movable platform on the following trajectory.

[0127] In some embodiments, the position movement speed and / or the posture change speed is positively correlated with a target difference, where the target difference is the difference between a current characteristic value and an expected characteristic value of the movement characteristic of the movable platform, wherein the expected characteristic value is related to the first characteristic value.

[0128] In some embodiments, the method is used for a film and television shooting scene, and the method further includes:

[0129] The target prop is controlled to perform a preset action based on the first characteristic value.

[0130] In some embodiments, the method is performed by a movable platform, or the method is performed by a control device communicatively connected to the movable platform.

[0131] In some embodiments, the followed target carries a positioning device, and the first characteristic value is determined by the positioning device based on the real-time position information of the followed target and the target trajectory collected by the positioning device itself, and the movable platform or the control device obtains the first characteristic value from the positioning device.

[0132] In some embodiments, the followed target carries a positioning device, and the movable platform or the control device is used to obtain real-time position information of the followed target collected by the positioning device, and determine the first characteristic value based on the real-time position information and the target trajectory.

[0133] In some embodiments, the target trajectory is obtained from a control device of the movable platform, or from other third-party devices.

[0134] In some embodiments, obtaining a first characteristic value of a movement characteristic of the target being followed on a preset target trajectory includes:

[0135] The mobile platform obtains the target trajectory of the followed target from the control device, obtains the real-time position information of the followed target from the positioning device carried by the followed target, and determines the first characteristic value according to the real-time position information and the target trajectory;

[0136] The controlling the second characteristic value of the movement characteristic of the movable platform on a preset following trajectory based on the first characteristic value includes:

[0137] The movable platform adjusts a movement speed of the movable platform on a preset following trajectory based on the first characteristic value, so that a second characteristic value of the movement characteristic of the movable platform on the following trajectory is consistent with the first characteristic value.

[0138] It is not difficult to understand that the solutions described in the above embodiments can be freely combined into new solutions when there is no conflict. Due to space reasons, they are not listed one by one in the embodiments of this application.

[0139] Corresponding to the above method, an embodiment of the present application further provides a control device for a mobile platform, as shown in FIG9 . The control device includes a processor 91, a memory 92, and a computer program stored in the memory 92 and executable by the processor 91. When the processor 91 executes the computer program, the following steps can be implemented:

[0140] Obtaining the first motion progress of the target being followed on the preset target trajectory;

[0141] A second movement progress of the movable platform on a preset following trajectory is controlled based on the first movement progress, wherein the second movement progress is related to the first movement progress.

[0142] In some embodiments, the target trajectory is a position change trajectory and / or a posture change trajectory of the followed target.

[0143] In some embodiments, the following trajectory is a position change trajectory and / or a posture change trajectory of the movable platform; or

[0144] A load is provided on the movable platform, and the following trajectory is a position change trajectory and / or a posture change trajectory of the load.

[0145] In some embodiments, the target to be followed is a cluster consisting of multiple target objects, and the target trajectory is a motion trajectory of a target point determined based on the cluster.

[0146] In some embodiments, the target to be followed is a cluster consisting of multiple target objects, and the target trajectory is a motion trajectory of a performance pattern formed by the multiple target objects during movement.

[0147] In some embodiments, the target to be followed is a cluster of aircraft performing in the air.

[0148] In some embodiments, the first motion progress is determined based on real-time position information of the followed target.

[0149] In some embodiments, the first movement progress is the ratio of the movement distance of the followed object on the target track to the total movement distance corresponding to the target track; or

[0150] The first movement progress is a ratio of the movement time of the followed target on the target trajectory to the total movement time corresponding to the target trajectory.

[0151] In some embodiments, the traveled distance is determined based on real-time position information of the followed target and the target trajectory.

[0152] In some embodiments, the target being followed carries a positioning device, and the real-time position information is collected by the positioning device; and / or

[0153] The movable platform is provided with a perception sensor, and the real-time position information is determined based on data collected by the perception sensor.

[0154] In some embodiments, the perception sensor includes one or more of the following: a visual sensor, a radar, or a UWB positioning system.

[0155] In some embodiments, the traveled distance is determined based on the real-time position information of the followed target and the target trajectory, including:

[0156] If it is determined based on the real-time position information of the followed target that the current target position point of the followed target is not on the target trajectory, a corresponding position point of the target position point is determined on the target trajectory, and the traveled distance is determined based on the corresponding position point and the target trajectory.

[0157] In some embodiments, the corresponding position point is a position point on the target trajectory that is closest to the target position point.

[0158] In some embodiments, the target trajectory is a position change trajectory of the followed target, the moved distance is a distance moved by the followed target, and the total distance is a total distance corresponding to the target trajectory; and / or,

[0159] The target trajectory is a trajectory of posture changes of the target being followed, the moved distance is the amount of posture changes of the target being followed, and the total distance is the total amount of posture changes corresponding to the target trajectory.

[0160] In some embodiments, the followed target is a cluster of aircraft performing in the air, the movement duration is the performance duration of the followed target, and the total duration is the total performance duration of the followed target.

[0161] In some embodiments, the target to be followed is a cluster of aircraft performing in the air, the target trajectory is the trajectory of changes in the performance patterns of multiple aircraft in the aircraft cluster, the moved distance is the trajectory of changes in the performed patterns of the multiple aircraft, and the total distance is the trajectory of changes in the total performance pattern of the multiple aircraft.

[0162] In some embodiments, the second exercise progress is related to the first exercise progress, including:

[0163] The second exercise progress is consistent with the first exercise progress;

[0164] The ratio of the second exercise progress to the first exercise progress is a target ratio;

[0165] A deviation between the second exercise progress and the first exercise progress is smaller than a preset deviation threshold.

[0166] In some embodiments, the target ratio is obtained based on any of the following methods:

[0167] Obtaining a pre-stored ratio as the target ratio; or

[0168] receiving a ratio adjustment instruction from a user, and adjusting a pre-stored ratio based on the ratio adjustment instruction to obtain the target ratio; or

[0169] The movable platform is equipped with a shooting device, and the target ratio is determined based on a composition of the followed target in an image captured by the shooting device.

[0170] In some embodiments, at least some of the change trends of the target trajectory and the follow-up trajectory are inconsistent; and / or

[0171] The target trajectory and the following trajectory have different lengths.

[0172] In some embodiments, the processor is configured to control the movable platform to follow a second motion progress on the trajectory based on the first motion progress, and further configured to:

[0173] Acquire a movement progress adjustment instruction from the user, and control the movement of the movable platform based on the movement progress adjustment instruction to adjust the second movement progress.

[0174] In some embodiments, the processor is configured to control the second motion progress of the movable platform on the following trajectory based on the first motion progress, specifically to:

[0175] The position movement speed and / or attitude change speed of the movable platform are adjusted based on the first movement progress to adjust the second movement progress of the movable platform on the following trajectory.

[0176] In some embodiments, the position movement speed and / or the posture change speed is positively correlated with a target difference, where the target difference is the difference between the current motion progress of the movable platform and the expected motion progress, wherein the expected motion progress is related to the first motion progress.

[0177] In some embodiments, the target motion trajectory / following trajectory is obtained based on the following method:

[0178] During the movement of the target / mobile platform being followed along the pre-planned motion trajectory, sampling the position and / or posture information of the target / mobile platform being followed at intervals to obtain a plurality of sampling points, and generating the target trajectory / following trajectory based on the plurality of sampling points; or

[0179] The starting position and position change trend of the target / movable platform being followed are obtained, and the target trajectory / following trajectory is generated based on the starting position and position change trend.

[0180] In some embodiments, the target track and / or the following track are generated before the movable platform follows the followed target; or

[0181] The target trajectory and / or the following trajectory are generated after the movable platform follows the followed target.

[0182] In some embodiments, the target trajectory and / or the following trajectory are generated before the movable platform follows the target to be followed, including: the target trajectory and / or the following trajectory are generated before the movable platform takes off, or the target trajectory and / or the following trajectory are generated after the movable platform takes off.

[0183] In some embodiments, the movable platform is equipped with a camera, and the control device is further configured to:

[0184] During the process of the movable platform following the object being followed, the photographing device is controlled to capture an image of the object being followed.

[0185] In some embodiments, the target to be followed is located at the center of at least a portion of the image captured by the shooting device.

[0186] In some embodiments, the control device is used for a film and television shooting scene, and the control device is further used to:

[0187] The target prop is controlled to perform a preset action based on the first movement progress.

[0188] In some embodiments, the control device is a movable platform, or the control device is a control device communicatively connected to the movable platform.

[0189] In some embodiments, the followed target carries a positioning device, and the first motion progress is determined by the positioning device based on the real-time position information of the followed target and the target trajectory collected by the positioning device itself, and the movable platform or the control device obtains the first motion progress from the positioning device.

[0190] In some embodiments, the followed target carries a positioning device, and the movable platform or the control device is used to obtain real-time position information of the followed target collected by the positioning device, and determine the first motion progress based on the real-time position information and the target trajectory.

[0191] In some embodiments, the target trajectory is obtained from a control device of the movable platform, or from other third-party devices.

[0192] In some embodiments, the control device is a movable platform, and when the control device is used to obtain the first motion progress of the followed target on the preset target trajectory, it is specifically used to:

[0193] The movable platform obtains the target trajectory of the followed object from a control device, obtains the real-time position information of the followed object from a positioning device carried by the followed object, and determines the first motion progress according to the real-time position information and the target trajectory;

[0194] When the control device is used to control the second movement progress of the movable platform on a preset following trajectory based on the first movement progress, it is specifically used to:

[0195] The movable platform adjusts a movement speed of the movable platform on a preset following track based on the first movement progress, so that a second movement progress of the movable platform on the following track is consistent with the first movement progress.

[0196] The present application also provides another control device for a mobile platform, as shown in FIG9 . The control device includes a processor 91, a memory 92, and a computer program stored in the memory 92 and executable by the processor 91. When the processor 91 executes the computer program, the following steps can be implemented:

[0197] Obtaining a first characteristic value of a movement characteristic of a target being followed on a preset target trajectory;

[0198] A second characteristic value of the movement characteristic of the movable platform on a preset following trajectory is controlled based on the first characteristic value, wherein the second characteristic value is related to the first characteristic value.

[0199] In some embodiments, the movement characteristics include one or more of the following:

[0200] Movement progress, movement speed, and movement step length.

[0201] In some embodiments, the first characteristic value is determined based on real-time position information of the followed target.

[0202] In some embodiments, the movement characteristic is movement progress, and the first characteristic value is a ratio of the movement distance of the followed object on the target trajectory to the total distance corresponding to the target trajectory; or

[0203] The first characteristic value is a ratio of the movement time of the target being followed on the target trajectory to the total movement time corresponding to the target trajectory.

[0204] In some embodiments, the traveled distance is determined based on the real-time position information of the followed target and the target trajectory.

[0205] In some embodiments, the target being followed carries a positioning device, and the real-time position information is collected by the positioning device; and / or

[0206] The movable platform is provided with a perception sensor, and the real-time position information is determined based on data collected by the perception sensor.

[0207] In some embodiments, the perception sensor includes one or more of the following: a visual sensor, a radar, or a UWB positioning system.

[0208] In some embodiments, the traveled distance is determined based on the real-time position information of the followed target and the target trajectory, including:

[0209] If it is determined based on the real-time position information of the followed target that the current target position point of the followed target is not on the target trajectory, a corresponding position point of the target position point is determined on the target trajectory, and the traveled distance is determined based on the corresponding position point and the target trajectory.

[0210] In some embodiments, the corresponding position point is a position point on the target trajectory that is closest to the target position point.

[0211] In some embodiments, the second characteristic value is related to the first characteristic value, including:

[0212] The second characteristic value is consistent with the first characteristic value;

[0213] The ratio of the second characteristic value to the first characteristic value is a target ratio;

[0214] A deviation between the second characteristic value and the first characteristic value is smaller than a preset deviation threshold.

[0215] In some embodiments, the target ratio is obtained based on any of the following methods:

[0216] Obtaining a pre-stored ratio as the target ratio; or

[0217] receiving a ratio adjustment instruction from a user, and adjusting a pre-stored ratio based on the ratio adjustment instruction to obtain the target ratio; or

[0218] The movable platform is equipped with a shooting device, and the target ratio is determined based on a composition of the followed target in an image captured by the shooting device.

[0219] In some embodiments, after controlling the movable platform to follow the second characteristic value of the movement characteristic on the trajectory based on the first characteristic value, the processor is further configured to:

[0220] Acquire a movement progress adjustment instruction of the user, and control the movement of the movable platform based on the movement progress adjustment instruction to adjust the second characteristic value.

[0221] In some embodiments, when the processor is configured to control the second characteristic value of the movement characteristic of the movable platform on the following trajectory based on the first characteristic value, the processor is specifically configured to:

[0222] The position movement speed and / or attitude change speed of the movable platform are adjusted based on the first characteristic value to adjust the second characteristic value of the movable platform on the following trajectory.

[0223] In some embodiments, the position movement speed and / or the posture change speed is positively correlated with a target difference, where the target difference is the difference between a current characteristic value and an expected characteristic value of the movement characteristic of the movable platform, wherein the expected characteristic value is related to the first characteristic value.

[0224] In some embodiments, the control device is used for a film and television shooting scene, and the processor is further used to:

[0225] The target prop is controlled to perform a preset action based on the first characteristic value.

[0226] In some embodiments, the control device is a movable platform, or the control device is a control device communicatively connected to the movable platform.

[0227] In some embodiments, the followed target carries a positioning device, and the first characteristic value is determined by the positioning device based on the real-time position information of the followed target and the target trajectory collected by the positioning device itself, and the movable platform or the control device obtains the first characteristic value from the positioning device.

[0228] In some embodiments, the followed target carries a positioning device, and the movable platform or the control device is used to obtain real-time position information of the followed target collected by the positioning device, and determine the first characteristic value based on the real-time position information and the target trajectory.

[0229] In some embodiments, the target trajectory is obtained from a control device of the movable platform, or from other third-party devices.

[0230] In some embodiments, when the processor is configured to obtain a first characteristic value of a movement characteristic of a target being followed on a preset target trajectory, the processor is specifically configured to:

[0231] The mobile platform obtains the target trajectory of the followed target from the control device, obtains the real-time position information of the followed target from the positioning device carried by the followed target, and determines the first characteristic value according to the real-time position information and the target trajectory;

[0232] When the processor is configured to control the second characteristic value of the movement characteristic of the movable platform on a preset following trajectory based on the first characteristic value, the processor is specifically configured to:

[0233] The movable platform adjusts a movement speed of the movable platform on a preset following trajectory based on the first characteristic value, so that a second characteristic value of the movement characteristic of the movable platform on the following trajectory is consistent with the first characteristic value.

[0234] Furthermore, an embodiment of the present application also provides a movable platform, on which a shooting device is mounted. The movable platform also includes a processor, a memory, and computer instructions stored in the memory. When the processor executes the computer instructions, the method described in any of the above embodiments is implemented.

[0235] Accordingly, an embodiment of the present application further provides a computer storage medium, in which a program is stored. When the program is executed by a processor, the method in any of the above embodiments is implemented.

[0236] The embodiments of the present application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs or other data. Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0237] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial description of the method embodiments. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.

[0238] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0239] The above is a detailed introduction to the methods and devices provided in the embodiments of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A control method for a movable platform, It is characterized in that The method comprises: Obtaining the first motion progress of the followed target on the preset target trajectory; A second movement progress of the movable platform on a preset following track is controlled based on the first movement progress, wherein the second movement progress is related to the first movement progress.

2. The method according to claim 1, It is characterized in that The target trajectory is a position change trajectory and / or a posture change trajectory of the followed target.

3. The method according to claim 1, It is characterized in that The following trajectory is a position change trajectory and / or a posture change trajectory of the movable platform; or A load is arranged on the movable platform, and the following trajectory is a position change trajectory and / or a posture change trajectory of the load.

4. The method according to claim 1, It is characterized in that The target to be followed is a cluster consisting of multiple target objects, and the target trajectory is a motion trajectory of a target point determined based on the cluster.

5. The method according to claim 1, It is characterized in that The target to be followed is a cluster composed of multiple target objects, and the target trajectory is a motion trajectory of a performance pattern formed by the multiple target objects during movement.

6. The method according to claim 5, It is characterized in that The target to be followed is a group of aircraft performing in the air.

7. The method according to claim 1, It is characterized in that The first movement progress is determined based on real-time position information of the followed object.

8. The method according to claim 1 or 7, It is characterized in that The first movement progress is the ratio of the travel distance of the followed target on the target track to the total travel distance corresponding to the target track; or The first movement progress is the ratio of the movement time of the followed target on the target track to the total movement time corresponding to the target track.

9. The method according to claim 8, It is characterized in that The traveled distance is determined based on the real-time position information of the followed target and the target trajectory.

10. The method according to claim 7 or 9, It is characterized in that The target being followed carries a positioning device, and the real-time position information is acquired by collecting the positioning device; and / or The movable platform is provided with a perception sensor, and the real-time position information is determined based on data collected by the perception sensor.

11. The method according to claim 10, It is characterized in that The perception sensor includes one or more of the following: visual sensor, radar, UWB positioning system.

12. The method according to claim 8, It is characterized in that The traveled distance is determined based on the real-time position information of the followed target and the target trajectory, including: If it is determined based on the real-time position information of the followed target that the current target position point of the followed target is not on the target trajectory, a corresponding position point of the target position point is determined on the target trajectory, and the moved distance is determined based on the corresponding position point and the target trajectory.

13. The method according to claim 11, It is characterized in that The corresponding position point is the position point on the target trajectory that is closest to the target position point.

14. The method according to claim 8, It is characterized in that The target trajectory is a position change trajectory of the followed target, the moved distance is a moved distance of the followed target, and the total distance is a total distance corresponding to the target trajectory; and / or, The target trajectory is a trajectory of posture changes of the followed target, the moved distance is the changed posture amount of the followed target, and the total distance is the total posture change amount corresponding to the target trajectory.

15. The method according to claim 8, It is characterized in that The followed target is a cluster of aircraft performing in the air, the moved time is the performed time of the followed target, and the total time is the total performed time of the followed target.

16. The method according to claim 8, It is characterized in that The followed target is a cluster of aircraft performing in the air, the target trajectory is the changing trajectory of the performance patterns of the multiple aircraft in the aircraft cluster, the moved distance is the changing trajectory of the performed patterns of the multiple aircraft, and the total distance is the changing trajectory of the total performance pattern of the multiple aircraft.

17. The method according to claim 1, It is characterized in that The second exercise progress is related to the first exercise progress, including: The second movement progress is consistent with the first movement progress; The ratio of the second exercise progress to the first exercise progress is a target ratio; A deviation between the second motion progress and the first motion progress is less than a preset deviation threshold.

18. The method according to claim 17, It is characterized in that The target ratio is obtained based on any of the following methods: Obtaining a pre-stored ratio as the target ratio; or receiving a ratio adjustment instruction from a user, and adjusting the pre-stored ratio based on the ratio adjustment instruction to obtain the target ratio; or The movable platform is equipped with a shooting device, and the target proportion is determined based on the composition of the followed target on the image captured by the shooting device.

19. The method according to claim 1, It is characterized in that At least some of the change trends of the target trajectory and the follow-up trajectory are inconsistent; and / or The target trajectory and the following trajectory have different lengths.

20. The method according to claim 1, It is characterized in that After controlling the second motion progress of the movable platform on the following trajectory based on the first motion progress, the method further includes: Acquire a movement progress adjustment instruction of the user, and control the movement of the movable platform based on the movement progress adjustment instruction to adjust the second movement progress.

21. The method according to claim 1, It is characterized in that Controlling a second motion progress of the movable platform on a following trajectory based on the first motion progress includes: The position movement speed and / or posture change speed of the movable platform is adjusted based on the first movement progress to adjust the second movement progress of the movable platform on the following trajectory.

22. The method according to claim 21, It is characterized in that The position moving speed and / or the posture changing speed is positively correlated to a target difference, and the target difference is a difference between a current motion progress and an expected motion progress of the movable platform, wherein the expected motion progress is related to the first motion progress.

23. The method according to claim 1, It is characterized in that The target motion trajectory / following trajectory is obtained based on the following method: During the process of the followed target / movable platform moving along the pre-planned motion trajectory, the position and / or posture information of the followed target / movable platform is sampled at intervals to obtain a plurality of sampling points, and the target trajectory / following trajectory is generated based on the plurality of sampling points; or The starting position and position change trend of the target / movable platform being followed are obtained, and the target trajectory / following trajectory is generated based on the starting position and position change trend.

24. The method according to claim 1, It is characterized in that The target track and / or the following track are generated before the movable platform follows the followed target; or The target track and / or the following track are generated after the movable platform follows the followed target.

25. The method according to claim 24, It is characterized in that The target trajectory and / or the following trajectory are generated before the movable platform follows the followed target, including: the target trajectory and / or the following trajectory are generated before the movable platform takes off, or the target trajectory and / or the following trajectory are generated after the movable platform takes off.

26. The method according to claim 1, It is characterized in that The movable platform is equipped with a shooting device, and the method further includes: In the process of the movable platform following the followed object, the shooting device is controlled to capture an image of the followed object.

27. The method according to claim 26, It is characterized in that The followed target is located at the center of at least a portion of the image captured by the shooting device.

28. The method according to claim 1, It is characterized in that The method is used for filming scenes, and the method further includes: The target prop is controlled to perform a preset action based on the first movement progress.

29. The method according to claim 1, It is characterized in that The method is executed by a movable platform, or the method is executed by a control device communicatively connected to the movable platform.

30. The method according to claim 29, It is characterized in that The followed target carries a positioning device, the first movement progress is determined by the positioning device based on the real-time position information of the followed target and the target trajectory collected by the positioning device, and the movable platform or the control device obtains the first movement progress from the positioning device.

31. The method according to claim 29, It is characterized in that The followed target carries a positioning device, and the movable platform or the control device is used to obtain real-time position information of the followed target collected by the positioning device, and determine the first motion progress based on the real-time position information and the target trajectory.

32. The method according to claim 31, It is characterized in that The target trajectory is obtained from a control device of the movable platform, or from other third-party devices.

33. The method according to claim 1, It is characterized in that The step of obtaining the first motion progress of the target being followed on the preset target track includes: The movable platform obtains the target trajectory of the followed target from the control device, obtains the real-time position information of the followed target from the positioning device carried by the followed target, and determines the first motion progress according to the real-time position information and the target trajectory; The controlling the second movement progress of the movable platform on a preset following track based on the first movement progress includes: The movable platform adjusts the movement speed of the movable platform on a preset following track based on the first movement progress, so that a second movement progress of the movable platform on the following track is consistent with the first movement progress.

34. A control method for a movable platform, It is characterized in that The method comprises: Acquire a first characteristic value of a movement characteristic of a currently followed target on a preset target trajectory; A second characteristic value of the movement characteristic of the movable platform on a preset following trajectory is controlled based on the first characteristic value, wherein the second characteristic value is related to the first characteristic value.

35. The method according to claim 34, It is characterized in that The mobility characteristics include one or more of the following: Movement progress, movement speed, and movement step length.

36. The method according to claim 34, It is characterized in that The first characteristic value is determined based on real-time position information of the followed object.

37. The method according to claim 34 or 36, It is characterized in that The movement characteristic is movement progress, and the first characteristic value is the ratio of the movement distance of the followed target on the target track to the total distance corresponding to the target track; or The first characteristic value is a ratio of the movement time of the followed target on the target track to the total movement time corresponding to the target track.

38. The method according to claim 37, It is characterized in that The traveled distance is determined based on the real-time position information of the followed target and the target trajectory.

39. The method according to claim 36 or 38, It is characterized in that The target being followed carries a positioning device, and the real-time position information is acquired by collecting the positioning device; and / or The movable platform is provided with a perception sensor, and the real-time position information is determined based on data collected by the perception sensor.

40. The method according to claim 39, It is characterized in that The perception sensor includes one or more of the following: visual sensor, radar, UWB positioning system.

41. The method according to claim 38, It is characterized in that The traveled distance is determined based on the real-time position information of the followed target and the target trajectory, including: If it is determined based on the real-time position information of the followed target that the current target position point of the followed target is not on the target trajectory, a corresponding position point of the target position point is determined on the target trajectory, and the moved distance is determined based on the corresponding position point and the target trajectory.

42. The method according to claim 41, It is characterized in that The corresponding position point is the position point on the target trajectory that is closest to the target position point.

43. The method according to claim 1, It is characterized in that The second characteristic value is related to the first characteristic value, including: The second characteristic value is consistent with the first characteristic value; The ratio of the second characteristic value to the first characteristic value is a target ratio; The deviation between the second characteristic value and the first characteristic value is less than a preset deviation threshold.

44. The method according to claim 43, It is characterized in that The target ratio is obtained based on any of the following methods: Obtaining a pre-stored ratio as the target ratio; or receiving a ratio adjustment instruction from a user, and adjusting the pre-stored ratio based on the ratio adjustment instruction to obtain the target ratio; or The movable platform is equipped with a shooting device, and the target proportion is determined based on the composition of the followed target on the image captured by the shooting device.

45. The method according to claim 34, It is characterized in that After controlling the movable platform to follow the second characteristic value of the movement characteristic on the trajectory based on the first characteristic value, the method further includes: Acquire a movement progress adjustment instruction of the user, and control the movement of the movable platform based on the movement progress adjustment instruction to adjust the second characteristic value.

46. ​​The method according to claim 34, It is characterized in that Controlling a second characteristic value of the movement characteristic of the movable platform on a following trajectory based on the first characteristic value includes: The position moving speed and / or the attitude changing speed of the movable platform are adjusted based on the first characteristic value to adjust the second characteristic value of the movable platform on the following trajectory.

47. The method according to claim 46, It is characterized in that The position movement speed and / or the posture change speed is positively correlated to a target difference, where the target difference is a difference between a current characteristic value and an expected characteristic value of the movement characteristic of the movable platform, wherein the expected characteristic value is correlated to the first characteristic value.

48. The method according to claim 34, It is characterized in that The method is used for filming scenes, and the method further includes: The target prop is controlled to perform a preset action based on the first characteristic value.

49. The method according to claim 34, It is characterized in that The method is executed by a movable platform, or the method is executed by a control device communicatively connected to the movable platform.

50. The method according to claim 49, It is characterized in that The followed target carries a positioning device, the first characteristic value is determined by the positioning device based on the real-time position information of the followed target and the target trajectory collected by the positioning device, and the movable platform or the control device obtains the first characteristic value from the positioning device.

51. The method according to claim 49, It is characterized in that The target being followed carries a positioning device, and the movable platform or the control device is used to obtain real-time position information of the target being followed collected by the positioning device, and determine the first characteristic value based on the real-time position information and the target trajectory.

52. The method according to claim 51, It is characterized in that The target trajectory is obtained from a control device of the movable platform, or from other third-party devices.

53. The method according to claim 34, It is characterized in that The step of obtaining a first characteristic value of a movement characteristic of a target being followed on a preset target track includes: The movable platform obtains the target trajectory of the followed target from the control device, obtains the real-time position information of the followed target from the positioning device carried by the followed target, and determines the first characteristic value according to the real-time position information and the target trajectory; The controlling the second characteristic value of the movement characteristic of the movable platform on a preset following trajectory based on the first characteristic value comprises: The movable platform adjusts the movement speed of the movable platform on a preset following trajectory based on the first characteristic value, so that a second characteristic value of the movement characteristic of the movable platform on the following trajectory is consistent with the first characteristic value.

54. A control device for a movable platform, It is characterized in that The control device includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps can be implemented: Obtaining the first motion progress of the followed target on the preset target trajectory; A second movement progress of the movable platform on a preset following track is controlled based on the first movement progress, wherein the second movement progress is related to the first movement progress.

55. The control device according to claim 54, It is characterized in that The target trajectory is a position change trajectory and / or a posture change trajectory of the followed target.

56. The control device according to claim 54, It is characterized in that The following trajectory is a position change trajectory and / or a posture change trajectory of the movable platform; or A load is arranged on the movable platform, and the following trajectory is a position change trajectory and / or a posture change trajectory of the load.

57. The control device according to claim 54, It is characterized in that The target to be followed is a cluster consisting of multiple target objects, and the target trajectory is a motion trajectory of a target point determined based on the cluster.

58. The control device according to claim 54, It is characterized in that The target to be followed is a cluster composed of multiple target objects, and the target trajectory is a motion trajectory of a performance pattern formed by the multiple target objects during movement.

59. The control device according to claim 58, It is characterized in that The target to be followed is a group of aircraft performing in the air.

60. The control device according to claim 54, It is characterized in that The first movement progress is determined based on real-time position information of the followed object.

61. A control device according to claim 54 or 60, It is characterized in that The first movement progress is the ratio of the travel distance of the followed target on the target track to the total travel distance corresponding to the target track; or The first movement progress is the ratio of the movement time of the followed target on the target track to the total movement time corresponding to the target track.

62. The control device according to claim 61, It is characterized in that The traveled distance is determined based on the real-time position information of the followed target and the target trajectory.

63. A control device according to claim 60 or 62, It is characterized in that The target being followed carries a positioning device, and the real-time position information is acquired by collecting the positioning device; and / or The movable platform is provided with a perception sensor, and the real-time position information is determined based on data collected by the perception sensor.

64. The control device according to claim 63, It is characterized in that The perception sensor includes one or more of the following: visual sensor, radar, UWB positioning system.

65. The control device according to claim 61, It is characterized in that The traveled distance is determined based on the real-time position information of the followed target and the target trajectory, including: If it is determined based on the real-time position information of the followed target that the current target position point of the followed target is not on the target trajectory, a corresponding position point of the target position point is determined on the target trajectory, and the moved distance is determined based on the corresponding position point and the target trajectory.

66. The control device according to claim 64, It is characterized in that The corresponding position point is the position point on the target trajectory that is closest to the target position point.

67. The control device according to claim 61, It is characterized in that The target trajectory is a position change trajectory of the followed target, the moved distance is a moved distance of the followed target, and the total distance is a total distance corresponding to the target trajectory; and / or, The target trajectory is a trajectory of posture changes of the followed target, the moved distance is the changed posture amount of the followed target, and the total distance is the total posture change amount corresponding to the target trajectory.

68. The control device according to claim 61, It is characterized in that The followed target is a cluster of aircraft performing in the air, the moved time is the performed time of the followed target, and the total time is the total performed time of the followed target.

69. The control device according to claim 61, It is characterized in that The followed target is a cluster of aircraft performing in the air, the target trajectory is the changing trajectory of the performance patterns of the multiple aircraft in the aircraft cluster, the moved distance is the changing trajectory of the performed patterns of the multiple aircraft, and the total distance is the changing trajectory of the total performance pattern of the multiple aircraft.

70. The control device according to claim 54, It is characterized in that The second exercise progress is related to the first exercise progress, including: The second movement progress is consistent with the first movement progress; The ratio of the second exercise progress to the first exercise progress is a target ratio; A deviation between the second motion progress and the first motion progress is less than a preset deviation threshold.

71. The control device according to claim 70, It is characterized in that The target ratio is obtained based on any of the following methods: Obtaining a pre-stored ratio as the target ratio; or receiving a ratio adjustment instruction from a user, and adjusting the pre-stored ratio based on the ratio adjustment instruction to obtain the target ratio; or The movable platform is equipped with a shooting device, and the target proportion is determined based on the composition of the followed target on the image captured by the shooting device.

72. The control device according to claim 54, It is characterized in that At least some of the change trends of the target trajectory and the follow-up trajectory are inconsistent; and / or The target trajectory and the following trajectory have different lengths.

73. The control device according to claim 54, It is characterized in that The processor is used to control the movable platform to follow the second movement progress of the trajectory based on the first movement progress, and is also used to: Acquire a movement progress adjustment instruction of the user, and control the movement of the movable platform based on the movement progress adjustment instruction to adjust the second movement progress.

74. The control device according to claim 54, It is characterized in that The processor is used to control the second movement progress of the movable platform on the following trajectory based on the first movement progress, specifically to: The position movement speed and / or posture change speed of the movable platform is adjusted based on the first movement progress to adjust the second movement progress of the movable platform on the following trajectory.

75. The control device according to claim 74, It is characterized in that The position moving speed and / or the posture changing speed is positively correlated to a target difference, and the target difference is a difference between a current motion progress and an expected motion progress of the movable platform, wherein the expected motion progress is related to the first motion progress.

76. The control device according to claim 54, It is characterized in that The target motion trajectory / following trajectory is obtained based on the following method: During the process of the followed target / movable platform moving along the pre-planned motion trajectory, the position and / or posture information of the followed target / movable platform is sampled at intervals to obtain a plurality of sampling points, and the target trajectory / following trajectory is generated based on the plurality of sampling points; or The starting position and position change trend of the target / movable platform being followed are obtained, and the target trajectory / following trajectory is generated based on the starting position and position change trend.

77. The control device according to claim 54, It is characterized in that The target track and / or the following track are generated before the movable platform follows the followed target; or The target track and / or the following track are generated after the movable platform follows the followed target.

78. The control device according to claim 77, It is characterized in that The target trajectory and / or the following trajectory are generated before the movable platform follows the followed target, including: the target trajectory and / or the following trajectory are generated before the movable platform takes off, or the target trajectory and / or the following trajectory are generated after the movable platform takes off.

79. The control device according to claim 54, It is characterized in that The movable platform is equipped with a shooting device, and the control device is also used for: In the process of the movable platform following the followed object, the shooting device is controlled to capture an image of the followed object.

80. The control device according to claim 79, It is characterized in that The followed target is located at the center of at least a portion of the image captured by the shooting device.

81. The control device according to claim 54, It is characterized in that The control device is used for filming scenes, and the control device is also used for: The target prop is controlled to perform a preset action based on the first movement progress.

82. The control device according to claim 54, It is characterized in that The control device is a movable platform, or the control device is a control device that is communicatively connected to the movable platform.

83. The control device according to claim 82, It is characterized in that The followed target carries a positioning device, the first movement progress is determined by the positioning device based on the real-time position information of the followed target and the target trajectory collected by the positioning device, and the movable platform or the control device obtains the first movement progress from the positioning device.

84. The control device according to claim 83, It is characterized in that The followed target carries a positioning device, and the movable platform or the control device is used to obtain real-time position information of the followed target collected by the positioning device, and determine the first motion progress based on the real-time position information and the target trajectory.

85. The control device according to claim 84, It is characterized in that The target trajectory is obtained from a control device of the movable platform, or from other third-party devices.

86. The control device according to claim 54, It is characterized in that The control device is a movable platform, and when the control device is used to obtain the first motion progress of the followed target on the preset target track, it is specifically used to: The movable platform may obtain the target trajectory of the followed target from the control device, obtain the real-time position information of the followed target from the positioning device carried by the followed target, and determine the first motion progress according to the real-time position information and the target trajectory; When the control device is used to control the second movement progress of the movable platform on a preset following trajectory based on the first movement progress, it is specifically used to: The movable platform adjusts the movement speed of the movable platform on a preset following track based on the first movement progress, so that a second movement progress of the movable platform on the following track is consistent with the first movement progress.

87. A control device for a movable platform, It is characterized in that The control device includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps can be implemented: Acquire a first characteristic value of a movement characteristic of a currently followed target on a preset target trajectory; A second characteristic value of the movement characteristic of the movable platform on a preset following trajectory is controlled based on the first characteristic value, wherein the second characteristic value is related to the first characteristic value.

88. The control device according to claim 87, It is characterized in that The mobility characteristics include one or more of the following: Movement progress, movement speed, and movement step length.

89. The control device according to claim 87, It is characterized in that The first characteristic value is determined based on real-time position information of the followed object.

90. A control device according to claim 87 or 89, It is characterized in that The movement characteristic is movement progress, and the first characteristic value is the ratio of the movement distance of the followed target on the target track to the total distance corresponding to the target track; or The first characteristic value is a ratio of the movement time of the followed target on the target track to the total movement time corresponding to the target track.

91. The control device according to claim 90, It is characterized in that The traveled distance is determined based on the real-time position information of the followed target and the target trajectory.

92. A control device according to claim 89 or 91, It is characterized in that The target being followed carries a positioning device, and the real-time position information is acquired by collecting the positioning device; and / or The movable platform is provided with a perception sensor, and the real-time position information is determined based on data collected by the perception sensor.

93. The control device according to claim 92, It is characterized in that The perception sensor includes one or more of the following: visual sensor, radar, UWB positioning system.

94. The control device according to claim 91, It is characterized in that The traveled distance is determined based on the real-time position information of the followed target and the target trajectory, including: If it is determined based on the real-time position information of the followed target that the current target position point of the followed target is not on the target trajectory, a corresponding position point of the target position point is determined on the target trajectory, and the moved distance is determined based on the corresponding position point and the target trajectory.

95. The control device according to claim 94, It is characterized in that The corresponding position point is the position point on the target trajectory that is closest to the target position point.

96. The control device according to claim 87, It is characterized in that The second characteristic value is related to the first characteristic value, including: The second characteristic value is consistent with the first characteristic value; The ratio of the second characteristic value to the first characteristic value is a target ratio; The deviation between the second characteristic value and the first characteristic value is less than a preset deviation threshold.

97. The control device according to claim 96, It is characterized in that The target ratio is obtained based on any of the following methods: Obtaining a pre-stored ratio as the target ratio; or receiving a ratio adjustment instruction from a user, and adjusting the pre-stored ratio based on the ratio adjustment instruction to obtain the target ratio; or The movable platform is equipped with a shooting device, and the target proportion is determined based on the composition of the followed target on the image captured by the shooting device.

98. The control device according to claim 87, It is characterized in that After controlling the movable platform to follow the second characteristic value of the movement characteristic on the trajectory based on the first characteristic value, the processor is further configured to: Acquire a movement progress adjustment instruction of the user, and control the movement of the movable platform based on the movement progress adjustment instruction to adjust the second characteristic value.

99. The control device according to claim 87, It is characterized in that When the processor is used to control the second characteristic value of the movement characteristic of the movable platform on the following trajectory based on the first characteristic value, it is specifically used to: The position moving speed and / or the attitude changing speed of the movable platform are adjusted based on the first characteristic value to adjust the second characteristic value of the movable platform on the following trajectory.

100. The control device according to claim 99, It is characterized in that The position movement speed and / or the posture change speed is positively correlated to a target difference, where the target difference is a difference between a current characteristic value and an expected characteristic value of the movement characteristic of the movable platform, wherein the expected characteristic value is correlated to the first characteristic value.

101. The control device according to claim 87, It is characterized in that The control device is used for filming scenes, and the processor is also used for: The target prop is controlled to perform a preset action based on the first characteristic value.

102. The control device according to claim 87, It is characterized in that The control device is a movable platform, or the control device is a control device that is communicatively connected to the movable platform.

103. The control device according to claim 102, It is characterized in that The followed target carries a positioning device, the first characteristic value is determined by the positioning device based on the real-time position information of the followed target and the target trajectory collected by the positioning device, and the movable platform or the control device obtains the first characteristic value from the positioning device.

104. The control device according to claim 102, It is characterized in that The target being followed carries a positioning device, and the movable platform or the control device is used to obtain real-time position information of the target being followed collected by the positioning device, and determine the first characteristic value based on the real-time position information and the target trajectory.

105. The control device according to claim 104, It is characterized in that The target trajectory is obtained from a control device of the movable platform, or from other third-party devices.

106. The control device according to claim 87, It is characterized in that When the processor is used to obtain a first characteristic value of a movement characteristic of a currently followed target on a preset target track, the processor is specifically used to: The movable platform obtains the target trajectory of the followed target from the control device, obtains the real-time position information of the followed target from the positioning device carried by the followed target, and determines the first characteristic value according to the real-time position information and the target trajectory; When the processor is used to control the second characteristic value of the movement characteristic of the movable platform on a preset following trajectory based on the first characteristic value, it is specifically used to: The movable platform adjusts the movement speed of the movable platform on a preset following trajectory based on the first characteristic value, so that a second characteristic value of the movement characteristic of the movable platform on the following trajectory is consistent with the first characteristic value.

107. A movable platform, It is characterized in that The movable platform is equipped with a shooting device, and the movable platform also includes a processor, a memory, and computer instructions stored in the memory. When the processor executes the computer instructions, the method described in any one of claims 1-33 and / or 34-53 is implemented.

108. A computer readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, which, when executed, implements the method according to any one of claims 1-33 and / or 34-53.

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