Mobile device control method, remote control equipment and mobile device

Abstract

A mobile device control method, a remote control device and a mobile device wherein the mobile device control method comprises: when the mobile device is in a moving state in response to manipulation information of a first remote control device, controlling the mobile device to move by using a switching control mode in response to a remote control device switching instruction, in a case where the remote control apparatus is switched from the first remote control apparatus to the second remote control apparatus, the control amount or attitude of the movable device is changed smoothly (S201); and controlling the movable device to move according to the control information of the second remote control device and the target control mode (S202). The moving state is controlled according to the switching control mode when the equipment is switched, so that the moving smoothness of the movable device when the remote control equipment is switched is improved.

Description

Method for controlling movable device, remote control device and movable device TECHNICAL FIELD

[0001] The present application relates to the technical field of control of movable devices, and in particular to a method for controlling a movable device, a remote control device and a movable device. BACKGROUND

[0002] A movable device such as an unmanned vehicle or an unmanned aerial vehicle is connected wirelessly to a remote control device to obtain control signals from the remote control device and to control movement of the movable device.

[0003] In actual applications, communication between the movable device and the remote control device may be affected by various factors, resulting in poor communication signal strength and affecting the control effect of the movable device.

[0004] SUMMARY

[0005] Therefore, it is necessary to provide a method for controlling a movable device, a remote control device and a movable device to improve the remote control effect of the movable device.

[0006] In a first aspect, the present application provides a method for controlling a movable device, comprising:

[0007] In a case where the movable device is in a moving state in response to control information of a first remote control device, the movable device is controlled to move using a switching control mode in response to a remote control device switching condition, so that in a case where the remote control device is switched from the first remote control device to a second remote control device, a control amount or an attitude of the movable device changes smoothly.

[0008] The movable device is controlled to move according to control information of the second remote control device and a target control mode.

[0009] In a second aspect, the present application also provides a movable device, comprising:

[0010] A body provided with a rotor assembly and an imaging assembly;

[0011] One or more processors arranged in the body and electrically connected to the rotor assembly, the one or more processors being configured to control the rotor assembly to work to implement the above-mentioned method for controlling a movable device, and to control the imaging assembly to capture images during movement of the movable device.

[0012] In a third aspect, the present application also provides a remote control device, comprising:

[0013] A communication assembly for communicating with a movable device;

[0014] One or more processors connected with the communication component, one or more of the processors configured to control movement of the movable device using the movable device method described above.

[0015] In a fourth aspect, the present application provides a movable system, comprising:

[0016] The movable device and / or the remote control device described above; wherein the remote control device is wirelessly connected with the movable device to control movement of the movable device.

[0017] The movable device control method, the remote control device and the movable device described above, in the case that the movable device is in a moving state in response to control information of a first remote control device, the movable device is controlled to move using a switching control mode in response to a switching instruction of the remote control device, so that in the case that the remote control device is switched from the first remote control device to a second remote control device, the control amount or the posture of the movable device changes smoothly; and the movable device is controlled to move according to control information of the second remote control device and a target control mode, which improves the smoothness of movement of the movable device when the remote control device is switched.

[0018] The above description is only a summary of the technical solutions of the present application. In order to enable one skilled in the art to better understand the technical means of the present application, the present application can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0019] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the embodiments. The accompanying drawings are included to provide a conceptual illustration of the embodiments and should not be considered limiting of the scope of the application. Like reference numerals refer to like elements throughout the accompanying drawings. In the drawings:

[0020] FIG. 1 is a scene diagram of remote control device switching in one embodiment;

[0021] FIG. 2 is a flowchart of a movable device control method in one embodiment;

[0022] FIG. 3 is a flowchart of a moving state control method in one embodiment;

[0023] FIG. 4 is a mapping relationship diagram between a channel value and a standard angular velocity control amount in one embodiment;

[0024] FIG. 5 is a mapping relationship diagram between a channel value and a standard throttle control amount in one embodiment;

[0025] Figure 6 is a map of channel value and standard throttle control amount in one embodiment;

[0026] Figure 7 is a schematic diagram of angular velocity switching control mode and standard angular velocity control strategy in one embodiment;

[0027] Figure 8 is a schematic diagram of angular velocity switching control mode and standard angular velocity control strategy in one embodiment;

[0028] Figure 9 is a schematic diagram of angular velocity switching control mode and standard angular velocity control strategy in one embodiment;

[0029] Figure 10 is a schematic diagram of angular velocity switching control mode and standard angular velocity control strategy in one embodiment;

[0030] Figure 11 is a schematic diagram of throttle switching control mode and standard throttle control strategy in one embodiment;

[0031] Figure 12 is a schematic diagram of switching throttle control strategy and standard throttle control strategy in one embodiment;

[0032] Figure 13 is a schematic diagram of throttle switching control mode and standard throttle control strategy in one embodiment;

[0033] Figure 14 is a schematic diagram of throttle switching control mode and standard throttle control strategy in one embodiment;

[0034] Figure 15 is a schematic diagram of angular velocity switching channel threshold determination method in one embodiment;

[0035] Figure 16 is a schematic diagram of angular velocity switching control mode and standard angular velocity control strategy in one embodiment;

[0036] Figure 17 is a schematic diagram of angular velocity switching control mode and standard angular velocity control strategy in one embodiment;

[0037] Figure 18 is a schematic diagram of angular velocity switching control mode and standard angular velocity control strategy in one embodiment;

[0038] Figure 19 is a schematic diagram of angular velocity switching control mode and standard angular velocity control strategy in one embodiment;

[0039] Figure 20 is a schematic diagram of angular velocity switching channel threshold determination method in one embodiment;

[0040] Figure 21 is a schematic diagram of angular velocity switching control mode and standard angular velocity control strategy in one embodiment;

[0041] Fig. 22 is a schematic diagram of the angular velocity switching control mode and the standard angular velocity control strategy in one embodiment;

[0042] Fig. 23 is a flowchart of the angular velocity switching channel threshold determination method in one embodiment;

[0043] Fig. 24 is a flowchart of the throttle switching channel threshold determination method in one embodiment;

[0044] Fig. 25 is a schematic diagram of the throttle switching control mode and the standard throttle control strategy in one embodiment;

[0045] Fig. 26 is a schematic diagram of the throttle switching control mode and the standard throttle control strategy in one embodiment;

[0046] Fig. 27 is a schematic diagram of the throttle switching control mode and the standard throttle control strategy in one embodiment;

[0047] Fig. 28 is a schematic diagram of the throttle switching control mode and the standard throttle control strategy in one embodiment;

[0048] Fig. 29 is a flowchart of the throttle switching channel threshold determination method in one embodiment;

[0049] Fig. 30 is a schematic diagram of the switching throttle control strategy and the standard throttle control strategy in one embodiment;

[0050] Fig. 31 is a schematic diagram of the switching throttle control strategy and the standard throttle control strategy in one embodiment;

[0051] Fig. 32 is a flowchart of the throttle switching channel threshold determination method in one embodiment;

[0052] Fig. 33 is a schematic diagram of the throttle switching channel threshold corresponding to the switching control mode in one embodiment. DETAILED DESCRIPTION

[0053] The embodiments of the technical solution of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover non-exclusive inclusion.

[0055] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise explicitly specified and limited.

[0056] Reference herein to "embodiments" means that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily a separate or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0057] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after it.

[0058] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two), and similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0059] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application.

[0060] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the technical terms "mounting", "connection", "connection", "fixing", and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0061] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0062] In some embodiments, the movable device can be a unmanned vehicle, a unmanned aerial vehicle, etc., and the remote control device is a device for controlling the movable device, such as a motion remote control, a joystick remote control, flight glasses, a ground station, a cloud controller, etc.

[0063] In some embodiments, the user can operate the joystick, trigger, etc. of the remote control device to generate a channel value, confirm the control amount of the acceleration, angular acceleration, attitude of the movable device according to the current control mode and the channel value, and control the movable device to move according to the control amount. The control mode can include a constant height mode, a constant point mode, a self-stabilizing mode, an Acro mode or other control modes. The standard control strategy mentioned below, such as the angular velocity standard control strategy and the throttle standard control strategy, can refer to the control strategy in the target control mode, i.e. the control strategy in the constant height mode, the constant point mode, the self-stabilizing mode, the Acro mode or other control modes.

[0064] In some embodiments, the user needs to use the movable device to shoot a long distance or a complex scene (e.g. between buildings, indoors, etc.). Due to the limitation of the environment or the communication distance, the communication connection between the remote control device and the movable device can be unstable or disconnected, resulting in interruption of the movable device or poor control accuracy.

[0065] Referring to FIG. 1, a plurality of remote control devices can be used to control the movement of the movable device to ensure the stability of the image transmission signal of the movable device. For example, user A uses a remote control device to shoot in A place. After the movable device flies to a remote B place, user B uses another remote control device to take over the control of the movable device to continue the movement and shooting. The remote control device before switching is referred to as the first remote control device, and the remote control device after switching is referred to as the second remote control device.

[0066] In some embodiments, the following scenarios can trigger the remote control device switching instruction: for example, the movable device establishes a communication connection with the second remote control device during flight based on the control information of the first remote control device, and then disconnects the communication connection with the first remote control device, i.e. only communicates with the second remote control device. Or, after the movable device establishes a communication connection with the second remote control device, it maintains communication with the first remote control device and the second remote control device at the same time. For example, the triggering of the remote control device switching instruction can be the switching of the remote control device in the case where the movable device establishes a communication connection with the second remote control device, and the control information of the second remote control device is obtained, such as the triggering signal of the second remote control device according to the preset combination of keys. For example, in the case where a communication connection is established with the first remote control device and the second remote control device, and the control priority of the second remote control device is higher than that of the first remote control device, the remote control device is switched. For example, in the case where the signal strength of the first remote control device is less than the signal strength of the second remote control device, and the difference between the signal strength of the first remote control device and the signal strength of the second remote control device is greater than the signal strength threshold, the remote control device is switched. For example, in the case where it is detected that the movable device enters from indoors to outdoors or from outdoors to indoors, the remote control device is switched. For example, in the case where it is detected that the movable device enters a preset area, the remote control device is switched. For example, in the case where the movable device recognizes a target object, the remote control device is switched.

[0067] In actual application, when the remote control device is switched, the stick amount of the second remote control device is not returned to the center, or the control mode, stick amount, stick amount sensitivity and other parameters of the second remote control device and the first remote control device are inconsistent, which can cause the control amount of the movable device to jump and cause the attitude to change suddenly when the remote control device is switched, resulting in unsmooth and not smooth video collected by the movable device, and even causing the movable device to "crash".

[0068] Referring to FIG. 2, in order to make the movable device move smoothly and stably in attitude when the remote control device is switched, and ensure the continuity and smoothness of the picture collected during movement. In some embodiments, the following movable device control method can be performed by the movable device or the second remote control device:

[0069] S201, in the case where the movable device is in a moving state in response to the control information of the first remote control device, a remote control device switching instruction is responded to, and the movable device is controlled to move using a switching control mode, so that the control amount or attitude of the movable device changes smoothly in the case where the remote control device is switched from the first remote control device to the second remote control device.

[0070] S202, the movable device is controlled to move according to the control information of the second remote control device and a target control mode.

[0071] Compared with direct switching, using the switching control mode can reduce the change of the control amount or the attitude of the movable device when switching to the second remote control device, so that the flight attitude is more stable.

[0072] In the embodiments of the present application, when the remote control device switching instruction is detected, the movement state is controlled according to the switching control mode, so that the attitude is stable when the first remote control device is switched to the second remote control device, and then the control information of the second remote control device and the target control mode are used to control the movement of the movable device. The mutation of the control amount or type is avoided, which leads to the mutation of the movement state of the movable device.

[0073] In some embodiments, the switching control mode can refer to the correspondence between the control information of the second remote control device and the control amount of the movable device. The switching control mode controls the control amount of the movable device according to the control information of the second remote control device, so that the movable device smoothly transitions to the target control mode and does not have a sudden change in attitude. In other embodiments, the switching control mode can refer to a preset flight instruction. The movable device is controlled to fly according to the preset flight instruction until the switching condition is met, and the control information of the second remote control device and the control mode are responded to, so that the movable device smoothly transitions to the target control mode and does not have a sudden change in attitude. The target control mode refers to the control mode after switching to the second remote control device, such as the point control mode, the constant height control mode, the self-stabilizing control mode, and the Arco control mode.

[0074] In some embodiments, the switching control mode can also refer to maintaining the flight state until the stick amount returns to the center. For example, the control information of the second remote control device includes a channel value; the switching control mode includes: if the channel value of the second remote control device is in a fourth channel value range, the state information of the movable device is maintained as the state information at the time of remote control device switching, wherein the channel value of the fourth channel value range is greater than or the channel value of the third channel value range. The movable device control method further includes:

[0075] If the channel value of the second remote control device is in a third channel value range, directly enter the target control mode, wherein the third channel value range represents that the operation stick of the second remote control device is near the center.

[0076] Referring to FIG. 3, FIG. 3 is a flowchart of a movement state control method according to an embodiment of the present application. Based on the above-mentioned embodiments, the above-mentioned S201 includes the following steps:

[0077] S301, according to at least one or more of the control information of the first remote control device, the control information of the second remote control device, and the state information of the movable device when the remote control device is switched, confirming the correspondence between the control information of the second remote control device and the state information of the movable device in the switching control mode.

[0078] S302, according to the correspondence and the operation information of the second remote control device, controlling the movable device to move.

[0079] Exemplarily, the state information obtained in the switching control mode corresponds to the state information of the target control mode. For example, the target control mode is an angular velocity control mode, and the state information output in the switching control mode can be angular acceleration. For example, the target control mode is a throttle direct control mode, and the state information output in the switching control mode can be a speed control amount (throttle).

[0080] The embodiment generates the switching control mode according to real-time information such as the operation information of the first remote control device, the operation information of the second remote control device, and the state information of the movable device, instead of a fixed and preset switching control mode, so as to better adapt to the actual moving state of the movable device. In addition, the embodiment can better adapt to the scene in which the first remote control device operates the movable device in real time.

[0081] Referring to FIG. 4, in some embodiments, serial numbers ①, ②, and ③ respectively show three kinds of standard mapping relationships between channel values and standard angular velocity control amounts. According to the channel value of the remote control device, the standard angular velocity control amount is obtained through the standard mapping relationship. It should be noted that the channel values and angular velocity control amounts shown in the figure are normalized. The channel values are normalized to [-1, 1], and the angular velocity control amounts are normalized to [0, 100%]. The mapping relationship between the channel values and the standard angular velocity control amounts can be expressed as:

[0082] Rate_cmd = f(rc_value)

[0083] Wherein, rc_value represents the lever amount or the channel value, Rate_cmd is the standard angular velocity control amount, and f(·) represents the standard mapping relationship between the channel value and the angular velocity control amount. Through the above mapping relationship, the range of the standard angular velocity control amount is between [-MaxRate, MaxRate].

[0084] In some embodiments, confirming the correspondence between the operation information of the second remote control device and the state information of the movable device in the switching control mode includes the following steps:

[0085] Obtaining the entry point (i.e., the first channel value and the first control amount) of the switching control mode, the target mapping relationship between the channel value and the control amount, and the target control mode;

[0086] Based on the entry point and the end point (the second channel value and the second control amount), and the target mapping relationship, obtaining the mapping relationship between the channel value of the second remote control device and the control amount of the movable device between the entry point and the end point.

[0087] In the embodiment, the control information of the first remote control device includes a channel value or a control mode of the first remote control device when the remote control device is switched; and / or, the control information of the second remote control device includes a channel value or a requested control mode of the second remote control device when the remote control device is switched; and / or, the state information of the movable device includes one or a combination of a speed, an angular speed, a posture, an acceleration, an angular acceleration, a speed control amount, an angular speed control amount, a posture control amount, an acceleration control amount, and an angular acceleration control amount of the movable device when the remote control device is switched; and / or, the corresponding relationship includes one or a combination of a piecewise function relationship, a linear function relationship, an inverse proportional function relationship, and an exponential function relationship.

[0088] Referring to FIG. 16 or FIG. 17, both of which represent g(rc_value) of the switching control mode in the 2 switching control modes of the positive value and the negative value of the cut-in point channel value. Exemplarily, the first state information of the switching control mode and the target control mode at the cut-in point (rc_value_init, Rate_cmd_init) is less than the difference of the second state information of the switching control mode and the target control mode at the end point (rc_value_end, Rate_cmd_end). Exemplarily, the state information difference can refer to the difference of the control amount, the angle difference of the posture. The cut-in point refers to the control information (such as the channel value) of the second remote control device and the state information (such as the control amount) of the movable device when entering the switching control mode, and the end point refers to the control information (such as the channel value) of the second remote control device and the state information (such as the control amount) of the movable device when ending the switching control mode and entering the target control mode.

[0089] The output control amount of the switching control mode is the angular speed control amount, at this time, the angular speed control amount Rate_cmd_init of the cut-in point can be directly the angular speed control amount executed by the movable device when the remote control device is switched, or the angular acceleration collected by the sensor carried by the movable device can be used.

[0090] Referring to FIG. 16, the cut-in point (rc_value_init, Rate_cmd_init) is the angular speed control amount Rate_cmd_init of the movable device and the channel value rc_value_init of the second remote control device when the remote control device is switched; g(rc_value) in the switching control mode makes the angular speed control amount Rate_cmd_init of the cut-in point transition to the angular speed control amount rc_value_end of the end point.

[0091] In some embodiments, the g(rc_value) in the switching control mode directly intersects with the f(rc_value) in the target control mode, and the intersection can be an end point (rc_value_end_0, rate_cmd_end_0), (rc_value_end, rate_cmd_end).

[0092] In one embodiment, confirming the switching control mode can include confirming whether the movement of the movable device will have a jump when the remote control device is switched; for example, the movement of the movable device after the remote control is switched can be predicted, and if the control amount is consistent or the same as the control amount before the switching, it is confirmed that the movement of the movable device will not have a jump. For example, the lever amount and the control mode of the first remote control device are the same as the lever amount and the control mode of the second remote control device when switching, for example, the lever amount of the second remote control device is 0 when switching.

[0093] For the case where it is judged that there will be no jump, the movable device can be directly controlled according to the target control mode; if it is judged that there will be a jump when switching, the movement of the movable device is controlled according to the switching control mode until the state information of the movable device is consistent with the standard state information or the state information of the movable device is consistent with the preset state information threshold, and the movement of the movable device is controlled according to the target control mode.

[0094] In one embodiment, confirming the switching control mode can include confirming the target control mode of the movable device.

[0095] When the remote control device is switched, the target control mode can be determined according to the requested control mode of the second remote control device and the current control mode of the movable device. The current control mode and the requested control mode can be preset control modes, such as a constant height mode, a constant point mode, a self-stabilizing mode, or an Acro mode, etc. The Acro mode is a remote control mode for performing stunt actions, such as rolling, flipping, stalling, and acrobatic actions, etc.

[0096] For example, if the current control mode and the requested control mode are consistent, the current control mode can be directly used as the target control mode. If the current control mode and the requested control mode are not consistent, it can be referred to whether the user has selected to use the mode switching strategy to determine the requested control mode. If not, the requested control mode is directly used as the target control mode; if yes, the target control mode can be obtained according to the mode switching strategy, and in some embodiments, the mode switching strategy of the movable device is shown in Table 1.

[0097] Table 1

[0098] In this embodiment, the target control mode can be determined according to the user's selection using the mode switching strategy. The mode switching strategy is designed from the perspective of ensuring the smooth movement of the movable device, so the target control mode determined by the mode switching strategy can meet the smooth movement of the movable device. Taking the request control mode as the target control mode can meet the user's special movement scene, but the smoothness of the movement of the movable device is weaker than the mode switching strategy.

[0099] In other embodiments, the confirmation of the target control mode can also refer to whether the current state of the movable device is good, and whether to use the mode switching strategy. For example, if the current control mode and the request control mode are inconsistent, but the current state of the movable device is good, the request can be taken as the target control mode; if the current state of the movable device is unstable, the target control mode can be determined according to the mode switching strategy.

[0100] As shown in FIG. 5, an example of the mapping relationship between the channel value and the standard throttle control amount is shown, and the throttle control amount is obtained according to the channel value of the remote control device through the mapping relationship. It should be noted that the channel value and the throttle control amount shown in the figure are normalized, and the channel value is normalized to [0, 1], and the throttle control amount is normalized to [0, 100%]. The mapping relationship between the channel value and the standard throttle control amount can be expressed as:

[0101] Thrust = f(throttle)

[0102] Wherein, throttle represents the channel value, and Thrust is the throttle control amount, which represents the standard throttle control amount under the mapping relationship between the channel value and the standard throttle control amount.

[0103] As shown in FIG. 6, the mapping relationship can be a linear function with a slope of 1, so Thrust = throttle. The cut-in point (rc_value_init, Rate_cmd_init), at this time, directly switches to the standard control strategy, and the angular velocity control amount will directly jump, causing the speed of the movable device to jump.

[0104] Figures 7 and 9 show a direct switching control mode, in which the standard angular velocity control strategy is directly switched in when the stick amount decreases, and the switching control mode is used when the stick amount increases, and then the standard control strategy is entered. In Figure 7, the solid line (indicated by arrows) can represent an angular velocity switching control mode (i.e. the mapping relationship between the channel value of the second remote control device and the angular velocity control amount of the movable device in the angular velocity switching control mode) Rate_cmd = g(rc_value), and the dashed line can represent a standard angular velocity control strategy Rate_cmd = f(rc_value). The first channel value at the time of switching is denoted by rc_value_init, and the first angular velocity control amount is denoted by rate_cmd_init. In the process of controlling the movable device to move using the angular velocity switching control mode, when it is detected that the current channel value reaches 0, the switching control mode is switched from the angular velocity switching control mode to the standard angular velocity control strategy.

[0105] Figures 8 and 10 show a switching control mode in which the angular velocity switching channel threshold is also 0. In this mode, the standard angular velocity control strategy is directly switched in when the stick amount increases, and the switching control mode is used when the stick amount decreases, and then the standard control strategy is entered. In the process of controlling the movable device to move using the angular velocity switching control mode, when it is detected that the current channel value reaches 0, the switching control mode is switched from the angular velocity switching control mode to the standard angular velocity control strategy.

[0106] Referring to Figures 7 and 8, for the two cases of rc_value_init > 0 and rc_value_init < 0, the following equations can be used:

[0107] When rc_value_init > 0, there is:

[0108] When rc_value_init < 0, there is:

[0109] Where f(·) represents the mapping relationship between the channel value and the angular velocity control amount in the standard control strategy, and g(·) represents the mapping relationship between the channel value and the angular velocity control amount in the switching control mode.

[0110] In some embodiments, the corresponding relationship in the switching control mode includes one or more combinations of a piecewise function relationship, a linear function relationship, an inverse proportional function relationship, and an exponential function relationship.

[0111] Referring to FIGS. 11-13, several cases of switching control mode as a nonlinear mapping relationship are shown. Taking the channel value as the control information and the throttle control amount as the state information as an example, in the example, the mapping relationship of the switching control mode is a nonlinear relationship. In some embodiments, the target mapping relationship can be pre-set by the user through the terminal device, or the system default, or a mapping relationship similar to the mapping relationship of the target control mode. The throttle switching control mode is a mapping relationship in the form of a curve, and the standard throttle control strategy is a mapping relationship in the form of a straight line. As shown in FIGS. 12 and 13, the throttle switching control mode and the standard throttle control strategy are both mapping relationships in the form of a curve.

[0112] In some embodiments, during the process of controlling the movable device to move by using the throttle switching control mode, the current channel value is obtained every preset time length, and it is detected whether the current channel value reaches the throttle switching channel threshold value. If the result of the current detection is that the current channel value reaches the throttle switching channel threshold value, the throttle switching control mode is switched to the standard throttle control strategy to control the movable device.

[0113] For example, as shown in FIG. 14, a case is shown in which the stick amount of the cut-in point is very close to the maximum stick amount. If the g(re_value) of the switching control mode and the f(re_value) of the target control mode must have an intersection point, it will cause the slope to be too large, and then the angular velocity control amount will change sharply, affecting the attitude stability of the movable device. At this time, referring to FIG. 9, the slope of the g(re_value) of the switching control mode can be set to a preset value in the direction of increasing the stick amount. The preset value can be pre-set, or it can be calculated according to the stick amount and / or the current control amount. Therefore, when actually generating the switching control strategy, the stick amount value of the cut-in point can be considered, and the slope can be selected to be a preset value or to have an intersection point with the target control strategy.

[0114] For example, in the case where the channel value is less than the curve selection threshold value, the target control mode can obtain a second control amount according to the second channel value; in the case where the channel value is greater than or equal to the curve selection threshold value, the target control mode can obtain a third control amount according to the second channel value, and the third control amount is less than the second control amount.

[0115] The origin (throttle_init, thrust_init) in FIG. 14 is a point corresponding to a first channel value, (throttle_low, thrust) and (throttle_up, thrust) are points corresponding to throttle switching channel thresholds, the curve in the figure represents a throttle switching control mode, and the straight line in the figure represents a standard throttle control strategy. When the throttle switching control mode is used to control the movement of the movable device, the standard throttle control strategy is switched to control the movable device when it is detected that the current channel value reaches the throttle switching channel threshold.

[0116] In one embodiment, when the first remote control device is switched, the control information of the second remote control device is the first control information, the state information of the movable device is the first state information, and the standard state information corresponding to the first control information can be determined according to the standard mapping relationship between the control information and the standard state information.

[0117] In one embodiment, after the movable device and the second remote control device establish a communication connection, the control information of the second remote control device can be obtained, and the movable device is controlled to move according to the switching control mode, so that the movable device can move smoothly when the first remote control device is switched to the second remote control device. After the above-mentioned remote control device switching is completed, the moving state can be controlled according to the control information of the second remote control device. The control information of the remote control device may, for example, be a channel value of the remote control device.

[0118] In the embodiments of the present application, the switching control mode is determined according to at least one or a combination of the control information of the first remote control device, the control information of the second remote control device, and the state information of the movable device, and the moving state is controlled according to the switching control mode and the control information of the second remote control device, so that the moving state is first controlled according to the switching control mode when the device is switched, which improves the smoothness of the movement of the movable device when the remote control device is switched, avoids the jump problem that may occur when the device is switched without relying on the experience of the user, and further improves the smoothness of the movement of the movable device when the remote control device is switched. Since the movable device moves smoothly, the shooting effect of shooting using the movable device can be improved, and the probability of accidents can be reduced.

[0119] The control sensitivity in the switching control mode is greater than the control sensitivity of the control mode of the second remote control device, and the control sensitivity represents the relationship between the control information change amount and the control amount change amount.

[0120] The control sensitivity in the switching control mode is greater than the control sensitivity of the control mode of the second remote control device, and then the control amount is adjusted in response to the change of the channel value of the second remote control device, so that the control amount of the movable device linearly or smoothly transitions to the control amount of the control mode of the second remote control device in the process of the change of the channel value of the second remote control device.

[0121] In some embodiments, the mapping relationship curve of the switching control mode has the same change trend as the mapping relationship curve of the target control mode.

[0122] Exemplarily, the switching control mode can obtain the current control amount of the movable device and the control amount corresponding to the lever amount of the second remote control device, and then linearly or smoothly transition the control amount of the movable device to the control amount corresponding to the lever amount of the second remote control device.

[0123] In the embodiments of the present application, the mapping relationship between the control information of the second remote control device and the state information of the movable device in the switching control mode is determined according to the first control information, the first state information, and the target mapping relationship, so that the switching control mode can be determined according to the mapping relationship to control the movement of the movable device, thereby improving the smoothness of the movement of the movable device when the remote control device is switched, avoiding the jump problem that may occur when the remote control device is switched without relying on the experience of the user, and further improving the smoothness of the movement of the movable device when the remote control device is switched. Since the movable device moves smoothly, the shooting effect of shooting with the movable device can be improved, and the probability of accidents can be reduced.

[0124] On the basis of the above-mentioned embodiments, the mapping relationship between the control information of the second remote control device and the state information of the movable device in the switching control mode includes:

[0125] When the difference between at least one parameter of the control information of the second remote control device and the corresponding parameter of the first control information is less than the first parameter difference threshold, the state information of the movable device is controlled to be the first state information.

[0126] In one embodiment, the control information of the second remote control device can be regarded as target control information, that is, the movable device corresponding to the first control information needs to be smoothly switched to the movable device corresponding to the control information of the second remote control device. The movement of the movable device corresponding to the first control information can be represented by the first state information.

[0127] On the basis of the above-mentioned embodiments, the control of the movement state according to the control information of the second remote control device can be realized by the following methods:

[0128] According to a mapping relationship between the control mode of the second remote control device, the control information of the second remote control device in the switching control mode, and the state information of the movable device, the moving state is controlled.

[0129] In one embodiment, the control mode of the second remote control device can be compared with the control mode of the first remote control device, i.e., the requested control mode is compared with the current control mode. If the comparison result is that the current control mode is consistent with the requested control mode, the current control mode can be directly used as the target control mode for subsequent movement. If the comparison result is that the current control mode is inconsistent with the requested control mode, it can be determined whether the user has selected to determine the requested control mode by using the mode switching strategy. If the user has selected to determine the requested control mode by using the mode switching strategy, the target control mode can be obtained according to the mode switching strategy. If the user does not select to determine the requested control mode by using the mode switching strategy, the requested control mode is directly used as the target control mode.

[0130] On the basis of the above embodiment, the control information includes a channel value, and the channel value includes a first channel value range and a second channel value range. The channel value of the second channel value range is greater than the channel value of the first channel value range.

[0131] In the switching control mode, the control sensitivity of the first channel value range is less than the control sensitivity of the second channel value range. The control sensitivity represents the relationship between the channel value change amount and the control amount change amount.

[0132] Exemplarily, the above control sensitivity can be represented by the slope of a curve or a straight line in a channel value and control amount change relationship diagram.

[0133] In one possible implementation, a first preset end point and a second preset end point can be set. The first preset end point includes a first preset channel end value and a first preset control amount end value. The second preset end point includes a second preset channel end value and a second preset control amount end value. The absolute value of the second preset channel end value is greater than the absolute value of the first preset channel end value, and the absolute value of the second preset control amount end value is greater than the absolute value of the first preset control amount end value. The first channel value range is determined according to the first channel value and the first preset channel end value, and the second channel value range is determined according to the first channel value and the second preset channel end value.

[0134] In the embodiments of the present application, when the first channel value is between the first preset channel end value and the second preset channel end value, and the first control quantity is between the first preset control quantity end value and the second preset control quantity end value, the first preset channel end value is taken as the first switching channel threshold, and the second preset channel end value is taken as the second switching channel threshold; when the absolute value of the first channel value is less than the absolute value of the first preset channel end value, or when the absolute value of the first control quantity is less than the absolute value of the first preset control quantity end value, the first preset channel value is taken as the switching channel threshold; when the first channel value is greater than the second preset channel end value, and the second preset channel end value is greater than 0, or when the first control quantity is greater than the second preset control quantity end value, and the absolute value of the second preset control quantity end value is greater than 0, the second preset channel value is taken as the switching channel threshold; when the first channel value is less than the second preset channel end value, and the second preset channel end value is less than 0, or when the first control quantity is less than the second preset control quantity end value, and the second preset control quantity end value is less than 0, the third preset channel value is taken as the switching channel threshold, wherein the third preset channel value can be -1 or a value tending to -1.

[0135] In another embodiment, the switching channel threshold can be determined according to the intersection between the switching control mode and the standard control strategy, and then the first channel value range and the second channel value range can be determined according to the switching channel threshold and the first channel value.

[0136] It should be noted that if there are two intersections between the switching control mode and the standard control strategy, the first switching channel threshold can be determined according to the first intersection, and the second switching channel threshold can be determined according to the second intersection, and then the first channel value range can be determined according to the first switching channel threshold and the first channel value, and the second channel value range can be determined according to the second switching channel threshold and the first channel value.

[0137] In one embodiment, in response to the switching instruction of the remote control device, the mobile state controlled according to the switching control mode can also be achieved by the following manner:

[0138] The control mode of the second remote control device is acquired.

[0139] When the state information of the movable device meets the state information condition, or the operation information of the second remote control device meets the operation information condition, the control mode of the second remote control device is entered.

[0140] The state information condition includes that the difference between at least one parameter of the state information of the movable device and at least one parameter of the state information of the movable device in the control mode of the second remote control device is less than a difference threshold value; the operation information condition includes that the channel value of the second remote control device is less than a first channel value threshold value or greater than a second channel value threshold value; and the second channel value threshold value is greater than the first channel value threshold value.

[0141] In one embodiment, in the case that the remote control device switching will cause a jump, the movable device can be controlled to move by switching the control mode until at least one parameter of the state information of the movable device and at least one parameter of the state information of the movable device in the control mode of the second remote control device have a difference less than a difference threshold value, and the movable device is controlled to move by the control mode of the second remote control device.

[0142] Alternatively, in the case that the remote control device switching will cause a jump, the movable device can be controlled to move by switching the control mode until the channel value of the second remote control device is less than a first channel value threshold value or greater than a second channel value threshold value, and the movable device is controlled to move by the control mode of the second remote control device.

[0143] In the embodiments of the present application, the control mode of the second remote control device is acquired, and when the state information of the movable device meets the state information condition or the control information of the second remote control device meets the control information condition, the control mode of the second remote control device is entered, which improves the smoothness of the movement of the movable device when the remote control device is switched, avoids the jump problem that may occur when the remote control device is switched without relying on the experience of the user, and further improves the smoothness of the movement of the movable device when the remote control device is switched. Since the movable device moves smoothly, the shooting effect of shooting by using the movable device can be improved, and the probability of accidents is reduced.

[0144] In another embodiment, in response to the remote control device switching instruction, the movement state controlled according to the switching control mode can also be achieved by the following manner:

[0145] The control information and the control mode of the second remote control device are acquired.

[0146] If the channel value of the control information of the second remote control device is in the third channel value range, the control mode of the second remote control device is directly entered.

[0147] In the embodiments of the present application, if the channel value of the control information of the second remote control device is in the third channel value range, it indicates that the remote control device switching will not cause the movable device to jump, and the control mode of the second remote control device is directly entered to control the movement of the movable device.

[0148] It should be noted that the control amount types of the control mode of the first remote control device and the control mode of the second remote control device are different.

[0149] If the control mode of the first remote control device is a throttle control mode or an angular velocity control mode, the control mode of the second remote control device is a posture control mode.

[0150] If the first remote control device control mode is a gesture control mode, the second remote control device control mode is a throttle control mode or an angular velocity control mode.

[0151] For example, when the second remote control device control mode is an angular velocity direct control mode, such as an Acro mode, the first remote control device control mode is a movement mode other than the angular velocity direct control mode, i.e., a non-angular velocity direct control mode, such as a self-stabilization mode, a fixed-point mode, etc. When the second remote control device control mode is a throttle direct control mode, such as an Acro mode, a self-stabilization mode, the first remote control device control mode is a movement mode other than the throttle direct control mode, i.e., a non-throttle direct control mode, such as a fixed-point mode.

[0152] In one embodiment, as shown in FIG. 15, the determination of the angular velocity switching channel threshold value corresponding to the angular velocity switching control mode can be implemented in the following manner:

[0153] S1501, determining a first angular velocity switching channel threshold value and a second angular velocity switching channel threshold value corresponding to the angular velocity switching control mode, the first angular velocity switching channel threshold value and the second angular velocity switching channel threshold value being two intersection points of the angular velocity switching control mode and a standard angular velocity control strategy.

[0154] The angular velocity switching control mode and the standard angular velocity control strategy can have two intersection points, and the intersection points can be the first angular velocity switching channel threshold value and the second angular velocity switching channel threshold value of the angular velocity switching control mode to the standard angular velocity control strategy.

[0155] In the embodiments of the present application, there can be two intersection points, which are the first angular velocity switching channel threshold value and the second angular velocity switching channel threshold value corresponding to the angular velocity switching control mode. The first angular velocity switching channel threshold value and the second angular velocity switching channel threshold value can be determined according to the first channel value. For example, when the first channel value is between a first preset channel end value and a second preset channel end value, and the first angular velocity control amount is between a first preset angular velocity control amount end value and a second preset angular velocity control amount end value, the first preset channel end value is taken as the first angular velocity switching channel threshold value, and the second preset channel end value is taken as the second angular velocity switching channel threshold value.

[0156] Optionally, the terminal can send the initial first angular velocity switching channel threshold and the initial second angular velocity switching channel threshold to the server, which can be preset according to the angular velocity switching control mode. If the initial first angular velocity switching channel threshold and the initial second angular velocity switching channel threshold do not exceed the preset range, the initial first angular velocity switching channel threshold is directly used as the first angular velocity switching channel threshold, and the initial second angular velocity switching channel threshold is directly used as the second angular velocity switching channel threshold.

[0157] In the process of controlling the movable device to move in the angular velocity switching control mode, when it is detected that the current channel value is the angular velocity switching channel threshold, the standard angular velocity control strategy is switched to control the movable device to move.

[0158] In the embodiments of the present application, in the process of controlling the movable device to move in the angular velocity switching control mode, the current channel value is obtained every preset time interval, and the current channel value is detected. When it is detected that the current channel value reaches the first angular velocity switching channel threshold, the control strategy of the movable device is switched from the angular velocity switching control mode to the standard angular velocity control strategy. Similarly, when it is detected that the current channel value reaches the second angular velocity switching channel threshold, the control strategy of the movable device is switched from the angular velocity switching control mode to the standard angular velocity control strategy, and the movable device is controlled to move by using the standard angular velocity control strategy.

[0159] Referring to FIG. 16, the correspondence between the control information and the state information in the switching control mode is described. In FIG. 16, the cut-in point is (rc_value_init, rate_cmd_init), the target mapping relationship is a linear relationship, the switching interval (rc_value_end_0, rc_value_end) can be set, and then (rc_value_end_1, rate_cmd_end_1) and (rc_value_end_0, rate_cmd_end_0) are obtained to obtain the correspondence shown by the transition section g(rc_value) shown by the two black arrows in FIG. 16.

[0160] When it is detected that the lever value rc_vlaue is c_value_end_1 or c_value_end_0, the standard control strategy is switched. Alternatively, when it is detected that the angular velocity control value is rate_cmd_end_1 or rate_cmd_end_0, the standard control strategy is switched.

[0161] For example, as shown in FIG. 16 and FIG. 17, during the process of controlling the movable device to move in the angular velocity switching control mode, when it is detected that the current channel value reaches the first angular velocity switching channel threshold rc_value_end_0 or the second angular velocity switching channel threshold rc_value_end, the control strategy of the movable device is switched from the angular velocity switching control mode to the standard angular velocity control strategy. That is, expressed by formulas as follows:

[0162] When rc_value_init>0, there is:

[0163] Wherein, rc_value_end>rc_value_end_0≥0, f(0)=g(0)=0, f(rc_value_end_0)=g(rc_value_end_0)=rate_cmd_end_0, f(rc_value_end)=g(rc_value_end)=rate_cmd_end, (rc_value_end, rate_cmd_end) and (rc_value_end_0, rate_cmd_end_0) are the intersection points of g(rc_value) and f(rc_value).

[0164] When rc_value_init<0, there is:

[0165] Wherein, rc_value_end<rc_value_end_0≤0, g(0)=f(0)=0, g(rc_value_end)=f(rc_value_end)=rate_cmd_end, (rc_value_end, rate_cmd_end) and (rc_value_end_0, rate_cmd_end_0) are the intersection points of g(rc_value) and f(rc_value).

[0166] For another example, FIG. 18 and FIG. 19 show different angular velocity switching control modes and standard angular velocity control strategies. Similarly, when it is detected that the current channel value reaches the first angular velocity switching channel threshold rc_value_end_0 or the second angular velocity switching channel threshold rc_value_end, the standard angular velocity control strategy is switched to control the movable device to move.

[0167] In the embodiment, the first angular velocity switching channel threshold and the second angular velocity switching channel threshold corresponding to the angular velocity switching control mode are determined, so that when the current channel value reaches the first angular velocity switching channel threshold or the second angular velocity switching channel threshold is detected in the process of controlling the movable device to move by using the angular velocity switching control mode, the movable device is controlled to move by using the standard angular velocity control strategy, the mode switching of the movable device can be avoided, the large mutation of the angular velocity control amount of the movable device is avoided, and the problem of low movement safety is caused. At the same time, since the user does not need to manually control the movement stability of the movable device during mode switching, the movement experience is improved.

[0168] In one embodiment, as shown in FIG. 20, the angular velocity switching channel threshold corresponding to the angular velocity switching control mode can also be determined by the following method:

[0169] S2001, a third angular velocity switching channel threshold corresponding to the angular velocity switching control mode is determined, and the third angular velocity switching channel threshold is the only intersection point of the angular velocity switching control mode and the standard angular velocity control strategy.

[0170] In one embodiment, as shown in FIG. 20, the angular velocity switching channel threshold corresponding to the angular velocity switching control mode can also be determined by the following method:

[0171] In the embodiment of the present application, there can be only one intersection point between the angular velocity switching control mode and the standard angular velocity control strategy, that is, the third angular velocity switching channel threshold. The third angular velocity switching channel threshold can be determined according to the first channel value. For example, when the first channel value is greater than the second preset channel end value, or when the first angular velocity control amount is greater than the second preset angular velocity control amount end value, the second preset channel value is taken as the third angular velocity switching channel threshold.

[0172] S2002, in the process of controlling the movable device to move by using the angular velocity switching control mode, when the current channel value is detected as the angular velocity switching channel threshold, the movable device is controlled to move by using the standard angular velocity control strategy, including: in the process of controlling the movable device to move by using the angular velocity switching control mode, when the current channel value is detected as the third angular velocity switching channel threshold, the movable device is controlled to move by using the standard angular velocity control strategy.

[0173] Specifically, in the process of controlling the movable device to move by using the angular velocity switching control mode, the current channel value is obtained every interval preset time length, and the current channel value is detected. If it is detected that the current channel value does not reach the third angular velocity switching channel threshold, the current channel value is obtained every interval preset time length in the next time, and the current channel value is detected. If it is detected that the current channel value reaches the third angular velocity switching channel threshold, the control strategy of the movable device is switched from the angular velocity switching control mode to the standard angular velocity control strategy.

[0174] It should be noted that in the process of controlling the movable device to move by using the angular velocity switching control mode, the user may continuously operate the joystick, and therefore the current channel value continuously changes.

[0175] For example, as shown in FIG. 21 and FIG. 22, in the process of controlling the movable device to move by using the angular velocity switching control mode, when it is detected that the current channel value reaches the third angular velocity switching channel threshold rc_value_end, the control strategy of the movable device is switched from the angular velocity switching control mode to the standard angular velocity control strategy. The angular velocity command is 0 or near 0, rate_cmd_init=0, rate_cmd_end_0=0, and rc_value_end_0=0. The formula is as follows:

[0176] When rc_value_init>0, there is:

[0177] When rc_value_init<0, there is:

[0178] Where (rc_value_end, rate_cmd_end) is the intersection point of g(rc_value) and f(rc_value).

[0179] In this embodiment, by determining the unique intersection point third angular velocity switching channel threshold corresponding to the angular velocity switching control mode, when it is detected that the current channel value reaches the third angular velocity switching channel threshold, the standard throttle control strategy is switched to control the movable device to move, which can make the attitude of the aircraft stable.

[0180] In one embodiment, in the process of controlling the movable device to move by using the angular velocity switching control mode, when it is detected that the current channel value is the angular velocity switching channel threshold, the standard angular velocity control strategy is switched to control the movable device to move, which can be realized by the following way:

[0181] When the first angular velocity control quantity is greater than the preset control quantity, the movable device is controlled to move in the angular velocity switching control mode in the switching interval until it is detected that the current channel value is the angular velocity switching channel threshold value, and the movable device is controlled to move in the standard angular velocity control strategy.

[0182] The preset control quantity can be 0. The preset control quantity can be 0. As shown in FIG. 7 and FIG. 9, the switching interval can be (0, +∞), and the angular velocity switching channel threshold value can be 0 at this time. As shown in FIG. 18 and FIG. 21, the switching interval can be (0, rc_value_end), and the angular velocity switching channel threshold value can be rc_value_end at this time. As shown in FIG. 16, the switching interval can be (rc_value_end_0, rc_value_end), and the angular velocity switching channel threshold value can be rc_value_end_0 and rc_value_end at this time.

[0183] Specifically, when the first angular velocity control quantity is greater than the preset control quantity, i.e., rate_cmd_init>0, the movable device can be controlled to move in the angular velocity switching control mode according to different switching intervals, the current channel value is obtained every preset time length, and it is detected whether the current channel value is the angular velocity switching channel threshold value. If the current channel value is the angular velocity switching channel threshold value, the angular velocity switching control mode can be switched to the standard angular velocity control strategy, and the movable device is controlled to move in the standard angular velocity control strategy.

[0184] In the embodiment, when the first angular velocity control quantity is greater than the preset control quantity, the movable device can be controlled to move in the angular velocity switching control mode in the switching interval until it is detected that the current channel value is the angular velocity switching channel threshold value, and the movable device is controlled to move in the standard angular velocity control strategy. This can avoid large mutations of the angular velocity control quantity of the movable device and improve the safety of movement.

[0185] In one embodiment, when the movable device is controlled to move in the angular velocity switching control mode, and it is detected that the current channel value is the angular velocity switching channel threshold value, the movable device can be controlled to move in the standard angular velocity control strategy in the following manner:

[0186] When the first angular velocity control quantity is less than the preset control quantity, when the current channel value is in the first channel interval, the movable device is controlled to move in the first angular velocity switching control mode, and when the current channel value is in the second channel interval, the movable device is controlled to move in the second angular velocity switching control mode. The first channel interval and the second channel interval are obtained by dividing the switching interval with the first channel value as a division point.

[0187] Wherein, as shown in Fig. 22, the first channel interval can be (rc_value_init, 0), and the second channel interval can be (rc_value_end, rc_value_init). As shown in Fig. 8, the first channel interval can be (rc_value_init, 0), and the second channel interval can be (-∞, rc_value_init).

[0188] Specifically, when the first angular velocity control quantity is less than the preset control quantity, i.e., rate_cmd_init < 0, it is determined whether the current channel value is in the first channel interval or the second channel interval. If the current channel value is in the first channel interval, the first angular velocity switching control mode is used to control the movable device to move. If the current channel value is in the second channel interval, the second angular velocity switching control mode is used to control the movable device to move. The current channel value is obtained every preset time interval, and the above determination is performed again on the obtained current channel value, until it is detected that the current channel value is the angular velocity switching channel threshold, and the standard angular velocity control strategy is switched to control the movable device.

[0189] The first angular velocity switching control mode can be a control strategy in which the angular velocity control quantity is 0.

[0190] In the embodiment, when the first angular velocity control quantity is less than the preset control quantity, the first angular velocity switching control mode can be used to control the movable device to move when the current channel value is in the first channel interval, and the second angular velocity switching control mode can be used to control the movable device to move when the current channel value is in the second channel interval. The first channel interval and the second channel interval are obtained by dividing the switching interval by the first channel value. Since the switching interval is divided into two intervals, the corresponding angular velocity switching control mode is executed in different intervals, thereby improving the flexibility of the movable device control.

[0191] In one embodiment, the angular velocity switching channel threshold corresponding to the angular velocity switching control mode can also be determined in the following manner:

[0192] The angular velocity switching channel threshold corresponding to the angular velocity switching control mode is determined according to the first channel value and / or the first angular velocity control quantity.

[0193] In the embodiment, the angular velocity switching channel threshold corresponding to the angular velocity switching control mode can be set according to the first channel value and the first angular velocity control quantity. The angular velocity switching channel threshold corresponding to the switching control mode can also be set only according to the first channel value. The angular velocity switching channel threshold corresponding to the switching control mode can also be set only according to the first angular velocity control quantity.

[0194] Exemplarily, as shown in FIG. 23, the determination of the angular velocity switching channel threshold corresponding to the angular velocity switching control mode according to the first channel value and / or the first angular velocity control amount can be implemented in the following manner:

[0195] In S2301, the first preset end point and the second preset end point are obtained. The first preset end point includes a first preset channel end value and a first preset angular velocity control amount end value. The second preset end point includes a second preset channel end value and a second preset angular velocity control amount end value. The absolute value of the second preset channel end value is greater than the absolute value of the first preset channel end value. The absolute value of the second preset angular velocity control amount end value is greater than the absolute value of the first preset angular velocity control amount end value.

[0196] In the embodiment of the present application, the first angular velocity switching channel threshold in the previous movable device control can be taken as the first preset channel end value in the first preset end point, and the angular velocity control amount corresponding to the first angular velocity switching channel threshold can be taken as the first preset angular velocity control amount end value in the first preset end point. The second angular velocity switching channel threshold in the previous movable device control can be taken as the first preset channel end value in the second preset end point, and the angular velocity control amount corresponding to the second angular velocity switching channel threshold can be taken as the second preset angular velocity control amount end value in the second preset end point. Thus, the first preset end point and the second preset end point are obtained.

[0197] Optionally, two points can be randomly preset as the first preset end point and the second preset end point, so that the first preset end point and the second preset end point can be obtained.

[0198] One of the following S2302-S2305 is executed.

[0199] In S2302, when the first channel value is between the first preset channel end value and the second preset channel end value, and the first angular velocity control amount is between the first preset angular velocity control amount end value and the second preset angular velocity control amount end value, the first preset channel end value is taken as the first angular velocity switching channel threshold, and the second preset channel end value is taken as the second angular velocity switching channel threshold.

[0200] Specifically, when the first channel value is between the first preset channel end value and the second preset channel end value, and the first angular velocity control amount is between the first preset angular velocity control amount end value and the second preset angular velocity control amount end value, the first preset channel end value can not be adjusted, and the first preset channel end value is directly taken as the first angular velocity switching channel threshold. Meanwhile, the second preset channel end value can not be adjusted, and the second preset channel end value is taken as the second angular velocity switching channel threshold.

[0201] S2303, when the absolute value of the first channel value is less than the absolute value of the first preset channel end value, or when the absolute value of the first angular velocity control amount is less than the absolute value of the first preset angular velocity control end value, the first preset channel value is taken as the angular velocity switching channel threshold.

[0202] The first preset channel value can be 0 or a value tending to 0.

[0203] For example, assuming that the first preset end point (rc_value_end_0, rate_cmd_end_0) and the second preset end point (rc_value_end, rate_cmd_end), when the absolute value of the first channel value rc_value_init is less than the absolute value of the first preset channel end value rc_value_end_0, or when the absolute value of the first angular velocity control amount rate_cmd_init is less than the absolute value of the first preset angular velocity control end value rate_cmd_end_0, the first preset channel value 0 is taken as the angular velocity switching channel threshold. That is, when |rate_cmd_init| < |rate_cmd_end_0|, or, |rc_value_init| < |rc_value_end_0|, then (rc_value_end_0, rate_cmd_end_0) = (0, 0), and the angular velocity switching channel threshold rc_value_end_0 is 0.

[0204] S2304, when the first channel value is greater than the second preset channel end value, and the second preset channel end value is greater than 0, or when the first angular velocity control amount is greater than the second preset angular velocity control end value, and the absolute value of the second preset angular velocity control end value is greater than 0, the second preset channel value is taken as the angular velocity switching channel threshold.

[0205] The second preset channel value can be 1 or a value tending to 1.

[0206] For example, assuming that the first preset end point (rc_value_end_0, rate_cmd_end_0) and the second preset end point (rc_value_end, rate_cmd_end), when the first channel value rc_value_init is greater than the second preset channel end value rc_value_end, and the second preset channel end value is greater than 0; or when the first angular velocity control amount rate_cmd_init is greater than the second preset angular velocity control amount end value rate_cmd_end, and greater than 0, the second preset channel value 1 is taken as the angular velocity switching channel threshold. That is, when rate_cmd_init> rate_cmd_end> 0, or rc_value_init> rc_value_end> 0, then (rc_value_end, rate_cmd_end) = (1, 1), and the angular velocity switching channel threshold rc_value_end is 1.

[0207] S2305, when the first channel value is less than the second preset channel end value, and the second preset channel end value is less than 0; or when the first angular velocity control amount is less than the second preset angular velocity control amount end value, and the second preset angular velocity control amount end value is less than 0, the third preset channel value is taken as the angular velocity switching channel threshold.

[0208] The third preset channel value can be -1, or a value tending to -1.

[0209] For example, when the first channel value rc_value_init is less than the second preset channel end value rc_value_end, and the second preset channel end value is less than 0; or when the first angular velocity control amount rate_cmd_init is less than the second preset angular velocity control amount end value rate_cmd_end, and less than 0, the third preset channel value -1 is taken as the angular velocity switching channel threshold. That is, when rate_cmd_init< rate_cmd_end< 0, or rc_value_init< rc_value_end< 0, then (rc_value_end, rate_cmd_end) = (-1, -1), and the angular velocity switching channel threshold rc_value_end is -1.

[0210] It should be noted that the angular velocity switching control mode can be set by the user, for example, the angular velocity switching control mode can be obtained by setting the first preset end point and the preset curve slope, or the angular velocity switching control mode can be obtained by setting the first preset end point and the second preset end point.

[0211] In the embodiment, the first angular velocity control amount is compared with the first preset angular velocity control amount end value and the second preset angular velocity control amount end value, and the angular velocity switching channel threshold is adjusted by comparing the first channel value with the first preset channel end value and the second preset channel end value, thereby improving the flexibility of the movable device control.

[0212] In one embodiment, the switching channel threshold can be a switching boundary between the switching control mode and the standard control strategy. The switching channel threshold can be 0 or a value close to 0.

[0213] In one embodiment, as shown in FIG. 24, determining the throttle switching channel threshold corresponding to the throttle switching control mode can be achieved by the following way:

[0214] S2401, determining the first throttle switching channel threshold and the second throttle switching channel threshold corresponding to the throttle switching control mode, the first throttle switching channel threshold and the second throttle switching channel threshold being two intersection points of the throttle switching control mode and the standard throttle control strategy.

[0215] Wherein, the throttle switching control mode and the standard throttle control strategy can have two intersection points, and the intersection points can be the first throttle switching channel threshold and the second throttle switching channel threshold of the throttle switching control mode to the standard throttle control strategy.

[0216] In the embodiment of the application, there can be two intersection points, which are the first throttle switching channel threshold and the second throttle switching channel threshold corresponding to the throttle switching control mode. The first throttle switching channel threshold and the second throttle switching channel threshold can be determined according to the first channel value. For example, when the first channel value is between the first preset channel end value and the second preset channel end value, and the first throttle control amount is between the first preset throttle control amount end value and the second preset throttle control amount end value, the first preset channel end value is taken as the first throttle switching channel threshold, and the second preset channel end value is taken as the second throttle switching channel threshold.

[0217] S2402, in the process of controlling the movable device to move by using the throttle switching control mode, when it is detected that the current channel value is the throttle switching channel threshold, switching to the standard throttle control strategy to control the movable device to move, including: in the process of controlling the movable device to move by using the throttle switching control mode, when it is detected that the current channel value reaches the first throttle switching channel threshold or the second throttle switching channel threshold, switching to the standard throttle control strategy to control the movable device to move.

[0218] In the embodiments of the present application, during the process of controlling the movable device to move by using the throttle switching control mode, the current channel value is acquired every interval of preset time, and the current channel value is detected. When it is detected that the current channel value reaches the first throttle switching channel threshold, the control strategy of the movable device is switched from the throttle switching control mode to the standard throttle control strategy. Similarly, when it is detected that the current channel value reaches the second throttle switching channel threshold, the control strategy of the movable device is switched from the throttle switching control mode to the standard throttle control strategy, and the movable device is controlled to move by using the standard throttle control strategy.

[0219] For example, as shown in FIG. 25, a straight line with a slope of 1 represents the standard throttle control strategy, which is represented by Thrust=f(throttle). The dashed line part of the straight line with a slope of 1 corresponds to the switching section, which can use the throttle switching control mode, which is represented by Thrust=g(throttle). The first channel value at the switching time is represented by throttle_init, and the throttle control amount corresponding to the first channel value is represented by thrust_init. During the process of controlling the movable device to move by using the throttle switching control mode, when it is detected that the current channel value reaches the first throttle switching channel threshold throttle_low corresponding to the throttle switching control mode or the second throttle switching channel threshold throttle_up corresponding to the throttle switching control mode, the control strategy of the movable device is switched from the throttle switching control mode to the standard throttle control strategy. That is, represented by the following formula:

[0220] Wherein, g(throttle_low)=f(throttle_low), g(throttle_up)=f(throttle_up).

[0221] For another example, FIG. 26, FIG. 27, and FIG. 28 show different throttle switching control modes and standard throttle control strategies. Similarly, when it is detected that the current channel value reaches the first throttle switching channel threshold throttle_low or the second throttle switching channel threshold throttle_up corresponding to the throttle switching control mode, the movable device is controlled to move by switching to the standard throttle control strategy.

[0222] In the embodiment, the first throttle switching channel threshold value and the second throttle switching channel threshold value corresponding to the throttle switching control mode are determined, so that when it is detected that the current channel value reaches the first throttle switching channel threshold value or the second throttle switching channel threshold value in the process of controlling the movable device to move by using the throttle switching control mode, the movable device is controlled to move by using the standard throttle control strategy, which can avoid large mutation of the throttle control amount of the movable device when the movable device switches modes, thereby reducing the problem of low movement safety. At the same time, since the user does not need to manually control the movement stability of the movable device when the mode is switched, the movement experience is improved.

[0223] In one embodiment, as shown in FIG. 29, the throttle switching channel threshold value corresponding to the throttle switching control mode can also be determined by the following method:

[0224] S2901, determining a third throttle switching channel threshold value corresponding to the throttle switching control mode, the third throttle switching channel threshold value being the only intersection point of the throttle switching control mode and the standard throttle control strategy.

[0225] The throttle switching control mode and the standard throttle control strategy can have only one intersection point, and the intersection point can be used as the third throttle switching channel threshold value from the throttle switching control mode to the standard throttle control strategy.

[0226] In the embodiment of the present application, there can be only one intersection point between the throttle switching control mode and the standard throttle control strategy, that is, the third throttle switching channel threshold value corresponding to the throttle switching control mode. The third throttle switching channel threshold value can be determined according to the first channel value. For example, when the first channel value is greater than the fourth preset channel end value, or when the first throttle control amount is greater than the fourth preset throttle control amount end value, the fifth preset channel value is used as the third throttle switching channel threshold value.

[0227] Optionally, the terminal can send an initial third throttle switching channel threshold value to the server, and the initial third throttle switching channel threshold value can be set according to the throttle switching control mode. If the initial third throttle switching channel threshold value meets the preset range, the initial third throttle switching channel threshold value is used as the third throttle switching channel threshold value. The preset range can be that the throttle switching channel threshold value does not exceed the preset range.

[0228] S2902, in the process of controlling the movable device to move by using the throttle switching control mode, when it is detected that the current channel value is the throttle switching channel threshold value, the movable device is controlled to move by using the standard throttle control strategy, including: in the process of controlling the movable device to move by using the throttle switching control mode, when it is detected that the current channel value reaches the third throttle switching channel threshold value, the movable device is controlled to move by using the standard throttle control strategy.

[0229] Specifically, in the process of controlling the movable device to move in the throttle switching control mode, the current channel value is obtained every interval preset time length, and the current channel value is detected. If it is detected that the current channel value does not reach the third throttle switching channel threshold, the current channel value is obtained every interval preset time length, and the current channel value is detected. If it is detected that the current channel value reaches the third throttle switching channel threshold, the control strategy of the movable device is switched from the throttle switching control mode to the standard throttle control strategy.

[0230] It should be noted that in the process of controlling the movable device to move in the throttle switching control mode, the user may continuously operate the joystick, and therefore the current channel value continuously changes.

[0231] For example, as shown in FIG. 30, a straight line with a slope of 1 represents a standard throttle control strategy, which is represented by Thrust=f(throttle). The dashed line portion of the straight line with a slope of 1 corresponds to a switching section in which the throttle switching control mode is adopted, and the throttle switching control mode is represented by Thrust=g(throttle). The current channel value can be a first channel value at switching, which is represented by throttle_init, and the throttle control amount corresponding to the first channel value is represented by thrust_init. In the process of controlling the movable device to move in the throttle switching control mode, when it is detected that the current channel value reaches throttle_low in the figure, the control strategy of the movable device is switched from the throttle switching control mode to the standard throttle control strategy. That is, it is represented by the following formula:

[0232] Wherein, g(throttle_low)=f(throttle_low), g(throttle_up)≠f(throttle_up).

[0233] In this embodiment, by determining the unique intersection point third throttle switching channel threshold corresponding to the throttle switching control mode, when it is detected that the current channel value reaches the third throttle switching channel threshold, the standard throttle control strategy is switched to control the movable device to move. It can prevent the user from having a large throttle command jump and the movable device from surging when the current channel value approaches 1 and the user slightly operates the joystick. That is, as shown in FIG. 31, when throttle_init=0.9 and thrust_init approaches 0, if the throttle switching control mode g(throttle) and the standard throttle control strategy f(throttle) are required to intersect at throttle_up, the slope of the throttle switching control mode g(throttle) will be very large. Therefore, the method provided in the embodiment can improve the safety of the movable device.

[0234] In one embodiment, when it is detected that the current channel value reaches the throttle switching channel threshold value during the process of controlling the movement of the movable device by using the throttle switching control mode, the switching to the standard throttle control strategy to control the movement of the movable device can be implemented by the following way:

[0235] The movement of the movable device is controlled by using the throttle switching control mode in the switching interval until it is detected that the current channel value reaches the throttle switching channel threshold value, and then the movement of the movable device is controlled by using the standard throttle control strategy.

[0236] Specifically, a switching interval can be set, and the endpoint of the switching interval can be the point of the throttle switching channel threshold value. The current channel value of the operating device is obtained every preset time interval, and if the current channel value is located in the switching interval, the movement of the movable device is controlled by using the throttle switching control mode. If the current channel value reaches the throttle switching channel threshold value, the movement mode of the movable device is switched from the throttle switching control mode to the standard throttle control strategy, and the movement of the movable device is controlled by using the standard throttle control strategy.

[0237] Optionally, the endpoint of the switching interval can not be the throttle switching channel threshold value point, and the throttle switching channel threshold value point can be located outside the switching interval. The movement of the movable device is controlled by using the throttle switching control mode in the switching interval, and if the current channel value is located outside the switching interval, the movement of the movable device can continue to be controlled by using the throttle switching control mode until it is detected that the current channel value reaches the throttle switching channel threshold value, and then the movement of the movable device is controlled by using the standard throttle control strategy.

[0238] In this embodiment, the movement of the movable device is controlled by using the throttle switching control mode in the switching interval until it is detected that the current channel value reaches the throttle switching channel threshold value, and then the movement of the movable device is controlled by using the standard throttle control strategy, which can improve the movement safety of the movable device during mode switching.

[0239] In one embodiment, the throttle switching channel threshold value corresponding to the throttle switching control mode can also be determined by the following way:

[0240] The throttle switching channel threshold value corresponding to the throttle switching control mode is determined according to the first channel value and / or the first throttle control amount.

[0241] In the embodiments of the present application, the throttle switching channel threshold value corresponding to the throttle switching control mode can be set according to the first channel value and the first throttle control amount. The throttle switching channel threshold value corresponding to the throttle switching control mode can also be set only according to the first channel value. The throttle switching channel threshold value corresponding to the throttle switching control mode can also be set only according to the first throttle control amount.

[0242] For example, as shown in FIG. 32, the determination of the throttle switching channel threshold value corresponding to the throttle switching control mode according to the first channel value and / or the first throttle control amount can be implemented in the following manner:

[0243] S3201, acquire a third preset end point and a fourth preset end point, the third preset end point includes a third preset channel end value and a first preset throttle control amount end value, the fourth preset end point includes a fourth preset channel end value and a second preset throttle control amount end value, the absolute value of the fourth preset channel end value is greater than the absolute value of the third preset channel end value, and the absolute value of the second preset throttle control amount end value is greater than the absolute value of the first preset throttle control amount end value.

[0244] In the embodiment of the present application, the first throttle switching channel threshold value corresponding to the throttle switching control mode of the last movable device control can be taken as the third preset channel end value in the third preset end point, and the throttle control amount corresponding to the first throttle switching channel threshold value can be taken as the first preset throttle control amount end value in the third preset end point. The second throttle switching channel threshold value corresponding to the throttle switching control mode of the last movable device control can be taken as the fourth preset channel end value in the fourth preset end point, and the throttle control amount corresponding to the second throttle switching channel threshold value can be taken as the fourth preset throttle control amount end value in the fourth preset end point. Thus, the third preset end point and the fourth preset end point can be acquired.

[0245] Optionally, two points can be randomly preset as the third preset end point and the fourth preset end point, so that the third preset end point and the fourth preset end point can be acquired.

[0246] One of the following S3202-S3204 is executed.

[0247] S3202, when the first channel value is between the third preset channel end value and the fourth preset channel end value, and the first throttle control amount is between the first preset throttle control amount end value and the second preset throttle control amount end value, the third preset channel end value is taken as the first throttle switching channel threshold value, and the fourth preset channel end value is taken as the second throttle switching channel threshold value.

[0248] Specifically, when the first channel value is between the third preset channel end value and the fourth preset channel end value, and the first throttle control amount is between the first preset throttle control amount end value and the second preset throttle control amount end value, the third preset channel end value can not be adjusted, and the third preset channel end value is directly taken as the first throttle switching channel threshold value corresponding to the throttle switching control mode. Meanwhile, the fourth preset channel end value can not be adjusted, and the fourth preset channel end value is taken as the second throttle switching channel threshold value corresponding to the throttle switching control mode.

[0249] S3203, when the absolute value of the first channel value is less than the absolute value of the third preset channel end value, or when the absolute value of the first throttle control amount is less than the absolute value of the first preset throttle control end value, the fourth preset channel value is taken as the throttle switching channel threshold.

[0250] The fourth preset channel value can be 0 or a value tending to 0.

[0251] For example, assuming the third preset end point (throttle_low, thrust_low) and the fourth preset end point (throttle_up, thrust_up), when the absolute value of the first channel value throttle_init is less than the absolute value of the third preset channel end value throttle_low, or when the absolute value of the first throttle control amount thrust_init is less than the absolute value of the first preset throttle control end value thrust_low, the fourth preset channel value is taken as the throttle switching channel threshold. That is, when |throttle_init| < |throttle_low|, or |thrust_init| < |thrust_low|, then (throttle_low, thrust_low) = (0, 0), and the throttle switching channel threshold throttle_low is 0.

[0252] S3204, when the first channel value is greater than the fourth preset channel end value, or when the first throttle control amount is greater than the second preset throttle control end value, the fifth preset channel value is taken as the throttle switching channel threshold.

[0253] The fifth preset channel value can be 1 or a value tending to 1.

[0254] For example, as shown in FIG. 33, assuming the third preset end point (throttle_low, thrust_low) and the fourth preset end point (throttle_up, thrust_up), when the first channel value throttle_init is greater than the fourth preset channel end value throttle_up, or when the first throttle control amount thrust_init is greater than the fourth preset throttle control end value thrust_up, the fifth preset channel value is taken as the throttle switching channel threshold. That is, when throttle_init > throttle_up, or thrust_init > thrust_up, then (throttle_up, thrust_up) = (1, 1), and the throttle switching channel threshold throttle_up is 1.

[0255] It should be noted that the throttle switching control mode can be set according to user-defined settings, for example, the throttle switching control mode can be obtained by setting the third preset end point and the preset curve slope, or the throttle switching control mode can be obtained by setting the third preset end point and the fourth preset end point.

[0256] In this embodiment, the first throttle control amount is compared with the first preset throttle control end value and the second preset throttle control end value, and the first channel value is compared with the third preset channel end value and the fourth preset channel end value, so as to adjust the throttle switching channel threshold, thereby improving the flexibility of the movable device control.

[0257] In one embodiment, when the second remote control device control mode is the angular velocity control mode, how to determine the target control mode according to the first channel value can include the following two cases:

[0258] Case one, if the first channel value satisfies the second angular velocity preset control condition, the standard angular velocity control strategy corresponding to the angular velocity control mode is determined as the target control mode.

[0259] The second angular velocity preset control condition can be that the first channel value is at the median, and the second angular velocity preset control condition can also be that the first channel value is within a preset range, and the preset range can be a range expanded based on the median.

[0260] In the embodiments of the present application, if the first channel value is at the median, it can be indicated that the angular velocity instruction corresponding to the current time is 0, at this time, the standard angular velocity control strategy corresponding to the angular velocity control mode can be determined as the target control mode, and the movable device is controlled to move based on the standard angular velocity control strategy corresponding to the angular velocity control mode.

[0261] Optionally, if the first channel value is within a preset range, it can be approximately considered that the angular velocity instruction corresponding to the current time is 0, at this time, the standard angular velocity control strategy corresponding to the angular velocity control mode can be determined as the target control mode, and the movable device is controlled to move based on the standard angular velocity control strategy corresponding to the angular velocity control mode.

[0262] Optionally, the second angular velocity preset control condition can also be a corresponding relationship between the channel value and the angular velocity control amount. When the first channel value corresponding to the switching time remote control device and the first angular velocity control amount corresponding to the switching time movable device satisfy the corresponding relationship in the angular velocity control strategy, the standard angular velocity control strategy corresponding to the angular velocity control mode is directly used to control the movable device to move.

[0263] Case two, if the first channel value does not satisfy the second angular velocity preset control condition, the angular velocity switching control mode is determined as the target control mode.

[0264] The angular velocity switching control mode is to control the movable device to move in accordance with the current moving state.

[0265] In the embodiments of the present application, when the movable device actively switches from the first moving mode to the second moving mode, if the first channel value is not in the middle position, the angular velocity switching control mode can be determined as the target control mode, and the movable device is controlled to move according to the angular velocity switching control mode.

[0266] Optionally, when the movable device switches from the first moving mode to the second moving mode, if the first channel value is not in the preset range, the angular velocity switching control mode can be determined as the target control mode at this time, and the movable device is controlled to move based on the standard angular velocity control strategy corresponding to the angular velocity control mode.

[0267] In the embodiments, if the first channel value satisfies the second angular velocity preset control condition, the movable device is controlled to move based on the angular velocity control mode; if the first channel value does not satisfy the second angular velocity preset control condition, the movable device is controlled according to the current moving state information. Since no pre-step of mode switching is added to avoid angular velocity mutation, the complexity and access conditions of the user when switching modes are reduced, and the continuity of the operation is increased.

[0268] In an embodiment, the sensor for acquiring the moving information of the movable device can include a global positioning system (GPS), an inertial sensor (IMU), a magnetometer, a visual sensor, etc. The current moving state information of the movable device can be acquired when the movable device actively switches the mode.

[0269] If the first channel value at the time of switching is not in the middle position, the movable device can be controlled to automatically move in accordance with the current moving state information, and after a preset time length, it is determined whether the current channel value at the current time has reached the middle position. Until it is detected that the current channel value at the current time is in the middle position, the movable device is switched to the standard angular velocity control strategy corresponding to the angular velocity control mode, and the movable device is controlled to move based on the standard angular velocity control strategy. During the preset time length, the user may operate the control stick to make the channel value reach the middle position.

[0270] It should be noted that when the movable device is controlled to automatically keep moving in accordance with the current moving state information, whether the movable device is controlled to automatically keep the current speed at the time of switching or keep the current posture at the time of switching can be selected by a user. That is, the user can select a target moving state in a ground station, a remote controller, a body sensor, a relay device or the like of the movable device, and send a control instruction to the movable device, so that the movable device is controlled to automatically keep the current speed at the time of switching and / or keep the current posture at the time of switching according to the target moving state selected by the user; or the user can set a target moving state in a preset program of the movable device, so that the movable device is controlled to automatically keep the current speed at the time of switching and / or keep the current posture at the time of switching according to the target moving state selected by the user.

[0271] In one embodiment, if the current moving state information is the current speed of the movable device, a preset speed control algorithm is used to adjust the current speed of the movable device, so as to control the movable device to be at a smooth speed.

[0272] The current speed of the movable device can be obtained by a speed sensor, such as a GPS speed meter. The preset speed control algorithm can be deployed in a preset program of the movable device. The current speed of the movable device can also be developed or selected by a user in a ground station, a remote controller, a body sensor, a relay device or the like of the movable device, and after the current speed of the movable device is adjusted according to the preset speed control algorithm, a control instruction is sent to the movable device, so as to control the movable device to be at a smooth speed.

[0273] Optionally, when the current moving state information is the current speed of the movable device, a preset speed control algorithm and a preset speed threshold value can be used to adjust the current speed of the movable device. That is, a first target speed can be determined by using the preset speed control algorithm, and a second target speed can be determined according to the preset speed threshold value, and the current speed of the movable device is adjusted according to the second target speed, so as to control the movable device to be at a smooth speed.

[0274] In one embodiment, if the current moving state information is the current posture of the movable device, a preset posture control algorithm is used to adjust the current posture of the movable device, so as to control the movable device to be at a smooth posture.

[0275] The current posture of the movable device can be obtained by a posture sensor, such as a GPS carrier phase measurement sensor. The preset posture control algorithm can be deployed in a preset program of the movable device. The current posture of the movable device can also be developed or selected by a user in a ground station, a remote controller, a body sensor, a relay device or the like of the movable device, and after the current posture of the movable device is adjusted according to the preset posture control algorithm, a control instruction is sent to the movable device, so as to control the movable device to be at a smooth posture.

[0276] Optionally, when the current movement state information is the current posture of the movable device, the current posture of the movable device can be adjusted using a preset posture control algorithm and a preset posture range. That is, a first target posture can be determined using the preset posture control algorithm, and a second target posture can be determined according to the preset posture range, and the current posture of the movable device is adjusted according to the second target posture, so that the movable device is controlled to be in a stable posture.

[0277] In the embodiment, when the current movement state information is the current posture of the movable device, the current posture of the movable device is adjusted using a preset posture control algorithm to control the movable device to be in a stable posture, which can reduce the occurrence of safety problems such as sudden posture rolling of the movable device, thereby improving the safety of the movable device during movement.

[0278] It should be understood that, although each step in the flowchart involved in each of the above embodiments is displayed in sequence according to the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each of the above embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps or stages in other steps.

[0279] In one exemplary embodiment, a movable device is provided, comprising:

[0280] a fuselage, the fuselage being provided with a rotor assembly and an imaging assembly;

[0281] one or more processors disposed in the fuselage and electrically connected to the rotor assembly, the one or more processors being configured to control the operation of the rotor assembly to implement the following steps:

[0282] In the case where the movable device is in a moving state in response to the control information of the first remote control device, the movable device is controlled to move using the switching control mode in response to the switching instruction of the remote control device, so that the control amount or the posture of the movable device changes smoothly in the case where the remote control device is switched from the first remote control device to the second remote control device.

[0283] The movable device is controlled to move according to the control information of the second remote control device and the target control mode.

[0284] In an embodiment, the movable device control method further comprises:

[0285] According to the at least one or more of the control information of the first remote control device, the control information of the second remote control device, and the state information of the movable device in combination when the remote control device switches, the correspondence between the control information of the second remote control device and the state information of the movable device in the switching control mode is confirmed;

[0286] Controlling the movable device to move using the switching control mode includes:

[0287] According to the correspondence and the control information of the second remote control device, the movable device is controlled to move.

[0288] In an embodiment, the control information of the first remote control device includes a channel value or a control mode of the first remote control device when the remote control device switches; and / or,

[0289] The control information of the second remote control device includes a channel value or a request control mode of the second remote control device when the remote control device switches; and / or,

[0290] The state information of the movable device includes one or more combinations of a speed, an angular speed, a posture, an acceleration, an angular acceleration, a speed control amount, an angular speed control amount, a posture control amount, an acceleration control amount, and an angular acceleration control amount of the movable device when the remote control device switches; and / or,

[0291] The correspondence includes one or more combinations of a piecewise function relationship, a linear function relationship, an inverse proportional function relationship, and an exponential function relationship.

[0292] In an embodiment, the first state information difference of the switching control mode and the target control mode is smaller than the second state information difference; wherein,

[0293] The first state information difference includes a difference value between at least one state information corresponding to the switching control mode near the switching-in point and at least one state information corresponding to the target control mode.

[0294] The second state information difference includes a difference value between at least one state information corresponding to the switching control mode near the switching-out point and at least one state information corresponding to the target control mode.

[0295] In an embodiment, the control amount type of the switching control mode is the same as the control amount type of the target control mode;

[0296] And / or, the change trend of the mapping relationship of the switching control mode is the same as the change trend of the mapping relationship of the target control mode, so that the change trend of the control amount of the movable device before and after switching is the same, and the target control mode is switched into more quickly.

[0297] In an embodiment, the condition triggering the remote device switching instruction comprises:

[0298] The control mode of the first remote device is a throttle control mode or an angular velocity control mode, and the target control mode is a posture control mode; or the control mode of the first remote device is a posture control mode, and the target control mode is a throttle control mode or an angular velocity control mode.

[0299] The control modes before and after the switching are different, and one is a direct control mode and the other is an indirect control mode, so that the switching control mode is used to avoid the jump of the control quantity. In other embodiments, when the control modes before and after the switching are the same, for example, both are indirect control modes or are the same control mode, the target control mode can be directly switched to without entering the switching control mode.

[0300] In an embodiment, the control sensitivity of the switching control mode is greater than the control sensitivity of the target control mode; wherein the control sensitivity represents the relationship between the change amount of the manipulation information and the change amount of the control quantity. In this way, the target control mode can be quickly switched to.

[0301] In an embodiment, the manipulation information comprises a channel value; in the switching control mode, the control sensitivity of the first channel value range is less than the control sensitivity of the second channel value range; wherein the control sensitivity represents the relationship between the change amount of the channel value and the change amount of the control quantity, and the second channel value range is closer to the channel value of the second remote device when the remote device is switched. Thus, when the switching control mode is just entered, the change degree of the control quantity is smaller, giving the user a reaction time, and then the change degree becomes larger, so that the target control mode can be quickly entered.

[0302] In an embodiment, the movable device control method further comprises:

[0303] At the end point, the target control mode is switched to; wherein the end point comprises a state information satisfying a state information condition, and / or a manipulation information of the second remote device satisfying a manipulation information condition.

[0304] In an embodiment, the manipulation information of the second remote device comprises a channel value, and the state information of the movable device comprises a control quantity;

[0305] The end point is greater than or equal to the second channel value and the second control quantity;

[0306] The target control mode can obtain the second control quantity according to the second channel value.

[0307] In an embodiment, in the case that the channel value is less than a curve selection threshold value, the target control mode can obtain the second control quantity according to the second channel value;

[0308] In a case that the channel value is greater than or equal to the curve selection threshold value, the target control mode can obtain a third control amount according to the second channel value, the third control amount being less than the second control amount.

[0309] In an embodiment, the condition of the manipulation information includes:

[0310] The channel value of the second remote control device is less than or equal to the first channel value threshold value or greater than the second channel value threshold value; wherein the second channel value threshold value is greater than the first channel value threshold value.

[0311] In an embodiment, according to the switching of the remote control device, the state information of the movable device is state information collected by a sensor carried by the movable device; wherein the sensor includes one or a combination of multiple of an attitude sensor, a GPS, and a vision sensor. In a case that the modes are different, the control amount of the movable device cannot be directly obtained, at this time, the control amount can be calculated by using the information collected by the sensor carried by the movable device, for example, the angular velocity control amount, and then the angular velocity can be collected.

[0312] In an embodiment, the manipulation information of the second remote control device includes a channel value; and the switching of the control mode includes:

[0313] In a case that the channel value of the second remote control device is in a fourth channel value range, the state information of the movable device is maintained as the state information at the time of the switching of the remote control device, wherein the channel value in the fourth channel value range is greater than or the channel value in the third channel value range.

[0314] In a case that the channel value of the second remote control device is in a third channel value range, the target control mode is directly entered, wherein the third channel value range represents that the operating lever of the second remote control device is in the vicinity of the middle position.

[0315] In an embodiment, the condition of triggering the switching instruction of the remote control device includes at least one of the following:

[0316] The movable device is in a communication connection with the second remote control device, and the manipulation information of the second remote control device is obtained;

[0317] In a case that the movable device is in a communication connection with the first remote control device and the second remote control device, and the manipulation priority of the second remote control device is higher than the manipulation priority of the first remote control device;

[0318] The signal strength of the first remote control device is less than the signal strength of the second remote control device, and the difference between the signal strength of the first remote control device and the signal strength of the second remote control device is greater than a signal strength threshold value;

[0319] It is detected that the movable device enters from indoors to outdoors or from outdoors to indoors;

[0320] detecting that the movable device enters a preset area;

[0321] identifying the target object through an image captured by a camera carried by the movable device.

[0322] In an embodiment, the imaging assembly comprises:

[0323] The first camera and the second camera have partially overlapping field of view, and the non-overlapping field of view is equal to 360 degrees, i.e., the imaging assembly can capture a panoramic image.

[0324] A remote control device, comprising: a communication assembly configured to communicate with the movable device;

[0325] One or more processors connected to the communication assembly, the one or more processors being configured to control the movable device to move using the above-mentioned movable device control method.

[0326] A movable system, the above-mentioned movable device, and / or the above-mentioned remote control device; wherein the remote control device is wirelessly connected to the movable device to control the movable device to move.

[0327] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not contradict each other, they should be considered within the scope of the present disclosure.

[0328] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be noted that, for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

[0329] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the above embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application. Especially, as long as there is no structural conflict, each technical feature mentioned in the embodiments can be combined in any manner. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A movable device control method in which, Comprising: In the case that the movable device is in a moving state in response to the manipulation information of the first remote control device, in response to the remote control device switching instruction, the movable device is controlled to move using a switching control mode, so that in the case that the remote control device is switched from the first remote control device to the second remote control device, the control amount or the attitude of the movable device changes smoothly; According to the manipulation information of the second remote control device and the target control mode, the movable device is controlled to move.

2. The movable device control method of claim 1, wherein, The movable device control method further comprises: According to at least one or more combinations of the manipulation information of the first remote control device, the manipulation information of the second remote control device, and the state information of the movable device at the time of remote control device switching, the correspondence between the manipulation information of the second remote control device and the state information of the movable device in the switching control mode is determined; The movable device is controlled to move using the switching control mode, comprising: According to the correspondence and the manipulation information of the second remote control device, the movable device is controlled to move.

3. The movable device control method of claim 2, wherein, The manipulation information of the first remote control device comprises the channel value or the control mode of the first remote control device at the time of remote control device switching; and / or, The manipulation information of the second remote control device comprises the channel value or the requested control mode of the second remote control device at the time of remote control device switching; and / or, The state information of the movable device comprises one or more combinations of the speed, angular velocity, attitude, acceleration, angular acceleration, speed control amount, angular velocity control amount, attitude control amount, acceleration control amount, and angular acceleration control amount of the movable device at the time of remote control device switching; and / or, The correspondence comprises one or more combinations of a piecewise function relationship, a linear function relationship, an inverse proportional function relationship, and an exponential function relationship.

4. The movable device control method of claim 1, wherein, The first state information difference of the switching control mode and the target control mode is smaller than the second state information difference; wherein, The first state information difference comprises the difference between at least one state information corresponding to the switching control mode near the switching-in point and at least one state information corresponding to the target control mode; The second state information difference comprises the difference between at least one state information corresponding to the switching control mode near the end point and at least one state information corresponding to the target control mode.

5. The movable device control method of claim 1, wherein, The control amount type of the switching control mode is the same as the control amount type of the target control mode; And / or, the change trend of the mapping relationship of the switching control mode is the same as the change trend of the mapping relationship of the target control mode.

6. The mobile device control method of claim 1, wherein, The condition for triggering the remote control device switching instruction comprises: The control mode of the first remote control device is a throttle control mode or an angular velocity control mode, and the target control mode is an attitude control mode; Or, the control mode of the first remote control device is an attitude control mode, and the target control mode is a throttle control mode or an angular velocity control mode.

7. The movable device control method of claim 2, wherein, The control sensitivity of the switching control mode is greater than the control sensitivity of the target control mode; wherein the control sensitivity represents a relationship between a change in the operation information and a change in the control quantity.

8. The movable device control method of claim 2, wherein, The operation information includes a channel value; in the switching control mode, the control sensitivity of a first channel value range is less than the control sensitivity of a second channel value range; wherein the control sensitivity represents a relationship between a change in the channel value and a change in the control quantity, and the second channel value range is closer to the channel value of the second remote control device.

9. The mobile device control method of claim 2, wherein, The movable device control method further includes: At an end point, switching to a target control mode; wherein the end point includes state information satisfying a state information condition, and / or operation information of the second remote control device satisfying an operation information condition.

10. The movable device control method of claim 9, wherein, The operation information of the second remote control device includes a channel value, and the state information of the movable device includes a control quantity; The end point is greater than or equal to a second channel value and a second control quantity; The target control mode can obtain a second control quantity according to the second channel value.

11. The movable device control method of claim 10, wherein, In the case where the channel value is less than a curve selection threshold, the target control mode can obtain a second control quantity according to the second channel value; In the case where the channel value is greater than or equal to the curve selection threshold, the target control mode can obtain a third control quantity according to the second channel value, and the third control quantity is less than the second control quantity.

12. The movable device control method of claim 9, wherein, The operation information condition includes: The channel value of the second remote control device is less than or equal to a first channel value threshold or greater than a second channel value threshold; wherein the second channel value threshold is greater than the first channel value threshold.

13. The movable device control method of claim 1, wherein, According to the remote control device switching, the state information of the movable device is state information collected by a sensor carried by the movable device; wherein the sensor includes one or a combination of a plurality of attitude sensors, GPSs, and vision sensors.

14. The mobile device control method of claim 1, wherein, The operation information of the second remote control device includes a channel value; the switching control mode includes: If the channel value of the second remote control device is in a fourth channel value range, the state information of the movable device is maintained as the state information at the time of the remote control device switching, wherein the channel value of the fourth channel value range is greater than or the channel value of a third channel value range.

15. The movable device control method of claim 14, wherein, The movable device control method further includes: If the channel value of the second remote control device is in a third channel value range, directly entering the target control mode, wherein the third channel value range represents that the operating lever of the second remote control device is near the neutral position.

16. The mobile device control method of claim 1, wherein, The condition for triggering the remote control device switching instruction includes at least one of the following: The communication connection between the movable device and the second remote control device is established, and the operation information of the second remote control device is obtained; In the case where the movable device establishes communication connections with the first remote control device and the second remote control device, and the operation priority of the second remote control device is higher than the operation priority of the first remote control device; a signal strength of the first remote control device is less than a signal strength of the second remote control device, and a difference between the signal strength of the first remote control device and the signal strength of the second remote control device is greater than a signal strength threshold value; detecting that the movable device enters from indoors to outdoors or from outdoors to indoors; detecting that the movable device enters a preset area; identifying a target object through an image captured by a camera carried by the movable device.

17. A movable device, wherein, comprising: a body carrying a rotor assembly and an imaging assembly; one or more processors disposed in the body and electrically connected with the rotor assembly, the one or more processors being configured to control the rotor assembly to work to implement the movable device control method according to any one of claims 1-16, and controlling the imaging assembly to capture images during movement of the movable device.

18. The movable apparatus of claim 17, wherein, the imaging assembly comprises: a first camera and a second camera, a field of view range of the first camera and a field of view range of the second camera partially overlap, and a non-overlapping field of view is equal to 360 degrees.

19. A remote control device, wherein, comprising: a communication assembly for communicating with a movable device; one or more processors connected with the communication assembly, the one or more processors being configured to control the movable device to move using the movable device control method according to any one of claims 1-16.

20. A movable system, wherein, comprising: the movable device according to claim 17 or 18, and / or, The remote control device of claim 19; wherein the remote control device is wirelessly connected with the movable device to control the movable device to move.

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