Control method of mobile device, device, and storage medium

Abstract

This application relates to the field of device control, and provides a control method, device, and storage medium for a mobile device. The method is applied to a remote control device communicatively connected to the mobile device. The remote control device includes a first joystick and a second joystick. The mobile device includes a body and a shooting device. The shooting device is connected to the body and can rotate its viewing angle relative to the body. The method includes: when the mobile device is in a viewing angle control mode, acquiring a first remote control signal from the first joystick and acquiring a second remote control signal from the second joystick, wherein the first remote control signal is used to change the viewing angle of the shooting device and / or to control the movement of the mobile device; correspondingly, the second remote control signal is used to control the movement of the mobile device and / or to change the viewing angle of the shooting device; sending the first and second remote control signals to the mobile device; wherein the viewing angle control mode is a mode in which the viewing angle of the shooting device is changed by the remote control device.

Description

Technical Field

[0001] This application relates to the field of equipment control, and more particularly to a control method for a mobile device, a mobile device, a remote control device, and a storage medium. Background Technology

[0002] Mobile devices equipped with shooting devices, thanks to their excellent mobility, can penetrate areas inaccessible to humans and flexibly adjust shooting height and angle to obtain perspectives that traditional fixed camera positions cannot capture. They have been widely used in numerous fields. To achieve more precise control of the captured footage, the movement of the mobile device and the shooting angle need to be controlled separately. Therefore, two operators are required to work together, as single-person control is insufficient to simultaneously manage both the mobile device and the shooting device. Summary of the Invention

[0003] The main purpose of this application is to provide a control method, device, and storage medium for mobile devices, aiming to improve the convenience of controlling mobile devices.

[0004] In a first aspect, this application provides a control method for a mobile device, applied to a remote control device communicatively connected to the mobile device. The remote control device includes a first joystick and a second joystick. The mobile device includes a body and a camera device, the camera device being connected to the body and capable of rotating its viewing angle relative to the body. The method includes: When the mobile device is in the view control mode, a first remote control signal of the first joystick and a second remote control signal of the second joystick are acquired, wherein the first remote control signal is used to change the view of the shooting device and / or to control the movement of the mobile device; correspondingly, the second remote control signal is used to control the movement of the mobile device and / or to change the view of the shooting device. The first remote control signal and the second remote control signal are sent to the mobile device; The viewpoint control mode is a mode in which the viewpoint of the shooting device is changed by the remote control device.

[0005] Secondly, this application provides a control method for a mobile device, applied to a mobile device including a body and a shooting device, the shooting device being connected to the body and capable of rotating a viewing angle relative to the body, the mobile device being communicatively connected to a remote control device, the remote control device including a first joystick and a second joystick, the method including: When the mobile device is in the view control mode, a first remote control signal and a second remote control signal of the remote control device are acquired, wherein the first remote control signal is generated by the first joystick and the second remote control signal is generated by the second joystick; The first remote control signal is used to change the viewing angle of the shooting device and / or control the movement of the mobile device; correspondingly, the second remote control signal is used to control the movement of the mobile device and / or change the viewing angle of the shooting device. The viewpoint control mode is a mode in which the viewpoint of the shooting device is changed by the remote control device.

[0006] Thirdly, this application also provides a remote control device, which includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of the control method as described in any one of the embodiments of this application.

[0007] Fourthly, this application also provides a mobile device, the mobile device including a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of the control method as described in any one of the embodiments of this application.

[0008] Fifthly, a computer-readable storage medium storing a computer program, wherein when executed by a processor, the computer program implements the steps of the method as described in any one of the embodiments of this application.

[0009] The mobile device control method, device, and storage medium provided in this application embodiment achieve perspective control of the shooting device and motion control of the mobile device through a first remote control signal of a first joystick and a second movement signal of a second joystick, enabling the mobile device to achieve single-person remote control operation and improving the convenience of remote control operation of the mobile device. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A schematic diagram of the structure of a mobile device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a remote control device provided in an embodiment of this application; Figure 3 This is a schematic flowchart illustrating the steps of a mobile device control method provided in an embodiment of this application; Figure 4This is a schematic diagram of the pitch axis, yaw axis, and roll axis of a mobile device provided in an embodiment of this application; Figure 5 These are schematic diagrams of the pitch axis, yaw axis, and roll axis of a mobile device provided in an embodiment of this application. Figure 6 A schematic diagram of the first joystick in view control mode provided in an embodiment of this application; Figure 7 A schematic diagram of the first joystick in view control mode provided in another embodiment of this application; Figure 8 A schematic diagram of the second joystick in view control mode provided in an embodiment of this application; Figure 9 A schematic diagram of the second joystick in view control mode provided in an embodiment of this application; Figure 10 A schematic diagram of the first joystick in view-following mode provided in an embodiment of this application; Figure 11 A schematic diagram of the second joystick in view-following mode provided in an embodiment of this application; Figure 12 A top view of a mobile device in the orientation of its body and the target orientation, provided in an embodiment of this application; Figure 13 A top view of the movement trajectory of a mobile device in a first-person perspective mode provided in an embodiment of this application; Figure 14 A top view of the movement trajectory of a mobile device in a third-person perspective mode provided in an embodiment of this application; Figure 15 This is a schematic flowchart illustrating the steps of a mobile device control method provided in an embodiment of this application; Figure 16 This is a schematic flowchart illustrating the steps of a mobile device control method provided in an embodiment of this application; Figure 17 A schematic block diagram of a remote control device provided in an embodiment of this application; Figure 18 This is a schematic block diagram of the structure of a mobile device provided in an embodiment of this application. Detailed Implementation

[0012] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0014] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a mobile device provided in an embodiment of this application. For example... Figure 1 As shown, the mobile device 100 includes a body 101 and a shooting device 102. The shooting device 102 is connected to the body 101 and can rotate the viewing angle relative to the body 101.

[0015] Specifically, the shooting device 102 is mounted on a gimbal, which is rotatably connected to the camera body. The gimbal, through a connection mechanism between it and the camera body 101, rotates the shooting device 102 relative to the camera body 101 in a yaw direction, thereby changing the shooting image captured by the shooting device 102 and allowing the shooting device 102 and the camera body 101 to have different orientations. The connection mechanism between the shooting device 102 and the camera body 101 can be driven by a motor.

[0016] Alternatively, the shooting device 102 can also be a panoramic camera used to acquire panoramic images of the environment in which the mobile device is located. The shooting device 102's perspective is a part of the panoramic image, and the shooting device 102 can change its perspective without physical rotation.

[0017] In some embodiments, the mobile device 100 further includes a leg structure 103 and a drive wheel 104. The leg structure 103 is connected to the body 101, and the drive wheel 104 is connected to the end of the leg structure 103 away from the body 101. The leg structure 103 and the drive wheel 104 are each driven by a motor. Specifically, the motor for driving the leg structure 103 is located inside the body 101 near the leg structure 103, and drives the leg structure 103, located outside the body 101, to rotate via a transmission component such as a belt. The motor for driving the drive wheel 104 is located at the end of the leg structure 103, and outputs torque to drive the drive wheel 104 at the end of the leg structure 103 to rotate. The drive wheel 104 contacts the ground, causing the mobile device 100 to move on the ground.

[0018] In some embodiments, a first leg structure and a second leg structure are connected to the body 101, that is, the robot is a bipedal robot, which are located on opposite sides of the body 101 and symmetrically arranged. They can be regarded as the left and right legs of the mobile device 100. The two leg structures increase the contact area between the mobile device and the support surface and improve the ability of the mobile device to resist lateral tilting, thereby improving the balance and stability of the mobile device 100.

[0019] In some embodiments, the leg structure 103 includes an upper leg assembly 1031 and a lower leg assembly 1032, wherein the upper leg assembly 1031 is rotatably connected to the body 101, and the lower leg assembly 1032 is rotatably connected to the upper leg assembly 1031. The upper leg assembly 1031 can be considered as the thigh of the mobile device, and the joint mechanism connecting the upper leg assembly 1031 to the body 101 can be considered as the hip joint of the mobile device 100; the lower leg assembly 1032 can be considered as the lower leg of the mobile device, and the joint mechanism connecting the lower leg assembly 1032 to the body 101 can be considered as the knee joint of the mobile device 100; the extension and retraction of the leg structure 103 can be controlled by the rotation of at least one of the hip joint and knee joint. The drive motors of the hip joint and knee joint of the mobile device 100 can be disposed inside the body 100, and drive the joint mechanism located outside the body to rotate through a transmission component such as a belt. By coordinating the two joints, the projection position of the center of gravity of the mobile device 100 on the support surface can be adjusted more precisely, which is beneficial for the mobile device 100 to resist external interference. When it is impacted by the support surface, the impact can be absorbed by fine adjustment of the knee joint, thereby improving the stability of the body 101.

[0020] Understandably, the number of leg structures 103 connected to the body 101 can be more or less. Four leg structures 103 can be connected to the body 101, and each of the four leg structures 103 corresponds to four drive wheels 104. Alternatively, the mobile device 100 may not include the leg structures 103, and the drive wheels 104 may be directly located at the bottom of the body 101.

[0021] Understandably, the leg structure 103 may also include only one joint. For example, the fuselage 101 is connected to the leg assembly, and the drive wheel 104 is connected to the end of the leg assembly. The posture change of the leg structure 103 is achieved by the reciprocating swing of a single joint.

[0022] In some embodiments, the body 101 is also provided with sensors such as an inertial measurement unit (IMU) and a binocular camera, which are communicatively connected to the controller of the mobile device 100 to sense the attitude information of the mobile device 100 and the environment in which it is located, and to provide detection information for controlling the movement of the mobile device 100.

[0023] In some embodiments, the controller of the mobile device 100 is also communicatively connected to a remote control device to receive control commands sent by the user through the remote control device and control the mobile device 100 to execute the operation corresponding to the control command. The control command may be a mode switching command to instruct the mobile device to perform a mode switching operation, or an action command to instruct the mobile device to perform a command action. The command action may include a jumping action, a somersault action, etc. Of course, it is not limited to these; mode switching commands and action commands may also be triggered by gestures or voice, which is not limited here.

[0024] Please refer to Figure 2 , Figure 2 This is a schematic diagram of the structure of a remote control device provided in an embodiment of this application.

[0025] like Figure 2 As shown, the remote control device 200 includes a first joystick 201 and a second joystick 202, wherein the positions of the first joystick 201 and the second joystick 202 can be interchanged or located in other positions. The remote control device 200 is communicatively connected to the mobile device 100.

[0026] Understandable. Figure 2 The remote control device 200 shown is merely an example and does not constitute a limitation on the actual structure of the remote control device 200.

[0027] In some embodiments, the first joystick 201 and the second joystick 202 may be physical joysticks. For example, the remote control device 200 is a physical remote control that is paired with the mobile device 100. The user can trigger the first joystick 201 and the second joystick 202 to generate control signals by pushing the physical joysticks.

[0028] In some embodiments, the first joystick 201 and the second joystick 202 may be virtual joysticks. For example, the remote control device 200 may be a touch screen device with a preset application installed. Users can generate control signals by moving the control icon of the virtual joystick on the display interface of the touch screen device.

[0029] In some embodiments, the first joystick 201 and the second joystick 202 can be button-type joysticks. For example, the remote control device 200 is a physical remote control that is matched with the mobile device 100. It is provided with a first button and a second button. The user can trigger the first button and the second button to generate control signals by applying pressure to different positions of the first button and the second button.

[0030] Understandably, the remote control device 200 can be equipped with more components, such as a display module, which is at least used to display the captured image; it can also be equipped with other control components, such as a mode switching button for one-button mode switching, which will not be elaborated here.

[0031] Please see Figure 3 , Figure 3 This is a schematic flowchart illustrating the steps of a control method for a mobile device provided in an embodiment of this application. This control method is applied to remote-controlled devices to improve the convenience of controlling mobile devices.

[0032] like Figure 3 As shown, the control method includes steps S101 to S102.

[0033] Step S101: When the mobile device is in the view control mode, acquire the first remote control signal of the first joystick and acquire the second remote control signal of the second joystick, wherein the first remote control signal is used to change the view of the shooting device and / or to control the movement of the mobile device; correspondingly, the second remote control signal is used to control the movement of the mobile device and / or to change the view of the shooting device.

[0034] Changing the shooting device's angle of view includes controlling the shooting device's angle of view to yaw or pitch, and controlling the movement of the mobile device includes controlling the body to move or turn.

[0035] Specifically, the first remote control signal can be used to control the shooting device's viewing angle to yaw or pitch, and the second remote control signal can be used to control the camera body to move or turn. Alternatively, the first remote control signal can be used to control the shooting device's viewing angle to yaw or the camera body to move, and the second remote control signal can be used to control the shooting device's viewing angle to pitch or the camera body to turn.

[0036] In some embodiments, the first remote control signal is used to change the viewing angle of the shooting device to produce pitch or yaw, and the second remote control signal is used to control the mobile device to move or turn. Users can operate the remote controls with both hands, controlling the viewing angle of the shooting device and the pose of the mobile device respectively, enabling single-person operation of the mobile device and improving the convenience of mobile device control. Furthermore, the first joystick is used to acquire the first remote control signal controlling the shooting device to change its viewing angle, and the second joystick is used to acquire the second movement signal controlling the movement or turning of the mobile device. Therefore, users can use one hand to trigger the first joystick to control the shooting device to change its viewing angle and the other hand to trigger the second joystick to control the movement or turning of the mobile device, achieving decoupling of viewing angle control and movement control. This results in clear control logic, avoids confusion, and reduces the learning cost of operating the remote control device.

[0037] Alternatively, the first remote control signal is used to change the angle of view of the shooting device to yaw or the body to move, and the second remote control signal is used to control the body of the mobile device to turn or the angle of view of the shooting device to pitch.

[0038] Of course, it is not limited to this. The first remote control signal can be used to change the angle of the shooting device to yaw or the body of the mobile device to turn, and the second remote control signal can be used to control the body of the mobile device to pitch or move. There are no restrictions here.

[0039] In some embodiments, the first remote control signal includes a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis or a first yaw remote control signal for controlling the rotation of the viewing angle of the shooting device about the yaw axis; and / or, the first remote control signal includes a movement remote control signal for controlling the forward or backward movement of the fuselage or a first yaw remote control signal for controlling the rotation of the viewing angle of the shooting device about the yaw axis.

[0040] Please refer to Figure 4 , Figure 5 , Figure 4 , Figure 5 These are schematic diagrams of the pitch axis, yaw axis, and roll axis of a mobile device provided in an embodiment of this application.

[0041] In some embodiments, the first remote control signal may be a pitch remote control signal that controls the rotation of the camera body around the pitch axis, thereby causing the shooting device to rotate around the pitch axis to achieve pitch of the shooting angle. Alternatively, the first remote control signal may also be a first yaw remote control signal that controls the rotation of the shooting device's viewing angle around the yaw axis, achieving yaw of the shooting angle without changing the yaw angle of the camera body itself.

[0042] In some embodiments, the first remote control signal may be a movement remote control signal that controls the drive wheels to move forward or backward, thereby causing the camera body to move forward or backward. Alternatively, the first remote control signal may also be a first yaw remote control signal that controls the viewing angle of the shooting device to rotate around the yaw axis, thereby achieving yaw of the shooting angle without changing the yaw angle of the camera body itself.

[0043] In some embodiments, forward and backward operation of the first joystick triggers the generation of a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis, and left and right operation of the first joystick triggers the generation of a first yaw remote control signal for controlling the rotation of the shooting device's viewing angle about the yaw axis; and / or, forward and backward operation of the first joystick triggers the generation of a movement remote control signal for controlling the forward or backward movement of the fuselage, and left and right operation of the first joystick triggers the generation of a first yaw remote control signal for controlling the rotation of the shooting device's viewing angle about the yaw axis.

[0044] Please refer to Figure 6 , Figure 6 This is a schematic diagram of the first joystick in the view control mode provided in an embodiment of this application.

[0045] like Figure 6As shown, when the mobile device is in view control mode, the first joystick 201 generates a pitch remote control signal to control the rotation of the camera body around the pitch axis when triggered by forward or backward operation. Specifically, when triggered by forward operation, the first joystick 201 generates a pitch remote control signal to control the positive rotation of the camera body around the pitch axis, causing the camera body to pitch forward and thus causing the view of the shooting device to pitch forward; when triggered by backward operation, the first joystick 201 generates a pitch remote control signal to control the negative rotation of the camera body around the pitch axis, causing the camera body to pitch backward and thus causing the view of the shooting device to pitch backward.

[0046] Specifically, the forward and backward pushing distance of the first joystick 201 corresponds to the angular velocity of the fuselage pitch operation. Within a certain range, the forward and backward pushing distance of the first joystick 201 is positively correlated with the angular velocity of the fuselage pitch operation.

[0047] Please continue to refer to Figure 6 When the mobile device is in view control mode, the first joystick 201 generates a first yaw remote control signal to control the rotation of the shooting device's view around the yaw axis when triggered by a left or right operation. Specifically, when triggered by a left operation, the first joystick 201 generates a first yaw remote control signal to control the shooting device's view around the yaw axis to rotate counterclockwise, causing the shooting device's view to yaw counterclockwise; when triggered by a right operation, the first joystick 201 generates a first yaw remote control signal to control the shooting device's view around the yaw axis to rotate clockwise, causing the shooting device's view to yaw clockwise.

[0048] Specifically, the pushing distance of the first joystick 201 for left and right operations corresponds to the angular velocity at which the viewing angle yaws. Within a certain range, the pushing distance of the first joystick 201 for left and right operations is positively correlated with the angular velocity at which the viewing angle yaws.

[0049] It should be noted that the shooting device itself has yaw energy through physical rotation or electronic rotation of the panoramic camera. When the shooting device's field of view is yawed, the camera body will not yaw.

[0050] Please refer to Figure 7 , Figure 7 This is a schematic diagram of the first joystick in the view control mode provided in another embodiment of this application.

[0051] like Figure 7 As shown, the first joystick 201 can also control the mobile device to move forward or backward by operating it forward and backward, and control the camera's viewing angle to yaw by operating it left and right.

[0052] In some embodiments, the second remote control signal includes a movement remote control signal for controlling the fuselage to move forward or backward, or a second yaw remote control signal for controlling the fuselage to rotate about the yaw axis; and / or, the second remote control signal includes a pitch remote control signal for controlling the fuselage to rotate about the pitch axis, or a second yaw remote control signal for controlling the fuselage to rotate about the yaw axis.

[0053] Understandably, as a wheeled robot, the mobile device can move forward or backward by the rolling of its drive wheels, or control its rotation around the yaw axis by the difference in wheel speeds. The movement and yaw of the robot are controlled by a second remote control signal on the second joystick, allowing the user to change the position and orientation of the mobile device remotely, thus improving its flexibility.

[0054] In some embodiments, the second remote control signal can also be used to control the fuselage to pitch or yaw.

[0055] In some embodiments, forward and backward operation of the second joystick triggers the generation of a movement remote control signal for controlling the fuselage to move forward or backward; or left and right operation of the second joystick triggers the generation of a second yaw remote control signal for controlling the fuselage to rotate about the yaw axis; and / or, forward and backward operation of the second joystick triggers the generation of a pitch remote control signal for controlling the fuselage to rotate about the pitch axis; or left and right operation of the second joystick triggers the generation of a second yaw remote control signal for controlling the fuselage to rotate about the yaw axis.

[0056] Please refer to Figure 8 , Figure 8 This is a schematic diagram of the second joystick in the view control mode provided in an embodiment of this application.

[0057] like Figure 8 As shown, when the mobile device is in view control mode, the second joystick 202 generates a motion remote control signal to control the camera body to move forward or backward when triggered by a forward or backward operation. Specifically, when the second joystick 202 is triggered by a forward operation, it generates a motion remote control signal to control the camera body to move forward, causing the drive wheel to roll forward and moving the camera body and shooting device forward; when the second joystick 202 is triggered by a backward operation, it generates a motion remote control signal to control the camera body to move backward, causing the drive wheel to roll backward and moving the camera body and shooting device backward.

[0058] Specifically, the forward and backward pushing distance of the second joystick 202 corresponds to the linear velocity of the fuselage movement. Within a certain range, the forward and backward pushing distance of the second joystick 202 is positively correlated with the linear velocity of the fuselage movement.

[0059] Please continue to refer to Figure 8When the mobile device is in view control mode, the second joystick 202 generates a first yaw remote control signal to control the rotation of the camera body around the yaw axis when triggered by left or right operation. Specifically, when triggered by left operation, the second joystick 202 generates a second yaw remote control signal to control the rotation of the camera body counterclockwise around the yaw axis, causing the camera body to yaw counterclockwise and thus causing the view of the shooting device to yaw counterclockwise; when triggered by right operation, the second joystick 202 generates a second yaw remote control signal to control the rotation of the camera body clockwise around the yaw axis, causing the camera body to yaw clockwise and thus causing the view of the shooting device to yaw counterclockwise.

[0060] Specifically, the pushing distance of the second joystick 202 in left and right operations corresponds to the angular velocity of the fuselage yaw. Within a certain range, the pushing distance of the second joystick 202 in left and right operations is positively correlated with the angular velocity of the fuselage yaw.

[0061] Please refer to Figure 9 , Figure 9 This is a schematic diagram of the second joystick in view control mode provided in another embodiment of this application.

[0062] like Figure 9 As shown, the second joystick can also be used to control the pitch of the camera body by being triggered forward and backward, thereby causing the shooting device to pitch, and to control the rotation of the camera body by being triggered left and right.

[0063] In some embodiments, the first joystick of the remote control device employs Figure 6 The control method shown is used, and the second joystick adopts... Figure 8 The control method shown.

[0064] In some embodiments, the first joystick of the remote control device employs Figure 7 The control method shown is used, and the second joystick adopts... Figure 9 The control method shown.

[0065] In some embodiments, the second yaw remote control signal is used to control the fuselage to rotate about the yaw axis while keeping the viewing angle of the shooting device relative to the fuselage constant.

[0066] Understandably, since the shooting device is connected to the camera body, the second joystick 202 is used to change the yaw angle of the camera body. When the camera body yaws under the control of the second joystick 202, it causes the viewing angle of the shooting device to yaw as well. In other words, the viewing angle of the shooting device remains constant relative to the camera body.

[0067] In some embodiments, the first remote control signal or the second remote control signal is also used to control the mobile device to lock the angle of view changed by the shooting device.

[0068] Specifically, after the shooting device's viewing angle is changed by the first remote control signal or the second remote control signal, the shooting device's viewing angle is locked at the changed viewing angle. That is to say, the shooting device's viewing angle remains unchanged relative to the camera body until the first remote control signal is received again.

[0069] In some embodiments, the first joystick or the second joystick is configured with a locking operation, and the method further includes: if a locking operation is detected to be triggered, generating a locking signal and sending it to the mobile device, the locking signal being used to control the mobile device to lock the viewing angle changed by the shooting device.

[0070] Specifically, after the shooting device's viewing angle is changed by the first or second remote control signal, if the first or second remote control signal stops, the shooting device's viewing angle returns to the angle relative to the camera body before receiving the first or second remote control signal. At this time, the user can also trigger a lock signal by triggering a lock operation to lock the changed viewing angle of the shooting device. The lock operation can be continuous pressing of the joystick, continuous pressing of the joystick for a preset duration, double-clicking the joystick, etc., and is not limited here.

[0071] Step S102: Send the first remote control signal and the second remote control signal to the mobile device.

[0072] Through the communication connection between the remote control device and the mobile device, a first remote control signal and a second remote control signal are sent to the mobile device so that the mobile device can perform the operation corresponding to the first remote control signal and / or the second remote control signal. Specifically, the first remote control signal and the second remote control signal can be sent to the mobile device together, or only the first remote control signal or the second remote control signal can be sent. That is to say, either the first remote control signal or the second remote control signal can be a null value.

[0073] In some embodiments, the method further includes: controlling the remote control device to switch from a view control mode to a view following mode, or controlling the remote control device to switch from a view following mode to a view control mode; wherein, the view following mode is a mode in which the view of the shooting device follows the change of the target object.

[0074] To enable users to focus on controlling the movement of the camera body, this application embodiment also provides a view-following mode. In view-following mode, the view of the shooting device relative to the camera body automatically follows the changes of the target object, avoiding the need for users to frequently switch between the camera coordinate system of the shooting device and the world coordinate system of the camera body, thus reducing the cognitive burden on users.

[0075] Furthermore, the camera can switch between the viewfinder mode and the view control mode, allowing users to choose the appropriate mode according to their shooting needs, thus improving the flexibility of mobile device control.

[0076] In some embodiments, the method further includes: step S202, when the mobile device is in view-following mode, acquiring a third remote control signal from the first joystick and a fourth remote control signal from the second joystick, wherein the third remote control signal is used to control the mobile device to rotate around the pitch axis or to control the mobile device to turn, and the fourth remote control signal is used to control the mobile device to translate; step S202, sending the third remote control signal and the fourth remote control signal to the mobile device. The view-following mode is a mode in which the viewing angle of the shooting device follows the change of the target object.

[0077] In some embodiments, a third remote control signal is used to change the attitude of the camera body, and a fourth remote control signal is used to control the translation of the mobile device. The user can operate the remote control with both hands, controlling the attitude of the camera body and the position of the mobile device respectively. Simultaneously, the shooting device's angle of view relative to the camera body automatically changes to follow the target object, allowing the user to focus on controlling the movement of the camera body.

[0078] Specifically, the first joystick is used to acquire a third control signal for the mobile device to rotate around the pitch axis or turn around the yaw axis, and the second joystick is used to acquire a fourth movement signal for controlling the translation of the mobile device. Therefore, the user can use one hand to trigger the first joystick to control the body to change its attitude on the pitch axis or yaw axis, and use the other hand to trigger the second joystick to control the movement of the mobile device, thus achieving decoupling of attitude control and movement control, making the control logic clear and avoiding confusion.

[0079] In some embodiments, the third remote control signal includes a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis; or, the third remote control signal includes a second yaw remote control signal for controlling the rotation of the fuselage about the yaw axis.

[0080] like Figure 4 , Figure 5 As shown, the third remote control signal can be a pitch remote control signal that controls the rotation of the camera body around the pitch axis, thereby driving the shooting device to rotate around the pitch axis and achieving the pitch of the shooting angle.

[0081] Alternatively, the third remote control signal can also be the second yaw remote control signal that controls the fuselage to rotate around the yaw axis. By changing the yaw direction of the fuselage through the third remote control signal, the fuselage's definition of "forward" is updated.

[0082] In some embodiments, forward and backward operation of the first joystick triggers the generation of a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis; or, left and right operation of the first joystick triggers the generation of a second yaw remote control signal for controlling the rotation of the fuselage about the yaw axis.

[0083] Please refer to Figure 10 , Figure 10 This is a schematic diagram of the first joystick in view-following mode provided in an embodiment of this application.

[0084] like Figure 10 As shown, when the mobile device is in view-following mode, the first joystick 201 generates a pitch remote control signal to control the rotation of the camera body around the pitch axis when triggered by forward or backward operation. Specifically, when triggered by forward operation, the first joystick 201 generates a pitch remote control signal to control the positive rotation of the camera body around the pitch axis, causing the camera body to pitch forward and thus causing the viewing angle of the shooting device to pitch forward; when triggered by backward operation, the first joystick 201 generates a pitch remote control signal to control the negative rotation of the camera body around the pitch axis, causing the camera body to pitch backward and thus causing the viewing angle of the shooting device to pitch backward.

[0085] Specifically, the forward and backward pushing distance of the first joystick 201 corresponds to the angular velocity of the fuselage pitch operation. Within a certain range, the forward and backward pushing distance of the first joystick 201 is positively correlated with the angular velocity of the fuselage pitch operation.

[0086] Please continue to refer to Figure 10 When the mobile device is in view control mode, the first joystick 201 generates a first yaw remote control signal to control the rotation of the fuselage around the yaw axis when triggered by a left or right operation. Specifically, when triggered by a left operation, the first joystick 201 generates a second yaw remote control signal to control the rotation of the fuselage counterclockwise around the yaw axis, causing the fuselage to yaw counterclockwise; when triggered by a right operation, the first joystick 201 generates a second yaw remote control signal to control the rotation of the fuselage clockwise around the yaw axis, causing the fuselage to yaw clockwise.

[0087] Specifically, the pushing distance of the first joystick 201 when operating left or right corresponds to the angular velocity of the fuselage yaw. Within a certain range, the pushing distance of the first joystick 201 when operating left or right is positively correlated with the angular velocity of the fuselage yaw.

[0088] In some embodiments, the fourth remote control signal includes a fuselage steering control signal for controlling the fuselage to rotate about the yaw axis to the target direction, and a translation control signal for translating in the target direction after the fuselage has turned, wherein the target direction is determined according to the triggering direction of the second joystick.

[0089] Please refer to Figure 11 , Figure 11 This is a schematic diagram of the second joystick in view-following mode provided in an embodiment of this application.

[0090] Specifically, the wheeled robot provided in this application embodiment can directly move forward or backward by rolling the drive wheels. However, when it needs to move in other directions, the mobile device needs to first control the body to rotate around the yaw axis to the target direction, and then move forward or backward in the target direction.

[0091] Understandably, the second joystick can be pushed in any direction, and the fourth control signal of the second joystick controls the mobile device to turn to any target direction and then move forward or backward in that direction. Thus, the fourth remote control signal of the second joystick provides the mobile device with the ability to translate in any target direction, providing a control method similar to the translation control of a drone, reducing the user's understanding cost; and, the user can achieve yaw and body movement with a single push of the joystick, reducing the complexity of remote control operation.

[0092] In some embodiments, since the mobile device provided in this application does not have the actual ability to translate left and right like a drone, but instead rotates its body around the yaw axis to the target direction before translating, simulating the ability to translate in any target direction, it is necessary to wait for the body to rotate into position before performing the movement operation, resulting in a certain delay in the movement operation. To reduce the delay and the time required for the rotation operation, a fast response mode and a normal response mode can also be selected in the view-following mode. The device steering control signal includes a first steering control signal or a second steering control signal. The first steering control signal is used to control the mobile device to turn in a fast response mode, and the second steering control signal is used to control the mobile device to turn in a normal response mode. In fast response mode, if the angle between the device's orientation and the target orientation is not within a preset angle range, the mobile device is controlled to rotate in the opposite direction so that the opposite orientation of the device is consistent with the target orientation, and the mobile device is controlled to move towards the target orientation. In normal response mode, if the angle between the device's orientation and the target orientation is not within a preset angle range, the mobile device is controlled to rotate in the forward direction so that the orientation of the device is consistent with the target orientation, and the mobile device is controlled to move towards the target orientation. The rotation angle corresponding to the reverse rotation is smaller than the rotation angle of the forward rotation.

[0093] Please refer to Figure 12 , Figure 12 This is a top view of the mobile device in the body direction and the target direction according to an embodiment of this application.

[0094] like Figure 12 As shown, the mobile device is currently facing in direction A. Assuming the mobile device needs to move in direction B, the steering control signal needs to instruct the device to rotate clockwise to direction B by an angle of ∠AOB. However, the angle of ∠AOB is relatively large, resulting in a longer steering time. To reduce the steering time, the first steering control signal controls the mobile device to rotate counterclockwise in direction C, thus reducing the delay in the movement operation. Direction C is the opposite direction to direction A.

[0095] Understandably, controlling the mobile device to move forward in direction B is equivalent to controlling it to move backward in direction C. That is, if the angle between the device's current direction and the target direction is less than or equal to a preset angle, the mobile device will turn its current direction to the target direction and execute the movement operation corresponding to the translation control command according to the turned direction. If the angle between the device's current direction and the target direction is greater than the preset angle, the mobile device will turn to the opposite direction of the target direction and execute the opposite movement operation corresponding to the translation control command according to the turned direction. The movement operation includes forward and backward operations, which are opposites of each other.

[0096] Alternatively, users can choose to use the standard response mode, which controls the device to rotate to the target direction regardless of the angle between the device's orientation and the target orientation. In this mode, the dual-lens camera located at the front of the device can detect obstacles in front of it, enabling the mobile device to perform obstacle avoidance.

[0097] In some embodiments, the preset included angle range is from -90° to +90°.

[0098] Understandably, when the angle between the fuselage direction and the target direction is greater than 90°, the angle required to rotate in the opposite direction to the target direction will be less than the angle required to rotate in the target direction. In this case, the angle ∠AOC of the opposite direction is the supplementary angle of the angle ∠AOB of the direction of rotation to the target.

[0099] For example, if the target direction requires the fuselage to rotate 135° clockwise, then in rapid response mode the fuselage actually rotates 45° counterclockwise.

[0100] In some embodiments, the method includes: when the mobile device is in a view-following mode, sending a first mode switching instruction to the mobile device, the first mode switching instruction being used to control the mobile device to switch from a first-person view mode to a third-person view mode, or to control the mobile device to switch from a third-person view mode to a first-person view mode.

[0101] Specifically, when the mobile device is in view-following mode, the remote control device's view mode can be either First Person View (FPV) or Third Person View (TPV).

[0102] The first-person perspective mode, also known as the far-field beyond-line-of-sight mode, allows users to remotely control mobile devices based on data transmitted from sensors. For example, users can perceive the environment of a mobile device through images captured by its camera. First-person perspective mode is commonly used for drone control. Because drones operate over vast airspaces, fly at extremely high speeds, and are far from the operator's line of sight, the first-person perspective mode not only overcomes the limitations of the Earth's curvature and obstructions to achieve beyond-line-of-sight flight, but also provides breathtaking perspectives during high-speed maneuvers, perfectly serving long-distance missions such as aerial photography and inspection.

[0103] Third-person perspective mode, also known as near-field visual mode, allows users to observe the device's status and control the mobile device in real time with their naked eyes. This mode is typically used for controlling wheeled mobile devices such as remote-controlled cars. Due to the complex and varied ground environment, numerous obstacles, and irregular terrain, operators must constantly monitor the overall attitude, trajectory, and relative distance to obstacles of the remote-controlled car. Third-person perspective mode provides a bird's-eye view of the entire system, enabling precise obstacle avoidance and path fine-tuning, significantly reducing the cognitive load and collision risk associated with close-range control.

[0104] The mobile device provided in this application embodiment can switch between a first-person perspective mode and a third-person perspective mode. For example, when the mobile device uses the first-person perspective mode as the first control mode and enters an environment with large obstacles, the first-person perspective mode cannot obtain global information about the obstacles. In this case, the user can trigger a first mode switching command through a remote control device to switch to the second control mode and control it using the third-person perspective mode. Alternatively, when the mobile device uses the third-person perspective mode as the first control mode and moves out of the user's line of sight, making it impossible to determine the mobile device's position visually, the user can trigger a first mode switching command through a remote control device to switch to the second control mode and control it using the first-person perspective mode.

[0105] Understandably, in first-person mode, the mobile device uses the yaw direction of the shooting device's viewpoint as the forward direction of movement, which is a translation based on the camera coordinate system of the shooting device; in third-person mode, the mobile device uses the yaw direction of the camera body as the forward direction of movement, which is a translation based on the world coordinate system of the camera body. Therefore, the same fourth control signal from the second joystick 202 can manifest as different movement trajectories in first-person and third-person viewpoint modes.

[0106] Please refer to Figure 13 , Figure 13 A top-down view of the movement trajectory of a mobile device in a first-person perspective mode, provided as an embodiment of this application.

[0107] like Figure 13As shown, assuming the target object 300 remains stationary in the world coordinate system in first-person perspective mode, the mobile device continuously receives the "move left" command. Due to the use of intelligent follow shooting, the mobile device's shooting device is always facing the target object 300, such as... Figure 11 As shown by the dotted line pointing to the target object at 300, the orientation of the shooting device is constantly changing. Therefore, the orientation of the "left side" of the shooting device in the world coordinate system is also constantly changing, as... Figure 11 The dotted line drawn from the mobile device is shown. At this point, if the command to "move left" is continuously given to the mobile device, the mobile device will move around the target object 300 along a counter-clockwise arc, forming a shape like... Figure 11 The movement trajectory is shown by the dashed line.

[0108] Please refer to Figure 14 , Figure 14 This is a top view of the movement trajectory of a mobile device in a third-person perspective mode, provided as an embodiment of this application.

[0109] like Figure 14 As shown, assuming the target object 300 remains stationary in the world coordinate system during third-person perspective mode, the mobile device continuously receives "move left" commands. Even with intelligent follow shooting, the "left side" as perceived by the user is always the same direction in the world coordinate system. Therefore, if a "move left" command is continuously issued to the mobile device, the device will continuously move to the left of the camera body, forming a position as shown in the image. Figure 12 The movement trajectory is shown by the dashed line. Simultaneously, due to the movement of the mobile device, the position of the shooting device relative to the target object 300 constantly changes. The shooting device needs to rotate relative to the camera body to ensure it always faces the target object 300, such as... Figure 12 The middle line points to the dotted line of the target object 300.

[0110] It is important to note that, regardless of whether it is in first-person or third-person perspective mode, the camera's field of view in the yaw direction changes 300 degrees to follow the target object. For example... Figure 11 , Figure 12 As shown, the shooting device is always facing the target object 300. Alternatively, if the shooting device is a panoramic camera, the shooting device may not change its physical orientation but instead display different parts of the panoramic image.

[0111] Please see Figure 15 , Figure 15 This is a schematic flowchart illustrating the steps of a control method for a mobile device provided in an embodiment of this application. This control method is applied to remote-controlled devices to improve the convenience of controlling mobile devices.

[0112] like Figure 15 As shown, the control method includes steps S301 to S302.

[0113] Step S301: When the mobile device is in the view control mode, acquire the first remote control signal and the second remote control signal of the remote control device, wherein the first remote control signal is generated by the first joystick and the second remote control signal is generated by the second joystick.

[0114] Specifically, the mobile device can map the received first and second remote control signals into operation commands that the mobile device needs to execute, depending on its current mode. Alternatively, the remote control device and the mobile device can be in the same mode; that is, when the remote control device is in view control mode, the mobile device is also in view control mode. The remote control device pre-maps the pushing direction and distance of the first joystick and the pushing direction and distance of the second joystick into operation commands that the mobile device needs to execute, and then sends the operation commands as the first and second remote control signals to the mobile device.

[0115] Step S302: Change the viewing angle of the shooting device and / or control the movement of the mobile device according to the first remote control signal; correspondingly, control the movement of the mobile device and / or change the viewing angle of the shooting device according to the second remote control signal.

[0116] Among them, the viewing angle control mode is a mode in which the viewing angle of the shooting device is changed by the remote control device.

[0117] In some embodiments, the first remote control signal is used to change the viewing angle of the shooting device to produce pitch or yaw, and the second remote control signal is used to control the mobile device to move or turn. Users can operate the remote controls with both hands, controlling the viewing angle of the shooting device and the pose of the mobile device respectively, enabling single-person operation of the mobile device and improving the convenience of mobile device control. Furthermore, the first joystick is used to acquire the first remote control signal controlling the shooting device to change its viewing angle, and the second joystick is used to acquire the second movement signal controlling the movement or turning of the mobile device. Therefore, users can use one hand to trigger the first joystick to control the shooting device to change its viewing angle and the other hand to trigger the second joystick to control the movement or turning of the mobile device, achieving decoupling of viewing angle control and movement control. This results in clear control logic, avoids confusion, and reduces the learning cost of operating the remote control device.

[0118] Alternatively, the first remote control signal is used to change the angle of view of the shooting device to yaw or the body to move, and the second remote control signal is used to control the body of the mobile device to turn or the angle of view of the shooting device to pitch.

[0119] Of course, it is not limited to this. The first remote control signal can be used to change the angle of the shooting device to yaw or the body of the mobile device to turn, and the second remote control signal can be used to control the body of the mobile device to pitch or move. There are no restrictions here.

[0120] In some embodiments, the first remote control signal includes a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis or a first yaw remote control signal for controlling the rotation of the viewing angle of the shooting device about the yaw axis; and / or, the first remote control signal includes a motion remote control signal for controlling the forward or backward movement of the fuselage or a first yaw remote control signal for controlling the rotation of the viewing angle of the shooting device about the yaw axis, the method comprising: controlling the fuselage to rotate about the pitch axis according to the pitch remote control signal, thereby causing the shooting device to rotate about the pitch axis to change the viewing angle of the shooting device; or controlling the viewing angle of the shooting device to rotate about the yaw axis according to the first yaw remote control signal to change the viewing angle of the shooting device; controlling the fuselage to move forward or backward according to the motion remote control signal, or controlling the viewing angle of the shooting device to rotate about the yaw axis according to the first yaw remote control signal.

[0121] Specifically, the change in the shooting device's perspective in the pitch direction is achieved by rotating the camera body forward or backward in the pitch direction, thereby driving the shooting device; the change in the shooting device's perspective in the yaw direction is achieved by rotating the shooting device relative to the camera body in the yaw direction, or by switching the perspective of the panoramic shooting device.

[0122] In some embodiments, the second remote control signal includes a motion remote control signal for controlling the fuselage to move forward or backward, or a second yaw remote control signal for controlling the fuselage to rotate about a yaw axis, and / or, the second remote control signal includes a pitch remote control signal for controlling the fuselage to rotate about a pitch axis, or a second yaw remote control signal for controlling the fuselage to rotate about a yaw axis. The method further includes: controlling the fuselage to move forward or backward according to the motion remote control signal, or controlling the fuselage to rotate about a yaw axis according to the second yaw remote control signal; controlling the fuselage to rotate about a pitch axis according to the pitch remote control signal, or controlling the fuselage to rotate about a yaw axis according to the second yaw remote control signal.

[0123] Specifically, when the second remote control signal is a movement remote control signal, the drive wheel is controlled to roll, causing the mobile device to move forward towards the fuselage, or to move the mobile device backward in the opposite direction of the fuselage. Alternatively, when the second remote control signal is a second yaw remote control signal, the drive wheel is controlled to generate a wheel speed difference, causing the mobile device to rotate clockwise or counterclockwise around the yaw axis.

[0124] In some embodiments, controlling the fuselage to rotate around the yaw axis, thereby driving the shooting device to rotate around the yaw axis, includes: controlling the fuselage to rotate around the yaw axis according to a second yaw remote control signal, while keeping the viewing angle of the shooting device relative to the fuselage constant.

[0125] Understandably, the shooting device is mounted on the fuselage. When the fuselage rotates around the yaw axis, if the angle of view of the shooting device remains unchanged relative to the fuselage, the angle of view of the shooting device in the yaw direction will rotate with the fuselage.

[0126] In some embodiments, changing the viewing angle of the shooting device includes: controlling a mobile device to lock the changed viewing angle of the shooting device according to a first remote control signal.

[0127] Specifically, after the shooting device's viewing angle is changed by the first remote control signal, the shooting device's viewing angle is locked at the changed viewing angle. In other words, the shooting device's viewing angle remains unchanged relative to the camera body until the first remote control signal is received again.

[0128] In some embodiments, changing the viewing angle of the shooting device according to the first remote control signal includes: if a locking signal is received, controlling the mobile device to lock the changed viewing angle of the shooting device.

[0129] Specifically, after the shooting device's viewing angle is changed by the first remote control signal, if the first remote control signal stops, the shooting device's viewing angle returns to its position relative to the camera body before receiving the first remote control signal. At this time, the user can also trigger a lock signal by triggering a lock operation to lock the changed viewing angle of the shooting device. The lock operation can be a continuous triggering of the first remote control signal.

[0130] In some embodiments, the method further includes: in response to a second mode switching command sent by a remote control device, controlling the mobile device to switch from a view control mode to a view following mode, or controlling the mobile device to switch from a view following mode to a view control mode; wherein, the view following mode is a mode in which the view of the shooting device follows the change of the target object.

[0131] To enable users to focus on controlling the movement of the camera body, this application embodiment also provides a view-following mode. In view-following mode, the view of the shooting device relative to the camera body automatically follows the changes of the target object, avoiding the need for users to frequently switch between the camera coordinate system of the shooting device and the world coordinate system of the camera body, thus reducing the cognitive burden on users.

[0132] Furthermore, the camera can switch between the viewfinder mode and the view control mode, allowing users to choose the appropriate mode according to their shooting needs, thus improving the flexibility of mobile device control.

[0133] Understandably, when a mobile device is in view-following mode, the mobile device is also in view-following mode.

[0134] Please refer to Figure 16 , Figure 16 This is a schematic flowchart illustrating the steps of a mobile device control method provided in an embodiment of this application.

[0135] like Figure 16As shown, the control method includes steps S401 to S402. It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of steps S401 to S402 can be referred to the aforementioned embodiments of steps S101 to S102 and the corresponding processes of each embodiment, and will not be repeated here.

[0136] In some embodiments, the method further includes: step S401, when the mobile device is in view-following mode, acquiring a third remote control signal and a fourth remote control signal of the remote control device, wherein the third remote control signal is generated by a first joystick and the fourth remote control signal is generated by a second joystick; step S402, controlling the mobile device to rotate around the pitch axis or controlling the mobile device to turn according to the third remote control signal, and controlling the mobile device to translate according to the fourth remote control signal; wherein the view control mode is a mode in which the view of the shooting device follows the change of the target object.

[0137] Understandably, in view-following mode, when the first joystick is pushed, the remote control device detects the direction and distance of the push and generates a third remote control signal based on the direction and distance of the push and sends the third remote control signal to the mobile device; similarly, when the second joystick is pushed, the remote control device detects the direction and distance of the push and generates a fourth remote control signal based on the direction and distance of the push and sends the fourth remote control signal to the mobile device.

[0138] In some embodiments, the third remote control signal includes a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis; or, the third remote control signal includes a second yaw remote control signal for controlling the rotation of the fuselage about the yaw axis, and the method further includes: controlling the rotation of the fuselage about the pitch axis according to the pitch remote control signal, thereby driving the shooting device to rotate about the pitch axis to change the viewing angle of the shooting device; or, controlling the rotation of the fuselage about the yaw axis according to the second yaw remote control signal.

[0139] When the third remote control signal is a pitch remote control signal, the pitch remote control signal controls the fuselage to rotate around the pitch axis; when the third remote control signal is a second yaw remote control signal, the fuselage is controlled to rotate around the yaw axis according to the second yaw remote control signal, updating the fuselage's definition of "forward".

[0140] Understandably, because it is in intelligent follow mode, as the camera rotates around the pitch axis, the physical position of the shooting device changes with the pitch of the camera body, and the shooting device's angle of view changes with the target object.

[0141] In some embodiments, the fourth remote control signal includes a fuselage steering control signal for controlling the fuselage to rotate around the yaw axis to the target direction, and a translation control signal for translating the fuselage in the target direction after the fuselage has turned. The method further includes: controlling the fuselage to rotate around the yaw axis to the target direction according to the fuselage steering control signal; and controlling the fuselage to translate in the target direction according to the translation control signal after the fuselage has turned.

[0142] Specifically, the wheeled robot provided in this application embodiment can directly move forward or backward by rolling the drive wheels. However, when it needs to move in other directions, the mobile device needs to first control the body to rotate around the yaw axis to the target direction, and then move forward or backward in the target direction.

[0143] Understandably, the second joystick can be pushed in any direction, and the fourth control signal of the second joystick controls the mobile device to turn to any target direction and then move forward or backward in that direction. Thus, the fourth remote control signal of the second joystick provides the mobile device with the ability to translate in any target direction, providing a control method similar to the translation control of a drone, reducing the user's understanding cost; and, the user can achieve yaw and body movement with a single push of the joystick, reducing the complexity of remote control operation.

[0144] In some embodiments, the fuselage steering control signal includes a first steering control signal or a second steering control signal. Controlling the fuselage to rotate around the yaw axis to the target direction according to the fuselage steering control signal includes: controlling the mobile device to turn in a fast response mode according to the first steering control signal; or controlling the mobile device to turn in a normal response mode according to the second steering control signal. In the fast response mode, if the angle between the fuselage direction and the target direction is less than or equal to a preset angle, the fuselage is controlled to turn to the target direction; if the angle between the fuselage direction and the target direction is greater than or equal to the preset angle, the fuselage is controlled to turn to the opposite direction of the target direction; in the normal response mode, the fuselage is controlled to turn directly to the target direction.

[0145] Since the mobile device provided in this embodiment does not have the actual ability to translate left and right like a drone, but instead rotates its body around the yaw axis to the target direction before translating, simulating the ability to translate in any target direction, it is necessary to wait for the body to rotate into position before performing the movement operation, resulting in a certain delay in the movement operation. To reduce the delay and shorten the time required for the rotation operation, in the view-following mode, a fast response mode and a normal response mode can also be selected. When the angle between the body orientation and the target direction is greater than a preset angle, unlike the conventional response mode which directly controls the body to turn to the target direction, the body is controlled to turn to the opposite direction of the target direction, so that the turning angle is smaller than the target angle, reducing the time required for turning.

[0146] In some embodiments, the preset included angle is -90° to +90°.

[0147] Understandably, when the angle between the fuselage direction and the target direction is greater than 90°, the angle required to rotate in the opposite direction to the target direction will be less than the angle required to rotate in the target direction. In this case, the angle ∠AOC of the rotation in the opposite direction is the supplementary angle between the fuselage direction and the target direction.

[0148] For example, if the target direction requires the fuselage to rotate 135° clockwise, then in rapid response mode the fuselage actually rotates 45° counterclockwise.

[0149] In some embodiments, the method further includes: controlling the mobile device to move using a first control mode; and, when controlling the mobile device to move using the first control mode, if a mode switching instruction is received, controlling the mobile device to move using a second control mode; wherein the first control mode is one of a first-person perspective mode and a third-person perspective mode, and the second control mode is the other of the first-person perspective mode and the third-person perspective mode.

[0150] In first-person mode, the mobile device uses the yaw direction of the shooting device's viewpoint as the forward direction of movement, which is a translation based on the camera coordinate system of the shooting device. In third-person mode, the mobile device uses the yaw direction of the camera body as the forward direction of movement, which is a translation based on the world coordinate system of the camera body. Therefore, the same fourth control signal from the second joystick 202 can manifest as different movement trajectories in first-person and third-person viewpoint modes.

[0151] In some embodiments, the captured images obtained by the imaging device include visual features of the target object, thus enabling viewpoint tracking of the target object based on these visual features. Specifically, the motion vectors of the target object's pixels in the image sequence of the captured images can be calculated to form an optical flow field. Assuming that pixel brightness remains constant between adjacent frames, the motion vectors of the target object are solved using gradient equations, thereby intelligently tracking the target object based on its motion vectors. However, this is not the only possibility; viewpoint tracking can also be implemented using other visual algorithms, such as combining LSTM to predict the future trajectory of the target object, which will not be elaborated upon here.

[0152] In some embodiments, if there are many obstructions in the environment, the target object may be blocked by other objects. If intelligent tracking and shooting are performed solely based on the visual characteristics of the target object, there may be a risk of losing track of it, especially when the target object is moving at high speed. To avoid this problem, viewpoint tracking can also be achieved through wireless communication technology. In this case, the target object carries a positioning module that is communicatively connected to the mobile device for locating the target object via wireless communication technology.

[0153] Specifically, the positioning module and the mobile device can communicate wirelessly, thereby determining the position of the target object relative to the mobile device based on the time of flight (TOF) of the wireless communication signal and the azimuth angle.

[0154] In some embodiments, viewpoint tracking can also be achieved simultaneously based on visual features and positioning signals. For example, if there is an obstruction (such as a pillar) in the environment where the target object is located, and the target object moves behind the obstruction, with the obstruction located between the mobile device and the target object, the mobile device's camera cannot acquire the visual features of the target object. In this case, the target object is located based on the wireless communication signal of the positioning module, and the movement trajectory of the target object behind the obstruction is determined. This continues until the target object emerges from behind the obstruction, at which point intelligent tracking based on visual features continues.

[0155] In some embodiments, the positioning module can be an Ultra-Wideband (UWB) tag, and the mobile device is equipped with a communication module matched with the UWB tag to receive pulse signals transmitted by the UWB tag. Alternatively, the positioning module can also be a millimeter-wave radar, and the mobile device is equipped with a communication module matched with the millimeter-wave radar to receive pulse signals transmitted by the millimeter-wave radar. However, it is not limited to these embodiments; the positioning module can also be other modules with wireless communication ranging capabilities, such as a Bluetooth module.

[0156] In some embodiments, if the positioning module is located in the remote control device, the target object is the user holding the remote control.

[0157] For example, the above method can be implemented as a computer program, which can be used in, for example... Figure 17 It runs on the remote control device shown.

[0158] Please see Figure 17 , Figure 17 This is a schematic block diagram of a remote control device provided in an embodiment of this application.

[0159] like Figure 17 As shown, the remote control device includes a processor connected to a system bus, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: When the remote control device is in the view control mode, a first remote control signal of the first joystick and a second remote control signal of the second joystick are acquired, wherein the first remote control signal is used to change the view of the shooting device and the second remote control signal is used to control the movement or turning of the mobile device; The first remote control signal and the second remote control signal are sent to the mobile device; The viewpoint control mode is a mode in which the viewpoint of the shooting device is changed by the remote control device.

[0160] For example, the above method can be implemented as a computer program, which can be used in, for example... Figure 18 It runs on the mobile device shown.

[0161] Please see Figure 18 , Figure 18 This is a schematic block diagram of the structure of a mobile device provided in an embodiment of this application.

[0162] like Figure 18 As shown, the mobile device includes a processor connected to a system bus, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: When the mobile device is in the view control mode, a first remote control signal and a second remote control signal of the remote control device are acquired, wherein the first remote control signal is generated by the first joystick and the second remote control signal is generated by the second joystick; The first remote control signal is used to change the viewing angle of the shooting device, and the second remote control signal is used to control the movement or rotation of the mobile device. The viewpoint control mode is a mode in which the viewpoint of the shooting device is controlled by the remote control device.

[0163] Those skilled in the art will understand that Figure 17 , Figure 18 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the mobile device or remote control device to which the present application is applied. A specific mobile device or remote control device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0164] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0165] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the mobile devices and remote control devices described above can be referred to the corresponding processes in the aforementioned control method embodiments, and will not be repeated here.

[0166] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can be referred to various embodiments of the control method of this application.

[0167] The computer-readable storage medium can be an internal storage unit of the mobile device or remote control device described in the foregoing embodiments, such as the hard drive or memory of the mobile device or remote control device. The computer-readable storage medium can also be an external storage device of the mobile device or remote control device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the mobile device or remote control device.

[0168] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0169] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0170] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a mobile device, characterized in that, A remote control device communicatively connected to the mobile device, the remote control device including a first joystick and a second joystick, the mobile device including a body and a shooting device, the shooting device being connected to the body and capable of rotating a viewing angle relative to the body, the method comprising: When the mobile device is in the view control mode, a first remote control signal of the first joystick and a second remote control signal of the second joystick are acquired, wherein the first remote control signal is used to change the view of the shooting device and / or to control the movement of the mobile device; correspondingly, the second remote control signal is used to control the movement of the mobile device and / or to change the view of the shooting device. The first remote control signal and the second remote control signal are sent to the mobile device; The viewpoint control mode is a mode in which the viewpoint of the shooting device is changed by the remote control device.

2. The control method according to claim 1, characterized in that, The first remote control signal includes a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis or a first yaw remote control signal for controlling the rotation of the viewing angle of the shooting device about the yaw axis. And / or, the first remote control signal includes a motion remote control signal for controlling the forward or backward movement of the fuselage or a first yaw remote control signal for controlling the viewing angle of the shooting device to rotate about the yaw axis.

3. The control method according to claim 2, characterized in that, The forward and backward operation of the first joystick triggers the generation of a pitch remote control signal for controlling the rotation of the fuselage around the pitch axis, and the left and right operation of the first joystick triggers the generation of a first yaw remote control signal for controlling the rotation of the viewing angle of the shooting device around the yaw axis. And / or, forward and backward operation of the first joystick triggers the generation of a movement remote control signal for controlling the forward or backward movement of the body, and left and right operation of the first joystick triggers the generation of a first yaw remote control signal for controlling the rotation of the viewing angle of the shooting device around the yaw axis.

4. The control method according to claim 1, characterized in that, The second remote control signal includes a movement remote control signal for controlling the fuselage to move forward or backward, or a second yaw remote control signal for controlling the fuselage to rotate around the yaw axis; And / or, the second remote control signal includes a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis or a second yaw remote control signal for controlling the rotation of the fuselage about the yaw axis.

5. The control method according to claim 4, characterized in that, The forward and backward operation of the second joystick triggers the generation of a movement remote control signal for controlling the fuselage to move forward or backward; or the left and right operation of the second joystick triggers the generation of a second yaw remote control signal for controlling the fuselage to rotate around the yaw axis. And / or, forward and backward operation of the second joystick triggers the generation of a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis; or left and right operation of the second joystick triggers the generation of a second yaw remote control signal for controlling the rotation of the fuselage about the yaw axis.

6. The control method according to claim 4, characterized in that, The second yaw remote control signal is used to control the fuselage to rotate around the yaw axis while keeping the viewing angle of the shooting device relative to the fuselage unchanged.

7. The control method according to claim 1, characterized in that, The first remote control signal or the second remote control signal is also used to control the mobile device to lock the changed viewing angle of the shooting device.

8. The control method according to claim 1, characterized in that, The first or second joystick is equipped with a locking function, and the method further includes: If the locking operation is detected to be triggered, a locking signal is generated and sent to the mobile device. The locking signal is used to control the mobile device to lock the changed viewing angle of the shooting device.

9. The control method according to claim 1, characterized in that, The method further includes: controlling the remote control device to switch from a view control mode to a view following mode, or controlling the remote control device to switch from a view following mode to a view control mode; The viewpoint following mode is a mode in which the viewpoint of the shooting device follows the change of the target object.

10. The control method according to claim 1, characterized in that, The method further includes: When the mobile device is in view-following mode, a third remote control signal of the first joystick and a fourth remote control signal of the second joystick are acquired. The third remote control signal is used to control the mobile device to rotate around the pitch axis or to control the mobile device to turn. The fourth remote control signal is used to control the mobile device to translate. The third and fourth remote control signals are sent to the mobile device; The viewpoint following mode is a mode in which the viewpoint of the shooting device follows the change of the target object.

11. The control method according to claim 10, characterized in that, The third remote control signal includes a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis; or, The third remote control signal includes a second yaw remote control signal for controlling the rotation of the fuselage around the yaw axis.

12. The control method according to claim 11, characterized in that, The forward and backward operation of the first joystick triggers the generation of a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis; or, The left and right operation of the first joystick triggers the generation of a second yaw remote control signal for controlling the rotation of the fuselage around the yaw axis.

13. The control method according to claim 10, characterized in that, The fourth remote control signal includes a fuselage steering control signal for controlling the fuselage to rotate around the yaw axis to the target direction, and a translation control signal for translating in the target direction after the fuselage has turned, wherein the target direction is determined according to the triggering direction of the second joystick.

14. The control method according to claim 13, wherein the fuselage steering control signal includes a first steering control signal or a second steering control signal, the first steering control signal being used to control the mobile device to turn in a fast response mode, and the second steering control signal being used to control the mobile device to turn in a normal response mode; in, In the fast response mode, if the angle between the body direction and the target direction is not within a preset angle range, the mobile device is controlled to rotate in the opposite direction so that the opposite direction of the body direction is consistent with the target direction, and the mobile device is controlled to move towards the target direction; in the normal response mode, if the angle between the body direction and the target direction is not within a preset angle range, the mobile device is controlled to rotate in the forward direction so that the body direction is consistent with the target direction, and the mobile device is controlled to move towards the target direction, wherein the rotation angle corresponding to the reverse rotation is smaller than the rotation angle of the forward rotation.

15. The control method according to claim 14, characterized in that, The preset included angle range is from -90° to +90°.

16. The control method according to claim 8, characterized in that, The method includes: When the mobile device is in view-following mode, a first mode switching command is sent to the mobile device. The first mode switching command is used to control the mobile device to switch from a first-person view mode to a third-person view mode, or to control the mobile device to switch from a third-person view mode to a first-person view mode.

17. The control method according to any one of claims 1-16, characterized in that, The first joystick and the second joystick include virtual joysticks, physical joysticks, or button-type joysticks.

18. A control method for a mobile device, characterized in that, Applied to a mobile device, the mobile device including a body and a shooting device, the shooting device being connected to the body and capable of rotating a viewing angle relative to the body, the mobile device being communicatively connected to a remote control device, the remote control device including a first joystick and a second joystick, the method comprising: When the mobile device is in the view control mode, a first remote control signal and a second remote control signal of the remote control device are acquired, wherein the first remote control signal is generated by the first joystick and the second remote control signal is generated by the second joystick; The first remote control signal is used to change the viewing angle of the shooting device and / or control the movement of the mobile device; correspondingly, the second remote control signal is used to control the movement of the mobile device and / or change the viewing angle of the shooting device. The viewpoint control mode is a mode in which the viewpoint of the shooting device is changed by the remote control device.

19. The control method according to claim 18, characterized in that, The first remote control signal includes a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis or a first yaw remote control signal for controlling the rotation of the viewing angle of the shooting device about the yaw axis; and / or, the first remote control signal includes a movement remote control signal for controlling the forward or backward movement of the fuselage or a first yaw remote control signal for controlling the rotation of the viewing angle of the shooting device about the yaw axis, the method comprising: The aircraft is controlled to rotate around the pitch axis according to the pitch remote control signal, thereby driving the shooting device to rotate around the pitch axis to change the shooting device's viewing angle; or, the shooting device's viewing angle is controlled to rotate around the yaw axis according to the first yaw remote control signal to change the shooting device's viewing angle. The camera body can be moved forward or backward according to the mobile remote control signal; or, the viewing angle of the shooting device can be rotated around the yaw axis according to the first yaw remote control signal.

20. The control method according to claim 18, characterized in that, The second remote control signal includes a movement remote control signal for controlling the fuselage to move forward or backward, or a second yaw remote control signal for controlling the fuselage to rotate about a yaw axis, and / or, the second remote control signal includes a pitch remote control signal for controlling the fuselage to rotate about a pitch axis, or a second yaw remote control signal for controlling the fuselage to rotate about a yaw axis, and the method further includes: The aircraft can be controlled to move forward or backward according to the mobile remote control signal, or the aircraft can be controlled to rotate around the yaw axis according to the second yaw remote control signal. The fuselage can be rotated around the pitch axis according to the pitch remote control signal, or the fuselage can be rotated around the yaw axis according to the second yaw remote control signal.

21. The control method according to claim 20, characterized in that, The control of the fuselage to rotate about the yaw axis includes: The second yaw remote control signal controls the fuselage to rotate around the yaw axis, while the viewing angle of the shooting device remains unchanged relative to the fuselage.

22. The control method according to claim 18, characterized in that, Changing the viewing angle of the shooting device includes: The mobile device is controlled to lock the changed viewing angle of the shooting device according to the first remote control signal or the second control signal.

23. The control method according to claim 18, characterized in that, Changing the viewing angle of the shooting device includes: If a lock signal is received, the mobile device is controlled to lock the changed viewing angle of the shooting device.

24. The control method according to claim 18, characterized in that, The method further includes: In response to a second mode switching command sent by the remote control device, the mobile device is controlled to switch from the view control mode to the view follow mode, or the mobile device is controlled to switch from the view follow mode to the view control mode. The viewpoint following mode is a mode in which the viewpoint of the shooting device follows the change of the target object.

25. The control method according to claim 18, characterized in that, The method further includes: When the mobile device is in view-following mode, a third remote control signal and a fourth remote control signal of the remote control device are acquired, wherein the third remote control signal is generated by the first joystick and the fourth remote control signal is generated by the second joystick; The third remote control signal controls the mobile device to rotate around the pitch axis or controls the mobile device to turn, and the fourth remote control signal controls the mobile device to translate. The view control mode is a mode in which the view of the shooting device follows the change of the target object.

26. The control method according to claim 25, characterized in that, The third remote control signal includes a pitch remote control signal for controlling the rotation of the fuselage about the pitch axis; or, the third remote control signal includes a second yaw remote control signal for controlling the rotation of the fuselage about the yaw axis, and the method further includes: The camera body is controlled to rotate around the pitch axis according to the pitch remote control signal, thereby driving the shooting device to rotate around the pitch axis to change the viewing angle of the shooting device; or... The fuselage is controlled to rotate around the yaw axis according to the second yaw remote control signal.

27. The control method according to claim 25, characterized in that, The fourth remote control signal includes a fuselage steering control signal for controlling the fuselage to rotate around the yaw axis to the target direction, and a translation control signal for translating towards the target direction after the fuselage has turned. The method further includes: The fuselage is controlled to rotate around the yaw axis to the target direction according to the fuselage steering control signal; After the fuselage turns, the fuselage is controlled to translate in the target direction according to the translation control signal.

28. The control method according to claim 27, characterized in that, The fuselage steering control signal includes a first steering control signal or a second steering control signal. Controlling the fuselage to rotate around the yaw axis to the target direction according to the fuselage steering control signal includes: The mobile device is controlled to steer in a fast response mode according to the first steering control signal; or... The mobile device is controlled to steer according to a normal response mode based on the second steering control signal; In the rapid response mode, if the angle between the fuselage direction and the target direction is less than or equal to a preset angle, the fuselage is controlled to turn to the target direction; if the angle between the fuselage direction and the target direction is greater than the preset angle, the fuselage is controlled to turn to the opposite direction of the target direction. In the normal response mode, the fuselage is controlled to turn directly toward the target direction.

29. The control method according to claim 28, characterized in that, The preset included angle is 90°.

30. The control method according to claim 18, characterized in that, The method further includes: The mobile device is controlled to move using a first control mode; When the mobile device is controlled to move using the first control mode, if a mode switching command is received, the mobile device is controlled to move using the second control mode. The first control mode is one of the first-person perspective mode and the third-person perspective mode, and the second control mode is the other of the first-person perspective mode and the third-person perspective mode.

31. The control method according to claim 18, characterized in that, The method includes: When the mobile device is in the view-following mode, the view of the shooting device is controlled to follow the changes in the target object based on the visual characteristics of the target object; and / or, When the mobile device is in view-following mode, the view of the shooting device is controlled to follow the target object according to the positioning signal of the positioning module. The target object carries the positioning module.

32. The control method according to claim 31, characterized in that, The positioning module includes at least one of the following: an ultra-wideband module and a millimeter-wave radar module.

33. The control method according to claim 31, characterized in that, The positioning module is located in the remote control device.

34. A remote control device, characterized in that, The remote control device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of the control method as described in any one of claims 1 to 17.

35. A mobile device, characterized in that, The mobile device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of the control method as described in any one of claims 18 to 33.

36. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 33.

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