Method for controlling movable platform, somatosensory control device, movable platform and control system

Abstract

The embodiment of the application discloses a movable platform control method, a somatosensory control device, a movable platform and a control system of the movable platform. The movable platform control method is applied to the somatosensory control device of the movable platform, the somatosensory control device comprises a display module, and the movable platform control method comprises the following steps: displaying a first interaction interface through the display module, the first interaction interface displays a shooting picture of the movable platform; determining a target following object of the movable platform based on the shooting picture; and controlling the movable platform to enter a following mode and follow the target following object.

Description

Mobile platform control method, motion-sensing control device, mobile platform and control system Technical Field

[0001] This application relates to the field of control technology, and in particular to a mobile platform control method, a motion-sensing control device, a mobile platform, and a control system for the mobile platform. Background Technology

[0002] Currently, operators of mobile platforms (such as drones) manually manipulate the joystick on the remote controller to control the drone to follow a target object. This application modifies at least the control method of mobile platforms to achieve different following control methods. Summary of the Invention

[0003] This application provides a mobile platform control method, a motion-sensing control device, a mobile platform, and a control system for the mobile platform.

[0004] In a first aspect, embodiments of this application provide a mobile platform control method, applied to a motion-sensing control device of the mobile platform, the motion-sensing control device including a display module, the method comprising:

[0005] The first interactive interface is displayed through the display module, and the first interactive interface displays the shooting screen of the mobile platform;

[0006] Based on the captured footage, the target object to be followed by the mobile platform is determined;

[0007] The movable platform is controlled to enter follow mode and follow the target object.

[0008] Secondly, embodiments of this application provide a motion-sensing control device, comprising:

[0009] The first communication module is used to acquire the captured images sent by the mobile platform;

[0010] The display module is used to display an interactive interface, the interactive interface including a first interactive interface, the first interactive interface displaying the captured image;

[0011] The motion-sensing control device further includes a first memory and a first processor;

[0012] The first memory is used to store instructions; the first processor calls the instructions stored in the first memory to perform the following operations:

[0013] Based on the captured footage, the target object to be followed by the mobile platform is determined;

[0014] The movable platform is controlled to enter follow mode and follow the target object.

[0015] Thirdly, embodiments of this application provide a mobile platform, including:

[0016] The second communication module is used to send the captured image of the mobile platform to the motion control device of the mobile platform, so that the motion control device can display a first interactive interface through the display module, and the first interactive interface displays the captured image.

[0017] The mobile platform also includes a second memory and a second processor;

[0018] The second memory is used to store instructions; the second processor calls the instructions stored in the second memory to perform the following operations:

[0019] The movable platform is controlled to enter the follow mode and follow the target object, which is determined by the motion control device based on the captured image.

[0020] Fourthly, embodiments of this application provide a control system for a mobile platform, comprising: the mobile platform and a motion-sensing control device, wherein the mobile platform and the motion-sensing control device establish a communication connection;

[0021] The mobile platform sends the captured images to the motion control device.

[0022] The motion-sensing control device displays a first interactive interface through a display module, and the first interactive interface displays the captured image of the mobile platform;

[0023] The motion control device determines the target object to be followed by the mobile platform based on the captured image; controls the mobile platform to enter the follow mode and follow the target object.

[0024] Fifthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the mobile platform control method of the first aspect.

[0025] This application provides a mobile platform control method, a motion-sensing control device, a mobile platform, and a control system for the mobile platform. The mobile platform control method is applied to the motion-sensing control device of the mobile platform. The motion-sensing control device includes a display module. The mobile platform control method includes: displaying a first interactive interface through the display module, the first interactive interface displaying a captured image of the mobile platform; determining a target object to follow based on the captured image; and controlling the mobile platform to enter a follow mode and follow the target object. It is evident that the screen-equipped motion-sensing remote controller provided in this application, while displaying the captured image on the first interactive interface, can flexibly determine the target object to follow based on the captured image, and then control the mobile platform to enter a follow mode to follow the target object. This differs from the control method in related technologies where a remote controller's joystick is manually operated to control a drone to follow a target object. This application changes the follow control method of mobile platforms and enriches the functionality of the control device for mobile platforms. Attached Figure Description

[0026] Figure 1 is a schematic flowchart of a mobile platform control method provided in an embodiment of this application;

[0027] Figure 2 is a schematic diagram of the interface for controlling a drone to enter a follow mode using a screen-equipped motion-sensing remote control according to an embodiment of this application.

[0028] Figure 3 is a schematic diagram of the control logic flow of a screen-equipped motion-sensing remote controller for controlling a drone to enter a follow-up state, according to an embodiment of this application.

[0029] Figure 4 is a schematic diagram of a relevant interface for realizing the orientation adjustment of a drone according to an embodiment of this application;

[0030] Figure 5 is a schematic diagram of the control logic flow of a screen-equipped motion-sensing remote controller for controlling a drone to enter and exit selfie stick mode, according to an embodiment of this application.

[0031] Figure 6 is a schematic diagram of the interface for adjusting the position of a drone using a screen-equipped motion-sensing remote control according to an embodiment of this application.

[0032] Figure 7 is a schematic diagram of the interface for controlling a drone to switch from follow mode to target mode using a screen-equipped motion-sensing remote controller according to an embodiment of this application;

[0033] Figure 8 is a schematic diagram of the interface for controlling a drone to exit follow mode using a screen-equipped motion-sensing remote control according to an embodiment of this application.

[0034] Figure 9 is a schematic diagram of the interface for controlling a drone to exit follow mode using a screen-equipped motion-sensing remote control according to an embodiment of this application;

[0035] Figure 10 is a schematic diagram of another interface for controlling a drone to enter a follow state using a screen-equipped motion-sensing remote control according to an embodiment of this application.

[0036] Figure 11 is a schematic diagram of the interface for controlling a drone to start following and enter following mode using a screen-equipped motion-sensing remote control according to an embodiment of this application.

[0037] Figure 12 is a schematic diagram of the structure of a motion control device provided in an embodiment of this application;

[0038] Figure 13 is a schematic diagram of the structure of a mobile platform provided in an embodiment of this application;

[0039] Figure 14 is a schematic diagram of the structure of a control system for a mobile platform provided in an embodiment of this application. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0042] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0043] It should be noted that the terms "first, second, and third" used in the embodiments of this application are merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, and third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0044] This application provides a mobile platform control method. In practical applications, the hardware implementing the mobile platform control method can be a motion-sensing control device for the mobile platform. The motion-sensing control device includes a display module, which can be a display screen. Therefore, the device used in this application to control the mobile platform is a motion-sensing control device with a screen. For example, a motion-sensing control device with a screen can be a mobile terminal device with motion-sensing control functionality, such as a smart remote control, smartphone, tablet computer, or wearable device. The mobile platform is an entity with mobility functionality. Mobility methods include, but are not limited to, flight, rolling, and sliding, enabling motion control in spaces or planes, including air, ground, and water. For example, a mobile platform can be a drone (e.g., a panoramic drone), an unmanned vehicle (mobile vehicle), an unmanned boat, a mobile robot, or other mobile device. Below, the motion-sensing control device will be described using a motion-sensing remote control with a screen as an example.

[0045] As shown in Figure 1, in one embodiment, the mobile platform control method includes:

[0046] Step 101: Display the first interactive interface through the display module. The first interactive interface displays the shooting screen of the movable platform.

[0047] In practical applications, the mobile platform can send the captured footage to the motion-sensing remote control with a screen, allowing the remote control to display the received footage. For example, the mobile platform can directly interact with the remote control or through other relay devices. For instance, the remote control can provide information to the user through a first interactive interface, including the real-time footage captured by the mobile platform.

[0048] As an example, the mobile platform can send the captured images to the motion control device, so that the motion control device can display the first interactive interface through the display module, and display the current frame image that the motion control device should display based on the captured images.

[0049] Step 102: Based on the captured footage, determine the target object to be followed by the mobile platform.

[0050] In practical applications, the target object to be followed by the mobile platform is determined based on the captured image. This can be achieved by the user identifying the target object based on the captured image displayed on the motion-sensing remote control with a screen; or by the motion-sensing remote control recognizing the captured image to determine the target object; or by combining the user's selection with the recognition of the motion-sensing remote control with a screen to determine the target object. Therefore, this application, in the process of controlling the mobile platform, can flexibly determine the target object to follow based on the visual captured image presented by the motion-sensing remote control with a screen, according to actual needs.

[0051] Step 103: Control the movable platform to enter follow mode and follow the target object.

[0052] In practical applications, in follow mode, the movable platform can maintain a fixed distance and a fixed direction from the target object. When the target object is being followed, the movable platform moves along with it. This application, upon identifying the target object, controls the movable platform to enter follow mode and follow the target object.

[0053] This application provides a control method for a mobile platform, applied to a motion-sensing control device for a mobile platform. The motion-sensing control device includes a display module, comprising: displaying a first interactive interface through the display module, the first interactive interface displaying a captured image of the mobile platform; determining a target object to follow based on the captured image; and controlling the mobile platform to enter a follow mode and follow the target object. It is evident that the screen-equipped motion-sensing remote controller provided in this application, while displaying the captured image on the first interactive interface, can flexibly determine the target object to follow based on the captured image, and then control the mobile platform to enter a follow mode to follow the target object. This differs from the control method in related technologies where a remote controller's joystick is manually operated to control a drone to follow a target object. This application changes the follow control method for mobile platforms and enriches the functionality of control devices for mobile platforms.

[0054] In some embodiments, step 102, based on the captured footage, determines the target object to be followed by the mobile platform, including:

[0055] Based on the captured footage, candidate follow objects for the mobile platform are identified;

[0056] Based on the candidate follower objects, the target follower object of the mobile platform is determined.

[0057] In practical applications, the candidate followable object can be an object in the captured image or an operator of a mobile platform. Objects in the captured image include, but are not limited to, people, vehicles, and ships. The target followable object in this application is selected from the candidate followable objects.

[0058] In some embodiments, the first interactive interface includes a candidate target box, which is used to indicate candidate follower objects of the mobile platform. The determination of the target follower object of the mobile platform based on the candidate follower objects includes:

[0059] In response to a locking operation on a candidate follower object indicated in a candidate target box, the candidate follower object indicated in the candidate target box is determined as the target follower object of the movable platform.

[0060] In practical applications, in response to the locking operation, the candidate follower object indicated in the candidate target box is determined as the target follower object of the mobile platform, which is equivalent to capturing the candidate follower object indicated in the candidate target box. The first interactive interface of this application displays the real-time image captured by the mobile platform. The objects in the image may undergo changes such as posture. By locking the candidate follower object indicated in the candidate target box, the target follower object that the mobile platform will follow can be captured.

[0061] In practical applications, the candidate target box is used to indicate the candidate follower object of the mobile platform. The candidate target box can define at least a part of the candidate follower object, such as defining the head of a person, the whole body of a vehicle, or the whole body of a ship. This application does not specifically limit the portion defined by the candidate target box on the candidate follower object.

[0062] In some embodiments, candidate follow objects are determined based on object recognition results from the captured footage.

[0063] In practical applications, the candidate followable object, i.e., the object displayed in the candidate target box, is determined based on the object recognition results of the captured image. After identifying the candidate followable object, this application further locks the candidate followable object indicated in the candidate target box as the target followable object of the mobile platform through a locking operation.

[0064] In some embodiments, determining candidate following objects based on object recognition results from the captured image includes the following three cases:

[0065] If the recognition result indicates that no trackable object is identified in the captured image, then the candidate followable object indicated in the candidate target box is the object operated by the motion control device. At this time, if the recognition result indicates that no trackable object is identified in the captured image, it means that the trackable object recognition is performed on the captured image and the recognition result is that the number of trackable objects is 0. Then the head of the user operating the motion remote control with screen is displayed in the candidate target box.

[0066] If the recognition result indicates that a trackable object has been identified in the captured image, then the candidate follower object indicated in the candidate target box is a trackable object. In this case, it means that a trackable object recognition was performed on the captured image, and the recognition result is that the number of trackable objects identified is 1. Then the candidate target box displays the identified trackable object (such as a person's head / a full-body car / a full-body boat, etc.).

[0067] If the recognition result indicates that multiple trackable objects are identified in the captured image, then the candidate follower objects in the candidate target box are determined based on the distance between the multiple trackable objects and the movement direction indicator icon of the mobile platform. In this case, if the recognition result for trackable objects in the captured image is two or more, then the trackable objects to be displayed in the candidate target box are selected based on the distance between these trackable objects and the movement direction indicator icon of the mobile platform, and the identified trackable object (e.g., a person's head / full-body image of a car / full-body image of a boat, etc.) is displayed in the candidate target box.

[0068] In some embodiments, determining the target follower of the mobile platform in response to a locking operation indicated in the candidate target box includes:

[0069] In response to a trigger operation on a candidate target box, or in response to a trigger operation on a button on a motion-sensing control device, determine that the candidate follow object indicated in the candidate target box is the target follow object of the mobile platform.

[0070] In practical applications, locking the candidate follower object can be achieved through either of the following two operations: triggering the candidate target box (e.g., clicking on the candidate follower object displayed in the candidate target box, such as a person's head / full body of a car / full body of a boat, etc.) or triggering the button of the motion control device (e.g., short press of the C2 button; in this application, the C2 button can be used to refer to the preset custom button of the motion control device, and the preset custom button can be customized by the user to trigger the corresponding function).

[0071] In some embodiments, the first interactive interface also displays an object lock icon, and a highlighted icon is displayed in the shooting screen. The highlighted icon is displayed at the location of the candidate followable object in the shooting screen, indicating that the object lock icon corresponds to the trackable object.

[0072] In practical applications, object lock icons include, but are not limited to, red dots. These red dots indicate the direction of movement of a mobile platform; for example, a red dot can indicate the flight direction of a drone. For instance, a user can control the drone's flight direction using a motion-sensor remote control, causing the red dot to move accordingly under the user's control. In this application, once the red dot corresponds to a identified trackable object (e.g., when the red dot focuses on the identified trackable object), the trackable object is highlighted in the shooting image to emphasize its position. Furthermore, the candidate target box displays the corresponding trackable object's portrait / full-body image of a person / vehicle / boat, etc.

[0073] In some embodiments, step 102, based on the captured footage, determines the target object to be followed by the mobile platform, including:

[0074] In response to a selection operation on an object in the captured image, the selected object is identified as the target follow object of the movable platform.

[0075] In practical applications, this application also supports the user in selecting the target object to follow. For example, it supports the user in manually selecting an object in the shooting frame as the target object to follow via motion control, or it supports the user in clicking on an object in the shooting frame as the target object to follow. Thus, even in scenarios where image recognition in the shooting frame is difficult, this application can achieve target following by selecting the target object from the shooting frame through human-computer interaction.

[0076] In some embodiments, displaying the first interactive interface can be triggered in the following two ways, including displaying the first interactive interface in step 101:

[0077] In response to the triggering operation of the follow mode switching button of the motion control device, the first interactive interface is displayed;

[0078] or,

[0079] Display a second interactive interface, which includes a follow mode switching control. The follow mode switching control is used to switch the movable platform from the current mode to follow mode.

[0080] In response to a trigger action on the follow mode switching control, the first interactive interface is displayed.

[0081] In practical applications, the follow mode switching button includes, but is not limited to, the C2 button on a screen-equipped motion-sensing remote control; the follow mode switching control is a control on the second interactive interface; it can be seen that this application can trigger the display of the first interactive interface by triggering the operation of the physical button / virtual control.

[0082] In practical applications, the triggering operation of the follow mode switching button of the motion control device can be implemented in a scenario where a second interactive interface is displayed, or in a scenario where other interactive interfaces are displayed. This application does not make any specific limitations on this.

[0083] In some embodiments, step 103 controls the movable platform to enter follow mode to follow the target object, including:

[0084] Control the mobile platform to enter follow mode, follow and shoot the target object, and display the third interactive interface, which displays the follow shooting screen of the mobile platform in follow mode.

[0085] When entering follow mode, it records footage that is being followed.

[0086] In practical applications, controlling the movable platform to enter follow mode can automatically trigger the recording of follow-up footage.

[0087] In a feasible control scenario, the motion control device takes a motion-sensing remote controller with a screen as an example, and the mobile platform takes a drone as an example. Referring to Figure 2, the relevant interface diagram of the motion-sensing remote controller with a screen controlling the drone to enter the follow mode is explained.

[0088] Referring to Figure 2A, when the drone is flying in manual flight mode, the motion-sensing remote controller with a screen displays the second interactive interface (also known as the home screen). The home screen displays a follow mode switching control, namely "Enter Follow". When the user clicks "Enter Follow" or briefly presses the C2 key, the motion-sensing remote controller with a screen displays the first interactive interface (also known as the target selection interface), as shown in Figure 2B.

[0089] In manual flight mode, the motion-sensing remote controller with a screen supports the following interactive functions:

[0090] (1) The screen-equipped motion-sensing remote control is still in motion-sensing mode, and the red dot can be controlled by motion to determine whether it corresponds to the target user (e.g., to focus on the target user).

[0091] (2) Emergency stop button: When the user presses the emergency stop button, the screen-equipped motion-sensing remote control will switch from displaying the first interactive interface to displaying the home page.

[0092] (3) Record / Photo Key: When the user presses the record / photo key, the screen-equipped motion remote control will switch from displaying the first interactive interface to displaying the home page, and will automatically trigger recording / photography of the shooting screen in manual flight mode.

[0093] (4) Other buttons / buttons (different from the emergency stop button / record recording / photo taking button) have the same function as the screen-equipped motion-sensing remote control and the first-person view (FPV) follow mode.

[0094] Referring to Figure B in Figure 2, the target selection interface should have at least the following three characteristics:

[0095] (1) "Exit" button. Click "Exit" to exit the follow and return to the homepage.

[0096] (2) Target Identification: There is a hot zone around the red dot. When a target is identified within this hot zone, an icon is displayed. The icon indicated by 202 in Figure 2B is the red dot icon. If there are multiple targets, the one closest to the red dot is displayed. The red dot hot zone is defined according to actual needs, for example, its range is slightly larger than the red dot itself. In practical applications, after the red dot corresponds to the identified target (e.g., when the focus is on the identified target), the icon is highlighted and an animation is displayed. The icon needs to be distinguishable between people, vehicles, ships, etc. The icon indicated by 201 in Figure 2B is the red dot highlighting a person and an animation after the focus is on the target.

[0097] (3) Target Headshot: This application enlarges the identified target and displays only the headshot of a person / full-body image of a vehicle / full-body image of a boat. If the red dot corresponds to a target on the interface (e.g., the target is in focus on the interface), the target headshot is displayed. In Figure 2B, 203 refers to the candidate target box, which contains an enlarged headshot of a person. If the red dot does not correspond to a target on the interface, the headshot of the user (the headshot of the person holding the motion-sensing remote control with a screen) is displayed.

[0098] Furthermore, when the screen-equipped motion-sensing remote controller successfully locks onto and identifies a target (candidate follower), it controls the drone to enter follow mode. This application locks onto the candidate follower through either of the following two operations: clicking on the person's portrait displayed in the candidate target box, or briefly pressing the C2 key. Here, if the lock fails, i.e., the target indicated in the candidate target box is not captured, a prompt message pops up on the target selection interface, as shown in Figure 2, C, indicating: "Target lock failed, please try again." This application can display a lightweight message prompt box (such as a toast notification), and the prompt rules can be set according to requirements.

[0099] Here, when the lock is successful, that is, when the target indicated in the candidate target box is captured, the drone is controlled to enter the follow mode to follow and photograph the target object, and the third interactive interface (also known as the follow interface) is displayed, as shown in Figure D in Figure 2.

[0100] In Follow mode, the motion-sensing remote control with a screen supports the following interactive functions:

[0101] (1) After entering the follow mode, the motion-sensing remote control with screen will lock.

[0102] (2) Recording will start automatically when you enter the follow mode and will end automatically when you exit the follow mode.

[0103] (3) Press the record button to stop recording while following the process and recording is in progress.

[0104] (4) Regardless of whether you are currently recording, you can take a photo by pressing the photo button.

[0105] (5) Double-click the emergency stop button to exit follow mode.

[0106] Referring to diagram D in Figure 2, the following seven features are required on the follow interface:

[0107] (1) Status display: Automatically following.

[0108] (2) During automatic recording: Recording duration.

[0109] (3) The vector velocity of the UAV (e.g., 10 m / s), the vertical height from the takeoff point (e.g., 295 m), and the distance between the UAV and the target (e.g., 3.8 m).

[0110] (4) Stop button: Stop following.

[0111] (5) H point: the location of takeoff.

[0112] (6) Tracking box: Track the target corresponding to the red dot (e.g., the target where the red dot is in focus).

[0113] (7) Status bar: Clicking it will expand more information, and the interaction is the same as before entering tracking mode.

[0114] In a feasible control scenario of entering and following, the control logic flow of the drone entering and following the screen-equipped motion-sensing remote controller of this application is explained with reference to Figure 3.

[0115] In manual flight mode, the user of the drone's motion-sensing remote controller with a screen can click the "Enter Follow" button or press button C2 on the controller to enter the target selection interface. At this time, the remote controller begins scanning the screen for trackable targets, identifying targets in the remote controller's view in real time, centered on the red dot, and displaying them on the screen.

[0116] The target icon will distinguish between people, vehicles, and ships. The remote control screen will also display a detailed view of the target; if the target is a person, the person's head will be displayed; if the target is a vehicle or ship, the entire vehicle or ship will be displayed.

[0117] The recognition logic is as follows: when the recognition count is 0, the image of the person holding the screen-equipped motion-sensing remote control is displayed; when the recognition count is 1, the image of the target is displayed; when the recognition count is greater than 1, the target closest to the red dot is displayed.

[0118] Furthermore, if the user clicks on a detailed view (image of the avatar) or presses the C2 button on the remote control, the identified target will be locked. The target locking logic is as follows: when the number of targets is 0, no target is detected in the remote control screen, so the remote control holder is locked; when the number of targets is 1, that target is locked; when there are multiple targets, the target closest to the red dot is locked.

[0119] After locking onto and identifying the target, the drone switches to follow mode and will follow the target based on the current distance between them.

[0120] In some embodiments, after controlling the mobile platform to enter follow mode, the motion control device is allowed to respond to a detected first event, while the motion control device is prohibited from responding to a detected second event, the first event being different from the second event.

[0121] In practical applications, after the mobile platform enters follow mode, the motion-sensing remote control with screen locks its motion sensing, preventing the motion-sensing control device from responding to the detected second event; however, the triggering of the first event is allowed, and when the motion-sensing remote control with screen detects the first event, it responds and executes the corresponding action.

[0122] In some embodiments, the first event includes at least one of the following: a shooting trigger event, an emergency stop trigger event, a preset button trigger event, and a trigger event for the display interface.

[0123] In practical applications, after entering the automatic follow function, the definition of "motion lock" is:

[0124] 1) The physical controls on the screen-equipped motion-sensing remote control are locked. Except for the shooting (including video recording and photo taking), emergency stop button, and throttle button for selfie stick mode, all other buttons are unresponsive.

[0125] 2) Lock the motion control of the drone by the screen-equipped motion remote controller. Here, the motion control of the drone by the screen-equipped motion remote controller refers to mapping the posture changes of the user holding the screen-equipped motion remote controller to the changes of the drone on the three axes of yaw, pitch, and roll.

[0126] 3) This does not include locking the screen of the motion-sensing remote control with a screen, meaning that the user can still interact through the screen of the motion-sensing remote control.

[0127] In some embodiments, the mobile platform control method further includes:

[0128] In response to a position adjustment trigger operation on a third interactive interface, a position indicator control is displayed, which indicates the relative position between the movable platform and the target following object;

[0129] In response to a direction selection operation on the direction indicator control, the movable platform is controlled to move to the position corresponding to the selected direction, so that the relative direction between the moved movable platform and the target following object matches the selected direction.

[0130] In practical applications, the position of the movable platform can be adjusted in follow mode. In response to a direction adjustment trigger operation on the third interactive interface (i.e., the follow interface), a direction indicator control is displayed. This control is used for direction selection, indicating the relative position between the movable platform and the target follower. Furthermore, in response to a direction selection operation on the direction indicator control, the movable platform is controlled to move to the position corresponding to the selected direction, achieving direction adjustment, and the adjusted direction matches the selected direction.

[0131] In some embodiments, the orientation indicator control includes multiple orientation indicator icons, with different orientation indicator icons indicating different relative orientations between the movable platform and the target following object.

[0132] In practical applications, as shown in Figure 4A, the following interface displays a direction indicator control 401. In response to a direction selection operation on the direction indicator control 401, a direction switching interface is displayed, as shown in Figure 4B. This interface displays multiple direction indicator icons included in the direction indicator control. For example, Figure 4B shows eight direction indicator icons. Different direction indicator icons indicate different relative positions between the movable platform and the target object being followed (402 in Figure 4B indicates the target object being followed). 403 in Figure 4B indicates the current relative position between the movable platform and the target object being followed (represented by a solid circle; other relative positions are represented by dashed circles). When the user selects an icon from the eight direction indicator icons that corresponds to the current relative position, the movable platform moves to the position corresponding to the selected position, so that the relative position between the moved movable platform and the target object matches the selected position.

[0133] In some embodiments, the mobile platform control method further includes: controlling the mobile platform to exit the follow mode and stop recording the follow shooting footage.

[0134] In practical applications, exiting follow mode will stop recording the follow footage; that is, exiting follow mode will automatically end the recording.

[0135] In some embodiments, after controlling the mobile platform to enter follow mode, the method further includes:

[0136] In response to detecting that the motion control device is pointed at the movable platform and that a preset button on the motion control device is triggered, the movable platform is controlled to enter selfie stick mode, where the position of the movable platform can be adjusted.

[0137] In practical applications, after the movable platform enters follow mode, it can also switch to selfie stick mode. In this mode, the movable platform and the screen-equipped motion-sensing remote control are essentially connected by a virtual selfie stick. The position of the movable platform can be adjusted in selfie stick mode.

[0138] In practical applications, the trigger condition for entering selfie stick mode in follow mode is: the motion control device is pointed at the movable platform, and the preset button on the motion control device is triggered. That is to say, when the screen-equipped motion remote controller detects that the drone is pointed at, and the preset button (such as the throttle button) on the screen-equipped motion remote controller is pressed, the drone is controlled to enter selfie stick mode to adjust the drone's position.

[0139] In practical applications, when the drone is in follow mode, if the motion-sensing remote control with a screen is pointed at the drone and the throttle is pressed, the drone will enter selfie stick mode. When the drone is pointed at, the motion-sensing remote control with a screen will provide sound and vibration feedback to inform the user that the drone is aligned.

[0140] In some embodiments, after controlling the movable platform to enter selfie stick mode, the method further includes:

[0141] In response to a movement operation on the motion-sensing control device, adjust the position of the movable platform; and / or in response to a trigger operation on a second preset button on the motion-sensing control device, adjust the distance between the movable platform and the motion-sensing control device.

[0142] In practical applications, the position of the drone can be adjusted in the following two ways: moving the screen-equipped motion-sensing remote control, for example, moving the screen-equipped motion-sensing remote control up, down, left, or right can move the position of the drone (the movement radius is around the person holding the remote control); triggering an operation on the second preset button of the screen-equipped motion-sensing remote control, for example, operating the scroll wheel or joystick on the screen-equipped motion-sensing remote control can control the distance between the drone and the person holding the remote control.

[0143] In some embodiments, after controlling the movable platform to enter selfie stick mode, the method further includes:

[0144] In response to the release of a preset button on the motion-sensing control device, the movable platform is controlled to exit selfie stick mode.

[0145] In practical applications, preset buttons include, but are not limited to, the throttle button on the screen-equipped motion-sensing remote control. When the user releases the throttle button on the screen-equipped motion-sensing remote control, the drone is controlled to exit the selfie stick mode.

[0146] In a control scenario where selfie stick mode switching is feasible, the control logic flow of the screen-equipped motion-sensing remote controller of this application for controlling the drone to enter and exit selfie stick mode is explained with reference to Figure 5.

[0147] With the drone in follow mode, point the motion-sensing remote control with a screen at the drone and press and hold the throttle button to control the drone to enter selfie stick mode. Release the throttle button to control the drone to exit selfie stick mode and enter follow mode again.

[0148] In a feasible control scenario, the motion control device takes a motion-sensing remote controller with a screen as an example, and the mobile platform takes a drone as an example. With reference to Figure 6, the relevant interface diagrams for adjusting the position of the drone with the motion-sensing remote controller with a screen in this application are explained.

[0149] Referring to Figure 6A, in follow mode, the drone's motion-sensing remote controller with a screen displays the follow interface. The follow interface shows controls for managing the follow status, including "Stop Following." The follow interface also displays a "Following Automatically" message and the follow duration.

[0150] In Follow mode, the motion-sensing remote control with a screen supports the following interactive functions:

[0151] (1) When following, if you press the throttle button on the remote control but do not aim at the drone, the [Adjustment pop-up] will be displayed, as shown in Figure B of Figure 6.

[0152] (2) When the remote control throttle button is pressed and the remote control is pointed at the drone, the [selfie stick position adjustment] will be entered, as shown in Figure D in Figure 6.

[0153] (3) If the drone is aligned for more than 500ms, it means that it has been aligned and the remote controller will provide vibration feedback and buzzer response.

[0154] (4) The area within ±5 degrees of the line between the drone and the remote controller is identified as the aligned area. The actual angle can be adjusted again after it is achieved.

[0155] When adjusting the pop-up interface, the screen-equipped motion-sensing remote control supports the following interactive functions:

[0156] (1) The pop-up window will automatically close after 10 seconds and return to the previous page.

[0157] (2) Click the "Close" button within 10 seconds to return to the previous page.

[0158] (3) If you click the “Don’t show me again” button within 10 seconds and return to the previous page, this pop-up window will not appear the next time you press the throttle button on the remote control.

[0159] (4) If the remote controller is pointed at the drone for 10 seconds but the throttle button is not pressed, the UI will display a pointing prompt, as shown in Figure C in Figure 6. The bold text shows that the remote controller is pointed at the drone, and there is vibration feedback and buzzer response.

[0160] (5) If the throttle button is pressed within 10 seconds and the remote controller is already pointed at the drone, then enter [selfie stick position adjustment], as shown in Figure D in Figure 6.

[0161] In the selfie stick position adjustment interface, the screen-equipped motion-sensing remote control supports the following interactive functions:

[0162] (1) On this interface, the remote control enters the virtual selfie stick position adjustment mode, which is equivalent to there being an invisible selfie stick between the remote control and the drone.

[0163] (2) Move the drone position: Move the remote control up, down, left and right to move the drone position.

[0164] (3) Adjust the distance between the drone and the user: When the distance increases, roll the remote control wheel to the right or the joystick up; when the distance decreases, roll the remote control wheel to the left or the joystick down.

[0165] (4) Releasing the throttle button will return you to [Follow Mode], as shown in Figure E in Figure 6.

[0166] In some embodiments, the mobile platform control method further includes: displaying a candidate mode page in response to a mode switching trigger operation for a third interactive interface, wherein the candidate mode page includes at least one selectable candidate mode;

[0167] In response to a trigger operation targeting the target mode, control the movable platform to switch from follow mode to target mode.

[0168] In practical applications, the motion-sensing remote control with a screen displays a third interactive interface (also known as a follow interface). In response to a mode switching trigger operation on the third interactive interface, a candidate mode page is displayed. This candidate mode page includes at least one selectable candidate mode; candidate modes include, but are not limited to, follow mode, surround mode, ellipse mode, and spiral mode. In response to a trigger operation on the target mode, the movable platform is controlled to switch from follow mode to the target mode.

[0169] In a control scenario where target mode switching is feasible, the relevant interface diagrams for controlling the drone to switch from follow mode to target mode using the screen-equipped motion-sensing remote controller of this application are illustrated in conjunction with Figure 7.

[0170] Referring to Figure 7A, when the drone is flying in follow mode, the interface displays at least a direction indicator control and a current mode indicator control 701. In response to a trigger operation on the current mode indicator control 701, a mode switching interface is displayed, as shown in Figure 7B. This interface displays a candidate mode page 702, which, for example, displays follow mode, orbit mode, ellipse mode, and spiral mode. When the user selects orbit mode, the orbit mode interface is displayed, as shown in Figure 7C. In orbit mode, the motion sensor remains locked, the distance between the drone and the target remains constant, and the drone continues to orbit the target.

[0171] In some embodiments, the third interactive interface includes a first control for triggering the movable platform to stop following; the movable platform control method further includes: in response to a triggering operation on the first control, displaying a second control for confirming that the movable platform has stopped following;

[0172] In response to a confirmation action on the second control, the control movable platform stops following to exit follow mode.

[0173] In practical applications, in follow mode, the user interface can be used to trigger an exit from follow mode. In scenarios where exiting follow mode is triggered, this application allows for sequential manipulation of the first and second controls to stop the movable platform from following. These two on-screen trigger operations prevent accidental exits from follow mode.

[0174] In a control scenario where exiting the follow mode is feasible, the relevant interface diagrams for exiting the follow mode of the drone controlled by the screen-equipped motion-sensing remote controller of this application are explained with reference to Figure 8.

[0175] Referring to Figure A in Figure 8, when the drone is flying in follow mode, the interface displays at least the recording duration of the automatic follow recording and a first control (such as a "Stop Follow" trigger button). In response to the trigger operation of the "Stop Follow" button, a second control (such as a "Stop Follow" slider button) is displayed. The "Stop Follow" slider button is used to confirm that the movable platform has stopped following, as shown in Figure B in Figure 8. It should be noted that the "Stop Follow" slider button can be displayed in the stop follow pop-up window or in the follow interface. Furthermore, in response to the confirmation operation of the "Stop Follow" slider button (e.g., sliding a certain distance as prompted), the movable platform stops following to exit follow mode. At this time, the homepage displays "Exit Follow," as shown in Figure C in Figure 8. This interface has a "Enter Follow" trigger button, thus enabling precise control of the drone exiting follow mode.

[0176] In a feasible scenario, in follow mode, as shown in Figure 8A, the screen-equipped motion-sensing remote control supports the following interactive functions: clicking or long-pressing the "Stop Following" trigger button will bring up the "Stop Following pop-up" as shown in Figure 8B.

[0177] Referring to Figure B in Figure 8, regarding the "Stop Following Pop-up," releasing the slider without sliding or before sliding to the bottom will immediately return you to the [Following] state shown in Figure A of Figure 8. Sliding to the bottom will exit following, return you to the homepage, and display the message: "Exited following." A lightweight message box (such as a toast) can be displayed on the homepage to indicate that you have exited following, as shown in Figure C of Figure 8.

[0178] In some embodiments, the mobile platform control method further includes: in response to a first trigger operation on a first button of a motion-sensing control device, displaying a prompt message, the prompt message being used to prompt that a first control is triggered by a second triggering method to control the mobile platform to exit the follow mode;

[0179] In response to a second trigger operation on the first button, the movable platform is controlled to stop following in order to exit the follow mode, wherein the first trigger operation is different from the second trigger operation.

[0180] In practical applications, during follow mode, the follow mode can be exited via a motion-sensing remote control with a screen. In this application, by performing two different trigger operations on the first button in a scenario where the follow mode is to be exited, the movable platform can be controlled to stop following. These two different trigger operations prevent accidental exit from follow mode. For example, the first trigger operation is a single click on the remote control's emergency stop button / the relevant button for quickly starting the follow function (this relevant button can be abbreviated as the track button), and the second trigger operation is a double click on the remote control's emergency stop button / track button.

[0181] In a control scenario where exiting the follow mode is feasible, the relevant interface diagrams for exiting the follow mode of the drone controlled by the screen-equipped motion-sensing remote controller of this application are explained with reference to Figure 9.

[0182] Referring to Figure 9A, when the drone is flying in follow mode, the interface displays at least the recording duration of the automatic follow recording and optionally a "Stop Following" trigger button. In response to the first trigger operation of the emergency stop / track button, a prompt message such as "Double-click the emergency stop / track button to exit follow mode" is displayed, as shown in Figure 9B. It should be noted that the prompt message can be displayed in a toast window or within the follow interface. Furthermore, in response to the second trigger operation of the emergency stop / track button, the movable platform is controlled to stop following, thus exiting follow mode. At this time, the homepage displays "Exit Follow Mode," as shown in Figure 9C. This interface has a "Enter Follow Mode" trigger button, thereby achieving precise control over the drone's exit from follow mode.

[0183] In a feasible scenario, in follow mode, as shown in Figure 9A, the motion-sensing remote control with a screen supports the following interactive functions: During follow, a single click of the emergency stop button displays a toast notification; a double click of the emergency stop button exits follow and displays another toast notification. For example, a double click is defined as pressing the button twice within 0.5 seconds.

[0184] In some embodiments, a first interactive interface is displayed, including:

[0185] Displays the settings interface of the motion-sensing control device, which includes a follow function activation control.

[0186] In response to a trigger action on the control activated by the follow function, the first interactive interface is displayed.

[0187] In some embodiments, the target object to be followed is determined based on object recognition results from the captured footage.

[0188] In practical applications, when there are no candidate bounding boxes, the selection of the target to follow is determined based on the object recognition results of the captured image.

[0189] In practical applications, a different method can be used to control a mobile platform to enter follow mode. In this scenario, recognition is performed first, and then the follow mode is entered.

[0190] In a feasible control scenario, the motion control device takes a motion remote controller with a screen as an example, and the mobile platform takes a drone as an example. Referring to Figure 10, the relevant interface diagram of the motion remote controller with a screen controlling the drone to enter the follow mode is explained.

[0191] Users can turn the follow function on / off in the remote control settings page, as shown in Figure 10A. This is achieved by clicking the follow function activation control – “Follow”. When “Follow” is activated, a toast message will be displayed on the settings page: “Follow function is activated,” as shown in Figure 10B. The first interactive interface is displayed when the follow function is turned on.

[0192] In a feasible control scenario, the motion control device takes a motion remote control with a screen as an example, and the mobile platform takes a drone as an example. With reference to Figure 11, the relevant interface diagrams of the screen-equipped motion remote control controlling the drone to open the follow function and enter the follow state are explained.

[0193] As shown in Figure 11, A, the homepage is in a default state where follow is not yet enabled. After pointing the drone's head at the target, press the C2 key to start following, as shown in Figure 11, B.

[0194] In some embodiments, if the identification result indicates that a target trackable object is identified in the captured image, then the target following object is the target trackable object; otherwise, the target following object is determined from the object operated by the motion control device and the user-selected object determined in response to the captured image, wherein the object operated by the motion control device has a higher priority.

[0195] In some embodiments, the first interactive interface also displays an object lock icon, and a highlighted icon is displayed in the shooting screen. The highlighted icon is displayed at the location of the target trackable object in the shooting screen, indicating that the object lock icon corresponds to the trackable object.

[0196] In practical applications, once the red dot corresponds to the identified target (for example, after the red dot focuses on the identified target), the icon will be highlighted.

[0197] Referring to Figure B in Figure 11, here, on the homepage (following the already opened) interface, when a target is detected in the window, an icon is displayed; when the red dot does not correspond to the detected target (for example, the red dot is not in focus on the detected target), a regular icon is displayed; after the red dot corresponds to the detected target (for example, the red dot is in focus on the detected target), the icon is highlighted and an animation is displayed.

[0198] When the Follow function is enabled, the flight homepage identifies targets in the scene in real time, and all identified targets will display icons, with the target closest to the red dot being highlighted.

[0199] At this point, pressing the C2 button on the remote controller will lock onto the target and enter follow mode, as shown in Figure C of Figure 11. Recording will occur during the follow process, and the recording duration will be displayed. The target locking priority is: the target corresponding to the red dot (e.g., the target where the red dot is in focus) > the remote controller user > the target selected by the operator.

[0200] Here, if there is a highlighted target, lock onto the highlighted target; otherwise, lock onto the person holding the remote control. If the person holding the remote control cannot be distinguished, the user selects to follow the target and determines the target to lock onto from the screen, as shown in Figure D in Figure 11.

[0201] As shown in Figure 12, in one embodiment, the motion control device 1200 includes:

[0202] The first communication module 1201 is used to acquire the captured images sent by the mobile platform;

[0203] Display module 1202, the display module is used to display an interactive interface, the interactive interface includes a first interactive interface, the first interactive interface displays the captured image;

[0204] The motion control device 1200 also includes a first memory 1203 and a first processor 1204;

[0205] The first memory 1203 is used to store instructions; the first processor 1204 calls the instructions stored in the first memory 1203 to perform the following operations:

[0206] Based on the captured footage, the target object to be followed by the mobile platform is determined;

[0207] The movable platform is controlled to enter follow mode and follow the target object.

[0208] In some embodiments, when determining the target object to be followed by the mobile platform based on the captured image, the first processor 1204 calls the instructions stored in the first memory 1203 to perform the following operations:

[0209] Based on the captured footage, candidate follow objects for the mobile platform are determined;

[0210] Based on the candidate follower objects, the target follower object of the mobile platform is determined.

[0211] In some embodiments, the first interactive interface includes a candidate target box, which is used to indicate a candidate follower object of the mobile platform; when determining the target follower object of the mobile platform based on the candidate follower object, the first processor 1204 calls the instructions stored in the first memory 1203 to perform the following operations:

[0212] In response to a locking operation on a candidate follower object indicated in the candidate target box, the candidate follower object indicated in the candidate target box is determined as the target follower object of the mobile platform.

[0213] In some embodiments, the candidate follower is determined based on object recognition results for the captured image.

[0214] In some embodiments, if the recognition result indicates that no trackable object is identified in the captured image, then the candidate followable object indicated in the candidate target box is the object to be operated by the motion control device;

[0215] If the recognition result indicates that a trackable object has been identified in the captured image, then the candidate follower indicated in the candidate target box is the trackable object.

[0216] If the recognition result indicates that multiple trackable objects are identified in the captured image, then the candidate follower object in the candidate target box indicator is determined based on the distance between the multiple trackable objects and the movement direction indicator icon of the mobile platform.

[0217] In some embodiments, when determining the target follower of the movable platform in response to a locking operation for a candidate follower indicated in the candidate target box, the first processor 1204 invokes instructions stored in the first memory 1203 to perform the following operations:

[0218] In response to a trigger operation on the candidate target box, or in response to a trigger operation on a button of the motion control device, the candidate follower indicated in the candidate target box is determined to be the target follower of the mobile platform.

[0219] In some embodiments, the first interactive interface also displays an object lock icon, and the shooting screen displays a highlighted icon, which is displayed at the location of the candidate followable object in the shooting screen, indicating that the object lock icon corresponds to a trackable object.

[0220] In some embodiments, when determining the target object to be followed by the mobile platform based on the captured image, the first processor 1204 calls the instructions stored in the first memory 1203 to perform the following operations:

[0221] In response to a selection operation for an object in the captured image, the selected object is identified as the target follower of the mobile platform.

[0222] In some embodiments, when the display module 1202 is used to display the first interactive interface, the first processor 1204 calls the instructions stored in the first memory 1203 to perform the following operations:

[0223] In response to a trigger operation of the follow mode switching button of the motion control device, the display module 1202 is controlled to display the first interactive interface;

[0224] or,

[0225] The display module 1202 is controlled to display a second interactive interface, which includes a follow mode switching control. The follow mode switching control is used to switch the movable platform from the current mode to the follow mode.

[0226] In response to a trigger operation on the follow mode switching control, the display module 1202 is controlled to display the first interactive interface.

[0227] In some embodiments, when the movable platform is controlled to enter follow mode to follow the target object, the first processor 1204 calls the instructions stored in the first memory 1203 to perform the following operations:

[0228] The mobile platform is controlled to enter follow mode to follow and film the target object.

[0229] The display module 1202 is controlled to display a third interactive interface, wherein the third interactive interface displays the follow-shooting screen of the mobile platform in follow mode;

[0230] When entering the follow mode, recording is performed on the follow-up footage.

[0231] In some embodiments, after the movable platform is controlled to enter follow mode, the motion control device is allowed to respond to a detected first event, and the motion control device is prohibited from responding to a detected second event, the first event being different from the second event.

[0232] In some embodiments, the first event includes at least one of the following: a shooting trigger event, an emergency stop trigger event, a preset button trigger event, and a trigger event for the display interface.

[0233] In some embodiments, the first processor 1204 invokes instructions stored in the first memory 1203 to perform the following operations:

[0234] In response to a position adjustment trigger operation for the third interactive interface, the display module 1202 is controlled to display a position indicator control, wherein the position indicator control indicates the relative position between the movable platform and the target following object;

[0235] In response to a direction selection operation on the direction indicator control, the movable platform is controlled to move to the position corresponding to the selected direction, so that the relative direction between the moved movable platform and the target following object matches the selected direction.

[0236] In some embodiments, the orientation indicator control includes a plurality of orientation indicator icons, with different orientation indicator icons indicating different relative orientations between the movable platform and the target following object.

[0237] In some embodiments, the first processor 1204 also calls instructions stored in the first memory 1203 to perform the following operations: control the movable platform to exit the follow mode and stop recording the follow shooting footage.

[0238] In some embodiments, after controlling the mobile platform to enter follow mode, the first processor 1204 further invokes instructions stored in the first memory 1203 to perform the following operations:

[0239] In response to detecting that the motion control device is aligned with the movable platform and that a preset button on the motion control device is triggered, the movable platform is controlled to enter a selfie stick mode, wherein the position of the movable platform can be adjusted in the selfie stick mode.

[0240] In some embodiments, after controlling the movable platform to enter selfie stick mode, the first processor 1204 also calls instructions stored in the first memory 1203 to perform the following operations:

[0241] In response to a movement operation of the motion control device, the position of the movable platform is adjusted; and / or in response to a trigger operation of a second preset button on the motion control device, the distance between the movable platform and the motion control device is adjusted.

[0242] In some embodiments, after controlling the movable platform to enter selfie stick mode, the first processor 1204 also calls instructions stored in the first memory 1203 to perform the following operations:

[0243] In response to the release operation of the preset button on the motion control device, the movable platform is controlled to exit the selfie stick mode.

[0244] In some embodiments, the first processor 1204 also invokes instructions stored in the first memory 1203 to perform the following operations:

[0245] In response to a mode switching trigger operation for the third interactive interface, the display module 1202 is controlled to display a candidate mode page, wherein the candidate mode page includes at least one selectable candidate mode;

[0246] In response to a trigger operation targeting a target mode, the movable platform is controlled to switch from follow mode to the target mode.

[0247] In some embodiments, the third interactive interface includes a first control, which triggers the movable platform to stop following; the first processor 1204 calls instructions stored in the first memory 1203 to perform the following operations:

[0248] In response to a trigger operation on the first control, the display module 1202 is controlled to display a second control, which is used to confirm that the movable platform has stopped following.

[0249] In response to a confirmation operation on the second control, the movable platform is controlled to stop following, thereby exiting the follow mode.

[0250] In some embodiments, the first processor 1204 calls instructions stored in the first memory 1203 to perform the following operations: in response to a first trigger operation on a first button of the motion control device, controls the display module 1202 to display a prompt message, the prompt message being used to prompt that the first button is triggered by a second triggering method to control the movable platform to exit the follow mode;

[0251] In response to a second trigger operation on the first button, the movable platform is controlled to stop following in order to exit the follow mode, wherein the first trigger operation is different from the second trigger operation.

[0252] In some embodiments, when the display module 1202 displays the first interactive interface, it is used to display the settings interface of the motion control device, wherein the settings interface includes a follow function activation control;

[0253] The first processor 1204 calls the instructions stored in the first memory 1203 to perform the following operations: in response to a trigger operation for the follow function activation control, it controls the display module 1202 to display the first interactive interface.

[0254] In some embodiments, the target being followed is determined based on object recognition results for the captured image.

[0255] In some embodiments, if the recognition result indicates that a trackable target object is identified in the captured image, then the target following object is the trackable target object; otherwise, the target following object is determined from the operation object of the motion control device and the user selection object determined in response to the captured image, wherein the operation object of the motion control device has a higher priority.

[0256] In some embodiments, the first interactive interface also displays an object lock icon, and the shooting screen displays a highlighted icon, which is displayed at the location of the target trackable object in the shooting screen, indicating that the object lock icon corresponds to the trackable object.

[0257] As shown in Figure 13, in one embodiment, the mobile platform 1300 includes:

[0258] The second communication module 1301 is used to send the captured image of the mobile platform to the motion control device of the mobile platform, so that the motion control device can display a first interactive interface through the display module, and the first interactive interface displays the captured image.

[0259] The mobile platform also includes a second memory 1302 and a second processor 1303;

[0260] The second memory 1302 is used to store instructions; the second processor 1303 calls the instructions stored in the second memory 1302 to perform the following operations:

[0261] The movable platform is controlled to enter the follow mode and follow the target object, which is determined by the motion control device based on the captured image.

[0262] In some embodiments, the target following object is determined by the motion control device based on the captured image, after identifying candidate following objects for the mobile platform.

[0263] In some embodiments, the first interactive interface includes a candidate target box, which is used to indicate a candidate follower object of the mobile platform; the target follower object is determined by the motion control device in response to a locking operation on the candidate follower object indicated in the candidate target box.

[0264] In some embodiments, the candidate follower is determined based on object recognition results for the captured image.

[0265] In some embodiments, if the recognition result indicates that no trackable object is identified in the captured image, then the candidate followable object indicated in the candidate target box is the object to be operated by the motion control device;

[0266] If the recognition result indicates that a trackable object has been identified in the captured image, then the candidate follower indicated in the candidate target box is the trackable object.

[0267] If the recognition result indicates that multiple trackable objects are identified in the captured image, then the candidate follower object in the candidate target box indicator is determined based on the distance between the multiple trackable objects and the movement direction indicator icon of the mobile platform.

[0268] In some embodiments, the target following object is determined by the motion control device in response to a trigger operation on the candidate target box or a trigger operation on a button of the motion control device, by identifying the candidate following object indicated in the candidate target box as the target following object of the mobile platform.

[0269] In some embodiments, the first interactive interface also displays an object lock icon, and the shooting screen displays a highlighted icon, which is displayed at the location of the candidate followable object in the shooting screen, indicating that the object lock icon corresponds to a trackable object.

[0270] In some embodiments, the target following object is determined by the motion control device in response to a selection operation on an object in the captured image, identifying the selected object as the target following object.

[0271] In some embodiments, the display module of the motion-sensing control device displays a first interactive interface, including: displaying the first interactive interface in response to a trigger operation of a follow mode switching button on the motion-sensing control device; or,

[0272] A second interactive interface is displayed, the second interactive interface including a follow mode switching control, the follow mode switching control being used to switch the movable platform from the current mode to follow mode; in response to a trigger operation on the follow mode switching control, a first interactive interface is displayed.

[0273] In some embodiments, when the mobile platform is controlled to enter the follow mode and follow the target object, the second processor 1303 calls the instructions stored in the second memory 1302 to perform the following operations: control the mobile platform to enter the follow mode and follow and photograph the target object;

[0274] The second communication module 1301 is used to send the follow-up shooting screen of the mobile platform to the motion control device, so that the third interactive interface of the motion control device displays the follow-up shooting screen of the mobile platform in follow mode, and the motion control device records the follow-up shooting screen when it enters the follow mode.

[0275] In some embodiments, after the movable platform is controlled to enter follow mode, the motion control device is allowed to respond to a detected first event, and the motion control device is prohibited from responding to a detected second event, the first event being different from the second event.

[0276] In some embodiments, the first event includes at least one of the following: a shooting trigger event, an emergency stop trigger event, a preset button trigger event, and a trigger event for the display interface.

[0277] In some embodiments, when the motion-sensing control device responds to an orientation adjustment trigger operation for the third interactive interface, the display module of the motion-sensing control device displays an orientation indicator control, wherein the orientation indicator control indicates the relative orientation between the movable platform and the target following object;

[0278] When the motion control device responds to a direction selection operation for the direction indicator control, the second processor 1303 calls the instructions stored in the second memory 1302 to perform the following operations: control the movable platform to move to the position corresponding to the selected direction, so that the relative direction between the moved movable platform and the target following object matches the selected direction.

[0279] In some embodiments, the orientation indicator control includes a plurality of orientation indicator icons, with different orientation indicator icons indicating different relative orientations between the movable platform and the target following object.

[0280] In some embodiments, the second processor 1303 calls instructions stored in the second memory 1302 to perform the following operations: control the movable platform to exit the follow mode and stop recording the follow shooting footage.

[0281] In some embodiments, after the movable platform is controlled to enter the follow mode, the second processor 1303 further calls instructions stored in the second memory 1302 to perform the following operations: when the motion control device detects that the motion control device is aligned with the movable platform and a preset button of the motion control device is triggered, the movable platform is controlled to enter the selfie stick mode, wherein the position of the movable platform can be adjusted in the selfie stick mode.

[0282] In some embodiments, after controlling the movable platform to enter selfie stick mode, the second processor 1303 further calls instructions stored in the second memory 1302 to perform the following operations: adjusting the position of the movable platform in response to a movement operation of the motion control device; and / or adjusting the distance between the movable platform and the motion control device in response to a trigger operation of a second preset button of the motion control device.

[0283] In some embodiments, after controlling the movable platform to enter the selfie stick mode, the second processor 1303 also calls the instructions stored in the second memory 1302 to perform the following operations: when the motion control device responds to the release operation of the preset button of the motion control device, it controls the movable platform to exit the selfie stick mode.

[0284] In some embodiments, when the motion-sensing control device responds to a mode switching trigger operation for the third interactive interface, the display module of the motion-sensing control device displays a candidate mode page, wherein the candidate mode page includes at least one selectable candidate mode.

[0285] The second processor 1303 also invokes instructions stored in the second memory 1302 to perform the following operations: when the motion control device responds to a trigger operation for a target mode, it controls the movable platform to switch from follow mode to the target mode.

[0286] In some embodiments, the third interactive interface includes a first control, which is used to trigger the movable platform to stop following;

[0287] When the motion-sensing control device responds to a trigger operation on the first control, the display module of the motion-sensing control device displays a second control, which is used to confirm that the movable platform has stopped following.

[0288] The second processor 1303 also invokes instructions stored in the second memory 1302 to perform the following operation: in response to a confirmation operation on the second control, the motion control device controls the movable platform to stop following in order to exit the following mode.

[0289] In some embodiments, when the motion control device responds to a first trigger operation on a first button of the motion control device, the display module of the motion control device displays a prompt message, which prompts that the first button is triggered by a second triggering method to control the movable platform to exit the follow mode;

[0290] The second processor 1303 also calls instructions stored in the second memory 1302 to perform the following operation: when the motion control device responds to a second trigger operation on the first button, it controls the movable platform to stop following in order to exit the following mode, wherein the first trigger operation is different from the second trigger operation.

[0291] In some embodiments, when the motion control device displays the settings interface of the motion control device, the motion control device displays the first interactive interface in response to a trigger operation on the follow function activation control, wherein the settings interface includes the follow function activation control.

[0292] In some embodiments, the target being followed is determined based on object recognition results for the captured image.

[0293] In some embodiments, if the recognition result indicates that a trackable target object is identified in the captured image, then the target following object is the trackable target object; otherwise, the target following object is determined from the operation object of the motion control device and the user selection object determined in response to the captured image, wherein the operation object of the motion control device has a higher priority.

[0294] In some embodiments, the first interactive interface also displays an object lock icon, and the shooting screen displays a highlighted icon, which is displayed at the location of the target trackable object in the shooting screen, indicating that the object lock icon corresponds to the trackable object.

[0295] As shown in Figure 14, in one embodiment, the control system 1400 of the mobile platform includes: a motion sensing control device 1200 and a mobile platform 1300.

[0296] The mobile platform 1300 and the motion-sensing control device 1200 establish a communication connection;

[0297] The mobile platform 1300 sends the captured images to the motion control device 1200;

[0298] The motion control device 1200 displays a first interactive interface through a display module, and the first interactive interface displays the captured image of the movable platform;

[0299] The motion control device 1200, based on the captured image, determines the target object to be followed by the mobile platform; controls the mobile platform to enter the follow mode and follow the target object.

[0300] In some embodiments, the motion-sensing control device 1200 determines the target object to be followed by the mobile platform based on the captured image, including:

[0301] Based on the captured footage, candidate follow objects for the mobile platform are determined;

[0302] Based on the candidate follower objects, the target follower object of the mobile platform is determined.

[0303] In some embodiments, the first interactive interface includes a candidate target box, which is used to indicate a candidate follower object of the mobile platform; the motion control device 1200 determines the target follower object of the mobile platform based on the candidate follower object, including: in response to a locking operation on the candidate follower object indicated in the candidate target box, determining the candidate follower object indicated in the candidate target box as the target follower object of the mobile platform.

[0304] In some embodiments, the candidate follower is determined based on object recognition results for the captured image.

[0305] In some embodiments, if the recognition result indicates that no trackable object is identified in the captured image, then the candidate followable object indicated in the candidate target box is the object to be operated by the motion control device;

[0306] If the recognition result indicates that a trackable object has been identified in the captured image, then the candidate follower indicated in the candidate target box is the trackable object.

[0307] If the recognition result indicates that multiple trackable objects are identified in the captured image, then the candidate follower object in the candidate target box indicator is determined based on the distance between the multiple trackable objects and the movement direction indicator icon of the mobile platform.

[0308] In some embodiments, the motion control device 1200 controls the mobile platform to enter a follow mode to follow the target object, including: controlling the mobile platform to enter the follow mode, following and filming the target object, and controlling the display module to display a third interactive interface, wherein the third interactive interface displays the following and filming screen of the mobile platform in the follow mode;

[0309] When entering the follow mode, recording is performed on the follow-up footage.

[0310] In some embodiments, after the movable platform is controlled to enter follow mode, the motion control device is allowed to respond to a detected first event, and the motion control device is prohibited from responding to a detected second event, the first event being different from the second event.

[0311] In some embodiments, the first event includes at least one of the following: a shooting trigger event, an emergency stop trigger event, a preset button trigger event, and a trigger event for the display interface.

[0312] In some embodiments, the motion control device 1200, in response to detecting that the motion control device is aligned with the movable platform and that a preset button on the motion control device is triggered, controls the movable platform to enter a selfie stick mode, wherein the position of the movable platform can be adjusted in the selfie stick mode.

[0313] In some embodiments, the motion control device 1200 adjusts the position of the movable platform in response to a movement operation on the motion control device; and / or adjusts the distance between the movable platform and the motion control device in response to a trigger operation on a second preset button on the motion control device.

[0314] It should be noted that the specific implementation process of the steps executed by the motion control device 1200 and the mobile platform 1300 in this embodiment can be referred to the implementation process in the method provided in the embodiment corresponding to Figure 1, and will not be repeated here.

[0315] The aforementioned processor may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed through integrated logic circuits in the processor's hardware or through software instructions. The processor may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules may reside in a storage medium, which is located in memory. The processor reads information from the memory and, in conjunction with its hardware, completes the steps of the aforementioned method.

[0316] The aforementioned memory can be volatile or non-volatile, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Sync Link Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0317] It should be noted that the specific implementation process of the steps executed by the processor in this embodiment can be referred to the implementation process in the method provided in the embodiment corresponding to Figure 1, and will not be repeated here.

[0318] This application provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements a mobile platform control method for a motion-sensing control device applied to a mobile platform. The method includes: displaying a first interactive interface via a display module, the first interactive interface displaying a captured image from the mobile platform; determining a target object to be followed by the mobile platform based on the captured image; and controlling the mobile platform to enter a follow mode and follow the target object. It is evident that the screen-equipped motion-sensing remote controller provided in this application, while displaying the captured image on the first interactive interface, can flexibly determine the target object to be followed by the mobile platform based on the captured image, and then control the mobile platform to enter a follow mode to follow the target object. This differs from the control method in related technologies where a remote controller's joystick is manually operated to control a drone to follow a target object. This application changes the follow control method of mobile platforms and enriches the functionality of mobile platform control devices.

[0319] It should be noted that the specific implementation process of the steps executed by the processor in this embodiment can be referred to the implementation process in the method provided in the embodiment corresponding to Figure 1, and will not be repeated here.

[0320] The embodiments of this application provide a computer product, including a computer program that can be executed by one or more processors to implement the method provided in the embodiment corresponding to FIG1, which will not be described in detail here.

[0321] It should be understood that the terms "an embodiment," "an embodiment," "an embodiment of this application," "the foregoing embodiment," "some embodiments," or "some implementations" mentioned throughout the specification mean that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, the phrases "an embodiment," "an embodiment," "an embodiment of this application," "the foregoing embodiment," "some embodiments," or "some implementations" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above embodiments of this application are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0322] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0323] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0324] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0325] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0326] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0327] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0328] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0329] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0330] It is worth noting that the accompanying drawings in this application are only for illustrating the schematic positions of various devices on the terminal device and do not represent their actual positions in the terminal device. The actual positions of each device or area may be changed or shifted according to the actual situation (e.g., the structure of the terminal device). Furthermore, the proportions of different parts in the terminal device in the drawings do not represent the actual proportions.

[0331] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included 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 mobile platform control method, applied to a motion-sensing control device of the mobile platform, the motion-sensing control device including a display module, the method comprising: The first interactive interface is displayed through the display module, and the first interactive interface displays the shooting screen of the mobile platform; Based on the captured footage, the target object to be followed by the mobile platform is determined; The movable platform is controlled to enter follow mode and follow the target object.

2. The method according to claim 1, wherein, The step of determining the target object to be followed by the mobile platform based on the captured footage includes: Based on the captured footage, candidate follow objects for the mobile platform are determined; Based on the candidate follower objects, the target follower object of the mobile platform is determined.

3. The method according to claim 2, wherein, The first interactive interface includes a candidate target box, which is used to indicate the candidate followable objects of the mobile platform; The step of determining the target follower of the mobile platform based on the candidate follower objects includes: In response to a locking operation on a candidate follower object indicated in the candidate target box, the candidate follower object indicated in the candidate target box is determined as the target follower object of the mobile platform.

4. The method according to claim 3, wherein; The candidate follower is determined based on the object recognition results of the captured image.

5. The method according to claim 4, wherein: If the recognition result indicates that no trackable object is identified in the captured image, then the candidate followable object indicated in the candidate target box is the operation object of the motion control device; If the recognition result indicates that a trackable object has been identified in the captured image, then the candidate follower indicated in the candidate target box is the trackable object. If the recognition result indicates that multiple trackable objects are identified in the captured image, then the candidate follower object in the candidate target box indicator is determined based on the distance between the multiple trackable objects and the movement direction indicator icon of the mobile platform.

6. The method according to claim 3, wherein, The step of determining the target follower of the mobile platform in response to a locking operation for a candidate follower object indicated in the candidate target box includes: In response to a trigger operation on the candidate target box, or in response to a trigger operation on a button of the motion control device, the candidate follower indicated in the candidate target box is determined to be the target follower of the mobile platform.

7. The method according to claim 3, wherein, The first interactive interface also displays an object lock icon, and the shooting screen displays a highlighted icon. The highlighted icon is displayed at the location of the candidate followable object in the shooting screen, indicating that the object lock icon corresponds to a trackable object.

8. The method according to claim 1, wherein, The step of determining the target object to be followed by the mobile platform based on the captured footage includes: In response to a selection operation for an object in the captured image, the selected object is identified as the target follower of the mobile platform.

9. The method according to claim 1, wherein, The first interactive interface is displayed, including: In response to a trigger operation of the follow mode switching button of the motion control device, a first interactive interface is displayed; or, Display a second interactive interface, the second interactive interface including a follow mode switching control, the follow mode switching control being used to switch the movable platform from the current mode to follow mode; In response to a trigger operation on the follow mode switching control, a first interactive interface is displayed.

10. The method according to claim 1, wherein, The step of controlling the movable platform to enter follow mode to follow the target object includes: The mobile platform is controlled to enter the follow mode to follow and film the target object, and a third interactive interface is displayed, wherein the third interactive interface displays the follow and filming screen of the mobile platform in the follow mode; When entering the follow mode, recording is performed on the follow-up footage.

11. The method according to claim 10, wherein, After the movable platform is controlled to enter follow mode, the motion control device is allowed to respond to a detected first event, and the motion control device is prohibited from responding to a detected second event, wherein the first event is different from the second event.

12. The method according to claim 11, wherein, The first event includes at least one of the following: a shooting trigger event, an emergency stop trigger event, a preset button trigger event, and a trigger event for the display interface.

13. The method according to claim 10, wherein, The method further includes: In response to a position adjustment trigger operation on the third interactive interface, a position indicator control is displayed, wherein the position indicator control indicates the relative position between the movable platform and the target following object; In response to a direction selection operation on the direction indicator control, the movable platform is controlled to move to the position corresponding to the selected direction, so that the relative direction between the moved movable platform and the target following object matches the selected direction.

14. The method according to claim 13, wherein, The orientation indicator control includes multiple orientation indicator icons, and different orientation indicator icons indicate different relative orientations between the movable platform and the target following object.

15. The method according to claim 10, further comprising: Control the movable platform to exit the follow mode and stop recording the follow shooting footage.

16. The method according to claim 1, wherein, After controlling the movable platform to enter follow mode, the method further includes: In response to detecting that the motion control device is aligned with the movable platform and that a preset button on the motion control device is triggered, the movable platform is controlled to enter a selfie stick mode, wherein the position of the movable platform can be adjusted in the selfie stick mode.

17. The method according to claim 16, wherein, After controlling the movable platform to enter selfie stick mode, the method further includes: In response to a movement operation of the motion control device, the position of the movable platform is adjusted; and / or in response to a trigger operation of a second preset button on the motion control device, the distance between the movable platform and the motion control device is adjusted.

18. The method according to claim 16, wherein, After controlling the movable platform to enter selfie stick mode, the method further includes: In response to the release operation of the preset button on the motion control device, the movable platform is controlled to exit the selfie stick mode.

19. The method according to claim 10, wherein, The method further includes: In response to a mode switching trigger operation for the third interactive interface, a candidate mode page is displayed, wherein the candidate mode page includes at least one selectable candidate mode; In response to a trigger operation targeting a target mode, the movable platform is controlled to switch from follow mode to the target mode.

20. The method of claim 10, wherein, The third interactive interface includes a first control, which is used to trigger the movable platform to stop following; the method further includes: In response to a trigger operation on the first control, a second control is displayed, the second control being used to confirm that the movable platform has stopped following; In response to a confirmation operation on the second control, the movable platform is controlled to stop following, thereby exiting the follow mode.

21. The method according to claim 1, wherein, The method further includes: In response to a first trigger operation of a first button on the motion control device, a prompt message is displayed, the prompt message being used to prompt that the first button is triggered by a second triggering method to control the movable platform to exit the follow mode; In response to a second trigger operation on the first button, the movable platform is controlled to stop following in order to exit the follow mode, wherein the first trigger operation is different from the second trigger operation.

22. The method according to claim 1, wherein, The first interactive interface is displayed, including: The settings interface of the motion control device is displayed, wherein the settings interface includes a follow function activation control; In response to a trigger operation on the activated control for the follow function, a first interactive interface is displayed.

23. The method according to claim 22, wherein: The target object to be followed is determined based on the object recognition results of the captured image.

24. The method according to claim 23, wherein: If the recognition result indicates that a trackable target object is identified in the captured image, then the target object to be followed is the trackable target object; otherwise, the target object to be followed is determined from the operation object of the motion control device and the user selection object determined in response to the captured image, wherein the operation object of the motion control device has a higher priority.

25. The method according to claim 24, wherein, The first interactive interface also displays an object lock icon, and the shooting screen displays a highlighted icon. The highlighted icon is displayed at the location of the target trackable object in the shooting screen, indicating that the object lock icon corresponds to the trackable object.

26. A motion-sensing control device, comprising: The first communication module is used to acquire the captured images sent by the mobile platform; The display module is used to display an interactive interface, the interactive interface including a first interactive interface, the first interactive interface displaying the captured image; The motion-sensing control device further includes a first memory and a first processor; The first memory is used to store instructions; the first processor calls the instructions stored in the first memory to perform the following operations: Based on the captured footage, the target object to be followed by the mobile platform is determined; The movable platform is controlled to enter follow mode and follow the target object.

27. The motion-sensing control device according to claim 26, wherein, When determining the target object to be followed by the mobile platform based on the captured image, the first processor invokes instructions stored in the first memory to perform the following operations: Based on the captured footage, candidate follow objects for the mobile platform are determined; Based on the candidate follower objects, the target follower object of the mobile platform is determined.

28. The motion-sensing control device according to claim 27, wherein, The first interactive interface includes a candidate target box, which is used to indicate the candidate follower objects of the mobile platform; when determining the target follower object of the mobile platform based on the candidate follower objects, the first processor calls the instructions stored in the first memory to perform the following operations: In response to a locking operation on a candidate follower object indicated in the candidate target box, the candidate follower object indicated in the candidate target box is determined as the target follower object of the mobile platform.

29. The motion-sensing control device according to claim 28, wherein, The candidate follower is determined based on the object recognition results of the captured image.

30. The motion-sensing control device according to claim 29, wherein: If the recognition result indicates that no trackable object is identified in the captured image, then the candidate followable object indicated in the candidate target box is the operation object of the motion control device; If the recognition result indicates that a trackable object has been identified in the captured image, then the candidate follower indicated in the candidate target box is the trackable object. If the recognition result indicates that multiple trackable objects are identified in the captured image, then the candidate follower object in the candidate target box indicator is determined based on the distance between the multiple trackable objects and the movement direction indicator icon of the mobile platform.

31. The motion-sensing control device according to claim 28, wherein when determining the target follower of the movable platform in response to a locking operation for a candidate follower indicated in the candidate target box, the first processor invokes instructions stored in the first memory to perform the following operations: In response to a trigger operation on the candidate target box, or in response to a trigger operation on a button of the motion control device, the candidate follower indicated in the candidate target box is determined to be the target follower of the mobile platform.

32. The motion-sensing control device according to claim 28, wherein, The first interactive interface also displays an object lock icon, and the shooting screen displays a highlighted icon. The highlighted icon is displayed at the location of the candidate followable object in the shooting screen, indicating that the object lock icon corresponds to a trackable object.

33. The motion-sensing control device according to claim 26, wherein, When determining the target object to be followed by the mobile platform based on the captured image, the first processor invokes instructions stored in the first memory to perform the following operations: In response to a selection operation for an object in the captured image, the selected object is identified as the target follower of the mobile platform.

34. The motion-sensing control device according to claim 26, wherein, When the display module displays the first interactive interface, the first processor calls the instructions stored in the first memory to perform the following operations: In response to a trigger operation on the follow mode switching button of the motion control device, the display module is controlled to display the first interactive interface; or, The display module is controlled to display a second interactive interface, which includes a follow mode switching control. The follow mode switching control is used to switch the movable platform from the current mode to follow mode. In response to a trigger operation on the follow mode switching control, the display module is controlled to display the first interactive interface.

35. The motion-sensing control device according to claim 26, wherein, When the mobile platform is controlled to enter follow mode to follow the target object, the first processor calls the instructions stored in the first memory to perform the following operations: The mobile platform is controlled to enter follow mode to follow and film the target object. The display module is controlled to display a third interactive interface, wherein the third interactive interface displays the follow-shooting screen of the mobile platform in follow mode; When entering the follow mode, recording is performed on the follow-up footage.

36. The motion-sensing control device according to claim 35, wherein, After the movable platform is controlled to enter follow mode, the motion control device is allowed to respond to a detected first event, and the motion control device is prohibited from responding to a detected second event, wherein the first event is different from the second event.

37. The motion-sensing control device according to claim 36, wherein, The first event includes at least one of the following: a shooting trigger event, an emergency stop trigger event, a preset button trigger event, and a trigger event for the display interface.

38. The motion-sensing control device according to claim 35, wherein, The first processor also invokes instructions stored in the first memory to perform the following operations: In response to a position adjustment trigger operation for the third interactive interface, the display module is controlled to display a position indicator control, wherein the position indicator control indicates the relative position between the movable platform and the target following object; In response to a direction selection operation on the direction indicator control, the movable platform is controlled to move to the position corresponding to the selected direction, so that the relative direction between the moved movable platform and the target following object matches the selected direction.

39. The motion-sensing control device according to claim 38, wherein, The orientation indicator control includes multiple orientation indicator icons, and different orientation indicator icons indicate different relative orientations between the movable platform and the target following object.

40. The motion-sensing control device according to claim 35, wherein the first processor further invokes instructions stored in the first memory to perform the following operations: Control the movable platform to exit the follow mode and stop recording the follow shooting footage.

41. The motion-sensing control device according to claim 26, wherein, After controlling the movable platform to enter follow mode, the first processor further invokes instructions stored in the first memory to perform the following operations: In response to detecting that the motion control device is aligned with the movable platform and that a preset button on the motion control device is triggered, the movable platform is controlled to enter a selfie stick mode, wherein the position of the movable platform can be adjusted in the selfie stick mode.

42. The motion-sensing control device according to claim 41, wherein, After controlling the movable platform to enter selfie stick mode, the first processor also calls the instructions stored in the first memory to perform the following operations: In response to a movement operation of the motion control device, the position of the movable platform is adjusted; and / or in response to a trigger operation of a second preset button on the motion control device, the distance between the movable platform and the motion control device is adjusted.

43. The motion-sensing control device according to claim 41, wherein, After controlling the movable platform to enter selfie stick mode, the first processor also calls the instructions stored in the first memory to perform the following operations: In response to the release operation of the preset button on the motion control device, the movable platform is controlled to exit the selfie stick mode.

44. The motion-sensing control device according to claim 35, wherein, The first processor also invokes instructions stored in the first memory to perform the following operations: In response to a mode switching trigger operation for the third interactive interface, the display module is controlled to display a candidate mode page, wherein the candidate mode page includes at least one selectable candidate mode; In response to a trigger operation targeting a target mode, the movable platform is controlled to switch from follow mode to the target mode.

45. The motion-sensing control device according to claim 35, wherein, The third interactive interface includes a first control, which is used to trigger the movable platform to stop following; the first processor also calls instructions stored in the first memory to perform the following operations: In response to a trigger operation on the first control, the display module is controlled to display a second control, which is used to confirm that the movable platform has stopped following. In response to a confirmation operation on the second control, the movable platform is controlled to stop following, thereby exiting the follow mode.

46. ​​The motion-sensing control device according to claim 26, wherein, The first processor also invokes instructions stored in the first memory to perform the following operations: In response to a first trigger operation on a first button of the motion control device, the display module is controlled to display a prompt message, which prompts that the first button is triggered by a second triggering method to control the movable platform to exit the follow mode. In response to a second trigger operation on the first button, the movable platform is controlled to stop following in order to exit the follow mode, wherein the first trigger operation is different from the second trigger operation.

47. The motion-sensing control device according to claim 26, wherein, When the display module displays the first interactive interface, it is used to: display the settings interface of the motion control device, wherein the settings interface includes a follow function activation control; The first processor invokes instructions stored in the first memory to perform the following operations: in response to a trigger operation on the follow function activation control, controls the display module to display the first interactive interface.

48. The motion-sensing control device according to claim 47, wherein: The target object to be followed is determined based on the object recognition results of the captured image.

49. The motion-sensing control device according to claim 48, wherein: If the recognition result indicates that a trackable target object is identified in the captured image, then the target object to be followed is the trackable target object; otherwise, the target object to be followed is determined from the operation object of the motion control device and the user selection object determined in response to the captured image, wherein the operation object of the motion control device has a higher priority.

50. The motion-sensing control device according to claim 49, wherein, The first interactive interface also displays an object lock icon, and the shooting screen displays a highlighted icon. The highlighted icon is displayed at the location of the target trackable object in the shooting screen, indicating that the object lock icon corresponds to the trackable object.

51. A mobile platform, comprising: The second communication module is used to send the captured image of the mobile platform to the motion control device of the mobile platform, so that the motion control device can display a first interactive interface through the display module, and the first interactive interface displays the captured image. The mobile platform also includes a second memory and a second processor; The second memory is used to store instructions; the second processor calls the instructions stored in the second memory to perform the following operations: The movable platform is controlled to enter the follow mode and follow the target object, which is determined by the motion control device based on the captured image.

52. The mobile platform according to claim 51, wherein, The target to be followed is determined by the motion control device based on the captured image, after identifying the candidate targets of the mobile platform.

53. The mobile platform according to claim 52, wherein, The first interactive interface includes a candidate target box, which is used to indicate a candidate follower object of the mobile platform; the target follower object is determined by the motion control device in response to a locking operation on the candidate follower object indicated in the candidate target box.

54. The mobile platform according to claim 53, wherein; The candidate follower is determined based on the object recognition results of the captured image.

55. The mobile platform according to claim 54, wherein: If the recognition result indicates that no trackable object is identified in the captured image, then the candidate followable object indicated in the candidate target box is the operation object of the motion control device; If the recognition result indicates that a trackable object has been identified in the captured image, then the candidate follower indicated in the candidate target box is the trackable object. If the recognition result indicates that multiple trackable objects are identified in the captured image, then the candidate follower object in the candidate target box indicator is determined based on the distance between the multiple trackable objects and the movement direction indicator icon of the mobile platform.

56. The mobile platform according to claim 53, wherein, The target following object is determined by the motion control device in response to a trigger operation on the candidate target box or a trigger operation on a button of the motion control device, by identifying the candidate following object indicated in the candidate target box as the target following object of the mobile platform.

57. The mobile platform according to claim 53, wherein, The first interactive interface also displays an object lock icon, and the shooting screen displays a highlighted icon. The highlighted icon is displayed at the location of the candidate followable object in the shooting screen, indicating that the object lock icon corresponds to a trackable object.

58. The mobile platform according to claim 51, wherein, The target following object is the object selected by the motion control device in response to a selection operation on an object in the captured image.

59. The mobile platform according to claim 51, wherein, The display module of the motion-sensing control device displays a first interactive interface, including: displaying the first interactive interface in response to a trigger operation of a follow mode switching button on the motion-sensing control device; or... A second interactive interface is displayed, the second interactive interface including a follow mode switching control, the follow mode switching control being used to switch the movable platform from the current mode to follow mode; in response to a trigger operation on the follow mode switching control, a first interactive interface is displayed.

60. The mobile platform according to claim 51, wherein, When the movable platform is controlled to enter follow mode and follow the target object, the second processor calls the instructions stored in the second memory to perform the following operations: The mobile platform is controlled to enter follow mode to follow and film the target object. The second communication module is used to send the follow-up shooting screen of the mobile platform to the motion control device, so that the follow-up shooting screen of the mobile platform in follow mode is displayed in the third interactive interface of the motion control device, and the motion control device records the follow-up shooting screen when it enters the follow mode.

61. The mobile platform according to claim 60, wherein, After the movable platform is controlled to enter follow mode, the motion control device is allowed to respond to a detected first event, and the motion control device is prohibited from responding to a detected second event, wherein the first event is different from the second event.

62. The mobile platform according to claim 61, wherein, The first event includes at least one of the following: a shooting trigger event, an emergency stop trigger event, a preset button trigger event, and a trigger event for the display interface.

63. The mobile platform according to claim 60, wherein, When the motion-sensing control device responds to an orientation adjustment trigger operation for the third interactive interface, the display module of the motion-sensing control device displays an orientation indicator control, wherein the orientation indicator control indicates the relative orientation between the movable platform and the target following object; When the motion control device responds to a direction selection operation for the direction indicator control, the second processor calls the instructions stored in the second memory to perform the following operations: control the movable platform to move to the position corresponding to the selected direction, so that the relative direction between the moved movable platform and the target following object matches the selected direction.

64. The mobile platform according to claim 63, wherein, The orientation indicator control includes multiple orientation indicator icons, and different orientation indicator icons indicate different relative orientations between the movable platform and the target following object.

65. The portable platform according to claim 60, wherein the second processor invokes instructions stored in the second memory to perform the following operations: Control the movable platform to exit the follow mode and stop recording the follow shooting footage.

66. The mobile platform according to claim 61, wherein, After controlling the movable platform to enter follow mode, the second processor further invokes instructions stored in the second memory to perform the following operations: When the motion control device detects that it is aligned with the movable platform and a preset button on the motion control device is triggered, it controls the movable platform to enter a selfie stick mode, wherein the position of the movable platform can be adjusted in the selfie stick mode.

67. The mobile platform according to claim 66, wherein, After controlling the movable platform to enter selfie stick mode, the second processor also calls the instructions stored in the second memory to perform the following operations: When the motion control device responds to a movement operation on the motion control device, the position of the movable platform is adjusted; and / or when the motion control device responds to a trigger operation on a second preset button on the motion control device, the distance between the movable platform and the motion control device is adjusted.

68. The mobile platform according to claim 66, wherein, After controlling the movable platform to enter selfie stick mode, the second processor also calls the instructions stored in the second memory to perform the following operations: When the motion control device responds to a release operation of the preset button on the motion control device, it controls the movable platform to exit the selfie stick mode.

69. The mobile platform according to claim 60, wherein, When the motion-sensing control device responds to a mode switching trigger operation for the third interactive interface, the display module of the motion-sensing control device displays a candidate mode page, wherein the candidate mode page includes at least one selectable candidate mode. The second processor also invokes instructions stored in the second memory to perform the following operations: when the motion control device responds to a trigger operation for a target mode, it controls the mobile platform to switch from follow mode to the target mode.

70. The mobile platform according to claim 60, wherein, The third interactive interface includes a first control, which is used to trigger the movable platform to stop following. When the motion-sensing control device responds to a trigger operation on the first control, the display module of the motion-sensing control device displays a second control, which is used to confirm that the movable platform has stopped following. The second processor also invokes instructions stored in the second memory to perform the following operation: in response to a confirmation operation on the second control by the motion control device, controls the movable platform to stop following in order to exit the follow mode.

71. The mobile platform according to claim 51, wherein, When the motion control device responds to a first trigger operation on a first button of the motion control device, the display module of the motion control device displays a prompt message, which prompts that the first button is triggered by a second triggering method to control the movable platform to exit the follow mode. The second processor also invokes instructions stored in the second memory to perform the following operation: when the motion control device responds to a second trigger operation on the first button, it controls the movable platform to stop following in order to exit the following mode, wherein the first trigger operation is different from the second trigger operation.

72. The mobile platform according to claim 51, wherein, When the motion control device displays its settings interface, the motion control device displays the first interactive interface in response to a trigger operation on the follow function activation control, wherein the settings interface includes the follow function activation control.

73. The mobile platform according to claim 72, wherein: The target object to be followed is determined based on the object recognition results of the captured image.

74. The mobile platform according to claim 73, wherein: If the recognition result indicates that a trackable target object is identified in the captured image, then the target object to be followed is the trackable target object; otherwise, the target object to be followed is determined from the operation object of the motion control device and the user selection object determined in response to the captured image, wherein the operation object of the motion control device has a higher priority.

75. The mobile platform according to claim 74, wherein, The first interactive interface also displays an object lock icon, and the shooting screen displays a highlighted icon. The highlighted icon is displayed at the location of the target trackable object in the shooting screen, indicating that the object lock icon corresponds to the trackable object.

76. A control system for a mobile platform, comprising: The mobile platform and the motion-sensing control device establish a communication connection. The mobile platform sends the captured images to the motion control device. The motion-sensing control device displays a first interactive interface through a display module, and the first interactive interface displays the captured image of the mobile platform; The motion control device determines the target object to be followed by the mobile platform based on the captured image; controls the mobile platform to enter the follow mode and follow the target object.

77. The control system according to claim 76, wherein, The motion-sensing control device, based on the captured image, determines the target object to be followed by the mobile platform, including: Based on the captured footage, candidate follow objects for the mobile platform are determined; Based on the candidate follower objects, the target follower object of the mobile platform is determined.

78. The control system according to claim 77, wherein, The first interactive interface includes a candidate target box, which is used to indicate the candidate followable objects of the mobile platform; The motion control device determines the target follower of the mobile platform based on the candidate follower, including: in response to a locking operation for the candidate follower indicated in the candidate target box, determining the candidate follower indicated in the candidate target box as the target follower of the mobile platform.

79. The control system according to claim 78, wherein; The candidate follower is determined based on the object recognition results of the captured image.

80. The control system according to claim 79, wherein: If the recognition result indicates that no trackable object is identified in the captured image, then the candidate followable object indicated in the candidate target box is the operation object of the motion control device; If the recognition result indicates that a trackable object has been identified in the captured image, then the candidate follower indicated in the candidate target box is the trackable object. If the recognition result indicates that multiple trackable objects are identified in the captured image, then the candidate follower object in the candidate target box indicator is determined based on the distance between the multiple trackable objects and the movement direction indicator icon of the mobile platform.

81. The control system according to claim 76, wherein, The motion-sensing control device controls the movable platform to enter a follow mode to follow the target object, including: The mobile platform is controlled to enter the follow mode to follow and film the target object. The display module is controlled to display a third interactive interface, wherein the third interactive interface displays the follow and filming screen of the mobile platform in the follow mode. When entering the follow mode, recording is performed on the follow-up footage.

82. The control system according to claim 81, wherein, After the movable platform is controlled to enter follow mode, the motion control device is allowed to respond to a detected first event, and the motion control device is prohibited from responding to a detected second event, wherein the first event is different from the second event.

83. The control system according to claim 82, wherein, The first event includes at least one of the following: a shooting trigger event, an emergency stop trigger event, a preset button trigger event, and a trigger event for the display interface.

84. The control system according to claim 76, wherein, In response to detecting that the motion control device is aligned with the movable platform and that a preset button on the motion control device is triggered, the motion control device controls the movable platform to enter a selfie stick mode, wherein the position of the movable platform can be adjusted in the selfie stick mode.

85. The control system according to claim 84, wherein, The motion control device adjusts the position of the movable platform in response to a movement operation on the motion control device; and / or adjusts the distance between the movable platform and the motion control device in response to a trigger operation on a second preset button on the motion control device.

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