Movable platform system, remote control device and movable platform

Abstract

A mobile platform system that includes the following: a movable platform, wherein the movable platform is configured to capture a panoramic image, a display device, wherein the display device is configured to display at least part of the panoramic image as a displayed image, a control device, wherein the control device is configured for the following: Capturing an association instruction; Performing an association step based on the association instruction, wherein the association step causes the displayed image of the display device and / or a position of the movable platform to change, so that the displayed image is associated with a reference direction of the movable platform, wherein the reference direction includes a first reference direction and / or a second reference direction; where the association step includes at least one of the following steps: a first association step: maintaining a current movement parameter of the moving platform and changing the displayed image to associate the displayed image with the first reference direction; a second association step: maintaining the currently displayed image of the display device and changing the position of the movable platform to assign the displayed image to the first reference direction; a third association step: at least changing the displayed image of the display device in order to associate the displayed image with the second reference direction.

Description

TECHNICAL AREA

[0001] The present disclosure relates to the technical field of the display device and in particular to a movable platform system, a remote control device and a movable platform. BACKGROUND

[0002] Related technologies offer display devices capable of presenting panoramic images, along with corresponding movable platforms and / or remote control devices. While such devices offer users a richer user experience, they also increase the difficulty of use. Although the user can freely change the viewing angle, the problem is that the viewing angle is not linked to the movement of the movable platform. After switching the viewing angle, it can be difficult to return to the image the user wants to focus on, specifically in the direction of the changed viewing angle. OVERVIEW OF THE INVENTION

[0003] In view of the above problems, embodiments of the present disclosure provide a movable platform system, a remote control device and a movable platform.

[0004] A first aspect of the present disclosure provides a method for controlling a movable platform system, wherein the movable platform system comprises a movable platform and a display device, wherein the movable platform is configured to capture a panoramic image, and the display device is configured to display at least a part of the panoramic image as a displayed image, wherein the method comprises: capturing an association instruction; and performing an association step based on the association instruction, wherein the association step causes the displayed image of the display device and / or a position of the movable platform to change, such that the displayed image is associated with a reference direction of the movable platform.

[0005] A second aspect of the present disclosure provides a method for controlling a movable platform system, wherein the movable platform system comprises a movable platform and a display device, wherein the movable platform is configured to capture a panoramic image, and the display device is configured to display at least part of the panoramic image as a displayed image, wherein the method comprises: determining, in response to an inconsistency between the displayed image and a reference direction of the movable platform, whether an association instruction is captured;When the association instruction is detected, perform one of the following association steps based on the association instruction to align a viewing angle of the displayed image with a reference direction of the moving platform: Set the displayed image and maintain a current motion parameter of the moving platform; Set a position of the moving platform and maintain the displayed image; and Set the displayed image and the position of the moving platform.

[0006] A third aspect of the present disclosure provides a system with a movable platform comprising: a movable platform for capturing a panoramic image; a display device for displaying at least a part of the panoramic image as a displayed image; and a controller provided on the movable platform and / or the display device, wherein the controller is configured to perform the method described in the first aspect of the present disclosure.

[0007] A fourth aspect of the present disclosure provides a control method for a remote control device, wherein the remote control device is communicatively connected to a display device, the display device being configured to display at least part of a panoramic image as a displayed image, the method comprising: generating a command to adjust the viewing angle, wherein the command to adjust the viewing angle is configured to adjust a viewing angle of the displayed image of the display device; and sending the command to adjust the viewing angle to the display device.

[0008] A fifth aspect of the present disclosure provides a remote control device comprising a memory and a processor, wherein the memory stores computer program instructions which, when executed by the processor, implement the method described in the third aspect of the present disclosure.

[0009] A sixth aspect of the present disclosure provides a remote control device comprising: a main body; a first control mechanism comprising a support element and a rotating body, wherein the support element is connected to the main body, the rotating body is rotatably connected to the support element, and the rotating body has a force-receiving surface exposed on an outer surface of the main body; and a sensor configured to detect a rotational state of the rotating body.

[0010] A seventh aspect of the present disclosure provides a method for aligning coordinate systems, comprising: performing an axis order alignment for a first coordinate system and a second coordinate system; calculating a transformation parameter based on an aligned axis order, wherein the transformation parameter is configured to represent a rotation required to align the first coordinate system and the second coordinate system. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a schematic representation of a movable platform system according to an embodiment of the present disclosure; Fig. Figure 2 is a schematic representation of the structure of a movable platform according to an embodiment of the present disclosure; Fig. Figure 3 is a schematic representation of a usage scenario for a movable platform system according to an embodiment of the present disclosure; Fig. Figure 4 is a flowchart of a method for controlling a movable platform system according to an embodiment of the present disclosure; Fig. Figure 5 is a flowchart of a control method for a remote control device according to an embodiment of the present disclosure; Fig. Figure 6 is a schematic structure diagram of a remote control device according to an embodiment of the present disclosure; Fig. Figure 7 is a schematic structural diagram of the first control mechanism of a remote control device according to an embodiment of the present disclosure; Fig. Figure 8 is a schematic representation of the cooperation between the first control mechanism and the main body according to an embodiment of the present disclosure; Fig. Figure 9 is a flowchart of a method for aligning the coordinate system according to an embodiment of the present disclosure. Reference numbers:

[0011] 100. Movable platform; 101. Camera device; 200. Display device; 300. Remote control device; 1. Main body; 1a. Operating surface; 11. Cylindrical handle; 12. Operating unit; 2. First control mechanism; 21. Support element; 211. Support frame; 211a. Annular groove; 22. Rotating body; 22a. Force-receiving surface; 221. Counter wheel; 23. Damping structure; 24. Sealing structure; 25. Push button switch; 26. Elastic return element; 3. Sensor; 4. Second control mechanism; 41. Emergency stop button; 42. Release button; 5. Controller. DETAILED DESCRIPTION OF THE EXECUTION FORMS

[0012] To clarify the objectives, technical solutions, and advantages of this disclosure, the following detailed description, in conjunction with the accompanying drawings and embodiments, further illustrates the present disclosure. It should be noted that the specific embodiments described herein serve only for illustration and are not intended to limit the disclosure.

[0013] The various technical features described in the individual embodiments can be combined with one another in a suitable manner without this constituting a contradiction. For example, different combinations of specific technical features can form different embodiments and technical solutions. To avoid unnecessary repetition, the various possible combinations of the individual technical features are not described separately in this disclosure.

[0014] In the following description, the terms "first," "second," etc., are used solely to distinguish between different objects and do not imply that the objects share the same or related aspects. The directional terms "top," "bottom," "outside," and "inside" refer to the position in normal use, while the directions "left" and "right" denote the left and right directions shown in the corresponding schematic diagrams, which may or may not be left and right in normal use.

[0015] It should be noted that the terms "comprehensive," "including," or other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, object, or device comprising a list of elements includes not only those elements but also other elements not expressly listed or elements inherent in such process, method, object, or device. Without further limitations, an element defined by the phrase "with a..." does not preclude the presence of other identical elements in the process, method, object, or device that includes that element. "A multitude of" means two or more.

[0016] In the description of embodiments of this disclosure, technical terms such as "length", "width", "thickness", "top", "bottom", "front", "back", "left", "right", "vertical", "horizontal", "above", "below", "inside", "outside" and "circumferential" denote positions or positional relationships based on the positions or positional relationships illustrated in the accompanying drawings. They are not intended to indicate or imply that the device or element referred to must have a particular position, be constructed, operated or used in a particular position, and should therefore not be understood as limiting the embodiments of this disclosure.

[0017] To better understand the solutions contained in the various embodiments of the present disclosure, a movable platform system according to some embodiments of the present disclosure is described below.

[0018] As in Fig. As shown in Figure 1, the movable platform system according to some embodiments of the present disclosure comprises a movable platform 100 and a display device 200 which is communicatively connected to the movable platform 100.

[0019] In some embodiments, the movable platform system also includes a remote control device 300 for controlling the movable platform 100 and / or the display device 200. However, those skilled in the art should be aware that the remote control device 300 is not strictly necessary. For example, the display device 200 can integrate control functions for the movable platform 100.

[0020] The remote control device 300 can be configured to communicate with both the movable platform 100 and the display device 200. Alternatively, the remote control device 300 can be configured to communicate with either the movable platform 100 or the display device 200, with one acting as a relay for communication with the other.

[0021] The movable platform 100 can be any device that is mobile and capable of capturing images while in motion. Fig. Figure 2, for example, shows that the mobile platform 100 includes an aircraft, such as an unmanned aerial vehicle. However, professionals should be aware that the mobile platform 100 can include vehicles, boats, mobile robots, portable stabilizers, etc.

[0022] If the mobile platform is an aircraft, it can be of various types, e.g., aerial photography and videography aircraft, aircraft for the protection of agricultural crops, aircraft for inspection and industrial monitoring, aircraft for surveying and remote sensing, aircraft for entertainment purposes, security aircraft, etc.

[0023] The aircraft may contain a propulsion unit. The propulsion unit may comprise one or more rotating components, propellers, wings, motors, electronic speed controllers, etc. The rotating component of the propulsion unit may be, for example, a self-locking rotating component, a rotating component assembly, or another type of rotating propulsion unit. The aircraft may be equipped with one or more propulsion units. All propulsion units may be of the same type. Optionally, one or more propulsion units of different types may be used. The propulsion unit may be attached to the aircraft by suitable means, such as support elements (e.g., drive shafts). The propulsion unit may be mounted at any suitable location on the aircraft, such as on top, bottom, front, rear, side, or any combination thereof. The flight of the aircraft is controlled by the control system of one or more propulsion units.

[0024] The movement of the movable platform 100 can be controlled by the user.

[0025] For example, the user can control the movement of the moving platform 100 via the display device 200 and / or the remote control device 300, such as controlling the direction, position, status and movement mode of the moving platform 100.

[0026] See Fig. 3: The movable platform 100 is configured to capture a panoramic image. The panoramic image includes, among others, a horizontal panoramic image (360° horizontal, limited vertical viewing angle), a cylindrical projection panoramic image (cylindrical unfolding), a partially spherical panoramic image (covering 360° horizontally and a specific area of ​​the field of view vertically), and a full spherical panoramic image (complete spherical coverage of 360° horizontal × 180° vertical). Fig. Figure 2 shows a complete spherical panoramic image as an example.

[0027] As in Fig. As shown in Figure 2, the panoramic image is captured, for example, with a camera device 101 mounted on the movable platform 100, such as a camera lens. To enable a 360-degree capture of the target object, at least one camera lens can be provided. Furthermore, the camera lens can include a wide-angle lens and / or an ultra-wide-angle lens. A 360-degree view can be created by combining images captured with at least one wide-angle lens and / or an ultra-wide-angle lens. For example, two ultra-wide-angle lenses (e.g., fisheye lenses) can be combined. Since each fisheye lens has a viewing angle of 190 degrees, the combined field of view of the two fisheye lenses can reach 360 degrees (with a viewing angle overlap of 20 degrees).

[0028] The display device 200 can be any device with image display capabilities, such as a head-mounted display (e.g., flight goggles, head-mounted AR devices, etc.), a portable display device (e.g., a user-held mobile device such as a mobile phone, laptop, tablet, etc.), a fixed display device, a display device integrated into a remote control device (e.g., a remote control for controlling the moving platform 1), etc.

[0029] As in Fig. As shown in Figure 3, the display device 200 is configured to display at least a portion of the panoramic image as an image. In the present disclosure, the relative positional relationship between the displayed image and the panoramic image is primarily defined by the viewing angle of the displayed image. The viewing angle refers to the direction from the center of the panoramic image to the center of the displayed image.

[0030] The movable platform 100 and / or the display device 200 have a camera module for processing the panoramic image in order to obtain the displayed image. The camera module can, for example, reproduce a corresponding part of the panoramic image based on the selected viewing angle and image size in order to capture the displayed image.

[0031] Specifically, the panoramic image can be modeled as a virtual 360° sphere. A spatial Cartesian coordinate system can be created that describes the sphere as a unit sphere and uses a unit direction vector to describe a point on the sphere. During the actual capture, an area is "cut out" of the sphere and projected onto a plane. The imaging process essentially determines the center vector, the field of view (FOV), and the projection method of this area; the FOV and projection method are independent of the flight mode, and certain viewing angle transformations can correspond to a rotation of the center vector (rotation from one point on the sphere to another). The mathematical tool used to rotate the vector is quaternions. By multiplying quaternions by vectors, the vector can be transformed into a specific orientation.Imaging tasks in different modes are equivalent to rotation quaternions in a solution-based system, in which a unit vector pointing to a given coordinate axis (e.g. the x-axis) is rotated to the target position.

[0032] Based on the viewing angle requirements, the panoramic image model can be mapped and processed using the rotation vector and the user's field of view (FOV) to obtain a local image corresponding to the viewing angle to be displayed. Image processing, such as distortion correction and image enhancement, is then performed to generate a flat image corresponding to the viewing angle, which is then used as the display image. In this way, the goal is achieved of representing the area corresponding to a specific viewing angle within the environment captured by the moving platform 100 as the displayed image.

[0033] For example, the movable platform 100 has a camera module, so that the movable platform 100 only needs to send the processed displayed image to the display device 200, without sending the complete panoramic image, thereby reducing the communication effort between the movable platform 100 and the display device 200.

[0034] The viewing angle of the displayed image on the display device 200 can be actively controlled by the user.

[0035] The viewing angle of the displayed image is linked, for example, to the position of the display device 200; that is, it changes when the position of the display device 200 changes. If the user turns their head to change the orientation of the display device 200, the viewing angle of the displayed image changes accordingly (see Fig. 4).

[0036] Another example: The viewing angle of the displayed image is linked to a viewing angle adjustment mechanism. The viewing angle adjustment mechanism can be located on the display device 200 or on other devices such as the remote control device 300, a user-worn mobile device, etc. The viewing angle adjustment mechanism can be a virtual function module (e.g., an app on the user's mobile device) or a physical structure, such as a button, slider, remote control, scroll wheel, or trackball. For example, the viewing angle of the displayed image is linked to an action position of the viewing angle adjustment mechanism (in embodiments where the viewing angle adjustment mechanism is a virtual function module, the action position can be the position of a virtual button in the current control interface).

[0037] The remote control device 300 is configured at least to control the movement of the movable platform 100. As mentioned earlier, the remote control device 300 can be directly connected to the movable platform 100 for communication, or it can communicate with the display device 200 as a relay for communication with the movable platform 100.

[0038] For example, the user can operate the remote control device 300 to control the course of the moving platform 100, e.g., by setting waypoints or tracking target objects for the moving platform 100. And / or a user can operate the remote control device 300 to control the position of the moving platform 100. Taking an aircraft as an example of the moving platform 100, the user can operate the remote control device 300 to cause the moving platform 100 to perform pitch, roll, and yaw movements, thereby changing the position of the moving platform 100.

[0039] For example, a user can control the course and / or position of the movable platform 100 by operating the corresponding control mechanisms of the remote control device 300.

[0040] Furthermore, the remote control device 300 can, for example, be a motion-sensitive remote control that allows the user to control the course and / or position of the movable platform 100 by changing the position of the remote control device 300. In this context, a motion-sensitive remote control specifically refers to a human-computer interaction interface device that uses inertial sensors, optical sensors, or a combination of both to detect, track, and quantify the actual state of motion of a human body.

[0041] It is understandable that in practical applications, the viewing angle of the displayed image on the display device 200 is decoupled from the direction and / or position of movement of the movable platform 100. That is, when the user adjusts the viewing angle of the displayed image, the direction, path, and position of movement of the movable platform 100 are not affected; conversely, a user who adjusts the direction, path, and position of movement of the movable platform 100 does not force a change in the viewing angle of the displayed image.

[0042] In one example, the movable platform 100 is an unmanned aerial vehicle, the display device 200 is a head-mounted display, and the remote control device 300 is a motion-sensitive remote control.

[0043] As in Fig. As shown in Figure 3, in this scenario the user can freely adjust their viewing angle of the image by rotating the head-mounted display. Simultaneously, the user can control the aircraft's flight direction using the motion-sensitive remote control. If the user's viewing angle does not match the flight direction, the image displayed to the user and the image in the flight direction correspond to local images of different areas within the panorama.

[0044] The image displayed on the head-mounted display can show a dynamic navigation point that moves in sync with the user's gestures when operating the motion-sensitive remote control. The orientation of an unmanned aerial vehicle (UAV) is synchronized with the direction of the dynamic navigation point. For example, if the user waves their arm to the left, the dynamic navigation point moves to the left and the UAV turns left; if the user raises their arm, the dynamic navigation point moves upward and the UAV turns upward; if the user presses the throttle button, the UAV's orientation moves toward the dynamic navigation point.

[0045] In this scenario, the user switches between images with different viewing angles by turning their head. The motion sensor detects the rotation information from the head-mounted display, uses this information as the initial input, and overlays it with the aircraft's rotation information to determine the adjustment amount for each viewing angle image, thus establishing a display angle. The image is then adjusted accordingly.

[0046] According to embodiments of the present disclosure, the user can change the viewing angle simply by turning their head, as if they were sitting inside the unmanned aerial vehicle and looking around. This control method is intuitive; users do not need to learn complex joystick operation to control the camera movement, which significantly shortens the learning curve and provides a strong sense of presence and immersion.

[0047] The method according to the present disclosure simultaneously acquires rotation information from the aircraft (from its own IMU or other motion sensors) and rotation information from the head-mounted display. By "superimposing" the two (in particular by combining the rotation of the head-mounted display relative to an initial reference frame with the rotation of the unmanned aerial vehicle relative to the reference frame), a stable "display viewing angle" is determined.

[0048] For example, if the nose of the unmanned aerial vehicle (UAV) yaws 10 degrees to the right, the method described above detects this right turn. If the user's head remains still, the system compensates for this involuntary 10-degree tilt, presenting the user with a stable viewing angle, as if the UAV had a powerful electronic stabilizing gimbal. The viewing angle only changes when the user actively turns their head. By compensating for or merging the UAV's rotation, a relatively stable "virtual gimbal" is created for the user's view. This prevents the image from shaking violently due to small, involuntary movements of the UAV, significantly reducing dizziness and providing a more comfortable experience over extended periods.

[0049] According to embodiments of the present disclosure, the viewing angle of the viewed image can be arbitrarily set during the process in which the user freely changes the viewing angle, based on the user's input for a viewing angle setting. The viewing angle of the image can change arbitrarily, as the image is continuously adjusted.

[0050] The coordinate systems used in some embodiments of the present disclosure are explained below.

[0051] The hull coordinate system refers to a three-dimensional Cartesian coordinate system defined and attached to the hull, with the world coordinate system serving as a reference. If the hull changes its position relative to the world coordinate system, the hull coordinate system also changes its position relative to the world coordinate system.

[0052] The hull coordinate systems incorporated into the embodiments of this disclosure include the hull coordinate system of a movable platform, the hull coordinate system of a display device, and the hull coordinate system of a remote control device. Specific definitions of these three hull coordinate systems can be found in the relevant technologies, and this disclosure does not limit them. Exemplary definitions of the hull coordinate systems of these three devices are given below.

[0053] The fuselage coordinate system of a moving platform is a three-dimensional Cartesian coordinate system attached to the moving platform itself. Taking an aircraft as an example of a moving platform, the center point of the fuselage coordinate system is typically located at the aircraft's center of gravity. The longitudinal axis (also called the roll axis) points from tail to nose, the lateral axis (also called the pitch axis) points from right to left, and the vertical axis (also called the yaw axis) is perpendicular to the aircraft's plane and points from bottom to top.

[0054] The torso coordinate system of the display device is a three-dimensional Cartesian coordinate system attached to the display device itself. The origin of the torso coordinate system of a head-mounted display is typically located at the geometric center of the device or near the midpoint of the line connecting the user's eyes. When the user wears the display device correctly, the X-axis is parallel to the user's left-right direction, the Y-axis is parallel to the user's up-down direction, and the Z-axis is parallel to the user's forward-backward direction.

[0055] The body coordinate system of a remote control device is a three-dimensional Cartesian coordinate system attached to the remote control device itself. The origin of the body coordinate system of a motion-sensitive remote control is typically located at the center of the device, or at its center of gravity when held. When the user holds the remote control correctly, the X-axis is parallel to the user's left-right direction, the Y-axis is parallel to the user's forward-backward direction, and the Z-axis is parallel to the user's up-down direction.

[0056] The navigation coordinate system of the moving platform refers to the coordinate system used by the moving platform's motion control system to control its movement. The navigation coordinate system may, for example, be the coordinate system defined by the motion control system or a world coordinate system. Using the example of an aircraft, the navigation coordinate system may be the aircraft's flight control coordinate system or a world coordinate system. The specific definition of the navigation coordinate system can be found in the relevant technologies in this field, and the present disclosure contains no limitations.

[0057] The rendering coordinate system refers to the coordinate system used to capture the displayed image from a panoramic image. Taking the aforementioned camera module as an example of the rendering coordinate system, imagine that the camera module has a virtual camera, and the displayed image is the image captured by this virtual camera within the panoramic image. The rendering coordinate system is the coordinate system used to control the virtual camera and change its settings. For example, the rendering coordinate system could be a three-dimensional Cartesian coordinate system whose origin is located at the center of a sphere within the panoramic image.

[0058] Some embodiments of the present disclosure are described below. First embodiment

[0059] The first embodiment of the present disclosure provides a method for controlling a movable platform system. It should be noted that this method can be executed by the processor of one device in the movable platform system or by the processors of several devices in the movable platform system. The specific executing instance of this control method is not limited in the embodiments of the present disclosure.

[0060] The movable platform system, which is controlled by the control method of the first embodiment of the present disclosure, comprises in particular a movable platform and a display device. The movable platform is configured to capture a panoramic image, and the display device is configured to display at least a portion of the panoramic image. The specific implementation methods of the movable platform and the display device can be found in the descriptions in the corresponding sections above, which will not be repeated here.

[0061] As in Fig. As shown in section 4, the procedure for controlling the movable platform system includes in particular the following steps: Step S101: Capturing an association instruction. Step S102: Performing an association step based on the association instruction, wherein the association step is configured to cause the displayed image of the display device and / or a position of the moving platform to change, so that the displayed image is associated with a reference direction of the moving platform.

[0062] The specific implementation method for capturing the association instruction in step S101 is not restricted.

[0063] The association instruction can be captured, for example, based on user actions at any device within the moving platform system. In other words, the user can generate the association instruction by interacting with any device within the moving platform system and thereby trigger the subsequent association step.

[0064] Another example: The association instruction sent by the user can be received by any device within the moving platform system. In other words, the user can trigger the subsequent association step by sending the association instruction to any device within the moving platform system (e.g., by sending the association instruction via a mobile handheld device).

[0065] The association instruction can be generated, for example, by certain behaviors of the devices within the moving platform system. Association instructions can be generated automatically, for instance, when the device is switched on, when the device exits the menu, or when the operating mode and / or operating state of the device changes (e.g., when the moving platform switches from a static state to a moving state, or from remote-controlled flight mode to automatic flight mode). The association instruction can be acquired through communication with the devices described above.

[0066] In step S102, the reference direction of the moving platform refers to the direction relating to the moving platform itself and / or its movement. The reference directions of the moving platform include, for example, a first reference direction and a second reference direction.

[0067] The first reference direction is defined based on the hull coordinate system of the movable platform. The first reference direction includes, for example, the bow direction of the movable platform, the stern direction of the movable platform, the port direction of the movable platform, the starboard direction of the movable platform, the ground direction with respect to the movable platform pointing towards the ground, and the cardinal direction with respect to the movable platform pointing towards the sky, but is not limited to these.

[0068] An unmanned aerial vehicle is used as an example of a mobile platform.

[0069] The direction of the nose of the moving platform can refer to the direction pointing towards the nose along the roll axis of the moving platform.

[0070] The direction of the stern of the moving platform can refer to the direction that points towards the stern along the roll axis of the moving platform.

[0071] The port direction of the movable platform can refer to the direction at an angle of -90° between the yaw axis and the bow direction.

[0072] The starboard direction of the movable platform can refer to the direction at an angle of +90° between the yaw axis and the bow direction.

[0073] The ground direction with respect to the drone pointing towards the ground can refer to the direction at an angle of -90° between the pitch axis and the nose direction; or the ground direction can refer to the direction corresponding to the direction of gravitational acceleration.

[0074] The direction of travel with respect to the moving platform facing the sky refers to the direction at an angle of +90° between the pitch axis and the direction of flight; or the direction of travel may refer to the direction opposite to the direction of gravitational acceleration.

[0075] Experts know that the first reference direction is not limited to the directions mentioned above. For example, the first reference direction can also include directions defined by the user based on the hull coordinate system of the moving platform.

[0076] The second reference direction is a direction defined based on the navigation coordinate system of the moving platform. For example, the second reference direction can be the current direction of travel of the moving platform or a direction related to the current direction of travel of the moving platform. The second reference direction includes, for example, directions pointing to waypoints of the moving platform, directions pointing to targets currently being tracked by the moving platform, directions along preset flight paths of the moving platform, and directions pointing to targets targeted by preset flight paths of the moving platform.

[0077] A predefined flight path refers specifically to a flight route to which a particular target object is aligned. The target object includes the object selected when creating the predefined flight path and / or the object confirmed when executing the predefined flight path. For example, a flight path is created for a building as the target object, and the building is identified as the target object of the flight path. When executing a flight path, the user can, for example, adjust the target object based on the captured scene by identifying a specific object in the image as the target object.

[0078] The person skilled in the art knows that the second reference direction is not limited to the directions described above. For example, the second reference direction can also include the direction defined by the user based on the navigation coordinate system of the moving platform.

[0079] Furthermore, the person skilled in the art should know that the reference direction of the movable platform is not limited to the first and second reference directions described above.

[0080] In step S102, assigning the displayed image to the reference direction of the moving platform specifically refers to establishing a specific relationship between the displayed image and the reference direction of the moving platform. This relationship allows the user to perceive the image content in relation to the reference direction of the moving platform when viewing the displayed image.

[0081] For example, if there are overlapping pixels between the displayed image and the image corresponding to the reference direction of the moving platform in the panorama (i.e., the image that should be displayed when the viewing angle matches the reference direction of the displayed image), then the displayed image can be considered to be connected to the reference direction of the moving platform; otherwise, the displayed image is considered not to be connected to the reference direction of the moving platform.

[0082] Another example: Suppose there is a reference object (e.g., a waypoint of the moving platform) in the reference direction of the moving platform. Then the displayed image can be considered associated with the reference direction of the moving platform if at least part of the reference object appears in the displayed image; otherwise, it is assumed that the displayed image is not associated with the reference direction of the moving platform.

[0083] The displayed image can be linked simultaneously to multiple reference directions of the moving platform, e.g., simultaneously to a first reference direction (e.g., the direction of the aircraft's nose) and a second reference direction (e.g., the direction pointing toward the currently tracked target). If the enclosed angle between the multiple reference directions is greater than the current field of view of the displayed image, the displayed image can be assigned to the multiple reference directions by changing the field of view or by using a split-screen display method (i.e., the display device's image contains multiple sub-images, each assigned to one of the multiple reference directions).

[0084] In practical applications, users can select one or more of the directions described above as reference directions in the association step through human-computer interaction, and can also change the reference directions in the association step through human-computer interaction. Alternatively, the reference direction in a particular association step can also be predefined. In other words, a particular association step associates the displayed image of the display device with a specific reference direction.

[0085] In order to assign the displayed image to the reference direction of the movable platform, at least one of the two, the displayed image of the display device and the position of the movable platform, can be changed in the association step.

[0086] The association step allows only the displayed image of the display device to be changed, while the position of the moving platform remains unchanged. For example, it can rotate the viewing angle of the displayed image in the direction of the moving platform's reference direction. The change to the displayed image is not limited to changing the viewing angle. It could, for instance, also change the field of view (i.e., the angular range covered by the displayed image), thus associating the displayed image with the reference direction of the moving platform.

[0087] The association step can also simply change the position of the movable platform while the displayed image remains unchanged. For example, the reference direction of the movable platform can be rotated to match the viewing angle of the displayed image.

[0088] The association step can also change both the displayed image of the display device and the position of the movable platform. For example, the viewing angle of the displayed image and the reference direction of the movable platform can be rotated synchronously or sequentially.

[0089] The concrete implementation of the aforementioned association steps is not limited. For example, the control parameters required to rotate the viewing angle of the displayed image and to adjust the position of the moving platform can be determined based on the relative relationship between the viewing angle of the displayed image and the reference direction, and the corresponding control can be performed based on these control parameters. Some specific implementation methods are mentioned in the relevant sections below, which will not be discussed further here.

[0090] As mentioned previously, the viewing angle of the displayed image is decoupled from the movement of the moving platform, allowing both to be controlled independently. Adjusting the viewing angle of the displayed image does not change the movement of the moving platform, and vice versa. This control method provides users with a better viewing experience.

[0091] In some cases, however, users may want to view the image from a specific direction relative to the moving platform. For example, a user might want to view the image from the first reference direction of the moving platform (e.g., the direction towards the nose) to understand the moving platform's current surroundings. In another example, a user might want to view the image from the second reference direction of the moving platform (e.g., the direction pointing towards a waypoint) to understand the moving platform's current direction of movement.

[0092] In other scenarios, users may want to set the movable platform to a specific position, such as aligning the first reference direction of the movable platform (e.g., the nose direction) with the center of the current image (i.e., the viewing angle direction) to facilitate subsequent operations on the movable platform.

[0093] In the scenarios mentioned above, if the user manually adjusts the viewing angle of the display device and / or the position of the movable platform, it can be time-consuming and difficult to precisely adjust the user's desired state (e.g., aligning the nose direction with the viewing angle direction of the displayed image).

[0094] In the method according to the present embodiment, the user only needs to trigger the association instruction through human-computer interaction, and the device in question can automatically execute the association step and associate the displayed image with the reference direction of the moving platform. That is, the user can adjust the displayed image and / or the position of the moving platform to the desired state with a single click, thereby improving the user experience and the ease of subsequent operation of the moving platform system.

[0095] In some embodiments, the association step ends in response to the association of the displayed image with the reference direction of the moving platform.

[0096] In the present embodiment, the association step is performed only once, and the displayed image and the reference direction of the movable platform remain decoupled. That is, after the viewing angle and the reference direction of the displayed image have been assigned by the association step, the viewing angle and / or the reference direction of the movable platform no longer change when the user actively adjusts them again.

[0097] In some embodiments, an association mode can be activated in response to the association instruction, in which the association steps are performed continuously.

[0098] In the present embodiment, in association mode, the displayed image and the reference direction of the movable platform are no longer decoupled, but are constantly associated. That is, if the user actively adjusts the viewing angle of the displayed image and / or the reference direction of the movable platform, the other changes accordingly to maintain the connection between the displayed image and the reference direction of the movable platform.

[0099] Furthermore, in the present embodiment, the displayed image and the reference direction of the movable platform can be decoupled by exiting the association mode.

[0100] Experts should understand that in the aforementioned embodiments, the user can decide whether to enter association mode or perform the association step only once. In other words, the user can choose whether to enter association mode or perform the association step only once through human-computer interaction.

[0101] In some embodiments, aligning the displayed image with the reference direction of the movable platform includes: arranging the viewing angle of the displayed image at a specific angle to the reference direction of the movable platform.

[0102] In the present embodiment, the arrangement of the viewing angle of the displayed image at a specific angle to the reference direction of the movable platform refers to the vectors representing the two directions being in a predetermined angular relationship within the same reference coordinate system. The reference coordinate system can be any coordinate system, such as the world coordinate system, the rendering coordinate system, the body coordinate system of the movable platform, the body coordinate system of the display device, etc.

[0103] The set angle relationship can refer to the fact that the included angle between the two directions is a specific angle, e.g., 0° (i.e., the two directions are aligned) or 90° (i.e., the two directions are perpendicular to each other). Alternatively, the set angle ratio can also refer to the fact that the included angle lies within a specific range, e.g., less than or equal to 30°.

[0104] By arranging the viewing angle of the displayed image at a specific angle with the reference direction of the moving platform, the association between the displayed image and the reference direction of the moving platform can be increased, further improving the convenience of subsequent operations for the user.

[0105] In some embodiments, aligning the displayed image with the reference direction of the moving platform involves aligning the viewing angle of the displayed image with the reference direction of the moving platform. This maximizes the association between the displayed image and the reference direction of the moving platform.

[0106] In some embodiments, assigning the displayed image to the reference direction of the moving platform includes placing a dynamic navigation point, indicating the reference direction of the moving platform, within a defined area of ​​the displayed image.

[0107] In this case, the dynamic navigation point specifically indicates the second reference direction of the moving platform, i.e., the direction of movement of the moving platform. It is understood that the dynamic navigation point changes dynamically when the second reference direction of the moving platform changes.

[0108] The dynamic navigation point can be displayed as any pattern on the image and is not limited to a single point. For example, the dynamic navigation point can be displayed as a red dot, arrow, circle, dynamic pattern, custom pattern, etc.

[0109] The selected area can be any area of ​​the displayed image, e.g., the center, the corners, etc., without any restrictions.

[0110] In the present embodiment, by placing the dynamic navigation point in the defined area of ​​the displayed image, the user can understand the image in the current direction of movement of the moving platform, thereby facilitating the user's performance of subsequent operations, such as changing the course.

[0111] In some embodiments, the association step includes a first association step, and the first association step includes: maintaining a current motion parameter of the moving platform and changing the displayed image to associate the displayed image with the first reference direction.

[0112] In the present embodiment, the displayed image can be adjusted, while maintaining the current movement parameter of the moving platform, so that it is aligned with the first reference direction of the moving platform. This allows the user to understand the environmental conditions in a specific direction of the current movement state of the moving platform, which facilitates subsequent operations such as actively adjusting the position of the moving platform or the viewing angle of the displayed image, and reduces the difficulty of these operations.

[0113] In some embodiments, the first reference direction includes the direction of the nose of the moving platform. The first association step causes the viewing angle of the displayed image to point in the direction of the nose of the moving platform; in other words, it aligns the viewing angle of the displayed image with the direction of the nose of the moving platform in the same reference coordinate system. This allows the user to intuitively see the image in the direction of the nose of the moving platform, further reducing the difficulty of subsequent operations.

[0114] In some embodiments, the first association step causes a dynamic navigation point to be displayed on the image, indicating a second reference direction.

[0115] It should be noted that in the present embodiment it is sufficient to display the dynamic waypoint on the displayed image, and it is not necessary for the waypoint to appear in a specific area of ​​the displayed image.

[0116] Taking the first association step of aligning the viewing angle of the displayed image towards the nose of the moving platform as an example, the angle between the second reference direction and the direction of the nose of the moving platform is typically small and can be covered by the field of view of the displayed image. Therefore, if the viewing angle of the displayed image points towards the nose of the moving platform, the dynamic waypoint can automatically appear in the image.

[0117] If the included angle between the second reference direction and the flight direction of the moving platform (or another first reference direction associated with the displayed image, e.g., the first reference direction is the nose direction) is large and cannot be covered by the field of view of the displayed image, the dynamic waypoint can be displayed on the displayed image by methods such as split-picture display, adjusting the field of view of the displayed image, adjusting the second reference direction, or adjusting the display logic of the dynamic waypoint.

[0118] In the present embodiment, the dynamic navigation point appears on the displayed image, while the displayed image is linked to the first reference direction. This allows the user to fully understand the current environment of the moving platform and the environment of the moving platform's destination by combining the displayed image and the dynamic navigation point, further reducing the difficulty of subsequent operations for the user.

[0119] In some embodiments, maintaining the current position of the movable platform and changing the displayed image includes: rotating the viewing angle of the displayed image based on the relative relationship between the first reference direction and the current viewing angle of the displayed image, thereby changing the viewing angle of the displayed image.

[0120] The relative relationship between the initial reference direction and the current viewing angle of the displayed image refers to their relative position within the same reference coordinate system. This relative relationship can be used, for example, to rotate the virtual camera in the camera module or to move the rendering frame along the panorama image, thus rotating the viewing angle.

[0121] In the present embodiment, changing the displayed image and associating it with the first direction by rotating the viewing angle helps to improve the user's viewing experience and reduce the feeling of the image's jerkiness.

[0122] As already mentioned, in some embodiments the displayed image can also be changed and assigned to the first reference direction, e.g. by adjusting the field of view of the image or by a split-picture display.

[0123] In some embodiments, rotating the viewing angle of the displayed image based on the relative relationship between the first reference direction and the current viewing angle of the displayed image comprises: determining the relative relationship between the first reference direction and the current viewing angle of the displayed image based on a transformation parameter between the rendering coordinate system and the hull coordinate system of the moving platform, wherein the rendering coordinate system is the coordinate system used to capture the displayed image from the panoramic image.

[0124] The viewing angle is a direction defined based on the rendering coordinate system, while the first reference direction is defined based on the hull coordinate system of the moving platform. In other words, the viewing angle and the first reference direction lie in two different coordinate systems. Therefore, it is necessary to use the transformation parameter between the two coordinate systems to determine the relative relationship between the first reference direction and the viewing angle.

[0125] In the relevant descriptions of embodiments of the present disclosure, a transformation parameter refers to parameters that represent the actions required for aligning two coordinate systems. Using the transformation parameters, any coordinate in one coordinate system can be transformed into a coordinate in the other coordinate system. Examples of transformation parameters include quaternions, Euler angles, rotation matrices, homogeneous matrices, Lie groups, and Lie algebras, etc.

[0126] The first embodiment of the present disclosure does not restrict the specific method for acquiring the transformation parameters. For example, the method for aligning coordinate systems provided in some embodiments of the present disclosure may be used, or any method for aligning coordinate systems provided in the prior art may be used. Further details are omitted here.

[0127] In the above embodiments, the method further comprises: terminating the first association step in response to the displayed image being assigned to the first reference direction. This prevents the viewing angle of the display device from being changed by a user-initiated change in the orientation of the movable platform.

[0128] In the embodiments described above, the method further comprises: entering a first association mode in response to the association instruction and continuously executing the first association step in that first association mode. Thus, if the user actively changes the setting of the movable platform in the first association mode, the displayed image changes synchronously, thereby maintaining the association between the displayed image and the first reference direction.

[0129] In some embodiments, the association step includes a second association step, and the second association step includes: maintaining a currently displayed image of the display device and changing the position of the movable platform to align the displayed image with the first reference direction.

[0130] In contrast to the first association step, in the second association step the displayed image of the display device remains unchanged, while the position of the movable platform changes. This allows the user to select an image of interest and adjust the reference direction of the movable platform (e.g., the direction of the nose) to be linked to that image, thus facilitating subsequent manipulation of the movable platform to a location associated with objects within the current image of interest.

[0131] In practice, the user can select either the first or the second association step as needed. For example, the user can trigger various association instructions to cause the device to perform the corresponding association steps, or, after triggering an association instruction, they can further select the association step to be executed through interactive operations. Alternatively, after the association instruction is received, the first or second association step can be automatically selected based on the current usage scenario (e.g., the current movement mode and / or movement state of the moving platform).

[0132] In some embodiments, the first reference direction includes the direction of the nose of the movable platform, and the second association step causes the nose of the movable platform to point in the direction of the current viewing angle, which corresponds to the displayed image. This helps to further improve the comfort of subsequent operations.

[0133] In some implementations, a dynamic navigation point is displayed in the second association step, indicating the second reference direction on the displayed image. The specific implementation of displaying the dynamic navigation point on the displayed image is described in the corresponding part of the first association step, which will not be repeated here. Displaying a dynamic navigation point on the displayed image further improves the convenience of subsequent user actions.

[0134] In some embodiments, maintaining the currently displayed image of the display device while simultaneously changing the position of the movable platform includes: determining a target position in the navigation coordinate system of the movable platform based on the relative relationship between the first reference direction and the current viewing angle of the displayed image, and adjusting the position of the movable platform based on the target position.

[0135] The specific method for determining the relative relationship between the first reference direction and the viewing angle can be found in the description of the corresponding part in the first association step, which is not repeated here.

[0136] After determining the relative relationship, this relationship can be further represented in the navigation coordinate system based on the transformation parameter between the rendering coordinate system and the navigation coordinate system, thereby determining the target position. The motion control system can then generate a control parameter based on the current position and the target position to achieve a position adjustment of the moving platform. The specific implementation method of the motion control system that generates the aforementioned control parameters can be found in the relevant prior art technology, which is not repeated here.

[0137] In the embodiments described above, the method further comprises: in response to the displayed image being assigned to the first reference direction, terminating the second association step. Thus, if the user actively adjusts the viewing angle of the display device, the position of the movable platform does not change.

[0138] In the embodiments described above, the method further comprises, in response to the association instruction, entering a second association mode and continuously performing a second association step in the second association mode. Thus, if the user actively adjusts the viewing angle of the display device in the second association mode, the position of the movable platform changes synchronously, thereby maintaining the association between the displayed image and the first reference direction.

[0139] In some embodiments, the association step includes a third association step, and the third association step includes: at least changing the displayed image of the display device in order to associate the displayed image with the second reference direction.

[0140] In contrast to the first and second association steps described above, in the third association step the displayed image is associated with the second reference direction, not the first. Linking the displayed image to the second reference direction allows the user to identify the destination the moving platform will soon reach, thus facilitating subsequent course adjustments of the moving platform.

[0141] It should be noted that, unlike the first and second association steps, the third association step can either only change the displayed image of the display device while the position of the moving platform remains unchanged, or it can change both the displayed image of the display device and the position of the moving platform.

[0142] In some embodiments, the third association step comprises the following: during the process in which the movable platform tracks the movement in the second reference direction, the viewing angle of the display device is caused to track the movement in the second reference direction, thereby changing the displayed image of the display device.

[0143] In the present embodiment, the third association step is configured as a continuously executed step, which allows the displayed image to change in real time while the moving platform tracks the movement in the second reference direction (i.e., the automatic movement), so that the user can observe in real time the destination towards which the moving platform is heading and / or the target object it is tracking.

[0144] In some other embodiments, the third association step can also be terminated in response to the association of the displayed image with the second reference direction. This allows the user to freely adjust the viewing angle of the displayed image even when the moving platform is tracking the movement in the second reference direction.

[0145] In some embodiments, the third association step includes changing the position of the movable platform to cause the movable platform to follow the movement in the second reference direction.

[0146] Changing the position of the movable platform so that it follows the movement in the second reference direction can be achieved in a similar way to changing its position in the second association step. That is, it can be achieved based on the transformation parameters between coordinate systems, such as the rendering coordinate system and the navigation coordinate system.

[0147] Alternatively, any tracking algorithm available on the market can be used.

[0148] In some embodiments, the second reference direction includes a direction pointing toward the target object currently being tracked by the moving platform. The third association step positions the target object in the center of the displayed image and aligns the dynamic navigation point, which indicates the second reference direction, with the target object. This allows the user to intuitively observe the target object being tracked by the moving platform within the displayed image, thus enhancing the user's viewing experience as the moving platform tracks the target object's movement.

[0149] In some embodiments, the third association step includes: sensing the position of a target object; adjusting the viewing angle of the displayed image based on the relative relationship between the target object and the current viewing angle of the displayed image; and / or adjusting the navigation direction of the moving platform based on the relative relationship between the direction of the target object and the current navigation direction of the moving platform, so that the moving platform tracks the movement of the target object.

[0150] Determining the location of the target object includes, for example, identifying the target object within a panoramic image. The specific implementation of target object identification within a panoramic image is not limited. For instance, if a user specifies a target object on a display device, a candidate area within the panoramic image can be delineated based on the target object's position on the displayed image and the current viewing angle. Subsequently, a 2D image of the candidate area is captured, and the target object is identified within this 2D image. The specific identification method may, but is not limited to, relevant technologies in engineering.

[0151] Furthermore, determining the location of the target object includes determining the latitude and longitude or position coordinates of the target object, i.e., determining the position of the target object in the world coordinate system.

[0152] After the target object's position has been determined, the relative relationship between the target object and the current viewing angle of the display device can be further determined. Taking the target object's position as an example through identification in a panoramic image, the relative relationship between the target object and the current viewing angle of the real-world image can be determined based on the target object's position in the rendering coordinate system. This allows the viewing angle of the displayed image to be adjusted to align it with the target object (e.g., aligning the viewing angle with the center of the target object).

[0153] And / or, after identifying the target object, the target object's navigation direction relative to the current navigation direction can be determined based on the transformation parameter between the rendering coordinate system and the navigation coordinate system, thereby adjusting the navigation direction to track the target object. The navigation direction specifically refers to the direction in which the motion control system of the moving platform is currently controlling its movement.

[0154] In some embodiments, the movable platform is configured to follow a preset flight path. The second reference direction includes a direction pointing towards the target object of the preset flight path, and the third association step positions the target object in the center of the displayed image.

[0155] The target object is the object selected when creating the predefined flight route and / or the object confirmed when executing the predefined flight route. For example, a flight route is created for a building as the target object, and the building is identified as the target object of the flight route. For example, when executing the flight route, the user can adjust the selection of the target object based on the captured scene image by identifying a specific object in the scene image as the target object, and so on.

[0156] In some embodiments, the third association step includes: during the execution of the preset flight route by the moving platform, causing the viewing angle of the displayed image to be adjusted to track the movement of the target object (e.g. keeping the target object in the center of the displayed image), thereby changing the displayed image.

[0157] When the moving platform flies a preset flight path to capture images of the target object, the target object remains centered in the image, so the user does not have to actively adjust their viewing angle for tracking, which improves the viewing experience.

[0158] In some embodiments, performing the association step based on the association instruction includes: in response to receiving the association instruction, determining the current state of the moving platform; if the moving platform is currently in a motion state, performing the first association step; if the moving platform is currently in a hover state, performing the second association step; and if the moving platform is currently in a target tracking state, performing the third association step.

[0159] Here, the motion state refers to any state of motion other than target tracking. The target tracking state refers to the state of automatically tracking the movement of a target. The target here includes the target object described above and the target subject. In other words, the target tracking state encompasses the state of tracking the movement of the target object and the state of executing a preset flight path.

[0160] In the present embodiment, when the association instruction is received, the third association step is executed if the movable platform is in motion and in one of the two states mentioned above; if the movable platform is in motion and in neither of the states mentioned above, the first association step is executed; and if the movable platform is in a hovering state, the second association step is executed.

[0161] In the present embodiment, after capturing the association instruction, the system can automatically select whether to perform the first, second, or third association step based on the state of the moving platform. This allows users to trigger association methods designed for different usage scenarios through a single interactive process, thereby shortening the user learning curve and improving the user experience.

[0162] As mentioned previously, users can also trigger different association steps through various interactive processes.

[0163] In some embodiments, the viewing angle of the displayed image is linked to the setting of the display device. In this case, the method further comprises: linking the changed viewing angle of the displayed image to the setting of the display device in response to a change in the viewing angle of the displayed image caused by the association step.

[0164] As already mentioned, the link between the viewing angle of the displayed image and the position of the display device refers to the fact that the viewing angle of the displayed image changes with the position of the display device.

[0165] The viewing angle of the displayed image changes automatically during the association step; that is, the viewing angle changes even if the position of the display device remains unchanged. If the association between the viewing angle of the displayed image and the display device setting is not reset when the user first changes the display device setting after the association step, the viewing angle will change abruptly. Furthermore, the user cannot subsequently change the display device setting to return the viewing angle to a state that corresponds to the reference direction without re-executing the association step.

[0166] In the present embodiment, the changed viewing angle of the displayed image is linked to the setting of the display device. That is, the association between the viewing angle and the setting of the displayed image is updated after the association step is completed. Thus, if the user changes the setting of the display device after the association step is complete, the viewing angle of the displayed image rotates from its current position without jumping, which improves the viewing experience. Furthermore, the user can record the setting of the display device after the association step (e.g., the user can first set the display device to a convenient setting according to their own usage habits and then trigger the association instruction to execute the association step).In subsequent operations, the user can return to this setting to restore the viewing angle of the displayed image to a state that corresponds to the reference direction, further improving the user experience.

[0167] The specific implementation of linking the changed viewing angle of the displayed image with the position of the display device is not limited. For example, the rotation parameter of the viewing angle can be recorded in the association step, and the rotation parameter can be superimposed in the subsequent steps of adjusting the viewing angle based on the setting of the display device, thereby achieving the association between the changed viewing angle of the displayed image and the setting of the display device.

[0168] In some embodiments, the viewing angle of the displayed image is linked to the action position of the viewing angle adjustment mechanism. The method comprises: in response to a change in the viewing angle of the displayed image caused by the association step, assigning the changed viewing angle of the displayed image to the action position of the viewing angle adjustment mechanism.

[0169] Similarly, in the present embodiment, the association between the viewing angle of the displayed image and the action position of the viewing angle adjustment mechanism is updated after the association step. When the user operates the viewing angle adjustment mechanism, the viewing angle of the displayed image rotates from its current position after the association step is completed, without jumping, thus improving the viewing experience. Furthermore, the user can record the action position of the viewing angle adjustment mechanism after the association step, and in subsequent operations, the user can return to this position to reset the viewing angle of the displayed image to the state associated with the reference direction, further enhancing the user experience.

[0170] In some embodiments, the movable platform includes a remote control device, and at least one reference direction of the movable platform is linked to the setting of the remote control device. The method comprises: linking the changed viewing angle of the displayed image to the setting of the remote control device in response to a change caused by the association step; and / or, in response to a change in the position of the movable platform caused by the association step, mapping the changed position of the movable platform to the position of the remote control device.

[0171] The position of the remote control device can be related to the first reference direction of the moving platform and / or to the second reference direction of the moving platform.

[0172] For example, if the remote control's position is linked to the second reference direction of the moving platform, the relationship between the dynamic navigation point's position and the displayed image's viewing angle can be updated by linking the changed viewing angle of the displayed image to the remote control's position. Then, if the remote control's position changes (i.e., if the second reference direction changes), the dynamic navigation point's position does not change abruptly, improving user comfort.

[0173] Using the example of the remote control's position, which is linked to the first reference direction of the moving platform, linking the changed position of the moving platform to the position of the remote control can update the association between the remote control's position and the position of the moving platform. If the remote control's position changes, the moving platform will deviate from its current position, thus improving the control experience.

[0174] In some embodiments, the position of an associated control mechanism on the remote control device can also be linked to the first reference direction and / or the second reference direction of the movable platform. In this case, the method comprises: in response to a change in the viewing angle of the displayed image caused by the association step, assigning the changed viewing angle of the displayed image to the action position of the control mechanism; and / or, in response to a change in the position of the movable platform caused by the association step, assigning the changed position of the movable platform to the action position of the remote control device.

[0175] The specific implementation of the above-described updating of the association relationship can be found in the corresponding sections above, which are not repeated here.

[0176] In some embodiments, the movable platform system includes a remote control device, and the acquisition of the association instruction comprises: acquiring the association instruction based on an operation performed on the remote control device. In this way, the user can trigger the association instruction by interacting with the remote control, which improves usability, particularly in scenarios where the display device is a head-mounted display.

[0177] In some embodiments, the remote control device includes a viewing angle adjustment mechanism, wherein the viewing angle of the displayed image is associated with a first operation performed on the viewing angle adjustment mechanism, and / or the acquisition of the association instruction includes the acquisition of the association instruction based on a second operation performed on the viewing angle adjustment mechanism.

[0178] In this way, the processes for changing the viewing angle can be integrated into a single viewing angle adjustment mechanism. The user only needs to operate the viewing angle adjustment mechanism in various ways to actively adjust the viewing angle, or trigger the association instruction to adjust the viewing angle automatically, thus simplifying operation for the user.

[0179] In some embodiments, the viewing angle adjustment mechanism includes a rotating body; the first operation involves rotating the body, and the second operation involves pressing on the body. This allows the user to actively adjust the viewing angle or trigger the association command without significant finger movement, further simplifying operation.

[0180] The specific implementation method of the viewing angle adjustment mechanism for adjusting the viewing angle of the displayed image, the specific structural form of the viewing angle adjustment mechanism, and the remote control device equipped with the viewing angle adjustment mechanism are described in more detail in the relevant sections below, which will not be repeated here. Second embodiment

[0181] A second embodiment of the present disclosure provides a movable platform system comprising a movable platform and a display device. The movable platform is configured to capture a panoramic image, and the display device is configured to display at least a portion of the panoramic image.The procedure comprises the following: in response to an inconsistency between the displayed image and a reference direction of the moving platform, determining whether an association instruction is detected; if the association instruction is detected, performing one of the following association steps based on the association instruction to align the viewing angle of the displayed image with the reference direction of the moving platform: setting the displayed image while maintaining a current motion parameter of the moving platform; setting a position of the moving platform while maintaining the displayed image; setting the displayed image and the position of the moving platform.

[0182] The inconsistency between the displayed image and the reference direction of the moving platform refers, for example, to the angle between the viewing angle of the displayed image and the reference direction, which exceeds a predefined angular range.

[0183] In another example, the inconsistency between the displayed image and the reference direction of the moving platform refers to the fact that there is no pixel overlap between the displayed image and a corresponding image of the reference direction of the moving platform in the panoramic image.

[0184] In the method for controlling the movable platform system according to the present disclosure, in application scenarios where the displayed image and the reference direction of the movable platform do not coincide, it is determined whether an association instruction is detected. If the association instruction is detected, one of the three association steps described above is executed to adjust the viewing angle of the displayed image to the reference direction, i.e., to recenter the displayed image.

[0185] In the "Return Center" scenario, the viewing angle image can be switched to an image that corresponds to the display viewing angle of the reference direction.

[0186] The image corresponding to the display viewing angle of the reference direction can consist of various viewing angles of the image that the user is actively interested in or that must attract the user's attention. These include, but are not limited to, the following: A first-person flight view angle that faces the direction of flight of the aircraft, e.g., an FPV view angle; a viewing angle directed forward towards the nose of the aircraft, e.g. a nose viewing angle; a viewing angle directed towards the rear of the aircraft, e.g. a tail viewing angle; a left-hand viewing angle directed towards the port side of the aircraft, e.g. a port-side viewing angle; a right-hand viewing angle directed towards the starboard side of the aircraft, e.g. a starboard-side viewing angle; a viewing angle directed from above towards the ground; the viewing angle of the display device when capturing environmental images or creating a flight route; the viewing angle directed towards the object to be photographed, etc.

[0187] Furthermore, the aforementioned process of "return center" can be actively triggered by the user or automatically.

[0188] For example, after the user has freely changed the viewing angle, the subject moves out of the currently displayed image, and the user wants to realign the viewing angle with the subject to focus on it. This can be achieved by actively triggering the device via a remote control, which then switches the viewing angle image to the image with the viewing angle to the subject.

[0189] Another example is the detection of an obstacle in front of the unmanned aerial vehicle, prompting the user to focus on the obstacle avoidance maneuver. However, since the current image does not correspond to the viewing angle of the unmanned aerial vehicle's nose after the user has freely changed the viewing angle, the viewing angle image can be automatically switched to the nose viewing angle so that the user can concentrate on the obstacle avoidance maneuver. Third embodiment

[0190] A third embodiment of the present disclosure provides a movable platform system comprising a display device, a movable platform, and a controller. The movable platform is configured to capture a panoramic image, the display device is configured to display at least a portion of the panoramic image as a displayed image, and the controller is provided on the movable platform and / or the display device. The controller is configured to perform the method for controlling the movable platform system described in the first embodiment of the present disclosure.

[0191] As already mentioned in the first embodiment, the method for controlling the movable platform system can be carried out by a controller provided on the movable platform, a controller provided on the display device, or both controllers.

[0192] In some embodiments, the movable platform system also includes a remote control device, and the method for controlling the movable platform system can also be performed by the controller of the remote control device.

[0193] In some embodiments, the display device includes, in particular, a head-mounted display. This enables the user to have an immersive viewing experience.

[0194] In some embodiments, the movable platform carries a variety of camera devices for capturing the panoramic image.

[0195] In some embodiments, the movable platform comprises at least one of the following: an aircraft, a vehicle, a ship, a mobile robot, and a handheld stabilizer.

[0196] The specific structures of the movable platform, the display device and the remote control device according to the third embodiment of the present disclosure can be read in the corresponding sections above and in the other embodiments described below, which will not be repeated here. Fourth embodiment

[0197] A fourth embodiment of the present disclosure provides a computer storage medium, in particular a computer-readable storage medium, such as a memory that stores a computer program. The computer program can be executed by the processor of one or more associated devices in the movable platform system to perform the steps described in the methods of the first or second embodiment of the present disclosure. Computer-readable storage media can be memory such as ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface storage, optical disks, or CD-ROM.

[0198] In an exemplary embodiment, embodiments of the present disclosure further provide a computer program product, including a computer program that can be executed by a processor of one or more associated devices in a movable platform system to perform the steps described in the methods of the first or second embodiments of the present disclosure. Fifth embodiment

[0199] A fifth embodiment of the present disclosure provides a control method for a remote control device. The remote control device is connected to a display device that displays at least a part of a panoramic image as an image.

[0200] As in Fig. As shown in section 5, the control method of the remote control device according to the fifth embodiment of the present disclosure comprises the following steps: Step S201: Generating a command to set the viewing angle, wherein the command to set the viewing angle is configured to set a viewing angle of a displayed image of the display device. Step S202: Sending the viewing angle adjustment instruction to the display device.

[0201] The display device is, for example, the display device described in one of the embodiments mentioned above.

[0202] The control method of the remote control device according to the present disclosure enables the adjustment of the viewing angle of the display device via the remote control device, thereby improving the convenience of the viewing angle adjustment and enhancing the user experience.

[0203] In some embodiments, the remote control device includes a viewing angle adjustment mechanism, and generating the viewing angle adjustment instruction comprises: generating the viewing angle adjustment instruction in response to an initial actuation of the viewing angle adjustment mechanism.

[0204] The specific design of the viewing angle adjustment mechanism is not restricted; it can be a physical structure or a virtual functional module. The specific form of the first operation is also not restricted; it can include one or more of the operations of pushing, pulling, rotating, and pressing.

[0205] In the present embodiment, the user can adjust the viewing angle of the display device through interactive operations with the viewing angle adjustment mechanism, thereby improving usability.

[0206] In some embodiments, the generation of the instruction to adjust the viewing angle in step S201 can also be automated. For example, the viewing angle adjustment instruction can be generated automatically when the remote control switches to a specific mode.

[0207] In some embodiments, generating the viewing angle adjustment instruction in response to the first actuation of the viewing angle adjustment mechanism includes: generating a rotation command in response to the first actuation of the viewing angle adjustment mechanism, wherein the rotation command is configured to rotate the viewing angle of the displayed image of the display device.

[0208] In the present embodiment, the rotation instruction allows the user to rotate the viewing angle of the displayed image, instead of directly specifying a viewing angle and causing a sudden change in perspective. This improves the user's viewing experience and allows them to select suitable images and / or achieve desired camera movements by continuously rotating the viewing angle.

[0209] In some embodiments, generating the viewing angle adjustment instruction includes generating a toggle command, where the toggle command is configured to change the viewing angle of the displayed image. Here, toggling refers to directly switching the displayed image from the current viewing angle to another viewing angle, without any movement. This allows the user to quickly adjust the viewing angle to rapidly capture the scene and enables a wider range of camera movements.

[0210] In some embodiments, the viewing angle adjustment mechanism includes a rotating body. The first operation on the viewing angle adjustment mechanism comprises a rotation operation on the rotating body, which causes the viewing angle adjustment mechanism to rotate relative to the main body.

[0211] The specific structural form of the body of revolution is described in more detail in the relevant sections below, which will not be repeated here.

[0212] In the present embodiment, the user can initiate a rotation command by turning the remote control, thereby rotating the viewing angle. In this case, the user's hand movement is a rotation, and the image appears to rotate, giving the user the sensation of directly pulling the image with their hand, resulting in a more intuitive control experience. Furthermore, in this embodiment, the user's hand rotation and the rotation of the image's viewing angle are well synchronized, facilitating fine-tuning of the image's viewing angle through micro-manipulation.

[0213] In some embodiments, generating the rotation instruction in response to the actuation of the viewing angle adjustment mechanism includes: determining a rotation stroke based on a rotation amount of the rotation process and generating an instruction to rotate the viewing angle of the displayed image according to the rotation stroke.

[0214] In the present embodiment, the rotation of the viewing angle is linked to the amount of rotation when the user performs the rotation operation, thereby assisting the user in fine-tuning the viewing angle.

[0215] In some embodiments, the method includes: in response to the setting command, setting a proportional ratio when determining the rotary stroke based on the amount of rotation.

[0216] The user can specifically trigger the setting instruction through appropriate interactive processes.

[0217] It can be seen that the rotational stroke corresponding to the same rotational amount differs before and after adjusting the proportional ratio. In practice, if the user wants to make small camera movements and finely adjust the viewing angle of the image, the proportional ratio can be decreased, resulting in a shorter rotational stroke corresponding to the same rotational amount and thus making operation easier. If the user wants to perform large camera movements, the proportional ratio can be increased, resulting in a longer rotational stroke corresponding to the same rotational amount and thus making operation easier.

[0218] In some embodiments, the rotation speed of the viewing angle of the displayed image can be determined based on the rotation speed of the rotation process. This allows the user to simultaneously control the rotation distance and the rotation speed of the viewing angle, enabling more complex camera movements. Similarly, in some embodiments, the proportional relationship between the rotation speed determined based on the rotation speed of the rotation process and the camera's rotation speed can be adjusted in response to the setting instruction.

[0219] In some embodiments, generating the rotation command in response to actuation of the viewing angle adjustment mechanism includes: determining a rotation speed based on the amount of rotation of the rotation process and generating a command to continuously rotate the viewing angle of the displayed image according to the rotation speed.

[0220] In the embodiments described above, where the rotation distance is determined based on the amount of rotation, the viewing angle of the displayed image stops rotating once the rotation distance is reached. If the user wishes to rotate the viewing angle continuously, continuous hand rotation is required.

[0221] Once the user has set the rotation speed with a single turn, the image rotates continuously without requiring constant manual adjustments. This improves the user experience in scenarios that require frequent changes in viewing angle.

[0222] In some embodiments, the method further includes: setting a proportional ratio between the amount of rotation and the rotational speed in response to a setting command. This improves user-friendliness.

[0223] In some embodiments, generating the rotation command in response to actuation of the viewing angle adjustment mechanism includes: generating a command to change the rotation speed of the displayed image in response to a change in the amount of rotation. This allows the user to adjust the rotation speed of the viewing angle of the displayed image by rotating further or backward.

[0224] In some embodiments, generating the rotation command in response to actuation of the viewing angle adjustment mechanism includes the following: generating a command to stop the rotation of the displayed image in response to the rotation amount returning to zero. This allows the user to stop the rotation of the viewing angle of the displayed image by returning to their original position.

[0225] It should be noted that in all the above-mentioned embodiments, the direction of rotation specified by the rotation command can be associated with the direction of rotation of the rotation process.

[0226] It should also be noted that the generation logic of the two aforementioned rotation commands can be set selectively. Alternatively, they can be set simultaneously, allowing the user to switch between the two generation logics based on interactive operations, thus enabling them to select a more suitable operating method depending on the actual customization requirements.

[0227] In some embodiments, the rotating body is configured to rotate about a single axis; that is, the rotating body can only rotate about one axis. For example, the rotating body is designed as a roller that can only rotate about its own axis. In the present embodiment, the method comprises: determining an imaging axis corresponding to the rotation operation, wherein the imaging axis is an axis in the rendering coordinate system, and the rendering coordinate system is the coordinate system configured to capture the displayed image from the panoramic image. Generating the rotation command in response to actuation of the viewing angle adjustment mechanism comprises: generating a command to rotate the displayed image about the imaging axis in response to the rotation operation.

[0228] Since the panoramic image is a three-dimensional image, the viewing angle of the displayed image can rotate around three axes. In the present embodiment, the rotation of the rotating body can be mapped onto one of the axes, thereby achieving a rotation of the viewing angle of the displayed image.

[0229] In some embodiments, the method further includes: changing the imaging axis in response to the setting instruction, corresponding to the rotation process. In this way, the user can change the imaging axis corresponding to the rotation process through human-computer interaction, thereby achieving a three-axis rotation of the viewing angle, even if the rotating body can only rotate along a single axis.

[0230] In some embodiments, the method further includes: changing the number of imaging axes corresponding to the rotation process in response to the setting command. In this way, the user can change the number of imaging axes according to the rotation process through human-computer interaction. For example, the rotation process is mapped onto multiple axes simultaneously, thereby achieving an oblique rotation of the viewing angle of the displayed image and facilitating more complex camera movements.

[0231] In some embodiments, as mentioned above, there is a specific proportional relationship between the amount of rotation and the rotational stroke and / or the rotational speed of the rotation process. If the rotation process corresponds to a multitude of imaging axes, the ratio of the rotation process to each imaging axis can be different. Furthermore, in the present embodiment, the ratio associated with each imaging axis can be set separately in response to a setting instruction. This allows the viewing angle to be rotated in any direction, further increasing the flexibility of the camera movement.

[0232] In some embodiments, the rotating body can also be configured to rotate about a multitude of axes, such as a joystick. In the present embodiment, the rotational processes in each direction can be mapped onto different axes of the rendering coordinate system.

[0233] In some embodiments, the rotating body may not have a fixed axis of rotation. For example, the rotating body could be a sphere that rotates in all directions. In this case, rotational processes can be mapped to corresponding directions in the rendering coordinate system.

[0234] In some embodiments, the display device is configured to capture a panoramic image of the moving platform. The method further comprises generating an association instruction, the association instruction being configured to cause the remote control device and / or the display device and / or the moving platform to perform an association step. The association step modifies the displayed image of the display device and / or the position of the moving platform so that the displayed image is associated with a reference direction of the moving platform.

[0235] In the present embodiment, the remote control device also generates an association instruction, so that the user can trigger the association step by operating the remote control device. Details of the association step can be found in the first or second embodiment of the present disclosure, which will not be repeated here.

[0236] In some embodiments, as mentioned in the first embodiment of the present disclosure, the association step comprises a first association step, and the first association step comprises: maintaining a current motion parameter of the movable platform and changing the displayed image to associate the displayed image with a first reference direction of the movable platform, wherein the first reference direction is a direction defined on the basis of the hull coordinate system of the movable platform; and / or the association step comprises a second association step, and the second association step comprises: maintaining a current displayed image of the display device and changing a position of the movable platform to link the displayed image with the first reference direction of the movable platform;and / or the association step includes a third association step, and the third association step includes: at least changing the displayed image of the display device to link the displayed image to a second reference direction of the moving platform, wherein the second reference direction is a reference direction defined on the basis of the navigation coordinate system of the moving platform.

[0237] In some embodiments, as mentioned above, the remote control device includes a viewing angle adjustment mechanism, the generation of which comprises: in response to a first actuation of the viewing angle adjustment mechanism, the generation of a viewing angle adjustment instruction, and the generation of which comprises: in response to a second actuation of the viewing angle adjustment mechanism, the generation of an association instruction.

[0238] In this way, the processes for changing the viewing angle can be integrated into a single viewing angle adjustment mechanism. The user can actively adjust the viewing angle or trigger the association instruction for automatic viewing angle adjustment by operating the viewing angle adjustment structure in different ways, thus improving usability.

[0239] In some embodiments, the viewing angle adjustment mechanism includes a rotating body. The first operation involves rotating the body, and the second operation involves pressing on the body. This allows the user to actively adjust the viewing angle or trigger the association instruction without significantly moving their fingers, further increasing ease of use. Sixth embodiment

[0240] A sixth embodiment of the present disclosure provides a remote control device comprising a memory and a processor. The memory is configured to store computer program instructions. When executed by the processor, the computer program instructions implement the steps of the method in the fifth embodiment of the present disclosure. Seventh embodiment

[0241] A seventh embodiment of the present disclosure provides a computer storage medium, in particular a computer-readable storage medium, such as a memory that stores a computer program. The computer program can be executed by the processor of one or more associated devices in a portable platform system to perform the steps described in the method of the fifth embodiment of the present disclosure. The computer-readable storage medium may be a ROM, PROM, EPROM, EEPROM, flash memory, a magnetic surface storage medium, an optical disk, a CD-ROM, etc.

[0242] In an exemplary embodiment, the present disclosure further provides a computer program product, including a computer program that can be executed by a processor of one or more associated devices in a movable platform system to implement the steps described in the method of the fifth embodiment of the present disclosure. Eighth embodiment

[0243] An eighth embodiment of the present disclosure provides a remote control device. It should be noted that the remote control device according to the eighth embodiment of the present disclosure can be used as the remote control device described in any of the preceding embodiments.

[0244] As in the Fig. As shown in Figures 6-8, the remote control device comprises a main body 1, a first control mechanism 2, and a sensor 3. The first control mechanism 2 includes a support element 21 and a rotating body 22. The support element 21 is connected to the main body 1, and the rotating body 22 is rotatably connected to the support element 21. The rotating body 22 has a force-receiving surface 22a, which is exposed on the outer surface of the main body 1. The sensor 3 is configured to detect the rotational state of the rotating body 22.

[0245] The specific structural form of the main body 1 is not limited. For example, the main body 1 can have a structure suitable for holding with one hand, such as a generally columnar structure. Alternatively, it can also be shaped into a structure suitable for holding with two hands, such as a generally cuboid structure.

[0246] The first control mechanism 2 is configured to perform the corresponding control functions of the remote control. In the present embodiment, the specific functions performed by the first control mechanism 2 are not limited. For example, the first control mechanism 2 is used as a viewing angle adjustment mechanism, as in one of the embodiments described above.

[0247] The support element 21 is configured to connect the revolved body 22 to the main body 1, allowing the revolved body 22 to rotate relative to the main body 1. The specific structural shape of the support element 21 can be determined depending on, but is not limited to, the structure of the main body 1, the structure of the revolved body 22, and the rotation method.

[0248] The specific structure of the rotating body 22 is not limited. The rotating body 22 can be configured as a uniaxially rotating structure, such as a roller, or as a multiaxially rotating structure, such as a joystick, or as a structure without a fixed axis of rotation, such as an omnidirectional sphere.

[0249] One or more rotating bodies 22 can be provided. The structures of the multiple rotating bodies 22 can be identical or different. The multiple rotating bodies 22 can be configured to perform different control functions. In the embodiment where the first control mechanism 2 is used as a viewing angle adjustment mechanism, for example, different rotating bodies 22 can be used to control the viewing angle of the displayed image and to rotate it about different axes. For example, some rotating bodies 22 are configured to control functions related to the display device, such as adjusting the viewing angle, while other rotating bodies 22 are configured to control functions related to the movable platform, such as adjusting its position.

[0250] The rotating body 22 has a force-receiving surface 22a that is exposed on the outer surface of the housing. In practice, the user can exert a force on the rotating body 22 via the force-receiving surface 22a, which sets the rotating body 22 in motion. The force-receiving surface 22a is, for example, textured to prevent slippage, thus improving the user experience.

[0251] The sensor 3 is configured to detect the rotational state of the rotating body 22, e.g., the amount of rotation, the direction of rotation, and the rotational speed. In practical applications, relevant control instructions can thus be generated based on the rotational state detected by the sensor 3, such as the instruction for adjusting the viewing angle described in the fifth embodiment of this disclosure, thereby implementing the control function.

[0252] The specific design and placement of sensor 3 are not restricted. Sensor 3 is, for example, a Hall sensor 3.

[0253] The remote control device of the present embodiment comprises a first control mechanism 2, and the first control mechanism 2 comprises a rotating body 22. This allows the user to control the display device and / or the movable platform by rotation, which improves control and ease of use.

[0254] In some embodiments, the rotating body 22 comprises at least one roller, a joystick or an omnidirectional ball.

[0255] In some embodiments, the first control mechanism 2 comprises a damping structure 23, and at least one contact point between the support element 21 and the rotating body 22 is provided with the damping structure 23. This improves the user's feel and helps to ensure that the rotating body 22 remains in its rotated position after the user has finished rotating, thus achieving damped, stepless adjustment over a large angular range.

[0256] It is understandable that in some embodiments the first control mechanism 2 does not include a damping structure 23. Alternatively, the first control mechanism 2 can include a return structure, such as an elastic return rotary table, so that the rotating body automatically returns to its original rotational position after the user has finished rotating it.

[0257] In some embodiments (see Fig. 7 and Fig. 8) The support element 21 comprises a support frame 211 and the rotating body 22 a roller. The support frame 211 is mounted on one side of the roller in its axial direction. The support frame 211 and the roller each have at least one annular groove 211a formed on the surface facing the other. The annular groove 211a is arranged coaxially with the roller. The other part of the support frame 211 and the roller each have at least one mating gear 221 extending into the annular groove 211a along the axial direction of the roller.

[0258] The annular groove 211a refers specifically to a circular groove structure. The mating gear 221 is a tooth-like structure that projects from the surface of the roller or support frame 211. The mating gear 221 engages in the annular groove 211a and can slide within it, allowing the roller to rotate relative to the support frame 211. The mating gear 221 can be arranged one-to-one with the annular groove 211a, or a single annular groove 211a can be provided with a plurality of mating gears 221 distributed circumferentially along the annular groove 211a.

[0259] In the present embodiment, the rotating body 22 is designed as a roller. This reduces the range of finger movements required for rotation, facilitating one-handed operation and improving the user experience. It also helps to reduce the overall size of the remote control, making it easier to transport and store.

[0260] In the present embodiment, the support frame 211 and the roller form a rotary connection via the annular grooves 211a and the counter wheel 221. This type of engagement helps to increase the load-bearing capacity of the support element 21 for the rotating body 22 while fulfilling its rotary function, thereby improving the structural stability and service life of the first control mechanism 2 and reducing the possibility of the rotating body 22 becoming loose or wobbly during long-term use.

[0261] It is obvious that in some other embodiments the support element 21 and the roller can also achieve a sliding fit with the aid of a shaft and a shaft hole.

[0262] In some embodiments, several coaxial annular grooves 211a are formed on the surface of one of the support frames 211 and the roller facing the other, thereby further improving the rotational stability of the rotating body 22.

[0263] In some embodiments, the mating gears 221 extend circumferentially along the roller, forming a ring-shaped, closed structure. This contributes to improving the rotational stability of the rotating body 22 and increases the structural strength of the mating gears 221, thereby extending their service life.

[0264] In some embodiments, two support frames 211 are provided, located on opposite sides of the roller in its axial direction. For example, the two support frames 211 are rigidly connected to each other, so that the roller is clamped in the cavity formed by the two support frames 211. This structure contributes to further improving the rotational stability of the roller. It is understandable that in some other embodiments only one support frame 211 may be provided, and other forms of constraint structures may be provided on the other side of the roller.

[0265] In some embodiments, the first control mechanism 2, as mentioned above, comprises a damping structure 23. At least one of the support frames 211 and the roller have a sealing structure 24. The sealing structure 24, the groove wall of the annular groove 211a, and the counter gear 221 form a sealing cavity. The damping structure 23 contains damping grease filled into the sealing cavity.

[0266] The sealing structure 24 includes, for example, a projection structure on the top of the counter gear 221 and / or the bottom of the ring groove 211a.

[0267] Damping grease is a highly resistant lubricating grease manufactured from high-purity inorganic thickeners and synthetic oils, and formulated with additives such as rust inhibitors, impregnating agents, and corrosion inhibitors. The specific components of damping grease are not limited.

[0268] In the present embodiment, the damping structure 23 contains a damping grease that contributes to improving the damping effect. Furthermore, the damping grease in the sealing cavity helps to reduce the possibility of damping grease leakage and improve the reliability of the remote control device.

[0269] In some embodiments, the support element 21 is movably connected to the main body 1. The first control mechanism 2 comprises at least one push-button switch 25 arranged between the support element 21 and the main body 1. When the support element 21 moves relative to the main body 1, the actuation state of the push-button switch 25 can be changed. The specific design of the movable connection between the support element 21 and the movable body is not limited. For example, the rotating body 22 projects from the top of the main body 1, the support element 21 is configured to move relative to the main body 1 along its top-to-bottom direction, and the push-button switch 25 is located on the underside of the support element 21.

[0270] In the present embodiment, the user can not only rotate the first control mechanism 2 to achieve control functions, but also achieve control functions by pressing the first control mechanism 2, thereby extending the functionality of the first control mechanism 2 and improving the functional integration of the remote control device, thus improving the user's operating experience.

[0271] In some embodiments, the first control mechanism 2 includes an elastic return element 26, and the elastic return element 26 connects the support element 21 and the main body 1. Thus, after pressing, the support element 21 is automatically reset.

[0272] In Fig. Figure 8 shows, for example, that the main body 1 has a mounting groove, that the push-button switch 25 is arranged at the bottom of the mounting groove, and that the support element 21 projects into the mounting groove through an upper opening. The elastic return element 26 comprises two or more elastic support arms that project from both sides of the support body in a direction perpendicular to the upper and lower directions, and the elastic support arms rest against the upper surface of the groove wall.

[0273] In some embodiments (see Fig. 6) The remote control device includes a second control mechanism 4, and the second control mechanism 4 includes at least one button, one slider, and one toggle switch. This further increases the functional versatility of the remote control.

[0274] In some embodiments (see Fig. 6) The main body 1 has a user interface 1a, and both the first control mechanism 2 and the second control mechanism 4 are provided on the user interface 1a. By arranging the first control mechanism 2 and the second control mechanism 4 on the same user interface 1a, the range of hand movements required by the user when performing various operations is reduced, which increases ease of use.

[0275] In some embodiments (see Fig. 6) The main body 1 comprises a cylindrical handle 11 and an actuating section 12, which is provided at one axial end of the cylindrical handle 11. The operating surface 1a is formed on the actuating section 12, and the orientation of the operating surface 1a intersects both the axial and radial directions of the cylindrical handle 11; in other words, the operating surface 1a is formed as an inclined surface. For example, when the user holds the main body 1 correctly, the operating surface 1a faces the user's face.

[0276] In the present embodiment, the main body 1 is designed to be suitable for one-handed gripping, and the operating surface 1a is designed as an inclined surface. This makes it easier for the user to grip the main body 1 with one hand and allows them to place their thumb on the operating surface 1a to perform the corresponding operations, thus improving usability and tactile feedback.

[0277] In some embodiments, the user interface 1a has two operating areas distributed radially (e.g., in a left-right direction) along the cylindrical handle 11, and the first control mechanism 2 and the second control mechanism 4 are each provided in the two operating areas. This allows the user to easily access various control functions by moving their finger laterally, thus improving usability and tactile feedback.

[0278] In some embodiments, the remote control is configured to communicate with the display device. The remote control device comprises a controller 5, which is electrically connected to a sensor 3. The controller 5 generates a first control command based on the rotational state of the rotating body 22. The first control command is configured to control the display device.

[0279] In some embodiments, the display device is configured such that at least a portion of the panoramic image is displayed as the displayed image. The first control command includes a command for adjusting the viewing angle, and this command is configured to adjust the viewing angle of the displayed image. The specific implementation of the command for adjusting the viewing angle of the displayed image can be found in the fifth embodiment of this disclosure, which will not be repeated here.

[0280] In some embodiments, the first control mechanism 2 comprises a push-button switch 25. The controller 5 is configured to generate a second control command based on the actuation state of the push-button switch 25. The second control command is configured to control the display device.

[0281] In some embodiments, the display device is configured to capture a panoramic image of the moving platform. The second control instruction contains an association instruction, and the association instruction is configured to cause the remote control device, the display device, and / or the moving platform to perform an association step. The association step modifies the displayed image of the display device and / or the position of the moving platform so that the displayed image is aligned with the reference direction of the moving platform.

[0282] Specific implementations of the association step can be referred to the first or second embodiment of the present disclosure, which is not repeated here.

[0283] In some embodiments, the remote control device includes a second control mechanism 4 provided on the main body 1. The controller 5 is configured to generate a third control command based on the operating state of the second control mechanism 4. The third control command is configured to control the movable platform, which communicates with the display device. For example, the controller 5 can send the third control command to the display device, and the display device forwards the third control command to the movable platform. Alternatively, the remote control device can be communicatively connected to the movable platform, and the controller 5 can send the third control command directly to the movable platform.

[0284] The second control mechanism 4 includes, for example, an emergency stop button 41 and a release button 42. The emergency stop button 41 is configured to cause the mobile platform to stop suddenly, return to base, etc. The release button 42 is configured to control the starting and stopping of the mobile platform. For example, if the mobile platform is an unmanned aerial vehicle, the release button 42 is configured to control the takeoff and landing of the mobile platform.

[0285] In some embodiments, the controller 5 is configured to perform the steps of the method described in the fifth embodiment of the present disclosure. Ninth embodiment

[0286] A ninth embodiment of the present disclosure provides a method for aligning coordinate systems. The coordinate system alignment method can be applied to the transformation parameters described in any example of the first embodiment of the present disclosure, and it can, of course, also be applied to any application where transformation parameters between two three-dimensional coordinate systems need to be determined.

[0287] As in Fig. As shown in Figure 9, the method for aligning the coordinate system according to the present embodiment comprises the following steps: Step S301: Perform an axis sequence alignment for a first coordinate system and a second coordinate system. Step S302: Calculating a transformation parameter based on an aligned axis order, where the transformation parameter is configured to represent a rotation required to align the first coordinate system and the second coordinate system. In step S301, the following procedure can be used as an example to perform the axis order alignment for the first coordinate system and the second coordinate system: Assume the first coordinate system is the NWU system, i.e., the x-axis points north, the y-axis west, and the z-axis upwards; the second coordinate system is the NED system, i.e., the x-axis points north, the y-axis east, and the z-axis downwards.

[0288] To determine the axis order alignment, the following equations must be solved: qaxis=normalize(qscalar'qvector)

[0289] A vector “v” with three identical direction components is constructed in the first coordinate system, and the corresponding vector is referred to as “v1” in the second coordinate system.

[0290] To determine the parameters mentioned above, a normalization is first performed to obtain two auxiliary vectors: a=v‖v‖, b=v1‖v1‖

[0291] Then the dot product and the cross product are calculated: d=a⋅b,v⊥=a×b

[0292] Then this results: qunnormalized=[1+dv⊥]=[1+a□ba×b]

[0293] The normalization results in: qaxis=qunnormalized‖qunnormalized‖

[0294] The calculated “qaxis” represents the rotation required to achieve the axis sequence alignment for the first coordinate system and the second coordinate system.

[0295] It should be noted that the procedure described above is merely an example of axis sequence alignment, and that any axis sequence alignment procedure provided for in the related prior art may be used in step S301.

[0296] In step S302, the transformation parameter is calculated based on the aligned axis order. The transformation parameter represents the rotation required to align the first and second coordinate systems. The specific calculation method for the transformation parameter in the case of axis alignment can be found in the relevant prior art, which is not limited to this.

[0297] If the transformation parameter is calculated directly when the axis order alignment for the first and second coordinate systems is not achieved, the computational effort is high and the process complex. The coordinate system alignment method according to the present embodiment divides the alignment into two steps: first, calculating the rotation required for axis order alignment, and then calculating the rotation required for coordinate system alignment based on the aligned axis order. This helps to reduce the computational effort and improve the efficiency of acquiring the transformation parameters.

[0298] In some embodiments, the calculation of the transformation parameter based on the order of the aligned axes includes: determining a correspondence relationship between a coordinate axis of the first coordinate system and a coordinate axis of the second coordinate system based on the aligned axis order; calculating a first compensation parameter, which represents a rotation required to make a first coordinate axis of the first coordinate system parallel to the corresponding coordinate axis of the second coordinate system; calculating a second compensation parameter, which represents a rotation required to align a second and a third coordinate axis of the first coordinate system with corresponding coordinate axes of the second coordinate system;and determining the transformation parameter based on the first compensation parameter and the second compensation parameter.

[0299] In the present embodiment, the calculation of the rotation within the framework of axis sequence alignment is also divided into two steps: First, a rotation is calculated that is required to make a first coordinate axis of the first coordinate system parallel to the corresponding coordinate axis of the second coordinate system, i.e., the rotation required to make a coordinate plane of the first coordinate system parallel to the corresponding coordinate plane of the second coordinate system; then, the rotation required to align the other two coordinate axes of the first and second coordinate systems is calculated, i.e., the angle of rotation about the aforementioned parallel coordinate axis (the first coordinate axis). This contributes to a further reduction in the computational load.

[0300] The specific methods for calculating the first compensation parameter and the second compensation parameter can be found in relevant techniques from the field, which will not be discussed in detail here.

[0301] In some embodiments, the transformation parameter includes at least one of the following elements: quaternion, Euler angle, rotation matrix, homogeneous matrix, Lie group, and Lie algebra.

[0302] As described in the first embodiment, the coordinate systems that must be aligned in the implementation of the first embodiment include, among others: the rendering coordinate system, the hull coordinate system of the moving platform, the navigation coordinate system of the moving platform, the hull coordinate system of the display device, and the hull coordinate system of the remote control device.

[0303] In practical applications, one of the coordinate systems mentioned above can be designated as the primary coordinate system and the others as the secondary coordinate system for the calculations mentioned above, thus aligning all coordinate systems. Alternatively, an external reference frame can be used to position the primary coordinate system, and the coordinate systems mentioned above can be designated as the secondary coordinate system for the calculations mentioned above, thus aligning all coordinate systems.

[0304] Furthermore, in practical applications, each of the movable platform, display device, and remote control device can be used as an implementation subject to carry out the above procedure. The implementation subject gathers the settings of the respective devices and calculates the transformation parameters. After completion of the calculation, the transformation parameters can be distributed to the respective devices to achieve the alignment of their coordinate systems. Tenth embodiment

[0305] A tenth embodiment of the present disclosure provides a computer storage medium, in particular a computer-readable storage medium, such as a memory containing a computer program. The computer program can be executed by a processor of one or more associated devices in a movable platform system to perform the steps described in the method of the ninth embodiment of the present disclosure. The computer-readable storage medium may be a ROM, PROM, EPROM, EEPROM, flash memory, a magnetic surface storage medium, an optical disk, a CD-ROM, etc.

[0306] In an exemplary embodiment, embodiments of the present disclosure also provide a computer program product containing a computer program, wherein the computer program can be executed by a processor of one or more related devices in a portable platform system to implement the steps described in the method according to the ninth embodiment of the present disclosure.

[0307] In the description of this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or properties described in connection with that embodiment or example and which are included in at least one embodiment or example of the embodiments described in this disclosure. Furthermore, a person skilled in the art can combine different embodiments or examples and features of different embodiments or examples described in this disclosure without contradiction.

[0308] The present descriptions are merely preferred embodiments of the present disclosure and are not intended to limit the scope of the present disclosure. The present disclosure may be modified and varied in various ways by those skilled in the art. All changes, equivalent replacements, improvements, etc., made within the spirit and principles of the present disclosure should be included within the scope of protection of the present disclosure.

[0309] The following examples of claims from the priority disclosure are also disclosed: Example of claim 1. Method for controlling a movable platform system, wherein the movable platform system comprises a movable platform and a display device, wherein the movable platform is configured to capture a panoramic image, and the display device is configured to display at least a part of the panoramic image as a displayed image, wherein the method comprises: Capturing an association instruction; Performing an association step based on the association instruction, wherein the association step causes the displayed image of the display device and / or a position of the movable platform to change, so that the displayed image is associated with a reference direction of the movable platform. Example of claim 2. Method according to example of claim 1, wherein assigning the displayed image to the reference direction of the movable platform comprises the following: Arranging a viewing angle of the displayed image at a specific angle to the reference direction of the moving platform. Example of claim 3. Method according to example of claim 1, wherein assigning the displayed image to the reference direction of the movable platform comprises the following: Locating a dynamic navigation point that indicates the reference direction of the moving platform within a defined area of ​​the displayed image. Example of Claim 4. Method according to Example of Claim 1, wherein the reference direction comprises a first reference direction and a second reference direction, the first reference direction being a direction defined on the basis of the hull coordinate system of the movable platform, and the second reference direction being a direction defined on the basis of the navigation coordinate system of the movable platform; wherein the mapping of the displayed image to the reference direction of the movable platform comprises the following: Assigning the displayed image to at least one of the first and second reference directions. Example of Claim 5. The method of Example of Claim 4, wherein the first reference direction comprises at least one of the following directions: a bow direction of the movable platform, a stern direction of the movable platform, a port direction of the movable platform, a starboard direction of the movable platform, a direction pointing towards the sky with respect to the movable platform, and a direction pointing towards the ground with respect to the movable platform; and / or the second reference direction includes at least one of the following: a direction pointing towards a waypoint of the moving platform, a direction pointing towards a target currently being tracked by the moving platform, a direction along a preset flight path of the moving platform, and a direction pointing towards a target object being targeted by the preset flight path of the moving platform. Example of claim 6. Method according to example of claim 4, wherein the association step comprises a first association step, wherein the first association step comprises the following: Maintaining a current movement parameter of the moving platform and changing the displayed image to link the displayed image to the first reference direction. Example of claim 7. Method according to example of claim 6, wherein the first reference direction includes the bow direction of the movable platform and the first association step is configured such that the viewing angle of the displayed image points in the direction of the bow direction of the movable platform. Example of claim 8. Method according to example of claim 6, wherein the first association step causes a dynamic navigation point, which indicates the second reference direction, to be displayed on the displayed image. Example of claim 9. Method according to example of claim 6, wherein maintaining the current position of the movable platform and changing the displayed image comprises the following: Rotating the viewing angle of the displayed image based on the relative relationship between the first reference direction and a current viewing angle of the displayed image, in order to change the displayed image. Example of claim 10. Method according to example of claim 9, wherein rotating the viewing angle of the displayed image based on the relative relationship between the first reference direction and the current viewing angle of the displayed image comprises the following: Determining the relative relationship between the first reference direction and the current viewing angle of the displayed image based on a transformation parameter between a rendering coordinate system and a hull coordinate system of the moving platform, where the rendering coordinate system is the coordinate system used to capture the displayed image from the panorama image. Example of claim 11. Method according to example of claim 4, wherein the association step comprises a second association step, and the second association step comprises the following: Maintaining the currently displayed image of the display device and changing the position of the movable platform to link the displayed image with the first reference direction. Example of claim 12. Method according to example of claim 11, wherein the first reference direction includes the direction of the nose of the movable platform and the second association step is configured such that the nose of the movable platform points in the direction of the current viewing angle corresponding to the displayed image. Example of claim 13. Method according to example of claim 11, wherein the second association step is configured such that a dynamic navigation point indicating the second reference direction is displayed on the displayed image. Example of claim 14. Method according to example of claim 11, wherein maintaining the currently displayed image of the display device and changing the position of the movable platform comprises the following: Determining a target position in the navigation coordinate system of the moving platform based on the relative relationship between the first reference direction and the current viewing angle of the displayed image, and adjusting the position of the moving platform based on the target position. Example of claim 15. Method according to example of claim 4, wherein the association step comprises a third association step, and the third association step comprises the following: at least changing the displayed image of the display device in order to link the displayed image with the second reference direction. Example of claim 16. Method according to example of claim 15, wherein the third association step comprises: tracking the movement of the second reference direction by the movable platform, causing the viewing angle of the displayed image to follow the movement of the second reference direction in order to change the displayed image of the display device; or during the process in which the moving platform executes a preset flight route, to cause the viewing angle of the displayed image to follow the movement of a target object towards which the preset flight route is directed in order to change the displayed image of the display device. Example of claim 17. Method according to example of claim 15, wherein the third association step comprises: changing the position of the movable platform to cause the movable platform to follow the movement in the second reference direction. Example of claim 18. Method according to example of claim 15, wherein the second reference direction comprises a direction pointing towards a target object currently being tracked by the movable platform, wherein the third association step is configured to center the target object on the displayed image and assign a dynamic navigation point indicating the second reference direction to the target object; or if the second reference direction includes a direction pointing towards a target object towards which the preset flight path of the moving platform is directed, the third association step is configured to center the target body on the displayed image. Example of claim 19. Method according to example of claim 18, wherein the third association step comprises the following: Determining the position of the target object; Adjusting the viewing angle of the displayed image based on the relative relationship between the target object and the current viewing angle of the displayed image, and / or adjusting the navigation direction of the moving platform based on the relative relationship between the direction of the target object and the current navigation direction of the moving platform. Example of Claim 20. Method according to Example of Claim 1, wherein performing the association step based on the association instruction comprises: determining a current state of the movable platform in response to the detection of the association instruction; performing a first association step if the movable platform is currently in a motion state; performing a second association step if the movable platform is currently in a hover state; and performing a third association step if the movable platform is currently in a target tracking state. Example of claim 21. Method according to example of claim 1, wherein the viewing angle of the displayed image is linked to a position of the display device, the method comprising the following: In response to the association step, which causes a change in the viewing angle of the displayed image, linking the changed viewing angle of the displayed image to the setting of the display device. Example of Claim 22. Method according to Example of Claim 1, wherein the viewing angle of the displayed image is linked to an action position of a viewing angle adjustment mechanism, the method comprising: In response to the association step that causes a change in the viewing angle of the displayed image, linking the changed viewing angle of the displayed image to the action position of the viewing angle adjustment mechanism. Example of Claim 23. Method according to Example of Claim 1, wherein the movable platform comprises a remote control device, at least one reference direction of the movable platform is associated with a position of the remote control device, wherein the method comprises the following: as a reaction to the association step of changing the viewing angle of the displayed image, linking the changed viewing angle of the displayed image to a position of the remote control device; and / or In response to the association step of changing the position of the movable platform, linking the changed position of the movable platform with the position of the remote control device. Example of Claim 24. Method according to Example of Claim 1, wherein the movable platform system comprises a remote control device and the acquisition of an association instruction comprises: acquiring the association instruction based on an operation performed on the remote control device. Example of Claim 25. Method according to Example of Claim 24, wherein the remote control device comprises a viewing angle adjustment mechanism, the viewing angle of the displayed image is associated with a first operation performed on the viewing angle adjustment mechanism, and / or the acquisition of an association instruction comprises the acquisition of the association instruction based on a second operation performed on the viewing angle adjustment mechanism. Example of claim 26. Method according to example of claim 25, wherein the viewing angle adjustment mechanism comprises a rotating body, the first operation comprises a rotation operation on the rotating body and the second operation comprises a pressure operation on the rotating body. Example of claim 27. Method for controlling a movable platform system, wherein the movable platform system comprises a movable platform and a display device, wherein the movable platform is configured to capture a panoramic image, and the display device is configured to display at least a part of the panoramic image as a displayed image, wherein the method comprises: In response to an inconsistency between the displayed image and a reference direction of the moving platform, determine whether an association instruction is detected; When the association instruction is detected, perform one of the following association steps based on the association instruction to align a viewing angle of the displayed image with the reference direction of the moving platform: Adjusting the displayed image while maintaining the current movement parameter of the moving platform; Adjusting the position of the movable platform while maintaining the displayed image; Adjusting the displayed image and the setting of the moving platform. Example claim 28. Movable platform system comprising the following: a movable platform for taking a panoramic image; a display device for showing at least a part of the panoramic image as a displayed image; and a controller provided on the movable platform and / or the display device, wherein the controller is configured to perform the method according to one of claim examples 1 to 26 or the method according to claim example 27. Example of claim 29. Movable platform system according to example of claim 28, wherein the display device comprises a head-mounted display. Example of claim 30. Movable platform system according to example of claim 28, wherein the movable platform carries a plurality of camera devices and the plurality of camera devices is configured to capture the panoramic image; and / or The mobile platform includes at least one of the following elements: an aircraft, a vehicle, a ship, a mobile robot, and a handheld stabilizer. Example of claim 31. Control method of a remote control device, wherein the remote control device is communicatively connected to a display device, wherein the display device is configured to display at least a part of a panoramic image as the displayed image, wherein the method comprises the following: Generating a viewing angle adjustment instruction, wherein the viewing angle adjustment instruction is configured to set a viewing angle of the displayed image of the display device; and sending the viewing angle adjustment instruction to the display device. Example of claim 32. Method according to example of claim 31, wherein the remote control device comprises a viewing angle adjustment mechanism and generating the viewing angle adjustment instruction comprises: generating the viewing angle adjustment instruction in response to a first actuation of the viewing angle adjustment mechanism. Example of claim 33. Method according to example of claim 32, wherein generating the viewing angle adjustment instruction in response to the first actuation of the viewing angle adjustment mechanism comprises the following: In response to the first actuation of the viewing angle adjustment mechanism, a rotation command is generated, the rotation command being configured to rotate the viewing angle of the display device. Example of claim 34. Method according to example of claim 33, wherein the viewing angle adjustment mechanism comprises a rotating body and the first actuation of the viewing angle adjustment mechanism comprises a rotation of the rotating body, wherein the rotation is configured to cause the viewing angle adjustment mechanism to rotate relative to the main body. Example of claim 35. Method according to example of claim 34, wherein generating the rotation command in response to actuation of the viewing angle adjustment mechanism comprises the following: Determining a rotation stroke based on the amount of rotation of the rotation process, and generating an instruction to rotate the viewing angle of the displayed image according to the rotation stroke. Example of claim 36. Method according to example of claim 35, wherein the method further comprises the following: In response to a setting instruction, setting the proportional relationship when determining the rotary stroke based on the rotation amount. Example of claim 37. Method according to example of claim 34, wherein generating the rotation command in response to actuation of the viewing angle adjustment mechanism comprises the following: Determining a rotational speed based on the amount of rotation of the rotation process and generating an instruction to continuously rotate the viewing angle of the displayed image according to the rotational speed. Example of claim 38. Method according to example of claim 37, wherein generating the rotation command in response to actuation of the viewing angle adjustment mechanism comprises the following: Generating an instruction to change the rotational speed of the viewing angle of the displayed image in response to a change in the amount of rotation of the rotation process, and / or In response to the rotation amount returning to zero, generate an instruction to stop the rotation of the viewing angle of the displayed image. Example of claim 39. Method according to example of claim 38, wherein the rotating body is configured to rotate along a single axis, the method comprising: Determining an imaging axis corresponding to the rotation process, wherein the imaging axis is an axis in a rendering coordinate system, the rendering coordinate system being a coordinate system used to capture the displayed image from the panorama image; where generating the rotation command in response to the actuation of the viewing angle adjustment mechanism includes the following: In response to the rotation process, an instruction is generated to rotate the viewing angle of the displayed image around the image axis. Example of claim 40. Method according to example of claim 39, wherein the method further comprises the following: in response to a setting instruction, changing the imaging axis according to the rotation process; and / or In response to a setting instruction, changing the number of imaging axes according to the rotation process. Example of Claim 41. Method according to Example of Claim 31, wherein the display device is configured to capture the panoramic image from a movable platform, the method further comprising: generating an association instruction, wherein the association instruction is configured to cause the remote control device and / or the display device and / or the movable platform to perform an association step, wherein the association step is configured to cause the displayed image of the display device and / or the position of the movable platform to change, such that the displayed image is associated with a reference direction of the movable platform. Example of Claim 42. The method of Example of Claim 41, wherein the association step comprises a first association step, wherein the first association step comprises: maintaining a current motion parameter of the movable platform and changing the displayed image to associate the displayed image with a first reference direction of the movable platform, wherein the first reference direction is a direction defined based on a hull coordinate system of the movable platform; and / or the association step comprises a second association step, wherein the second association step comprises: maintaining a currently displayed image of the display device and changing a position of the movable platform to associate the displayed image with the first reference direction of the movable platform; and / or The association step includes a third association step, wherein the third association step includes the following: at least modifying the displayed image of the display device to link the displayed image to a second reference direction of the movable platform, wherein the second reference direction is a reference direction defined on the basis of a navigation coordinate system of the movable platform. Example of claim 43. Method according to example of claim 42, wherein the remote control device comprises a viewing angle adjustment mechanism, the generation of the viewing angle adjustment instruction comprises the generation of the viewing angle adjustment instruction in response to a first operation on the viewing angle adjustment mechanism, and the generation of the association instruction comprises the generation of the association instruction in response to a second operation on the viewing angle adjustment mechanism. Example of claim 44. Method according to example of claim 43, wherein the viewing angle adjustment mechanism comprises a rotating body, the first operation comprises a rotation operation on the rotating body and the second operation comprises a pressure operation on the rotating body. Example of claim 45. Remote control device comprising a memory and a processor, wherein the memory is configured to store computer program instructions which, when executed by the processor, implement the method according to any one of example claims 31 to 44. Example claim 46. Remote control device comprising the following: a main body; a first control mechanism comprising a support element and a rotating body, wherein the support element is connected to the main body, the rotating body is rotatably connected to the support element, and the rotating body has a force-receiving surface exposed on the outer surface of the main body; and a sensor configured to detect a rotational state of the rotating body. Example of claim 47. Remote control device according to example of claim 46, wherein the rotating body comprises at least one roller, a joystick or a trackball; and / or, the first control mechanism includes a damping structure, and at least one contact point between the support element and the rotating body is provided with the damping structure. Example of claim 48. Remote control device according to example of claim 46, wherein the support element comprises a support frame, the rotating body comprises a roller and the support frame is provided on one side of the roller along an axial direction of the roller; one of the support frame and roller has at least one annular groove formed on the surface facing the other, the annular groove and the roller are arranged coaxially, and the other of the support frame and roller has at least one counter wheel extending into the annular groove along the axial direction of the roller. Example of claim 49. Remote control device according to example of claim 48, wherein either the support frame or the roller has a plurality of annular grooves provided coaxially on their surfaces facing the other; and / or the counter wheel extends circumferentially along the roller to form a closed ring-shaped structure; and / or Two support frames are provided, and the two support frames are arranged on opposite sides of the roller along the axial direction of the roller. Example of claim 50. Remote control device according to example of claim 49, wherein the first control mechanism comprises a damping structure, at least one of the support frame and the roller has a sealing structure, the sealing structure, a groove wall of the annular groove and the counter wheel form a sealing cavity and the damping structure comprises damping grease filled into the sealing cavity. 51. Remote control device according to claim example 46, wherein the support element is movably connected to the main body and the first control mechanism comprises at least one push button switch provided between the support element and the main body, wherein, when the support element moves relative to the main body, a trigger state of the push button switch is changed. Example of claim 52. Remote control device according to example of claim 51, wherein the first control mechanism comprises an elastic restoring element and the elastic restoring element is configured to connect the support element and the main body. Example of claim 53. Remote control device according to example of claim 46, wherein the remote control device comprises a second control mechanism, wherein the second control mechanism comprises at least a button, a slider and a toggle switch. Example of claim 54. Remote control device according to example of claim 46, wherein the main body has an operating surface and both the first control mechanism and the second control mechanism are provided on the operating surface. Example of claim 55. Remote control device according to example of claim 54, wherein the main body comprises a cylindrical handle and an operating section provided at an axial end of the cylindrical handle, wherein the operating surface is formed on the operating section, the orientation of the operating surface intersects both the axial direction and the radial direction of the cylindrical handle, and / or the operating surface has two operating areas distributed radially along the cylindrical handle, with the first control mechanism and the second control mechanism each being provided in the two operating areas. Example of claim 56. Remote control device according to example of claim 46, wherein the remote control device is configured to be communicatively connected to a display device, the remote control device comprises a controller that is electrically connected to the sensor, the controller is configured to generate a first control instruction based on the rotation state of the rotating body, and the first control instruction is configured to control the display device. Example of claim 57. Remote control device according to example of claim 56, wherein the display device is configured to display at least a part of a panoramic image as the displayed image, wherein the first control instruction includes a viewing angle adjustment instruction, wherein the viewing angle adjustment instruction is configured to adjust a viewing angle of the displayed image of the display device. Example of claim 58. Remote control device according to example of claim 57, wherein the first control mechanism comprises a push button switch and the control unit is configured to generate a second control instruction based on a trigger state of the push button switch, wherein the second control instruction is configured to control the display device. Example of claim 59. Remote control device according to example of claim 58, wherein the display device is configured to capture the panoramic image from a movable platform, the second control instruction includes an association instruction, the association instruction is configured to cause the remote control device and / or the display device and / or the movable platform to perform an association step, the association step causes the displayed image of the display device and / or a position of the movable platform to change, so that the displayed image is associated with a reference direction of the movable platform. Example of claim 60. Remote control device according to example of claim 56, wherein the remote control device comprises a second control mechanism provided on the main body, and the controller is configured to generate a third control instruction based on an operating state of the second control mechanism, wherein the third control instruction is configured to control a movable platform that is communicatively connected to the display device. Example claim 61. Method for coordinate system alignment comprising the following: Performing an axis sequence alignment for a first coordinate system and a second coordinate system; Calculating a transformation parameter based on an aligned axis order, wherein the transformation parameter is configured to represent a rotation required to align the first coordinate system and the second coordinate system. Example of claim 62. Method according to example of claim 61, wherein calculating the transformation parameter based on the aligned axis order comprises the following: Determining a correspondence relationship between a coordinate axis of the first coordinate system and a coordinate axis of the second coordinate system based on the aligned axis order; Calculating a first compensation parameter, which represents a rotation required to make a first coordinate axis of the first coordinate system parallel to the corresponding coordinate axis of the second coordinate system; Calculating a second compensation parameter, which represents a rotation required to align a second and a third coordinate axis of the first coordinate system with corresponding coordinate axes of the second coordinate system; and Determining the transformation parameter based on the first compensation parameter and the second compensation parameter. Example of claim 63. Method according to example of claim 61, wherein the transformation parameter comprises at least one of the following elements: quaternion, Euler angle, rotation matrix, homogeneous matrix, Lie group and Lie algebra.

Claims

[1] Mobile platform system comprising the following: a movable platform, wherein the movable platform is configured to capture a panoramic image, a display device, wherein the display device is configured to display at least part of the panoramic image as a displayed image, a control device, wherein the control device is configured for the following: Capturing an association instruction; Performing an association step based on the association instruction, wherein the association step causes the displayed image of the display device and / or a position of the movable platform to change, so that the displayed image is associated with a reference direction of the movable platform, wherein the reference direction includes a first reference direction and / or a second reference direction; where the association step includes at least one of the following steps: a first association step: maintaining a current movement parameter of the moving platform and changing the displayed image to associate the displayed image with the first reference direction; a second association step: maintaining the currently displayed image of the display device and changing the position of the movable platform to assign the displayed image to the first reference direction; a third association step: at least changing the displayed image of the display device in order to associate the displayed image with the second reference direction. [2] System according to claim 1, wherein assigning the displayed image to the reference direction of the movable platform comprises the following: Arranging a viewing angle of the displayed image at a specific angle to the reference direction of the moving platform. [3] System according to claim 1, wherein assigning the displayed image to the reference direction of the movable platform comprises the following: Locating a dynamic navigation point that indicates the reference direction of the moving platform within a defined area of ​​the displayed image. [4] System according to claim 1, wherein the first reference direction is a direction defined on the basis of the hull coordinate system of the movable platform, and the second reference direction is a direction defined on the basis of the navigation coordinate system of the movable platform; the assignment of the displayed image to the reference direction of the moving platform includes the following: Assigning the displayed image to at least one of the first and second reference directions. [5] System according to claim 4, wherein the first reference direction comprises at least one of the following directions: a bow direction of the movable platform, a stern direction of the movable platform, a port direction of the movable platform, a starboard direction of the movable platform, a direction pointing towards the sky with respect to the movable platform, and a direction pointing towards the ground with respect to the movable platform; and / or the second reference direction includes at least one of the following: a direction, a direction pointing towards a waypoint of the moving platform, a direction pointing towards a target currently being tracked by the moving platform, a direction along a preset flight path of the moving platform, and a direction pointing towards a target object being targeted by the preset flight path of the moving platform. [6] System according to claim 1, wherein the first reference direction includes the bow direction of the movable platform and the first association step is configured such that the viewing angle of the displayed image points in the direction of the bow direction of the movable platform. [7] System according to claim 4, wherein the first association step causes a dynamic navigation point, indicating the second reference direction, to be displayed on the displayed image. [8] System according to claim 4, wherein maintaining the current motion parameter of the movable platform and changing the displayed image comprises: Rotating the viewing angle of the displayed image based on the relative relationship between the first reference direction and a current viewing angle of the displayed image, in order to change the displayed image. [9] System according to claim 8, wherein rotating the viewing angle of the displayed image based on the relative relationship between the first reference direction and the current viewing angle of the displayed image comprises: Determining the relative relationship between the first reference direction and the current viewing angle of the displayed image based on a transformation parameter between a rendering coordinate system and a hull coordinate system of the moving platform, where the rendering coordinate system is the coordinate system used to capture the displayed image from the panorama image. [10] System according to claim 1, wherein the first reference direction comprises the direction of the nose of the movable platform and the second association step is configured such that the nose of the movable platform points in the direction of the current viewing angle corresponding to the displayed image. [11] System according to claim 4, wherein the second association step is configured such that a dynamic navigation point indicating the second reference direction is displayed on the displayed image. [12] System according to claim 4, wherein maintaining the currently displayed image of the display device and changing the position of the movable platform comprises: Determining a target position in the navigation coordinate system of the moving platform based on the relative relationship between the first reference direction and the current viewing angle of the displayed image, and adjusting the position of the moving platform based on the target position. [13] System according to claim 1, wherein the third association step comprises: Tracking the movement of the second reference direction by the moving platform, causing the viewing angle of the displayed image to follow the movement of the second reference direction in order to change the displayed image of the display device; or during the process in which the moving platform executes a preset flight path, causing the viewing angle of the displayed image to follow the movement of a target object toward which the preset flight path is directed in order to change the displayed image of the display device. [14] System according to claim 13, wherein the third association step comprises: Changing the position of the movable platform to cause the movable platform to follow the movement in the second reference direction. [15] System according to claim 13, wherein the second reference direction comprises a direction pointing towards a target object currently being tracked by the moving platform, wherein the third association step is configured to center the target object on the displayed image and assign a dynamic navigation point indicating the second reference direction to the target object; or the second reference direction comprises a direction pointing towards a target object towards which the preset flight path of the moving platform is directed, the third association step is configured to center the target body on the displayed image. [16] System according to claim 15, wherein the third association step comprises: Determining the position of the target object; Adjusting the viewing angle of the displayed image based on the relative relationship between the target object and the current viewing angle of the displayed image, and / or adjusting the navigation direction of the moving platform based on the relative relationship between the direction of the target object and the current navigation direction of the moving platform. [17] System according to claim 1, wherein the execution of the association step based on the association instruction comprises: determining a current state of the movable platform in response to the detection of the association instruction; performing a first association step if the movable platform is currently in a motion state; performing a second association step if the movable platform is currently in a hover state; and performing a third association step if the movable platform is currently in a target tracking state. [18] System according to claim 1, wherein the viewing angle of the displayed image is linked to a setting of the display device, wherein the control device is further configured for the following: In response to the association step, which causes a change in the viewing angle of the displayed image, linking the changed viewing angle of the displayed image to the setting of the display device. [19] System according to claim 1, wherein the viewing angle of the displayed image is assigned to an action position of a viewing angle adjustment mechanism, wherein the control device is further configured for the following: In response to the association step that causes a change in the viewing angle of the displayed image, linking the changed viewing angle of the displayed image to the action position of the viewing angle adjustment mechanism. [20] System according to claim 1, wherein the movable platform comprises a remote control device, at least one reference direction of the movable platform is linked to a position of the remote control device and the control device is further configured for the following: as a reaction to the association step of changing the viewing angle of the displayed image, linking the changed viewing angle of the displayed image to a position of the remote control device; and / or In response to the association step of changing the position of the movable platform, linking the changed position of the movable platform with the position of the remote control device. [21] System according to claim 1, wherein the movable platform system comprises a remote control device and the acquisition of an association instruction comprises: acquiring the association instruction based on an operation performed on the remote control device. [22] System according to claim 21, wherein the remote control device comprises a viewing angle adjustment mechanism, the viewing angle of the displayed image is associated with a first operation performed on the viewing angle adjustment mechanism, and / or the acquisition of an association instruction comprises the acquisition of the association instruction based on a second operation performed on the viewing angle adjustment mechanism. [23] System according to claim 22, wherein the viewing angle adjustment mechanism comprises a rotating body, the first operation comprises a rotation operation on the rotating body and the second operation comprises a pressure operation on the rotating body. [24] Movable platform, characterized by that it includes the following: an image capture module, wherein the image capture module is configured to capture a panoramic image; a communication module, wherein the communication module is configured to establish a communication link with a display device, wherein the display device is configured to display at least part of the panoramic image as a displayed image; a control module, the control module being configured for the following: Capturing an association instruction; and Performing an association step based on the association instruction; wherein the control module, by executing the association step, causes the displayed image of the display device and / or a position of the movable platform to change, so that the displayed image is assigned to a first reference direction and / or a second reference direction of the movable platform; where the association step comprises one of the following steps: a first association step: maintaining a current motion parameter of the moving platform, wherein, if the displayed image of the display device changes, the displayed image is assigned to the first reference direction, so that the viewing angle direction of the displayed image points to the first reference direction; a second association step: changing the position of the movable platform, wherein, if the display device maintains a currently displayed image, the displayed image is assigned to the first reference direction, so that the first reference direction of the movable platform points to the current viewing angle direction of the displayed image; a third association step: during the process of the moving platform tracking the movement of the second reference direction, or during the process of the moving platform following a preset flight route, associating the viewing angle of the displayed image with the second reference direction. [25] System according to claim 24, wherein assigning the displayed image to the reference direction of the movable platform comprises the following: Arranging a viewing angle of the displayed image at a specific angle to the reference direction of the moving platform. [26] System according to claim 24, wherein assigning the displayed image to the reference direction of the movable platform comprises the following: Locating a dynamic navigation point that indicates the reference direction of the moving platform within a defined area of ​​the displayed image. [27] System according to claim 24, wherein the first reference direction is a direction defined on the basis of the hull coordinate system of the movable platform, and the second reference direction is a direction defined on the basis of the navigation coordinate system of the movable platform; the assignment of the displayed image to the reference direction of the moving platform includes the following: Assigning the displayed image to at least one of the first and second reference directions. [28] System according to claim 27, wherein the first reference direction comprises at least one of the following directions: a bow direction of the movable platform, a stern direction of the movable platform, a port direction of the movable platform, a starboard direction of the movable platform, a direction pointing towards the sky with respect to the movable platform, and a direction pointing towards the ground with respect to the movable platform; and / or the second reference direction comprises at least one of the following: a direction pointing towards a waypoint of the movable platform, a direction pointing towards a target currently being tracked by the movable platform, a direction along a preset flight path of the movable platform, and a direction pointing towards a target object being targeted by the preset flight path of the movable platform. [29] System according to claim 24, wherein the first reference direction includes the bow direction of the movable platform and the first association step is configured such that the viewing angle of the displayed image points in the direction of the bow direction of the movable platform. [30] System according to claim 27, wherein the first association step causes a dynamic navigation point, indicating the second reference direction, to be displayed on the displayed image. [31] System according to claim 27, wherein maintaining the current motion parameter of the movable platform and changing the displayed image comprises: Rotating the viewing angle of the displayed image based on the relative relationship between the first reference direction and a current viewing angle of the displayed image, in order to change the displayed image. [32] System according to claim 31, wherein rotating the viewing angle of the displayed image based on the relative relationship between the first reference direction and the current viewing angle of the displayed image comprises: Determining the relative relationship between the first reference direction and the current viewing angle of the displayed image based on a transformation parameter between a rendering coordinate system and a hull coordinate system of the moving platform, where the rendering coordinate system is the coordinate system used to capture the displayed image from the panorama image. [33] System according to claim 1, wherein the first reference direction comprises the direction of the nose of the movable platform and the second association step is configured such that the nose of the movable platform points in the direction of the current viewing angle corresponding to the displayed image. [34] System according to claim 27, wherein the second association step is configured such that a dynamic navigation point indicating the second reference direction is displayed on the displayed image. [35] System according to claim 27, wherein maintaining the currently displayed image of the display device and changing the position of the movable platform comprises: Determining a target position in the navigation coordinate system of the moving platform based on the relative relationship between the first reference direction and the current viewing angle of the displayed image, and adjusting the position of the moving platform based on the target position. [36] System according to claim 24, wherein the third association step comprises: Tracking the movement of the second reference direction by the moving platform, causing the viewing angle of the displayed image to follow the movement of the second reference direction in order to change the displayed image of the display device; or during the process in which the moving platform executes a preset flight path, causing the viewing angle of the displayed image to follow the movement of a target object toward which the preset flight path is directed in order to change the displayed image of the display device. [37] System according to claim 36, wherein the third association step comprises: Changing the position of the movable platform to cause the movable platform to follow the movement in the second reference direction. [38] System according to claim 36, wherein the second reference direction comprises a direction pointing towards a target object currently being tracked by the moving platform, wherein the third association step is configured to center the target object on the displayed image and assign a dynamic navigation point indicating the second reference direction to the target object; or the second reference direction comprises a direction pointing towards a target object towards which the preset flight path of the moving platform is directed, the third association step is configured to center the target body on the displayed image. [39] System according to claim 38, wherein the third association step comprises: Determining the position of the target object; Adjusting the viewing angle of the displayed image based on the relative relationship between the target object and the current viewing angle of the displayed image, and / or adjusting the navigation direction of the moving platform based on the relative relationship between the direction of the target object and the current navigation direction of the moving platform. [40] System according to claim 24, wherein the execution of the association step based on the association instruction comprises: determining a current state of the movable platform in response to the detection of the association instruction; performing a first association step if the movable platform is currently in a motion state; performing a second association step if the movable platform is currently in a hover state; and performing a third association step if the movable platform is currently in a target tracking state. [41] System according to claim 24, wherein the viewing angle of the displayed image is linked to a setting of the display device, wherein the control device is further configured for the following: In response to the association step, which causes a change in the viewing angle of the displayed image, linking the changed viewing angle of the displayed image to the setting of the display device. [42] System according to claim 24, wherein the viewing angle of the displayed image is assigned to an action position of a viewing angle adjustment mechanism, wherein the control device is further configured for the following: In response to the association step, which causes a change in the viewing angle of the displayed image, linking the changed viewing angle. of the displayed image with the action position of the viewing angle adjustment mechanism. [43] System according to claim 24, wherein the movable platform comprises a remote control device, at least one reference direction of the movable platform is linked to a position of the remote control device and the control device is further configured for the following: as a reaction to the association step of changing the viewing angle of the displayed image, linking the changed viewing angle of the displayed image to a position of the remote control device; and / or In response to the association step of changing the position of the movable platform, linking the changed position of the movable platform with the position of the remote control device. [44] System according to claim 24, wherein the movable platform system comprises a remote control device and the acquisition of an association instruction comprises: acquiring the association instruction based on an operation performed on the remote control device. [45] System according to claim 44, wherein the remote control device comprises a viewing angle adjustment mechanism, the viewing angle of the displayed image is associated with a first operation performed on the viewing angle adjustment mechanism, and / or the acquisition of an association instruction comprises the acquisition of the association instruction based on a second operation performed on the viewing angle adjustment mechanism. [46] System according to claim 45, wherein the viewing angle adjustment mechanism comprises a rotating body, the first operation comprises a rotation operation on the rotating body and the second operation comprises a pressure operation on the rotating body. [47] A movable platform system comprising the following: a movable platform, wherein the movable platform is configured to capture a panoramic image, a display device, wherein the display device is configured to display at least part of the panoramic image as a displayed image, a control device, wherein the control device is configured for the following: In response to an inconsistency between the displayed image and a reference direction of the moving platform, determine whether an association instruction is detected; When the association instruction is detected, perform one of the following association steps based on the association instruction to align a viewing angle of the displayed image with the reference direction of the moving platform: Adjusting the displayed image while maintaining the current movement parameter of the moving platform; Adjusting the position of the movable platform while maintaining the displayed image; Adjusting the displayed image and the setting of the moving platform. [48] ​​A movable platform system comprising the following: a movable platform for taking a panoramic image; a display device for showing at least a part of the panoramic image as a displayed image; and a controller provided on the movable platform and / or the display device, wherein the controller is configured to: In response to an inconsistency between the displayed image and a reference direction of the moving platform, determine whether an association instruction is detected; When the association instruction is detected, perform one of the following association steps based on the association instruction to align a viewing angle of the displayed image with the reference direction of the moving platform: Adjusting the displayed image while maintaining the current movement parameter of the moving platform; Adjusting the position of the movable platform while maintaining the displayed image; Adjusting the displayed image and the setting of the moving platform. [49] Movable platform system according to claim 48, wherein the display device comprises a head-mounted display. [50] Movable platform system according to claim 48, wherein the movable platform carries a plurality of camera devices and the plurality of camera devices are configured to capture the panoramic image; and / or the movable platform comprises at least one of the following: an aircraft, a vehicle, a ship, a mobile robot and a handheld stabilizer. [51] Remote control device, wherein the remote control device is communicatively connected to a display device, wherein the display device is configured to display at least part of a panoramic image as a displayed image, wherein the remote control device further comprises a first control unit, wherein the first control unit is configured to: Generating a viewing angle adjustment instruction, wherein the viewing angle adjustment instruction is configured to set a viewing angle of the displayed image of the display device; and Sending the viewing angle adjustment instruction to the display device. [52] Remote control device according to claim 51, wherein the remote control device comprises a viewing angle adjustment mechanism and generating the viewing angle adjustment instruction comprises: as a reaction to an initial activation of the viewing angle adjustment mechanism, generating the viewing angle adjustment instruction. [53] Remote control device according to claim 52, wherein generating the viewing angle adjustment instruction in response to the first actuation of the viewing angle adjustment mechanism comprises: In response to the first actuation of the viewing angle adjustment mechanism, a rotation command is generated, the rotation command being configured to rotate the viewing angle of the display device. [54] Remote control device according to claim 53, wherein the viewing angle adjustment mechanism comprises a rotating body and the first actuation of the viewing angle adjustment mechanism comprises a rotation of the rotating body, wherein the rotation is configured to cause the viewing angle adjustment mechanism to rotate relative to the main body. [55] Remote control device according to claim 54, wherein generating the rotation command in response to actuation of the viewing angle adjustment mechanism comprises the following: Determining a rotation stroke based on the amount of rotation of the rotation process, and generating an instruction to rotate the viewing angle of the displayed image according to the rotation stroke. [56] Remote control device according to claim 55, wherein the first control unit is further configured for the following: In response to a setting instruction, setting the proportional relationship when determining the rotary stroke based on the rotation amount. [57] Remote control device according to claim 54, wherein generating the rotation command in response to actuation of the viewing angle adjustment mechanism comprises the following: Determining a rotational speed based on the amount of rotation of the rotation process and generating an instruction to continuously rotate the viewing angle of the displayed image according to the rotational speed. [58] Remote control device according to claim 57, wherein generating the rotation command in response to actuation of the viewing angle adjustment mechanism comprises: Generating an instruction to change the rotational speed of the viewing angle of the displayed image in response to a change in the amount of rotation of the rotation process, and / or In response to the rotation amount returning to zero, generate an instruction to stop the rotation of the viewing angle of the displayed image. [59] Remote control device according to claim 58, wherein the rotating body is configured to rotate along a single axis, and the first control unit is further configured to: Determining an imaging axis corresponding to the rotation process, wherein the imaging axis is an axis in a rendering coordinate system, the rendering coordinate system being a coordinate system used to capture the displayed image from the panorama image; where generating the rotation command in response to the actuation of the viewing angle adjustment mechanism includes the following: In response to the rotation process, an instruction is generated to rotate the viewing angle of the displayed image around the image axis. [60] Remote control device according to claim 59, wherein the first control unit is further configured for the following: in response to a setting instruction, changing the imaging axis according to the rotation process; and / or In response to a setting instruction, changing the number of imaging axes according to the rotation process. [61] Remote control device according to claim 51, wherein the display device is configured to capture the panoramic image from a movable platform, the remote control device further comprising: a second control unit, the second control unit being configured for the following: Generating an association instruction, wherein the association instruction is configured to cause the remote control device and / or the display device and / or the movable platform to perform an association step, wherein the association step is configured to cause the displayed image of the display device and / or the position of the movable platform to change, so that the displayed image is associated with a reference direction of the movable platform. [62] Remote control device according to claim 61, wherein the association step comprises a first association step, the first association step comprising: maintaining a current motion parameter of the moving platform and changing the displayed image to associate the displayed image with a first reference direction of the moving platform, wherein the first reference direction is a direction defined based on a hull coordinate system of the moving platform; and / or The association step comprises a second association step, wherein the second association step comprises: maintaining a currently displayed image of the display device and changing a position of the movable platform to associate the displayed image with the first reference direction of the movable platform; and / or The association step includes a third association step, wherein the third association step includes the following: at least modifying the displayed image of the display device to link the displayed image to a second reference direction of the movable platform, wherein the second reference direction is a reference direction defined on the basis of a navigation coordinate system of the movable platform. [63] Remote control device according to claim 62, wherein the remote control device comprises a viewing angle adjustment mechanism, generating the viewing angle adjustment instruction comprises generating the viewing angle adjustment instruction in response to a first operation on the viewing angle adjustment mechanism, and generating the association instruction comprises generating the association instruction in response to a second operation on the viewing angle adjustment mechanism. [64] Remote control device according to claim 63, wherein the viewing angle adjustment mechanism comprises a rotating body, the first operation comprises a rotation operation on the rotating body and the second operation comprises a pressure operation on the rotating body. [65] Remote control device comprising the following: a main body; a first control mechanism comprising a support element and a rotating body, wherein the support element is connected to the main body, the rotating body is rotatably connected to the support element, and the rotating body has a force-receiving surface exposed on the outer surface of the main body; and a sensor configured to detect a rotational state of the rotating body. [66] Remote control device according to claim 65, wherein the rotating body comprises at least one roller, a joystick or a trackball; and / or, the first control mechanism comprises a damping structure, and at least one contact point between the support element and the rotating body is provided with the damping structure. [67] Remote control device according to claim 65, wherein the support element comprises a support frame, the rotating body comprises a roller and the support frame is provided on one side of the roller along an axial direction of the roller; one of the support frame and roller has at least one annular groove formed on the surface facing the other, the annular groove and the roller are arranged coaxially, and the other of the support frame and roller has at least one counter wheel extending into the annular groove along the axial direction of the roller. [68] Remote control device according to claim 67, wherein either the support frame or the roller has a plurality of annular grooves provided coaxially on their surfaces facing the other; and / or the counter wheel extends circumferentially along the roller to form a closed ring-shaped structure; and / or Two support frames are provided, and the two support frames are arranged on opposite sides of the roller along the axial direction of the roller. [69] Remote control device according to claim 68, wherein the first control mechanism comprises a damping structure, at least one of the support frame and the roller has a sealing structure, the sealing structure, a groove wall of the annular groove and the counter wheel form a sealing cavity and the damping structure comprises damping grease filled into the sealing cavity. [70] Remote control device according to claim 65, wherein the support element is movably connected to the main body and the first control mechanism comprises at least one push button switch provided between the support element and the main body, wherein when the support element moves relative to the main body, a trigger state of the push button switch is changed. [71] Remote control device according to claim 70, wherein the first control mechanism comprises an elastic return element and the elastic return element is configured to connect the support element and the main body. [72] Remote control device according to claim 65, wherein the remote control device comprises a second control mechanism, the second control mechanism comprising at least a button, a slider and a toggle switch. [73] Remote control device according to claim 65, wherein the main body has a user interface and both the first control mechanism and the second control mechanism are provided on the user interface. [74] Remote control device according to claim 73, wherein the main body comprises a cylindrical handle and an operating section provided at an axial end of the cylindrical handle, wherein the operating surface is formed on the operating section, the orientation of the operating surface intersects both the axial direction and the radial direction of the cylindrical handle, and / or the operating surface has two operating areas distributed radially along the cylindrical handle, wherein the first control mechanism and the second control mechanism are each provided in the two operating areas. [75] Remote control device according to claim 65, wherein the remote control device is configured to be communicatively connected to a display device, the remote control device comprises a controller which is electrically connected to the sensor, the controller is configured to generate a first control instruction based on the rotation state of the rotating body, and the first control instruction is configured to control the display device. [76] Remote control device according to claim 75, wherein the display device is configured to display at least part of a panoramic image as the displayed image, wherein the first control instruction comprises a viewing angle adjustment instruction, wherein the viewing angle adjustment instruction is configured to adjust a viewing angle of the displayed image of the display device. [77] Remote control device according to claim 76, wherein the first control mechanism comprises a push button switch and the control unit is configured to generate a second control instruction based on a trigger state of the push button switch, wherein the second control instruction is configured to control the display device. [78] Remote control device according to claim 77, wherein the display device is configured to capture the panoramic image from a movable platform, the second control instruction comprises an association instruction, the association instruction is configured to cause the remote control device and / or the display device and / or the movable platform to perform an association step, the association step causes the displayed image of the display device and / or a position of the movable platform to change, so that the displayed image is associated with a reference direction of the movable platform. [79] Remote control device according to claim 75, wherein the remote control device comprises a second control mechanism provided on the main body, and the controller is configured to generate a third control instruction based on an operating state of the second control mechanism, wherein the third control instruction is configured to control a movable platform that is communicatively connected to the display device.

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