Control method, apparatus and system, movable platform, and storage medium

Abstract

A control method, apparatus and system, a movable platform, and a storage medium. The method comprises: controlling a movable platform to follow a target while keeping a first relative distance and a first relative orientation with respect to the target (step 101); controlling the movable platform to move toward or away from the target from the first relative distance and the first relative orientation on the basis of a target trajectory, such that the movable platform moves to a second relative distance and a second relative orientation with respect to the target (step 102); and controlling the movable platform to follow the target while keeping the second relative distance and the second relative orientation (step 103), wherein the first relative distance is different from the second relative distance, and the first relative orientation is different from the second relative orientation.

Description

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

[0001] The present application relates to the field of control, and in particular to a control method, device, system, movable platform and storage medium. Background Art

[0002] For mobile filming, autonomous vehicles are increasingly being used with onboard cameras to capture footage. This has led to the development of numerous automated filming methods. For example, when filming a moving target, a mobile platform can automatically follow the target. However, current tracking trajectories and filming methods are relatively fixed and limited, making them difficult to meet current filming requirements.

[0003] Summary of the Invention

[0004] Based on this, the embodiments of the present application provide a control method, device, system, mobile platform and storage medium, which aim to solve the technical problem that the current operating logic and shooting method when following a target are relatively fixed and single.

[0005] In a first aspect, an embodiment of the present application provides a control method, including:

[0006] Controlling the movable platform to maintain a first relative distance and a first relative orientation relative to the target and follow the target; controlling the movable platform to move toward or away from the target from the first relative distance and the first relative orientation based on the target trajectory, so that the movable platform moves to a second relative distance and a second relative orientation relative to the target; controlling the movable platform to maintain a second relative distance and a second relative orientation and follow the target; wherein the first relative distance is different from the second relative distance, and the first relative orientation is different from the second relative orientation.

[0007] In second aspect, an embodiment of the present application provides a control method, comprising: receiving user input to a control device; generating a first instruction in response to the input, wherein the first instruction is used to instruct the movable platform to move from the first relative position toward or away from the target to a second relative distance and a second relative orientation based on the target trajectory while maintaining a first relative distance and a first relative orientation to follow the target, and maintain the second relative distance and the second relative orientation to follow the target.

[0008] In a third aspect, an embodiment of the present application provides a control method, comprising: in the process of a movable platform following a target for shooting, adjusting the relative orientation between the movable platform and the target at least according to environmental information; and controlling the movable platform to maintain the adjusted relative orientation to follow the target.

[0009] In a fourth aspect, an embodiment of the present application provides a control device comprising a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, implement the control method as described in at least one of the first aspect, the second aspect, and the third aspect.

[0010] In the fifth aspect, an embodiment of the present application provides a control system, comprising: a movable platform, comprising the control device as described in the third aspect or the fifth aspect; a control terminal for controlling the movable platform; or comprising: a movable platform; a control terminal for controlling the movable platform, comprising the control device as described in the fourth aspect; or comprising: a movable platform, comprising the control device as described in the third aspect or the fifth aspect; a control terminal for controlling the movable platform, comprising the control device as described in the fourth aspect.

[0011] The present application enables the movable platform to change different relative distances and relative orientations relative to the target during the process of following the target, thereby generating running effects such as approaching, moving away, and circling during the process of following the target, enriching the running trajectory when following the target for shooting.

[0012] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0014] FIG1 is a schematic diagram of an application scenario of a control system provided in an embodiment of the present application;

[0015] FIG2 is a schematic diagram of a possible flow chart of a control method provided in an embodiment of the present application;

[0016] FIG3 is a schematic diagram of a following scenario of a control method provided by an embodiment of the present application;

[0017] FIG4 is a schematic diagram of a following scenario of a control method provided by an embodiment of the present application;

[0018] FIG5 is a schematic diagram of a following scenario of a control method provided by an embodiment of the present application;

[0019] FIG6 is a schematic diagram of a following scenario of a control method provided by an embodiment of the present application;

[0020] FIG7 is a schematic diagram of a following scenario of a control method provided by an embodiment of the present application;

[0021] FIG8 is a schematic diagram of a shooting scene of a control method provided by an embodiment of the present application;

[0022] FIG9 is a schematic diagram of a shooting scene of a control method provided by an embodiment of the present application;

[0023] FIG10 is a flow chart of a control method provided in an embodiment of the present application;

[0024] FIG11 is an interactive schematic diagram of a control method provided in an embodiment of the present application;

[0025] FIG12 is an interactive schematic diagram of a control method provided in an embodiment of the present application;

[0026] FIG13 is an interactive schematic diagram of a control method provided in an embodiment of the present application;

[0027] FIG14 is a flow chart of a control method provided in an embodiment of the present application;

[0028] FIG15 is a schematic structural diagram of a control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0030] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0031] Currently, for mobile filming scenes, people are increasingly using autonomous vehicles with onboard cameras to perform automatic filming, which has also led to the development of many automatic filming methods. For example, when filming a moving target, a mobile platform can automatically follow the target for filming. However, the current trajectory and filming methods for following the target are relatively fixed and simple. For example, when filming a moving target, the mobile platform follows in front of or behind the target, or follows parallel to the target's movement direction. However, this filming method still lacks the ability to change the camera angle and distance, making it difficult to meet the current filming requirements.

[0032] To solve the above problems, the embodiments of the present application provide a control method, device, system, movable platform and storage medium, so that the movable platform has more running trajectories when following the shooting target, making the automatic camera movement more intelligent.

[0033] The following embodiments of the present application are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0034] It should be noted that the control method provided in the embodiments of the present application is applied to a movable platform, also known as a movable object. The movable platform can be an aerial mobile platform or aircraft (such as a manned aircraft or an unmanned aircraft), a ground mobile platform (such as an autonomous vehicle or an autonomous robot), a surface mobile platform, or a movable platform in other scenarios. In the illustrated embodiment, an unmanned aircraft is used as an example for detailed description.

[0035] Among them, the unmanned aerial vehicle can include a rotor-type drone, such as a two-rotor, three-rotor, four-rotor, six-rotor, or eight-rotor drone, or a fixed-wing drone, or a combination of rotor-type and fixed-wing drones. The embodiments of the present application do not specifically limit this.

[0036] Wherein, please refer to Figure 1, which is a structural diagram of a control system provided by an embodiment of the present application, wherein the control system may include a movable platform and a control terminal. The following explanation is given using the movable platform as an example of a drone.

[0037] As shown in FIG1 , a control system may include a drone 100 and a control terminal 200. The drone 100 may be communicatively connected to the control terminal 200. The control terminal 200 may be used to control the drone 100. The control terminal 200 may include at least one of a remote control, a smartphone, and a tablet computer. It may also include at least one of a remote control, a smartphone, and a wearable device. The wearable device may include a head-mounted display device, which may include a virtual reality (VR) display device or a first-person view (FPV) display device.

[0038] In some embodiments, drone 100 includes a fuselage 110, a power system 120, an imaging device 130, and a control terminal (not shown in FIG1 ). The fuselage 110 may include a nose. In some embodiments, drone 100 further includes an arm connected to the fuselage 110 and used to mount the power system. In some embodiments, the power system 120 may be mounted directly on the fuselage 110.

[0039] The power system 120 is used to provide flight power for the UAV. The power system 120 may include a motor and a propeller mounted on the motor and driven by the motor. The power system 120 can drive the fuselage 110 of the UAV 100 to rotate around one or more rotation axes. For example, the above-mentioned rotation axes may include a roll axis, a yaw axis, and a pitch axis. When the power system 120 drives the fuselage 110 to rotate around the yaw axis, the yaw direction of the nose of the fuselage will change, that is, the yaw rotation of the fuselage 110 can be controlled by controlling the power system 120. It should be understood that the motor can be a DC motor or an AC motor. In addition, the motor can be a brushless motor or a brushed motor.

[0040] The shooting device 130 is directly carried on the fuselage 110 or carried through the gimbal, and is used to shoot images, which can be pictures and / or videos. In some embodiments, as shown in Figure 1, the drone may include a gimbal 140, and the shooting device 130 is mounted on the gimbal 140, and the gimbal 140 is connected to the fuselage 110. In some embodiments, the gimbal 140 can control the yaw rotation of the shooting device 130 to adjust the yaw direction of the shooting device 130. Specifically, the gimbal 140 can include a yaw motor 141, and the yaw motor 141 is used to control the yaw rotation of the shooting device 130. In some embodiments, the gimbal 140 can control the pitch rotation of the shooting device 130 to adjust the pitch direction of the shooting device 130. Specifically, the gimbal 140 can include a pitch motor, and the pitch motor is used to control the pitch rotation of the shooting device 130. In some embodiments, the gimbal 140 can control the roll rotation of the camera 130 to adjust the roll direction of the camera 130. Specifically, the gimbal 140 may include a roll motor and a pitch motor for controlling the roll rotation of the camera 130.

[0041] In the yaw direction, the yaw rotation of the camera 130 and the yaw rotation of the body 110 may be associated. Further, the camera 130 may yaw rotate following the yaw rotation of the body 110 , or the body 110 may yaw rotate following the yaw rotation of the camera 130 .

[0042] The control terminal may include an input device, wherein the input device can detect control operations performed by a user of the control terminal, and the control terminal may generate control instructions for the drone based on the control operations detected by the input device. For example, the control terminal may generate a yaw control instruction based on a nose yaw control operation performed by the user of the control terminal detected by the input device, and the control terminal may send the nose yaw control instruction to the drone; the control terminal may generate a pitch control instruction based on a pan / tilt control operation performed by the user of the control terminal detected by the input device, and the control terminal may send the pan / tilt control instruction to the drone.

[0043] Referring to Figure 2, in some embodiments, the control terminal 200 includes a remote control, which is equipped with an input device 210 and a communication device 220. The communication device 220 is a wireless communication device that may include at least one of a high-frequency radio transceiver, a Wi-Fi module, and a Bluetooth module. The input device 210 is used to generate corresponding control instructions in response to user manipulation, so that the remote control can control the drone to adjust its flight attitude and / or flight speed through the control instructions. The input device 210 includes at least one of a button, a joystick, a dial, and a touch screen. For example, the input device 210 is a joystick mounted on the main body of the remote control. The remote control senses the user's manipulation of the joystick and generates corresponding control instructions.

[0044] In some embodiments, the control terminal 200 can receive images transmitted by the drone 100 and display them on the display device 230. The display device 230 can be integrated into the control terminal 200, or the display device 230 can be set separately from the control terminal 200 and communicated with the control terminal 200. The communication connection method can be a wired communication connection method or a wireless communication connection method. For example, the wireless communication connection method can be a WiFi connection, a Bluetooth connection, or a high-frequency wireless signal connection.

[0045] In some embodiments, the control terminal 200 includes a remote controller, which is provided with an input device 210 and a communication device 220. The communication device 220 is a wireless communication device, which may include at least one of a high-frequency radio transceiver, a WiFi module, and a Bluetooth module. The input device 210 is used to generate corresponding control instructions in response to user manipulation, so that the remote controller can control the drone to adjust its flight attitude and / or flight speed through the control instructions. The input device 210 includes at least one of a button, a joystick, a dial, and a touch screen. For example, the input device 210 is a joystick, which is mounted on the main body of the remote controller. The user can generate control instructions by using buttons, a joystick, or a dial, or by inputting operations on the touch screen, without limitation.

[0046] The following will be combined with the accompanying drawings to explain in detail the specific implementation of the present application by taking a human as the target and a drone as the movable platform as an example. It should be understood that this exemplary description does not constitute a limitation of the present application.

[0047] Please refer to Figure 2, which is a flow chart of a control method provided by an embodiment of the present application. The method may include:

[0048] Step 101: Control a movable object to follow a target at a first relative distance and a first relative orientation.

[0049] Step 102: Control the movable platform to move gradually closer to or farther away from the target from a first relative distance and a first relative orientation based on the target trajectory.

[0050] Step 103: Control the movable platform to follow the target at a second relative distance and a second relative orientation; wherein the first relative distance is different from the second relative distance, and the first relative orientation is different from the second relative orientation.

[0051] In the embodiment of the present application, the target can be a person, other animals, a car, a ship, other movable platforms, etc. When the movable platform is following the target, the target can be in a moving state or a stationary state, which is not limited here.

[0052] In step 103, gradually approaching or moving away from the target from the first relative distance and the first relative orientation is gradually moving toward a relative position at the second relative distance and the second relative orientation. Gradually approaching or moving away from the target can be understood as the movable platform gradually moving from the first relative distance to the target, such that the relative distance gradually increases or decreases to the second relative distance, while simultaneously changing the relative orientation to the target. In this way, the movable platform tends to form a trajectory of gradually moving away from or approaching the target.

[0053] 3 , the first relative distance and the first relative orientation in FIG3 may be located at the boundary of the arc in area H in the figure, and the second relative distance and the second relative orientation may be located at the boundary of the arc outside area J in the figure. The movable platform may move from the first relative distance and the first relative orientation in a gradually receding trajectory toward the second relative distance and the second relative orientation in the process of following the target. The relative distance between the movable platform and the target gradually increases from the first relative distance to the second relative distance, and then remains at the second relative distance and the second relative orientation, so that the movable platform can shoot the target at different relative distances and relative orientations. At the same time, in the process of changing the relative distance and relative orientation, similar operation effects of gradually approaching, gradually receding, and circling can be generated, enriching the operation trajectory when following the target for shooting.

[0054] It should be noted that the term "gradually moving away" or "gradually approaching" in the embodiments of the present application is intended to express the effect of increasing or decreasing the relative distance between the movable platform and the target before switching and the relative distance between the movable platform and the target after switching during the process of switching the following distance and the following azimuth. For example, for a gradually moving camera trajectory, the relative distance between the movable platform and the target can gradually increase during the process of switching the following distance and the following azimuth, or it can gradually decrease in some stages and gradually increase in the remaining stages. The overall gradually increasing camera trajectory has a better camera effect than the latter camera trajectory that first decreases and then increases, and the gradual approaching camera trajectory is similar.

[0055] It should be understood that the above steps 101-103 can be at least part of the process in which the movable platform follows the target. The movable platform can continue to change the relative distance and relative orientation between the target after gradually moving from the first relative distance and the first relative orientation to the second relative distance and the second relative orientation, and maintaining the second relative distance and the second relative orientation for a certain period of time.

[0056] It should be noted that the embodiment of the present application is described by taking one stage in the process of controlling the movable platform to follow the target, that is, switching from following the target at a first relative distance and a first relative orientation to following the target at a second relative distance and a second relative orientation as an example. It is not intended to limit the movable platform to switching only between two relative distances and relative orientations in the process of following the target. In actual applications, the movable platform can be set to switch between more than two relative distances and relative orientations according to actual needs. For example, the mobile platform can be controlled to switch between three relative distances and relative orientations. First, the mobile platform is controlled to maintain a first relative distance and a first relative orientation to follow the target. Then, the mobile platform is controlled to move closer to or away from the target based on the target trajectory from the first relative distance and the first relative orientation and the mobile platform is controlled to maintain a second relative distance and a second relative orientation to follow the target. Then, the mobile platform is controlled to move closer to or away from the target based on the target trajectory from the second relative distance and the second relative orientation and the mobile platform is controlled to maintain a third relative distance and a third relative orientation to follow the target. The target trajectory during the two switching processes can be the same or different, the first relative distance and the second relative distance are different, and the first relative orientation and the second relative orientation are different. In addition, the third relative distance can be the same as or different from the first relative distance and the second relative distance, and the third relative orientation can be the same as or different from the first relative orientation and the second relative orientation. In some embodiments, the above method can also include changing only the relative orientation or relative distance with the target during the process of following the target. That is, the mobile platform can obtain one or more relative distances and one or more relative orientations in a one-to-one correspondence in advance or in real time. The relative distances and relative orientations can include the first relative distance, the first relative orientation and the second relative distance, and the second relative orientation. In the process of following the target, the movable platform may undergo multiple changes in relative distance and / or relative orientation, which are not limited here.

[0057] It should be noted that the execution entity of steps 101-103 in the embodiment of the present application can be a movable platform or a control device of the movable platform, or some steps in steps 101-103 are executed by the control device of the movable platform, while the remaining steps are executed by the movable platform. For example, step 101 is executed by the control device of the movable platform, and steps 102-103 are executed by the movable platform.

[0058] Optionally, during the process of changing the relative distance, the relative distance between the movable platform and the target may be monotonically increasing or monotonically decreasing.

[0059] In some embodiments, the relative distance between the movable platform and the target can gradually decrease during the process of the movable platform gradually approaching the target from the first relative distance and the first relative orientation to the second relative distance and the second relative orientation based on the target trajectory. The relative distance between the movable platform and the target can gradually increase during the process of the movable platform gradually moving away from the target from the first relative distance and the first relative orientation to the second relative distance and the second relative orientation based on the target trajectory. Referring to Figure 3, taking the target as an example when it is stationary, the movable platform can gradually move along trajectory 1 in Figure 3, and during this process, the relative distance between the movable platform and the target gradually increases. Compared with the relative distance between the movable platform and the target in trajectory 2, which first decreases and then increases, trajectory 1 can prevent the proportion of the target in the shooting picture from suddenly changing between increasing and decreasing, thereby improving the smoothness of the shooting movement.

[0060] In other optional embodiments, the movable platform may also gradually move along trajectory 2, and during this movement, the size of the target in the captured image may be varied by adjusting the focal length to ensure smooth camera movement. Alternatively, the movable platform may move along an irregular linear pattern, such as trajectory 3, which is not limited here.

[0061] Optionally, the movable platform may perform the transformation of relative distance and relative orientation based on a preset following strategy.

[0062] In some embodiments, controlling the movable platform to gradually approach or gradually move away from the target based on the target trajectory from a first relative position, and maintaining a second relative distance and a second relative position to follow the target, includes: according to a preset motion following strategy, controlling the movable platform to gradually approach or gradually move away from the target based on the target trajectory from a first relative position, and maintaining a second relative distance and a second relative position to follow the target.

[0063] The motion-following strategy can be used to enable the mobile platform to cover at least two different relative distances and relative orientations from the target while following the target. That is, the process of moving from a first relative distance and orientation to a second relative distance and orientation can be considered a switching process indicated by the motion-following strategy.

[0064] Optionally, the motion following strategy may be used to enable the movable platform to determine a following path passing through at least two following areas in the process of following the target, where the at least two following areas indicate different relative distances and different relative orientations to the target.

[0065] The following path is determined based on observation data obtained by the mobile platform when it begins following the target, and / or the following path is determined in real time based on observation data obtained while the mobile platform is following the target. Furthermore, to ensure the integrity of shooting angles and the richness of camera movements, the motion following strategy can also be used to cause the mobile platform to traverse all preset relative positions and distances throughout the entire process of following the target.

[0066] It should be understood that in other optional embodiments, the motion following strategy can be used to enable the movable platform to adjust the relative distance and relative orientation to the target while following the target, and is not limited to determining the following area as shown in Figures 3-6. For example, the motion following strategy can be used to enable the movable platform to continuously or infinitely adjust the relative distance and relative orientation to the target while following the target, and to control the movable platform to maintain any of these relative distances and relative orientations, without limitation herein.

[0067] 4 , in some embodiments, all relative directions may be a plurality of preset relative directions, including front, back, left, right, left front, left back, right front, and right back. Each direction has a preset angle range, which may be determined based on actual conditions.

[0068] Furthermore, as shown in FIG4 , different relative distances can be divided by different radii with the target as the center of the circle, and different relative orientations at the same relative distance can be divided by the center angle of the circle.

[0069] Optionally, in order to further enhance the richness of camera movement modes, the motion following strategy can also be used to ensure that, when the movable platform is following a target, two consecutive switching following areas correspond to different following distances and / or following directions.

[0070] Continuing with Figure 3, the AP areas in Figure 3 can be considered following areas. It should be understood that different following areas correspond to different relative distances and / or relative orientations, while the same area can indicate one or more relative distances and orientations. When a target is in motion, the geographic location of the following area can change with the target's movement. A following path can be a path formed by connecting multiple following areas. For ease of explanation, the following example uses one following area corresponding to one relative distance and relative orientation to the target.

[0071] In Figure 3, the relative distances between different positions on the circle centered on the target and the target are the same. For example, the arc boundaries of regions AH and IP are at the same relative distance from the target. Regions A and I have the same relative orientation to the target, and regions B and J have the same relative orientation to the target. To enable simultaneous zooming, zooming, and circling camera movements during switching, the movable platform can switch from A to J, A to K, and so on.

[0072] In some embodiments, during a process in which a movable platform switches from a first relative distance and a first relative orientation to a second relative distance and a second relative orientation, a motion following strategy is used to determine a target following area from a plurality of alternative following areas, wherein the plurality of alternative following areas respectively indicate different relative distances and different relative orientations to the target, the target following area indicates the second relative distance and the second relative orientation to the target, and the target following area is associated with at least environmental information and / or historical following information.

[0073] In order to avoid the problem of monotonous captured images due to repetition of the relative orientation and / or relative distance between the movable platform and the target during the target following process, the motion following strategy may indicate that the following area during the following process is determined based on the historical following information of the movable platform for the target.

[0074] The historical following information may include at least one of the following direction, distance, and trajectory during the target following process. It should be understood that the historical following information may include the following information of the mobile platform's current target following (i.e., after the following task is triggered), and may also include at least partial following information of the mobile platform before the target following, when the following task was executed. The specific settings can be adjusted based on the user's actual needs.

[0075] Optionally, in order to further enhance the diversity of camera movement methods, different deflection angles and deflection directions are preferably used during different switching times.

[0076] In some embodiments, the motion tracking strategy can also be used to ensure that, when the movable platform is following a target, the deflection angle of the movable platform relative to the target when switching from the first tracking area to the second tracking area is different from the deflection angle and / or deflection direction of the movable platform relative to the target when switching from the second tracking area to the third tracking area. This can further enhance the camera movement effect.

[0077] Continuing with Figure 3 as an example, the deflection angle of the movable platform from the HJ movement is approximately 90°, while the deflection angle of the movable platform from the JK movement is approximately 45°. The deflection directions of both HJ and JK are counterclockwise.

[0078] Furthermore, the deflection angle and deflection direction can be different at each switch, or the deflection angle or deflection direction can be different at each switch. This can further ensure that there are more trajectory changes during the target tracking process, and can further increase the richness of the camera movement.

[0079] In order to improve the aesthetic effect of photographing the target while the movable platform is following the target, the motion following strategy may also be used to instruct to determine the next following area based on the environmental information surrounding the movable platform.

[0080] The environmental information can be acquired by a camera mounted on the mobile platform, or by a sensor on the mobile platform. Specifically, the environmental information can be information about the environment surrounding the mobile platform or the environment surrounding the target; the environmental information can be in the form of environmental images, environmental semantics, etc. The environmental information can include at least one of the following: environmental openness information; obstacle information; captured element information; and aesthetic evaluation information.

[0081] In some embodiments, the mobile platform can obtain surrounding environmental information, which may include obstacle information and / or environmental openness information. The obstacle information may include the number of obstacles and / or the distance between the obstacles and the mobile platform, so as to determine the number and distance of obstacles in the following area based on the obstacle information. The environmental openness information may include the number of obstacles and / or the distribution of obstacles, so as to determine whether the distribution of obstacles in the following area is sparse or dense based on the environmental openness information.

[0082] In some embodiments, the mobile platform can perform global and local following path planning under the guidance of a motion following strategy. The coverage of the global path planning can be greater than the coverage of the local path planning; the accuracy of the global path planning can be lower than the accuracy of the local path planning. For example, during the global path planning process, the motion following strategy can determine a rough following area based on the openness information of the environment. When the mobile platform moves to the following area covered by the local path planning, the following area can be further determined based on the obstacle information of the environment to improve the safety of the planned following path.

[0083] Determining the next following area based on this information can ensure that the next following area is obstacle-free or obstacle-free. Furthermore, each switching of the following area can be obstacle-free or obstacle-free, allowing the mobile platform to follow the target along a path that passes through an environment with fewer obstacles, improving safety when following the target. Furthermore, this can reduce the obstruction of the captured image by obstacles, improving the shooting effect.

[0084] Optionally, the motion following strategy may also be used to instruct to determine the next following area according to aesthetic evaluation information.

[0085] In some embodiments, the environmental information may also include aesthetic evaluation information, which indicates the aesthetic evaluation of the tracking area and / or the aesthetic evaluation of the image captured in the tracking area. Specifically, the aesthetic evaluation information can be obtained by inputting semantic information of the environmental image into a pre-trained model, a preset strategy, or the like, and may specifically be a grade or score. Meeting a preset aesthetic evaluation can be understood as exceeding a preset grade or score.

[0086] Alternatively, the aesthetic evaluation information may be determined based on at least one of a distribution rule, a symmetrical composition rule, and a clutter rule of photographic elements.

[0087] Among them, the shooting element distribution rule is used to indicate that different types of shooting elements can be distributed adjacently in the shooting picture according to a preset distribution order; the symmetrical composition rule is used to indicate that the same shooting element can be symmetrically distributed in the shooting picture; the clutter rule is used to indicate that the number of different types of shooting elements is lower than the threshold.

[0088] Taking aesthetic evaluation information including aesthetic scores as an example, in a specific implementation, a basic score can be generated by first inputting the scoring model based on the semantic recognition results of the environmental image; then, the basic score can be adjusted according to the distribution rules, symmetrical composition rules, and clutter rules of the shooting elements to obtain a comprehensive aesthetic score.

[0089] Among them, the shooting element distribution rule can be scored according to the distribution of the shooting elements in the shooting picture. For example, if the three categories of sky, mountain, and river are distributed adjacently in the upper, middle, and lower parts, it is considered to be a positive example scene that meets the rule, and points are added to the basic score; the symmetrical composition rule can be scored according to whether the composition is symmetrical. For example, if the mountain peak is symmetrical on the left and right in the picture, it is considered to be a positive example scene that meets the rule, and points are added to the basic score; the clutter rule can be scored according to whether the shooting picture is cluttered. If there are too many shooting elements in the picture and they are cluttered, it is considered to be a positive example scene that meets the rule, and points are deducted from the basic score. It should be understood that the shooting picture mentioned here can be one or more angle pictures around the movable platform obtained by one or more visual sensors of the movable platform. It can also be a picture of the target when it is predicted that the movable platform is in the following area. The specific strategy can be determined according to the actual scenario, and is only used as an example here.

[0090] By determining the next following area based on the above information, the next following area can be a following area that meets the preset aesthetic evaluation. Furthermore, each switching of the following area can be a following area that meets the preset aesthetic evaluation, thereby making the images captured by the mobile platform when following the target more aesthetically pleasing, further improving the shooting effect.

[0091] In some embodiments, aesthetic evaluation information can be pre-set by the user. For example, the user can input desired aesthetic evaluation information before or during following a target, such as symmetrical composition, thirds composition, required photographic elements, etc. In some embodiments, the user can select from preset aesthetic evaluation templates, which can include preferred composition forms, preferred photographic elements, etc. The mobile platform can select a following area based on the aesthetic evaluation template, so that each switching following area can be a following area that meets the preset aesthetic evaluation.

[0092] Optionally, the motion following strategy may also be used to instruct to determine the next following area according to the shooting element information.

[0093] The captured element information can be determined in real time based on image information acquired by the mobile platform. Specifically, the environmental image acquired by the mobile platform can be identified and determined based on semantic recognition or other methods. The captured element information can include the type, quantity, and distribution of captured elements in the following area. Specifically, the captured elements can be elements contained in the following area or elements contained in the captured image captured by the mobile platform following the target in the following area.

[0094] Exemplarily, the shooting elements may include sceneries, such as mountains, seas, lakes, roads, etc.; the shooting elements may also include targets, as well as movable targets other than targets, such as animals, cars, and ships.

[0095] In some embodiments, the user can pre-set the capture element information. For example, before following a target, the user can manually input the target capture element. During the process of following the target, the movable platform can prioritize following areas that contain the target capture element or that can capture the target capture element.

[0096] Optionally, the motion following strategy can also be used to enable the mobile platform to select a target trajectory to switch from the previous following area to the next following area to follow the target, and the target trajectory can include a gradual approach or a gradual distance. The gradual approach and gradual distance trajectories can refer to the above embodiment and the explanation in Figure 3.

[0097] Optionally, the motion following strategy may be used to indicate priority information for determining each following area, wherein the priority information may be comprehensively determined based on one or more of the above information.

[0098] In some embodiments, the motion following strategy may be used to indicate that the highest priority following area is the target following area, and to instruct the movable platform to move toward the target following area.

[0099] In some embodiments, when the target following area is associated with historical following information, the priority information of the following area may satisfy at least one of the following:

[0100] The priority of a following area that is in a historical following orientation is lower than the priority of a following area that is not in the historical following orientation; the priority of a following area that is in a historical following distance is lower than the priority of a following area that is not in the historical following distance; the priority of a following area in which the deflection angle of the movable platform relative to the target when the previous switch from the first following area to the second following area is different from the deflection angle and / or deflection direction of the movable platform relative to the target when the next switch from the second following area to the third following area is different is higher than the priority of a following area in which the deflection angle of the movable platform relative to the target when the previous switch from the first following area to the second following area is the same as the deflection angle and / or deflection direction of the movable platform relative to the target when the next switch from the second following area to the third following area is the same.

[0101] In some embodiments, when the target following area is associated with the environmental information, the priority information of the following area satisfies at least one of the following:

[0102] The priority of a following area with high openness is higher than that of a following area with low openness;

[0103] The priority of following areas with no obstacles or few obstacles is higher than that of following areas with obstacles or many obstacles;

[0104] The priority of the following area where there is a shooting element is higher than the priority of the following area where there is no shooting element;

[0105] A following area with a high aesthetic score has a higher priority than a following area with a low aesthetic score.

[0106] It should be understood that the priority information can be preset by the user and / or calculated in real time.

[0107] In some embodiments, the user may select a preferred shooting direction, shooting angle, or shooting element before or during following a target; the motion following strategy may indicate adjusting the priority of the following area based on the user's preference information.

[0108] Optionally, the target following area may also be associated with the duration of stay in the current following area.

[0109] In some embodiments, the longer the current following area stays, the lower the priority of the current following area. When the priority of the current following area is lower than that of other following areas, the mobile platform is instructed to switch the following area.

[0110] In some embodiments, the duration for which the mobile platform stays in the current following area satisfies any of the following conditions:

[0111] The mobile platform stays longer following the target in a high-openness following area than in a low-openness following area; the mobile platform stays longer following the target in a following area with fewer obstacles than in a following area with more obstacles; the following area with photographic elements stays longer than the following area without photographic elements; the following area with a high aesthetic score stays longer than the following area with a low aesthetic score.

[0112] Of course, in other optional embodiments, the duration of stay in the current following area may also be a fixed value, such as 5s, 10s, 15s, etc. The movable platform may switch to the next following area after following the current following area for a fixed time.

[0113] In some embodiments, considering the impact of obstacles on the safety of the movable platform in following the target, the above method may further include at least one of the following:

[0114] When the duration of stay in the current following area is less than a preset threshold, if the spaciousness of the current following area is higher than a preset threshold, the movable platform is controlled to stay in the current following area and follow;

[0115] When the duration of stay in the current following area is less than a preset threshold, if the spaciousness of the current following area is lower than a preset threshold, the movable platform is controlled to move to a following area with a spaciousness higher than the preset threshold;

[0116] When the dwell time in the current following area is greater than or equal to a preset threshold, if there is a following area with a degree of spaciousness higher than the preset threshold, controlling the movable platform to move to the following area with a degree of spaciousness higher than the preset threshold;

[0117] When the dwell time in the current following area is greater than or equal to a preset threshold, if there is no following area with a degree of spaciousness higher than the preset threshold, the movable platform is controlled to continue following the target in the current following area until a following area with a degree of spaciousness higher than the preset threshold appears.

[0118] For example, referring to Figure 5, when the target passes through a forest, the mobile platform can initially follow the target in an area to the right without trees (which can be considered an obstacle). Once trees appear on the right side of the target, the mobile platform can switch to following the target in an area to the left without trees, thus avoiding the risk of accidents caused by following the target in the forest. If the target is surrounded by trees, the mobile platform can prioritize remaining in the current area to ensure safety, and then switch relative direction and distance after leaving the forest.

[0119] In this way, when there are many obstacles in the current following area, the movable platform can prioritize following in a relatively open following area to ensure following safety. When there are many obstacles in all following areas in the current environment (for example, in a forest or building area), the movable platform is controlled to remain in the current following area to ensure following safety. When the current following area is relatively open, the duration of stay in the current following area reaches a preset threshold, and there are other relatively open following areas, the movable platform is switched to other relatively open following areas to improve the richness of camera movement while ensuring safety.

[0120] Optionally, the relative position between the movable platform and the target may be determined based on the state of the target, so as to ensure that during the following process, the relative position between the following area and the target remains consistent with the state of the target.

[0121] In some embodiments, the relative position between the movable platform and the target may be determined based on the orientation of the target.

[0122] Exemplarily, referring to FIG. 4 , the target in FIG. 4 is in a stationary state, and the direction facing the target at this time may be the forward direction.

[0123] In some embodiments, the relative orientation between the movable platform and the target can be determined based on the target's direction of motion. For example, referring to Figures 6 and 7 , the target in Figures 6 and 7 is in motion, with the orientation of the target in Figure 6 and the direction of motion being the same, while the orientation of the target in Figure 7 and the direction of motion being opposite. In this embodiment, the orientation indicated by the target's direction of motion can be a forward orientation.

[0124] In some embodiments, when a target is detected to be in motion, the relative position between the movable platform and the target can be determined based on the target's direction of motion; whereas, when a target is detected to be stationary, the relative position between the movable platform and the target can be determined based on the target's orientation. It should be understood that a target being stationary can be understood as the target's position remaining unchanged, while its orientation can still change. Since a stationary target is more likely to capture the user's expressions and frontal movements, the shooting direction can be determined based on the user's orientation; whereas a moving target is more likely to capture the user's motion, the shooting direction can be determined based on the user's direction of motion. In this way, the movable platform can determine its relative position based on the target's state, reducing the sense of camera inconsistency caused by changes in the target's orientation or direction of motion during follow-up filming, thereby improving the quality of the resulting film. Alternatively, the detection of whether a target is stationary or in motion can be based on the captured image or other sensors.

[0125] Furthermore, when the movable platform is in the process of switching the following area, if the state of the target changes, the movable platform can adjust the switched target following area in real time according to the change in the state of the target.

[0126] In some embodiments, controlling the movable platform to gradually approach or gradually move away from the target from a first relative position based on the target trajectory, and maintaining tracking the target at a second relative distance and a second relative position, includes:

[0127] Adjust the target trajectory in real time according to the target's movement direction or orientation.

[0128] Specifically, if the target's moving direction changes, the second relative orientation may be re-determined based on the target's current moving direction; or, if the target's orientation changes, the second relative orientation may be re-determined based on the target's current orientation;

[0129] The target trajectory is adjusted based on the re-determined second relative position.

[0130] For example, in some embodiments, if the orientation or movement direction of the target deflects 180 degrees, the movable platform is controlled to circle the target half a circle with the current relative distance between the movable platform and the target as a radius, and then continue to follow the target. In the process of circling the target, the target continues to remain in the picture captured by the camera device of the movable platform.

[0131] Referring to Figures 6 and 7, the target moves toward the right in Figure 6, and the movable platform follows in front of the target. If the movable platform switches to following the left side of the target (for example, the movable platform moves to the LF orientation in Figure 6), the target's movement direction changes as shown in Figure 7, then the movable platform can determine the relative orientation with the target according to the target's movement direction in real time, and adjust the target trajectory to move to the relative orientation corresponding to the target's movement direction.

[0132] Furthermore, in order to ensure the continuity of the camera movement, in some embodiments, the movable platform can ensure that the movable platform moves in the direction when the relative position was originally switched during the real-time adjustment of the target trajectory, so as to avoid the sense of disharmony caused by the back-and-forth camera movement during the switching of the relative position.

[0133] Optionally, the movable platform may be an aircraft, which can change the relative distance to the target by changing its altitude.

[0134] In some embodiments, the relative distance may include a horizontal relative distance and / or a vertical relative distance.

[0135] Accordingly, controlling the movable platform to gradually approach or gradually move away from the target from the first relative distance and the first relative orientation based on the target trajectory may include:

[0136] The movable platform is controlled to gradually move from the first relative distance to the second relative distance along the horizontal direction and / or the vertical direction, and at the same time, the movable platform is controlled to gradually move from the first relative orientation to the second relative orientation.

[0137] In some embodiments, the first relative distance may include a first horizontal relative distance and a first vertical relative distance; the second relative distance may include a second horizontal relative distance and a second vertical relative distance. The first horizontal relative distance may correspond to the first vertical relative distance, and the second horizontal relative distance may correspond to the second vertical relative distance, so that the movable platform can change the horizontal relative distance and the vertical relative distance at the same time. Furthermore, the size relationship between the first horizontal relative distance and the second horizontal relative distance may be the same as the size relationship between the first vertical relative distance and the second vertical relative distance, so that when the movable platform changes the horizontal relative distance and the vertical relative distance at the same time, the overall relative distance shows an increasing or decreasing trend, thereby improving the sense of coordination of the camera movement.

[0138] In some embodiments, the horizontal and vertical relative distances can also be controlled separately during the process of the movable platform following the target. That is, the aircraft can move horizontally toward or away from the target, and can also simultaneously or simultaneously move vertically toward or away from the target, thereby increasing the motion dimension during camera movement, further enriching the camera movement methods, and improving the shooting effect. It should be understood that the vertical motion of the aircraft can be similar to the horizontal motion described in Figures 3-7. To avoid repetition, this will not be repeated here.

[0139] In some embodiments, the aircraft may also determine terrain undulations based on real-time recognition of the scene below during the following process, and adjust its altitude according to the terrain undulations.

[0140] Of course, in other optional embodiments, the movable platform may include a height-adjustable loading mechanism, which can change the relative orientation and horizontal relative distance with the target through movement, and adjust the vertical relative distance between the shooting device and the target through the loading mechanism, thereby also achieving the effect of enriching the camera movement mode.

[0141] As mentioned above, the movable platform can photograph the target while following the target, that is, the movable platform can be equipped with a photographing device to realize the "follow-up" function.

[0142] In some embodiments, the above method may further include: controlling a shooting device carried by the movable platform to shoot the target during at least a portion of the time period when the movable platform follows the target.

[0143] It is understandable that, outside of at least part of the time period when the movable platform follows the target, the shooting device can only obtain the monitoring image of the target in real time, without taking pictures, recording, etc. on the target; or, the shooting device can also shoot objects other than the target, which is not limited here.

[0144] To ensure a good shooting effect of the target, in some embodiments, controlling the shooting device carried by the movable platform to shoot the target may include: controlling the target to be approximately in the center of the shooting screen of the shooting device.

[0145] Of course, in some embodiments, the movable platform can also control the camera mounted on the movable platform to change the shooting direction according to the changes in the relative distance and relative orientation between the movable platform and the target during at least part of the time period of following the target, so that the relative position of the target in the shooting picture of the camera changes, thereby realizing different composition methods during the shooting process.

[0146] Among them, the relative position of the target in the shooting picture may include a horizontal relative position and a vertical relative position. In some embodiments, the relative position of the target in the shooting picture can change according to the relative orientation between the target and the movable platform. For example, in a specific embodiment, the target can be centered in the shooting picture in the horizontal direction, and if the relative angle between the orientation or movement direction of the target and the movable platform is greater than 45°, the vertically centered composition is maintained, if it is less than 30°, the lower third composition in the vertical direction is used, and if it is in between, the composition is linearly changed between the center and the lower third in the vertical direction. In this way, the position of the target in the shooting picture is adjusted in real time according to the relative orientation of the target and the movable platform, so that the finished film has more lens language, richer effects, and can be more in line with the user's aesthetics.

[0147] In some embodiments, during at least a portion of the time the mobile platform is following a target, the camera mounted on the mobile platform can be controlled to change its shooting orientation based on the target's direction of motion, so that the distance from the target in the direction of motion to the edge of the frame captured by the camera is greater than the distance from the target in the direction opposite to the other edge of the frame. This allows for "white space" in the captured image along the direction of motion of the target, making the resulting image more aesthetically pleasing to the user while also reducing the risk of the target moving out of the frame due to excessive motion.

[0148] In some embodiments, the movable platform can also adjust the position of the target in the captured image by changing the relative orientation and / or relative distance. Of course, in other optional embodiments, the user can also manually control the camera and / or the movable platform to adjust the composition while the movable platform is following the target.

[0149] Optionally, during at least part of the time period when the movable platform follows the target, the shooting device carried by the movable platform can be controlled to change the shooting direction based on the environmental information obtained by the movable platform, so as to achieve a richer film effect while shooting the target by utilizing different scenes / shooting elements in the environment.

[0150] In some embodiments, the above method may further include:

[0151] When environmental information acquired by the mobile platform indicates that the environment includes a target element, the mobile platform is controlled to perform at least one of the following actions, such that the target element appears in the captured image during at least a portion of the time the mobile platform follows the target: changing the relative distance to the target; changing the relative orientation to the target; or changing the shooting orientation of the onboard camera. The target element can be acquired based on the environmental information and include, for example, one or more of mountains, water, people, vehicles, and ships. The target element can be pre-set by the user or determined in real time by the mobile platform based on the environmental information. The environmental information can be described in the above-mentioned embodiments and will not be further elaborated here.

[0152] For example, referring to FIG8 , in one specific embodiment, while the mobile platform is following a target, if the user wants to capture more of the sky, the mobile platform can, upon determining based on environmental information acquired by the mobile platform that the sky is above the camera's frame, control the mobile platform to perform at least one of the following actions, so that the majority of the target in the frame is located in the lower half of the frame: changing the relative distance to the target; changing the relative orientation to the target; or changing the shooting direction of the onboard camera. This ensures that the "sky" element is included in the frame when capturing the target.

[0153] Referring to FIG9 , in a specific embodiment, when the mobile platform is following a target, if the user wants to capture the seashore and the beach while capturing the target, the mobile platform can be controlled to perform at least one of the following actions, if the environmental information acquired by the mobile platform indicates that the environment includes the seashore and the beach, so that the seashore and the beach are located on both sides of the target in the captured image, with approximately equal proportions: changing the relative distance from the target; changing the relative orientation from the target; or changing the shooting direction of the mounted camera. In this way, when there are multiple target shooting elements in the captured image, the multiple target shooting elements can be distributed in the captured image according to a specific composition method (e.g., symmetrical distribution, concentrated distribution, etc.), thereby achieving a specific composition method such as symmetrical composition.

[0154] Optionally, the movable platform may also adjust the position of the target in the captured image according to the aesthetic evaluation information.

[0155] In some embodiments, controlling a camera mounted on a mobile platform to change its shooting orientation may include: based on aesthetic evaluation information corresponding to environmental information, controlling the mobile platform to perform at least one of the following actions to ensure that the captured image meets a predetermined aesthetic evaluation: changing the relative distance to the target; changing the relative orientation to the target; or changing the shooting orientation of the mounted camera. The aesthetic evaluation information can also be described in the above embodiments and will not be further elaborated here.

[0156] For example, the mobile platform can include multiple visual sensors to capture omnidirectional images of its surroundings (e.g., up, down, left, right, front, and back). Based on the aesthetic scores of these images, the user can determine the image with the highest aesthetic score. The captured image can then be adjusted to cover the image with the highest aesthetic score. This allows the composition of the captured image on the mobile platform to better suit the user's aesthetic taste, further improving the quality of the resulting film.

[0157] As mentioned above, the mobile platform can capture the target during certain time periods while following it, and capture the surrounding environment excluding the target during other time periods. In other words, the target is not in the frame during certain time periods, creating a "blank shot" effect. This also reduces the frequency of monotonous images and improves the quality of the film.

[0158] In some embodiments, after the movable platform follows the target to capture the first image sequence, the shooting direction and / or shooting position of the movable platform is adjusted to capture the second image sequence corresponding to the current environment, and then the shooting direction and / or shooting position of the movable platform is adjusted again to follow the target to continue capturing the third image sequence.

[0159] Optionally, the mobile platform can track the target in a variety of ways. In some embodiments, the mobile platform can track the target using image information captured by an onboard camera; in some embodiments, the mobile platform can track the target using image information captured by other visual sensors; and in some embodiments, the mobile platform can track the target using positioning information transmitted by a positioning device carried by the target.

[0160] Because shooting an empty shot causes the target to leave the camera's frame, making it impossible for the mobile platform to follow the target based on the camera's position, in some embodiments, the mobile platform can be controlled to follow the target based on the location information of the target's electronic device. Specifically, the location information of the target's electronic device can include GPS, GLONASS, and other information.

[0161] In other optional embodiments, when the target leaves the camera's frame, the mobile platform can be controlled to follow the target based on data acquired by the mobile platform's perception sensors. The perception sensors may include one or more of a fisheye camera, a laser radar, a 3D-TOF sensor, and the like.

[0162] The movable platform can trigger shooting of the target at any time while following the target. In some implementations, during at least part of the time period when the movable platform follows the target, the camera mounted on the movable platform is controlled to shoot the target, including at least one of the following: while the movable platform remains at a first relative position and a first relative distance, the camera mounted on the movable platform is controlled to shoot a first image sequence of the target; while the movable platform remains at a second relative position and a second relative distance, the camera mounted on the movable platform is controlled to shoot a second image sequence of the target; while the movable platform gradually moves from the first relative position and the first relative distance to the second relative position and the second relative distance, the camera mounted on the movable platform is controlled to shoot a third image sequence of the target. In this way, the finished film can include both image sequences shot during parallel following and image sequences shot during gradual approaching and moving away, ensuring the richness of the finished film effect.

[0163] Furthermore, after the target is followed, the image sequence acquired by the shooting device carried by the movable platform is processed to obtain the target image sequence. Specifically, the image sequence can be edited and processed by intelligent editing functions such as semantic recognition to obtain a better film. Among them, the selection of materials in the editing process can also be performed based on at least one of the above-mentioned historical trajectory information, environmental information, aesthetic evaluation information, and shooting element information. Exemplarily, in some embodiments, the movable platform can also add semantic information to the image sequence based on the motion trajectory of the movable platform and the relative position / relative distance between the movable platform and the target during the process of shooting the image sequence. For example, when performing a gradually moving away motion, a semantic tag "gradually away" is added; when the movable platform is behind the target, a semantic tag "behind" is added to the image sequence; in some embodiments, the movable platform can also add a semantic tag to the shot image sequence after identifying the target shooting element. In this way, it is convenient to achieve the effect of intelligent filming based on at least these semantic information in the future.

[0164] In the embodiment of the method, the target trajectory for controlling the movable platform to move from the first relative orientation and the first relative distance to the second relative orientation and the second relative distance can be determined according to actual needs.

[0165] In some embodiments, the target trajectory can be determined based on a user input operation. The user input operation (including the first input, second input, etc. described below) includes, but is not limited to, touch (single click, double click, slide) or non-touch (voice, gesture) input of the user to the physical controls and / or virtual controls of the control device, and is not limited here.

[0166] In some embodiments, the target trajectory can be determined based on the relative relationship between the current first relative position of the movable platform and the target and the second relative position corresponding to the target point, and different relative positions correspond to different relative distances and / or relative orientations. In some embodiments, when the relative distance between the first relative position and the second relative position is less than a first preset threshold, the movable platform switches from the first relative position to the second relative position according to the first preset line type to follow the target; when the relative distance between the first relative position and the second relative position is greater than or equal to the first preset threshold, the movable platform switches from the first relative position to the second relative position according to the first preset line type connected to the second preset line type to follow the target; wherein the first preset line type and the second preset line type are different.

[0167] In some embodiments, the target trajectory is determined based on at least one target point input by the user on the target interface. In some embodiments, the target trajectory is determined based on the trajectory input by the user. In some embodiments, the trajectory input by the user is used to determine the starting point and / or end point of the target trajectory. In some embodiments, the trajectory input by the user is used to determine the direction of the target trajectory. In some embodiments, the target trajectory is determined based on the user input of at least one physical control on the control device. In some embodiments, the physical control includes at least one of a mechanical button, an electronic button, a joystick, a dial, and a code disk. In some embodiments, a physical control corresponds to at least a relative distance and / or a relative orientation. In some embodiments, the target trajectory is one of a curve and a straight line, or a combination of both.

[0168] The following will take a specific implementation method in which the movable platform is an aircraft as an example to describe the implementation process of the present method embodiment in detail:

[0169] (1) Follow parameters

[0170] The following problem can be modeled as a target position, a target velocity vector, and three key following parameters: following altitude, following horizontal distance, and following horizontal angle. In the following problem, a unique desired position for the aircraft can be determined based on the target position, following altitude, following horizontal distance, and following horizontal angle. A trajectory can be generated using the target position and velocity vector, and a unique desired position can be determined based on the following horizontal distance, following horizontal angle, and following altitude.

[0171] (2) Trajectory generation

[0172] As shown in Figure 3, the space is divided into a dual compass with the target at the center. The dual compass consists of an inner circle and an outer circle. The horizontal distance interval between the inner circle and the target, the horizontal distance interval between the outer circle and the target, the relative height interval between the inner circle and the target, and the relative height interval between the outer circle and the target can all be set. The horizontal plane is divided into 16 angular zones, with 8 angular zones in the outer circle and 8 in the inner circle. Each angular zone can range 45°.

[0173] Under parameter space modeling, a point in three-dimensional Euclidean space can be converted into three parameters. Therefore, in the trajectory generation problem, the state quantity is: (relative horizontal distance, relative horizontal angle, relative altitude). This new state quantity replaces the original (x, y, z) state point. If the state point and its corresponding target information are known, the state point in Euclidean space can be calculated back.

[0174] When the user selects the area they want the aircraft to follow on the input interface, a smooth trajectory is generated through the boundary value problem (BVP), and the aircraft needs to automatically select the desired area based on environmental information, shooting angle, and shooting distance and height information.

[0175] The camera movement strategy module is used to generate smooth parameter trajectories without obstacle avoidance. During the generation process, it is necessary to consider information such as the density of the environment and the shooting angle to determine the state of the aircraft.

[0176] The aircraft can be divided into three states: Switch, Keep, and Safe. Switch: The aircraft is currently switching directions. Keep: The aircraft is currently following the current direction. Safe: Due to the dense environment, the aircraft's primary priority is to maintain safety rather than switching or maintaining direction.

[0177] (3) Camera Movement Strategy

[0178] Each following area can have an initial score (n1). Since the images taken in front of and behind the target can capture the main information of the target, the scores of the images in front of and behind the target can be slightly higher than the initial scores of the sides.

[0179] Angle score (n2): Score based on the size of the camera angle change. The specific scores are as follows:

[0180] Shot size (inner and outer circles) score: If the next shot is in the same circle, n3 = 0, otherwise n3 = 1

[0181] Camera movement direction score (m1): If the direction is the same as the last camera movement, m1=1; otherwise, m1=0.

[0182] Environment complexity score (m2): The density of obstacles in the area. The more spacious the area, the higher the score.

[0183] Overall score = (n1+n2+n3)+(m1+m2), and the area with the highest overall score is selected as the next area.

[0184] Additional strategies: Position score decay: Each time an area is reached, the location score of that area is halved to ensure full coverage; Position score reset: When all locations are detected to be covered, the location score is reset; Angle score decay: Each time an angle is run, the angle score is halved to ensure full coverage; Angle score reset: When all angles are detected to be run, the angle score is reset.

[0185] (4) Aesthetic evaluation

[0186] The aesthetic evaluation module evaluates all aspects of the aircraft's surroundings, selecting the most aesthetically pleasing and film-worthy shooting angles. This provides aesthetic scoring references for the camera movement strategy module, enabling more intelligent camera movement decisions that adapt to the environment. Specifically, the aesthetic evaluation module consists of three modules: omnidirectional scanning, environmental understanding, and aesthetic integration decision-making. The process is as follows:

[0187] First, the omnidirectional scanning module dynamically selects regions within the environmental imagery captured by the aircraft. It then applies environmental understanding to these selected regions based on algorithms such as aesthetic scoring and semantic understanding, obtaining scores across both the overall image and local semantic dimensions. Finally, the aesthetic fusion decision module fuses these scores across these dimensions to produce an overall score for the region. This process repeats, yielding scores for each region from all viewpoints around the aircraft, which are then used for further camera movement planning.

[0188] The aircraft's camera and visual sensors are used to perform omnidirectional perception of the aircraft's surroundings, generating a 360° omnidirectional image of the aircraft. The omnidirectional image can be obtained by: 1) using the aircraft's camera to rotate the aircraft; 2) directly using the aircraft's built-in omnidirectional visual sensors; or 3) combining the two aforementioned methods.

[0189] The environmental image obtained by the omnidirectional scanning module will serve as the input of the environmental understanding module to extract environmental understanding information for aesthetic judgment. Specifically, the environmental understanding module consists of two modules: aesthetic scoring and semantic understanding:

[0190] 1. Aesthetic Rating: Using an environmental image as input, an image processing algorithm generates a global aesthetic rating for the environment. A higher score indicates a more attractive area and greater film quality. Image processing algorithms include but are not limited to: 1) neural networks; 2) traditional image algorithms based on color analysis.

[0191] 2. Semantic Understanding: Using an environmental image as input, image processing algorithms are used to obtain refined segmentation of local objects of different categories in the environmental image, providing high-level semantic information for environmental understanding.

[0192] Image processing algorithms are not limited to: 1) neural networks; 2) traditional image algorithms based on region segmentation. Segmentation categories include mountains, rivers, grasslands, skies, buildings, etc.

[0193] The aesthetic fusion decision module is responsible for fusing the output results of multiple environmental understanding sub-modules to obtain the final comprehensive aesthetic score for camera movement planning.

[0194] The aesthetic fusion decision uses the score output by the aesthetic scoring module as a base score. Based on this, a strategic scoring strategy is performed based on the results of semantic understanding and aesthetic prior rules. This base score is then adjusted to ultimately obtain a fused, comprehensive aesthetic score. By performing environmental understanding and aesthetic fusion decisions on all areas obtained from the omnidirectional scan, a comprehensive aesthetic score for all areas is obtained, forming an omnidirectional aesthetic score map, which is then used for camera movement planning.

[0195] (5) PTZ composition

[0196] The aircraft can be equipped with a gimbal, which can be used to adjust the camera's posture. Aesthetic evaluation can be used to assist with composition. This evaluation will identify a suitable target area, and the gimbal will then compose the image to the center of that target area. By evaluating the area facing forward (toward the aircraft's nose), aesthetic scores are obtained for each shooting angle, providing a reference for gimbal composition and ultimately achieving better filming results.

[0197] In addition to considering background environmental information, the aesthetic evaluation of gimbal composition also takes into account the impact of the shooting target object on the composition aesthetics. That is, a target composition position aesthetic recommendation module is added to evaluate the position of the target subject in the shooting image and prioritize shooting perspectives that are more conducive to highlighting the target object and more in line with the composition aesthetics.

[0198] In addition, the different composition positions of the shooting objects (including people and vehicles) in the picture will greatly affect the overall look and feel of the film and the story. Therefore, the target composition position aesthetic recommendation module is designed to evaluate the target composition position. Specifically, the aesthetic recommendation strategy of the composition position includes:

[0199] 1) Position recommendation based on prior rules: Based on the accumulated rules from shooting experience, adjust the target composition position to suit the current shooting scene. Specific rules are not limited to:

[0200] a. Default centered composition: Adjust the target composition position to the center by default.

[0201] b. Leave the sky blank: When the environment understanding module determines that the upper part of the picture is the sky, the target position is adjusted to the lower 1 / 3 of the vertical composition point.

[0202] b. Leave blank space in the direction of target movement: If the target is currently moving to the right, the target composition position is adjusted to the horizontal left 1 / 3 third composition point.

[0203] 2) Recommendation based on aesthetic scores of different composition positions: The environmental images of the target at different composition positions are aesthetically scored using the environmental understanding module. The aesthetic scores corresponding to different composition positions are sorted, and the position with the highest score is selected as the recommended composition position.

[0204] Select either strategy 1) or strategy 2), or combine both, to obtain the final recommended target composition position. Based on the highest-scoring region position from the aesthetic evaluation and the recommended target composition position within the frame, the gimbal attitude and the relative position of the aircraft can be uniquely determined.

[0205] It should be understood that the above embodiments are merely illustrative explanations and do not constitute a limitation to the present application.

[0206] In order to facilitate the user to manually control the relative orientation and relative distance between the movable platform and the target during the process of the movable platform following the target, the embodiment of the present application also provides a control method and a control system.

[0207] The control method provided by the embodiment of the present application will be described in detail below in conjunction with the scenario in Figure 1. It should be noted that the scenario in Figure 1 is only used to explain the control method provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the control method provided by the embodiment of the present application.

[0208] Referring to FIG. 10 , FIG. 10 shows another control method provided by an embodiment of the present application, wherein the control method may include:

[0209] Step 201: Receive user input to the control device.

[0210] Step 202: In response to the input, generate a first instruction, where the first instruction is used to instruct the movable platform to gradually approach or move away from the target from the first relative orientation based on the target trajectory while maintaining the first relative distance and the first relative orientation to follow the target, and to maintain the second relative distance and the second relative orientation to follow the target.

[0211] The control device may be a remote controller, allowing the user to remotely control the movement of the mobile platform. Of course, in other optional embodiments, the control device may also be located within the mobile platform itself, and the user may also act as the driver of the mobile platform, depending on the specific application scenario. The user may simply act as the controller to perform control operations, while also acting as the target for the mobile platform to follow and capture.

[0212] In this way, the user can change the relative orientation and relative distance between the movable platform and the target according to the input to the control device, which improves the freedom of the running trajectory during the following process and improves the convenience of interaction with the user.

[0213] Furthermore, in order to facilitate the user to view the relative distance and / or relative orientation between the target and the movable platform while controlling the movable platform to change the relative distance and / or relative orientation, the target trajectory can be determined based on the user's input of the target interface displayed on the control device, and the target interface is used to indicate the relative distance and / or relative orientation between the target and the movable platform.

[0214] In some embodiments, the control device includes a target interface, and receiving user input to the control device includes: receiving user input on the target interface, the target interface is used to indicate and / or change the relative distance between the target and the movable platform, and / or, the relative orientation.

[0215] For example, the target interface may include a controllable compass area as shown in FIG11 , where the user can view and control the movable platform through input in the compass area. The relative position of the user and the movable platform may be displayed in the compass area for the user to view. This may make the interaction between the user and the movable platform simpler and more intuitive.

[0216] In some embodiments, the target trajectory may be determined based on at least one target point input by a user on a target interface.

[0217] For example, in some embodiments, the target trajectory can be determined based on the current relative position of the movable platform and the target and the relative position indicated by the target point input by the user on the target interface. In some embodiments, the target trajectory can also be determined based on the relative positions indicated by the starting point, end point, and intermediate points input by the user.

[0218] When the relative distance between the first relative position and the second relative position is less than or equal to a first preset threshold, the target trajectory connects the first relative position and the second relative position with a first preset line type; when the relative displacement between the first relative position and the second relative position is greater than the first preset threshold, the target trajectory connects the first relative position and the second relative position with a second preset line type; wherein the first preset line type and the second preset line type are different.

[0219] In some embodiments, referring to the figure, the angular displacement spanned by the first preset threshold of 4 grid areas is taken as an example. If the angular displacement of the movable platform relative to the target is less than or equal to 4 grid areas, the target trajectory can only include the first end of the first preset line type corresponding to track 1 in Figure 11 being tangent to the circle of the first radius with the target as the center, and the end being tangent to the circle of the second radius with the target as the center. If the angular displacement of the movable platform relative to the target is greater than 4 grid areas, the target trajectory can include the trajectory formed by the connection of track 3 and track 4 as shown in Figure 11. Among them, the first end of the first preset line type corresponding to track 3 is tangent to the circle of the first radius with the target as the center, and the end is tangent to the circle of the second radius with the target as the center, and the second preset line type (track 4) coincides with the circle of the first radius or the circle of the second radius, the first radius being the first relative distance, and the second radius being the second relative distance. In this way, when the target trajectory is long, a combination of tracks of different line types can be used to form the target trajectory, avoiding the problem of relatively monotonous mirror movement during long-distance switching.

[0220] In some embodiments, the target trajectory may also be determined based on a trajectory input by the user.

[0221] Specifically, in some embodiments, the user-entered trajectory can be used to determine the starting point and / or end point of the target's trajectory. In some embodiments, the user-entered trajectory can also be used to determine the direction of the target's trajectory. That is, the movable platform can change its relative position to the target in accordance with the direction indicated by the user-entered trajectory (clockwise or counterclockwise). This allows the user to control the direction of the movable platform's movement as it follows the target, improving the automation level of follow-up shooting while giving the user more freedom in shooting.

[0222] In some embodiments, the target interface includes at least two areas, and different areas indicate different relative distances and / or relative orientations; receiving user input on the target interface includes: receiving a first input to at least one area in the target interface; the first instruction is also used to: in response to the first input, control the movable platform to move to the relative orientation and relative distance indicated by the area corresponding to the user input. Specifically, the distribution of multiple areas in the target interface can be set according to actual needs. In some embodiments, the areas indicating different relative distances can be located on circular rings of different radii with the target as the center. In some embodiments, the areas indicating different relative orientations can be located on circular rings of the same radius with the target as the center.

[0223] Referring to Figure 3, the target interface shown in Figure 3 includes multiple zones of the AP. Multiple zones can be set around a target. The AH and IP zones can each indicate different relative positions to the target, while the AI ​​and BJ zones each indicate different relative distances to the target. By clicking on a corresponding zone, the user can change the relative position and orientation of the mobile platform to the target while it follows the target.

[0224] In some embodiments, the at least two regions may include a first region and a second region. Any target point in the first region indicates the same relative distance and / or relative orientation, and any target point in the second region indicates the same relative distance and / or relative orientation. Continuing with FIG. 3 as an example, the first region may be a combination of regions A and H, or a combination of regions A and I.

[0225] Furthermore, when the relative distance of any target point in the first area is the same, the first instruction is also used to: when receiving input for at least one target point in the first area, control the movable platform to change the relative orientation of the movable platform and the target based on the relative position of the target point in the first area during the process of following the target.

[0226] For example, when the first area is composed of AH areas, if the target point input by the user is located in any area of ​​the AH area, the movable platform can be controlled to only change the relative orientation corresponding to AH without changing the relative distance, thereby improving the user's freedom of operation.

[0227] Similarly, in some embodiments, when the relative orientation of any target point in the first area is the same, the first instruction is further configured to: upon receiving input directed to at least one target point in the first area, control the movable platform to change the relative distance between the movable platform and the target based on the relative position of the target point in the first area while following the target. For example, when the first area consists of areas A and I, if the target point input by the user is located in area A or area I, the movable platform may be controlled to change only the relative distance, without changing the relative orientation.

[0228] The user can also determine the target trajectory by sliding input in multiple areas on the target interface. In some embodiments, receiving the user input on the target interface includes:

[0229] receiving a second input from the user on the first area and the second area, where the second input is a trajectory input;

[0230] The first instruction is further configured to, in response to a second input, control the movable platform to gradually move from the relative distance and relative orientation indicated by the first area to the relative distance and relative orientation indicated by the second area while following the target, based on the direction of the trajectory input. This allows the user to control the movable platform's gradual movement from the first area to the second area by sliding inputs connecting the first and second areas, increasing the user's freedom in manually controlling the movable platform to follow the target, thereby providing the user with a wider range of automated camera movement options and significantly enhancing the user experience.

[0231] It should be understood that the relative distances and / or relative orientations of the different area indicators can be set by the user. The user can pre-set these through the mission parameter interface before the mobile platform follows the target, or can adjust them in real time through control input (e.g., sliding an indicator slider, pushing a joystick, etc.) during the target following process, without limitation herein.

[0232] As mentioned above, in some embodiments, the movable platform can change the relative position and relative distance between the movable platform and the target through manual control input of the user. In some embodiments, the movable platform can also automatically change the relative position and relative distance between the movable platform and the target.

[0233] In some embodiments, the target interface may also include an automatically executed control, and the method further includes: receiving a third input from the user for the automatically executed control; and generating a second instruction in response to the third input, the second instruction being used to instruct the movable platform to follow the target according to a preset motion following strategy, wherein the preset motion following strategy is used to enable the movable platform to cover at least two different relative distances and relative orientations with the target while following the target for photographing. Providing the user with the option of manual control and triggering automatic control in the target interface of the control device further enhances the user's freedom in following control operations. The preset motion following strategy can be referred to the explanations in the above embodiments and will not be further described here.

[0234] Furthermore, in order to facilitate the user to understand the motion trend currently indicated by the motion following strategy during the automatic execution of the following task, so as to more intuitively understand the motion trajectory of the mobile platform during the automatic following of the target, in some embodiments, the motion trend information of the mobile platform can be displayed on the target interface during the process of the mobile platform following the target. Specifically, with reference to Figure 14, the motion trend information can include descriptive information such as approaching to the left and moving away from the right, which includes changes in relative orientation and relative distance. Of course, in some embodiments, the target interface can also directly identify the current and subsequent following areas of the mobile platform.

[0235] As described above, the relative distance may include a horizontal relative distance and a vertical relative distance. Thus, the target interface may also indicate a three-dimensional spatial relationship with the target.

[0236] For example, referring to FIG. 12 , the target interface shown in FIG. 12 can include three-dimensional information and also display the target's orientation, direction of motion, and other information. Specifically, reference surfaces containing regions at different heights, such as L1, L2, and H1, can be generated. L1 and L2 can be different reference surfaces generated based on a tilted circle centered on the same center. L1 can be a horizontal plane, with the regions it contains indicating the same relative height relative to the target. L2, however, forms an angle with L1, and the regions it contains can indicate different relative heights relative to the target, similar to the reference surfaces in satellite / planetary orbits. This allows for further enriched camera movement effects by adjusting different reference surfaces. H1, parallel to L1, represents another reference surface at a different relative height from L1. Users can adjust the tilt angle and / or height of the reference surface through sliding input and select regions on different reference surfaces through tapping input. This allows for simultaneous changes in the horizontal relative distance, vertical relative distance, and relative orientation between the movable platform and the target on the target interface, further enhancing the user's freedom in follow-up control operations.

[0237] Optionally, the user can also change the horizontal relative distance and the vertical relative distance simultaneously by inputting a trajectory. In some embodiments, receiving the user input on the target interface includes:

[0238] receiving a trajectory input operation from a user on a target interface along a target direction, where the target direction is used to instruct the movable platform to change a horizontal relative distance and a vertical relative distance from the target;

[0239] The first instruction is further configured to, in response to an input operation, simultaneously control the movable platform to change its relative orientation relative to the target and change its horizontal and vertical distances relative to the target in the direction of the target. For example, if the user inputs a trajectory from lower left to upper right, the movable platform can move from a lower position to a higher position. Simultaneously changing both the horizontal and vertical distances via the input trajectory enhances the convenience of user interaction.

[0240] Of course, as mentioned above, a horizontal relative distance may also correspond to a vertical relative distance, so that the horizontal relative distance and the vertical relative distance can be adjusted synchronously.

[0241] Optionally, a control on the control device may correspond to one or more of a relative position and a relative distance to the target. In some embodiments, receiving user input to the control device may include: receiving user input to at least one control on the control device, the at least one control being used to change the relative position and relative distance between the movable platform and the target;

[0242] The at least one control is used to change at least one of a relative orientation, a relative horizontal distance, and a relative altitude between the movable platform and the target.

[0243] It should be understood that the at least one control may include a virtual control on the target interface, a physical control, or a combination of the two, which are not listed here. For example, since displaying two-dimensional information on the target interface is more intuitive, the relative orientation and relative horizontal distance can be changed only through the virtual controls on the target interface (such as the compass shown in Figure 11 or Figure 12), while the relative height can be changed through the joystick or dial on the control device. Among them, the physical control may include at least one of a mechanical button, an electronic button, a joystick, a dial, and a code disk.

[0244] Optionally, the following parameters and shooting parameters during the process of following the target can also be set by the user to provide the user with more parameter selection space and further enhance the user experience.

[0245] In some embodiments, the above method may further include:

[0246] receiving a fourth input from the user to the control device;

[0247] In response to the fourth input, a motion parameter of the movable platform in the process of following the target is changed, wherein the motion parameter includes at least one of a following speed, a following height, and an obstacle avoidance posture.

[0248] In some embodiments, the above method may further include:

[0249] receiving a fifth user input to the control device;

[0250] In response to the fifth input, shooting parameters of a shooting device carried by the movable platform are changed in a process in which the movable platform follows the target, where the shooting parameters include at least one of a shooting direction, a shooting object, a focus distance, and an aperture size.

[0251] It should be understood that the fourth input and / or the fifth input may be an input to the control device before following the target, or may be an input to the control device during the process of following the target.

[0252] In addition, for follow-up shooting, users currently expect to be able to generate intelligent shooting paths and take pictures with one click. This can greatly reduce the threshold for users to use mobile platforms for follow-up operations, allowing users to still take better pictures even if they have less experience in controlling mobile platforms.

[0253] To this end, referring to FIG14 , the present application further provides a shooting method, including:

[0254] Step 301: When the movable platform follows a target to shoot, the relative position between the movable platform and the target is adjusted at least according to environmental information of the target's environment.

[0255] Step 302: Control the movable platform to maintain the adjusted relative position to follow the target.

[0256] In this way, the mobile platform can autonomously adjust the relative position between the mobile platform and the target according to the environmental information of the environment and take pictures, which reduces the user's operation threshold and improves the user experience.

[0257] Optionally, the environmental information may include at least one of the following: environmental information of a shooting area preset by a user; environmental information of an environment where the target is located; and environmental information of an environment where the movable platform is located.

[0258] In some embodiments, before following a target, the mobile platform may automatically move within a user-preset capture area to obtain environmental information about the capture area, thereby utilizing the capture area's environmental information to adjust its relative position to the target during the target following process. In some embodiments, the mobile platform may also obtain, in real time, at least one of the following environmental information about the user-preset capture area, environmental information about the target's environment, and environmental information about the mobile platform's environment during the target following process.

[0259] In some embodiments, the user can trigger the movable platform to execute steps 301-302 above by inputting into a control device. It should be understood that steps 301-302 above can be part of the process of following a target and shooting. That is, steps 301-302 can be repeatedly executed during the process of following a target and shooting, so as to change to different relative positions according to the movement of the target. In this way, the user only needs to trigger the shooting button in the area where they want to shoot, and the movable platform can automatically change its relative position according to environmental information while following the target, greatly reducing the burden on the user of manually controlling the camera movement and improving the user experience.

[0260] In some embodiments, users can also preset a shooting area to have the mobile platform follow a target within the shooting area. In some embodiments, users can also preset a filming duration so that after the mobile platform films the target, it will edit a media file of the preset duration, thus achieving "one-click filming" of the follow-up target, further enhancing the automation and intelligence of follow-up filming.

[0261] In this way, the user inputs the target area and target duration to control the movable platform to automatically adjust the shooting direction and shooting distance according to the environmental information of the target area during the process of following the target, and shoot the target to generate an image frame sequence of the target duration. In this way, the user can take a picture with one click according to the preset area and preset duration, which greatly reduces the threshold for users to use the mobile platform's follow-up shooting function and improves the user experience.

[0262] It should be understood that the specific implementation of the following embodiments can refer to the explanation of the above method embodiment, and to avoid repetition, it will not be repeated here.

[0263] In some embodiments, the method further includes: controlling the movable platform to obtain environmental information of the shooting area before following the target for shooting, and / or during the process of following the target for shooting. In some embodiments, the environmental information is obtained based on image data from a shooting device carried by the movable platform, and / or the environmental information is obtained based on data from a perception sensor provided on the movable platform. In some embodiments, the environmental information can be obtained based on global environmental data fused from data detected by multiple perception sensors provided on the movable platform. In some embodiments, adjusting the relative orientation between the movable platform and the target based on the environmental information of the target's environment includes: determining a following path passing through at least two following areas during the process of following the target based on at least the environmental information of the shooting area, wherein the at least two following areas indicate different relative distances and different relative orientations to the target.

[0264] In some embodiments, the following path is determined based on observation data from the mobile platform when it begins following the target, and / or the following path is determined in real time based on observation data while the mobile platform is following the target. In some embodiments, the following area is further associated with historical following information. In some embodiments, the historical following information includes at least one of the following: historical following orientations; historical following distances; and historical following trajectories. In some embodiments, the historical following orientations include one or more relative orientations maintained between the mobile platform and the target while following the target. In some embodiments, the historical following distances include one or more relative distances maintained between the mobile platform and the target while following the target. In some embodiments, the historical following trajectories include the relative motion trajectories formed between the mobile platform and the target as it moves between different following areas while following the target. In some embodiments, the environmental information includes at least one of the following: environmental openness information; obstacle information; captured element information; and aesthetic evaluation information. In some embodiments, the captured element information is obtained based on semantic recognition of environmental information acquired by the mobile platform. In some embodiments, the captured element information can be pre-set by the user, and / or the captured element information is determined in real time based on image information acquired by the mobile platform. In some embodiments, the aesthetic evaluation information is determined based on at least one of the distribution rule, symmetrical composition rule and clutter rule of the photographic elements; wherein the distribution rule of the photographic elements is used to indicate that different types of photographic elements can be distributed adjacently in the photographic picture according to a preset distribution order; the symmetrical composition rule is used to indicate that the same photographic element can be symmetrically distributed in the photographic picture; and the clutter rule is used to indicate that the number of different types of photographic elements is lower than a threshold.

[0265] In some embodiments, the aesthetic evaluation information can be pre-set by the user; and / or, the aesthetic evaluation information is determined in real time based on image information acquired by the mobile platform. In some embodiments, the target following area is also associated with the duration of the current following area. In some embodiments, the duration of the mobile platform following the target in a high-openness following area is longer than the duration of the mobile platform following the target in a low-openness following area; or, the duration of the mobile platform following the target in a following area with few obstacles is longer than the duration of the mobile platform following the target in a following area with many obstacles; the duration of the following area with a photographic element is longer than the duration of the following area without a photographic element; and the duration of the following area with a high aesthetic score is longer than the duration of the following area with a low aesthetic score.

[0266] In some embodiments, the method further includes at least one of the following: when the duration of stay in the current following area is less than a preset threshold, if the spaciousness of the current following area is higher than the preset threshold, controlling the movable platform to remain in the current following area for following; when the duration of stay in the current following area is less than the preset threshold, if the spaciousness of the current following area is lower than the preset threshold, controlling the movable platform to move to a following area with a spaciousness higher than the preset threshold; when the duration of stay in the current following area is greater than or equal to the preset threshold, if there is a following area with a spaciousness higher than the preset threshold, controlling the movable platform to move to a following area with a spaciousness higher than the preset threshold.

[0267] In some embodiments, the method further comprises: controlling a camera mounted on the mobile platform to photograph the target during at least a portion of the time period that the mobile platform follows the target. In some embodiments, controlling the camera mounted on the mobile platform to photograph the target comprises: controlling the target to be approximately centered in a photographic image of the camera mounted on the mobile platform. In some embodiments, controlling the camera mounted on the mobile platform to photograph the target comprises: controlling the camera mounted on the mobile platform to change a photographic orientation based on changes in a relative distance and relative orientation between the mobile platform and the target during at least a portion of the time period that the mobile platform follows the target, so that the relative position of the target in the photographic image of the camera mounted on the mobile platform changes.

[0268] In some embodiments, the method further includes: during at least a portion of the time period that the movable platform follows the target, controlling a camera mounted on the movable platform to change its shooting orientation based on the target's direction of motion, such that, in the image captured by the camera, the distance from the target in the direction of motion to a boundary of the image captured by the camera is greater than the distance from the target in a direction opposite to the direction of motion to another boundary of the image captured. In some embodiments, the method further includes: during at least a portion of the time period that the movable platform follows the target, controlling the camera mounted on the movable platform to change its shooting orientation based on environmental information acquired by the movable platform.

[0269] In some embodiments, the method further includes: if the environmental information acquired by the mobile platform indicates that the environment includes a target element, controlling the mobile platform to perform at least one of the following, so that the target element is present in the captured image during at least a portion of the time period that the mobile platform follows the target: changing the relative distance to the target; changing the relative orientation to the target; or changing the shooting orientation of the onboard camera. In some embodiments, the method further includes: if the environmental information acquired by the mobile platform determines that the image of the camera is above the sky, controlling the mobile platform to perform at least one of the following, so that the majority of the target in the captured image is located in the lower half of the captured image: changing the relative distance to the target; changing the relative orientation to the target; or changing the shooting orientation of the onboard camera.

[0270] In some embodiments, the method also includes: when the environmental information obtained by the movable platform indicates that the environment includes the seaside and the beach, controlling the movable platform to perform at least one of the following so that in the shooting picture, the seaside and the beach are located on both sides of the target and have approximately the same proportion: changing the relative distance to the target; changing the relative orientation to the target; changing the shooting direction of the mounted shooting device.

[0271] In some embodiments, the method further includes: after the movable platform follows the target to shoot a first image sequence, adjusting the shooting direction and / or shooting position of the movable platform to shoot a second image sequence corresponding to the current environment, and then adjusting the shooting direction and / or shooting position of the movable platform to follow the target to continue shooting a third image sequence.

[0272] In some embodiments, the method further includes: when the target is out of the shooting picture of the shooting device, controlling the movable platform to perform following based on the position information of the electronic device carried by the target.

[0273] In some embodiments, the method further includes: when the target leaves the shooting screen of the shooting device, controlling the movable platform to perform following based on data acquired by the perception sensor of the movable platform.

[0274] In some embodiments, when the environmental information includes image data acquired by a photographing device, controlling the photographing device carried by the movable platform to change the photographing direction includes: based on the aesthetic evaluation information corresponding to the environmental information, controlling the movable platform to perform at least one of the following so that the photographed picture conforms to a preset aesthetic evaluation: changing the relative distance to the target; changing the relative orientation to the target; changing the photographing direction of the carried photographing device.

[0275] In some embodiments, the aesthetic evaluation information is determined based on at least one of the distribution rule, symmetrical composition rule and clutter rule of the photographic elements; wherein the distribution rule of the photographic elements is used to indicate that different types of photographic elements can be distributed adjacently in the photographic picture according to a preset distribution order; the symmetrical composition rule is used to indicate that the same photographic element can be symmetrically distributed in the photographic picture; and the clutter rule is used to indicate that the number of different types of photographic elements is lower than a threshold.

[0276] In some embodiments, during at least part of the time period when the movable platform follows the target, the camera carried by the movable platform is controlled to photograph the target, including at least one of the following: while the movable platform remains at a first relative position and a first relative distance, the camera carried by the movable platform is controlled to photograph a first image sequence of the target; while the movable platform remains at a second relative position and a second relative distance, the camera carried by the movable platform is controlled to photograph a second image sequence of the target; while the movable platform gradually moves from the first relative position and the first relative distance to the second relative position and the second relative distance, the camera carried by the movable platform is controlled to photograph a third image sequence of the target.

[0277] In some embodiments, the method also includes: after finishing following the target, processing the image sequence acquired by the shooting device carried by the movable platform based on a preset filming strategy to obtain a target image sequence, wherein the filming strategy is used to indicate the selection of target image frames from the image sequence and combining them into a target image sequence.

[0278] In some embodiments, during the process of the mobile platform following the target for shooting, the relative position between the mobile platform and the target is adjusted at least based on environmental information, including: during the process of the mobile platform following the target for shooting, the relative position between the mobile platform and the target is adjusted based on environmental information and a preset motion following strategy; wherein the motion following strategy is further used to make the following area corresponding to different following distances and / or following directions when the mobile platform follows the target for two consecutive times. In some embodiments, the motion following strategy is further used to make the mobile platform traverse all preset relative directions and all relative distances during the entire process of following the target. In some embodiments, all relative directions include front, back, left, right, left front, left back, right front, and right back. In some embodiments, the motion following strategy is further used to make the following area corresponding to different following distances and / or following directions when the mobile platform follows the target for two consecutive times. In some embodiments, the motion following strategy is further configured to cause the mobile platform, when following a target, to deflect the mobile platform relative to the target at a different angle when switching from a first following area to a second following area than when switching from the second following area to a third following area. In some embodiments, the motion following strategy is further configured to cause the mobile platform to select a following area with no or few obstacles when following the target from a previous following area to a next following area, wherein different following areas correspond to different relative distances and / or relative orientations. In some embodiments, the motion following strategy is further configured to cause the mobile platform to select a following area that meets a preset aesthetic evaluation when switching from a previous following area to a next following area to follow the target, wherein different following areas correspond to different relative distances and / or relative orientations. In some embodiments, the motion following strategy is further configured to cause the mobile platform to select a following area that is not covered during the current following process when switching from a previous following area to a next following area to follow the target, wherein different following areas correspond to different relative distances and / or relative orientations. In some embodiments, the motion following strategy is further used to enable the movable platform to select a target trajectory for switching when switching from a previous following area to a next following area to follow a target. The target trajectory includes gradually approaching or gradually moving away.

[0279] Please refer to Figure 15 , which is a schematic block diagram of a control device provided in an embodiment of the present application. The control device is applied to the aforementioned movable platform 100. The control device can be integrated into the aforementioned movable platform 100, or can be independently provided and communicatively connected to the movable platform 100. The aforementioned control method can also be applied to the control device.

[0280] As shown in FIG11 , the control device 1500 includes a processor 1501 and a memory 1502 . The processor 1501 and the memory 1502 are connected via a bus 1503 , which is, for example, an I 2 C (Inter-Integrated Circuit) bus.

[0281] Specifically, the processor 1501 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0282] Specifically, the memory 1502 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0283] The processor 1501 is configured to run the computer program stored in the memory 1502 and implement the following steps when executing the computer program:

[0284] Controlling the movable platform to maintain a first relative distance and a first relative orientation relative to the target and follow the target; controlling the movable platform to move toward or away from the target from the first relative distance and the first relative orientation based on the target trajectory, so that the movable platform moves to a second relative distance and a second relative orientation relative to the target; controlling the movable platform to maintain a second relative distance and a second relative orientation and follow the target; wherein the first relative distance is different from the second relative distance, and the first relative orientation is different from the second relative orientation.

[0285] And / or, implement the following steps:

[0286] Receive user input to the control device; in response to the input, generate a first instruction, wherein the first instruction is used to instruct the movable platform to move from the first relative orientation toward or away from the target to a second relative distance and a second relative orientation based on the target trajectory while maintaining the first relative distance and the second relative orientation to follow the target.

[0287] And / or, implementing the following steps: in a process in which the movable platform follows the target to shoot, adjusting the relative position between the movable platform and the target at least according to the environmental information;

[0288] The movable platform is controlled to keep following the target at the adjusted relative position.

[0289] The specific implementation method can refer to the method embodiment, and will not be described here again to avoid repetition.

[0290] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control device described above can refer to the corresponding process in the aforementioned control method embodiment, and will not be repeated here.

[0291] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control system described above can refer to the corresponding process in the aforementioned control method embodiment, and will not be repeated here.

[0292] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions. The processor executes the program instructions to implement the steps of the control method provided in the above embodiment.

[0293] The computer-readable storage medium may be an internal storage unit of the pan-tilt head of any of the aforementioned embodiments, such as a hard disk or memory of the pan-tilt head. The computer-readable storage medium may also be an external storage device of the pan-tilt head, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc.

[0294] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0295] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0296] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A control method, characterized in that: include: Controlling the movable platform to maintain a first relative distance and a first relative orientation relative to the target and follow the target; Controlling the movable platform to move toward or away from the target from the first relative distance and the first relative orientation based on the target trajectory, so that the movable platform moves to a second relative distance and a second relative orientation relative to the target; The movable platform is controlled to follow the target at the second relative distance and the second relative orientation; wherein the first relative distance is different from the second relative distance, and the first relative orientation is different from the second relative orientation.

2. The method according to claim 1, characterized in that Controlling the movable platform to move toward or away from the target from the first relative distance and the first relative orientation based on the target trajectory, and maintaining following the target at the second relative distance and the second relative orientation, comprises: According to a preset motion following strategy, the movable platform is controlled to move toward or away from the target from the first relative position based on the target trajectory, and to follow the target at a second relative distance and a second relative position.

3. The method according to claim 2, characterized in that The motion following strategy is used to enable the movable platform to cover at least two different relative distances and relative orientations with respect to the target during the process of following the target.

4. The method according to claim 2, characterized in that: The motion following strategy is also used to enable the movable platform to traverse all preset relative positions and all relative distances during the whole process of following the target.

5. The method according to claim 4, characterized in that All relative positions include front, back, left, right, left front, left back, right front, and right back.

6. The method according to claim 2, characterized in that The motion following strategy is also used to ensure that, during the process of the movable platform following the target, the following areas switched twice adjacently correspond to different following distances and / or following directions.

7. The method according to claim 2, characterized in that: The motion following strategy is also used to ensure that, during the process of following the target, the deflection angle of the movable platform relative to the target when the movable platform switches from the first following area to the second following area is different from the deflection angle and / or deflection direction of the movable platform relative to the target when the movable platform switches from the second following area to the third following area.

8. The method according to claim 2, characterized in that: The motion following strategy is also used to enable the movable platform to select a following area with no obstacles or few obstacles when switching from a previous following area to a next following area to follow the target, wherein different following areas correspond to different relative distances and / or relative orientations.

9. The method according to claim 2, characterized in that: The motion following strategy is also used to enable the movable platform to select a following area that meets a preset aesthetic evaluation when switching from a previous following area to a next following area to follow the target, wherein different following areas correspond to different relative distances and / or relative orientations.

10. The method according to claim 2, characterized in that The motion following strategy is also used to enable the movable platform to select a following area that is not covered during the current following process when switching from the previous following area to the next following area to follow the target, wherein different following areas correspond to different relative distances and / or relative orientations.

11. The method according to claim 2, characterized in that The motion following strategy is also used to enable the movable platform to select a switching target trajectory when switching from a previous following area to a next following area to follow the target, and the target trajectory includes gradually approaching or gradually moving away.

12. The method according to claim 2, characterized in that: The motion following strategy is also used to control the movable platform to maintain the relative orientation and relative distance when it starts to follow the target until there is a achievable following area if it is determined based on obstacles and / or obstacle information in the environment that there is no achievable following area when the movable platform starts to follow the target.

13. The method according to claim 1, characterized in that In the process of controlling the movable platform to move toward or away from the target from the first relative distance and the first relative orientation based on the target trajectory, the relative distance between the movable platform and the target gradually increases or decreases.

14. The method according to claim 2, characterized in that The motion following strategy is used to determine a following path passing through at least two following areas during following the target, wherein the at least two following areas indicate different relative distances and different relative orientations to the target.

15. The method according to claim 14, characterized in that The following path is determined based on observation data when the movable platform starts to follow the target, and / or the following path is determined in real time based on observation data during the process of the movable platform following the target.

16. The method according to claim 2, characterized in that In the process of the movable platform switching from a first relative distance and a first relative orientation to a second relative distance and a second relative orientation, the motion following strategy is used to determine a target following area from a plurality of alternative following areas, wherein the plurality of alternative following areas respectively indicate different relative distances and different relative orientations to the target, the target following area indicates the second relative distance and the second relative orientation to the target, and the target following area is associated with at least environmental information and / or historical following information.

17. The method according to claim 16, characterized in that The environmental information is acquired by a photographing device carried by the movable platform, or the environmental information is acquired by a perception sensor of the movable platform.

18. The method according to claim 17, characterized in that The historical follow-up information includes at least one of the following: History follows direction; history follows distance; history follows trajectory.

19. The method according to claim 18, characterized in that The historical following positions include one or more relative positions maintained between the movable platform and the target during the process of following the target.

20. The method according to claim 18, characterized in that The historical following distance includes one or more relative distances maintained between the movable platform and the target during the process of following the target.

21. The method according to claim 18, characterized in that The historical following trajectory includes a relative motion trajectory formed between the movable platform and the target when the movable platform moves between different following areas during the process of following the target.

22. The method according to claim 16, characterized in that The environmental information includes at least one of the following: Environmental openness information; obstacle information; shooting element information; aesthetic evaluation information.

23. The method according to claim 22, characterized in that The shooting element information is obtained based on semantic recognition of environmental information acquired by the movable platform.

24. The method according to claim 22, characterized in that The photographing element information can be preset by a user; and / or, the photographing element information is determined in real time based on image information acquired by the mobile platform.

25. The method according to claim 22, characterized in that The aesthetic evaluation information is determined based on at least one of a distribution rule, a symmetrical composition rule, and a clutter rule of the photographed elements; Among them, the shooting element distribution rule is used to indicate that different types of shooting elements can be distributed adjacent to each other in the shooting picture according to a preset distribution order; the symmetrical composition rule is used to indicate that the same shooting element can be symmetrically distributed in the shooting picture; and the clutter rule is used to indicate that the number of different types of shooting elements is lower than a threshold.

26. The method according to claim 22, characterized in that The aesthetic evaluation information can be preset by a user; and / or, the aesthetic evaluation information is determined in real time based on image information acquired by the mobile platform.

27. The method according to any one of claims 2 to 26, characterized in that The motion following strategy is used to determine a target following area according to the priority information of the following area, and the target following area is the area with the highest priority among the following areas.

28. The method according to claim 27, characterized in that In the case where the target following area is associated with the historical following information, the priority information of the following area satisfies at least one of the following: The priority of the following area in the historical following position is lower than the priority of the following area not in the historical following position; The priority of a following area that is within the historical following distance is lower than the priority of a following area that is not within the historical following distance; The priority of the deflection angle of the movable platform compared to the target when the previous switch from the first following area to the second following area is different from the deflection angle and / or deflection direction of the movable platform compared to the target when the next switch from the second following area to the third following area is higher than the priority of the deflection angle of the movable platform compared to the target when the previous switch from the first following area to the second following area is the same as the deflection angle and / or deflection direction of the movable platform compared to the target when the next switch from the second following area to the third following area is the same.

29. The method according to claim 27, characterized in that In the case where the target following area is associated with environmental information, the priority information of the following area satisfies at least one of the following: The priority of a following area with high openness is higher than that of a following area with low openness; The priority of following areas with no obstacles or few obstacles is higher than that of following areas with obstacles or many obstacles; The priority of the following area where the photographic element exists is higher than the priority of the following area where the photographic element does not exist; A following region with a high aesthetic score has a higher priority than a following region with a low aesthetic score.

30. The method according to claim 27, characterized in that The priority information can be preset by a user and / or calculated in real time.

31. The method according to claim 27, characterized in that The priority information is determined based on the scores of the following areas.

32. The method according to claim 3, characterized in that The target following area is also associated with the duration of stay in the current following area.

33. The method according to claim 32, characterized in that The length of time the movable platform stays in the current following area satisfies any of the following conditions: The length of time that the movable platform stays following the target in a high-clearance following area is longer than the length of time that the movable platform stays following the target in a low-clearance following area; The length of time that the movable platform stays following the target in a following area with fewer obstacles is longer than the length of time that the movable platform stays following the target in a following area with more obstacles; The stay time of the following area where the photographic element exists is longer than the stay time of the following area where the photographic element does not exist; The dwell time of the following area with a high aesthetic score is longer than that of the following area with a low aesthetic score.

34. The method according to claim 32, characterized in that The method further comprises at least one of the following: When the duration of stay in the current following area is less than a preset threshold, if the spaciousness of the current following area is higher than the preset threshold, the movable platform is controlled to stay in the current following area for following; When the duration of stay in the current following area is less than a preset threshold, if the spaciousness of the current following area is lower than the preset threshold, controlling the movable platform to move to a following area whose spaciousness is higher than the preset threshold; When the residence time in the current following area is greater than or equal to a preset threshold, if there is a following area with a degree of spaciousness higher than the preset threshold, controlling the movable platform to move to the following area with a degree of spaciousness higher than the preset threshold; When the residence time in the current following area is greater than or equal to a preset threshold, if there is no following area with a degree of spaciousness higher than the preset threshold, the movable platform is controlled to keep following the target in the current following area until a following area with a degree of spaciousness higher than the preset threshold appears.

35. The method according to claim 1, characterized in that The relative position between the movable platform and the target is determined based on the orientation of the target.

36. The method according to claim 1, characterized in that The relative position between the movable platform and the target is determined based on the direction of motion of the target.

37. The method according to claim 35 or 36, characterized in that When the target is detected to be in motion, the relative position between the movable platform and the target is determined based on the moving direction of the target; When it is detected that the target is in a stationary state, the relative position between the movable platform and the target is determined based on the orientation of the target.

38. The method according to any one of claims 1, 35 and 36, characterized in that: Controlling the movable platform to move toward or away from the target from the first relative position based on the target trajectory, and maintaining following the target at a second relative distance and a second relative position, comprises: The target trajectory is adjusted in real time according to the moving direction or orientation of the target.

39. The method according to claim 38, characterized in that According to the moving direction or orientation of the target, the target trajectory is adjusted in real time, including: If the moving direction of the target changes, the second relative orientation is re-determined according to the current moving direction of the target; or if the orientation of the target changes, the second relative orientation is re-determined according to the current orientation of the target; The target trajectory is adjusted based on the re-determined second relative position.

40. The method according to claim 38, characterized in that According to the moving direction or orientation of the target, the target trajectory is adjusted in real time, including: If the orientation or movement direction of the target is deflected by 180 degrees, the movable platform is controlled to circle around the target half a circle with the current relative distance between the movable platform and the target as a radius, and then continue to follow the target. In the process of circling the target, the target continues to remain in the picture taken by the camera of the movable platform.

41. The method according to claim 1, characterized in that The relative distance includes a horizontal relative distance and / or a vertical relative distance.

42. The method according to claim 39, characterized in that The first relative distance includes a first horizontal relative distance and a first vertical relative distance, and the second relative distance includes a second horizontal relative distance and a second vertical relative distance; wherein the first horizontal relative distance corresponds to the first vertical relative distance, the second horizontal relative distance corresponds to the second vertical relative distance, and the first vertical relative distance and the second vertical relative distance are different.

43. The method according to claim 42, characterized in that The magnitude relationship between the first horizontal relative distance and the second horizontal relative distance is the same as the magnitude relationship between the first vertical relative distance and the second vertical relative distance.

44. The method according to claim 41, characterized in that Controlling the movable platform to move toward or away from the target from the first relative distance and the first relative orientation based on the target trajectory comprises: While controlling the movable platform to gradually move from the first relative distance to the second relative distance along the horizontal direction and / or the vertical direction, the movable platform is controlled to gradually move from the first relative orientation to the second relative orientation.

45. The method according to claim 1, characterized in that Also includes: During at least a portion of the time period when the movable platform follows the target, a shooting device carried by the movable platform is controlled to shoot the target.

46. ​​The method according to claim 45, characterized in that Controlling a shooting device carried by the movable platform to shoot the target includes: The target is controlled to be approximately at the center of the shooting picture of the shooting device.

47. The method according to claim 1, characterized in that Also includes: During at least part of the time period when the movable platform follows the target, the shooting direction of the shooting device carried by the movable platform is controlled to change according to the changes in the relative distance and relative orientation between the movable platform and the target, so that the relative position of the target in the shooting picture of the shooting device changes.

48. The method according to claim 1, characterized in that Also includes: During at least part of the time period when the movable platform follows the target, the shooting device carried by the movable platform is controlled to change the shooting direction according to the movement direction of the target, so that in the shooting picture of the shooting device, the distance from the target along the movement direction to the boundary of the shooting picture is greater than the distance from the target along the direction opposite to the movement direction to the other boundary of the shooting picture.

49. The method according to claim 1, characterized in that Also includes: During at least a portion of the time period when the movable platform follows the target, a shooting device carried by the movable platform is controlled to change a shooting direction according to environmental information acquired by the movable platform.

50. The method according to claim 1 or 49, characterized in that Also includes: In a case where the environment information acquired by the mobile platform indicates that the environment includes a target shooting element, controlling the mobile platform to execute at least one of the following, so that the target shooting element exists in the shooting picture during at least a partial period of time when the mobile platform follows the target: changing the relative distance to the target; changing the relative position to the target; Change the shooting direction of the mounted camera.

51. The method according to claim 1 or 49, characterized in that Also includes: When it is determined that the sky is above the shooting picture of the shooting device according to the environmental information acquired by the mobile platform, the mobile platform is controlled to perform at least one of the following, so that most of the target in the shooting picture is located in the lower half of the shooting picture: changing the relative distance to the target; changing the relative position to the target; Change the shooting direction of the mounted camera.

52. The method according to claim 1 or 49, characterized in that Also includes: In a case where the environment information acquired by the movable platform indicates that the environment includes a seaside and a beach, the movable platform is controlled to perform at least one of the following, so that in the captured image, the seaside and the beach are respectively located on both sides of the target and have approximately the same proportions: changing the relative distance to the target; changing the relative position to the target; Change the shooting direction of the mounted camera.

53. The method according to claim 45, characterized in that Also includes: After the movable platform follows the target to shoot the first image sequence, the shooting direction and / or shooting position of the movable platform is adjusted to shoot the second image sequence corresponding to the current environment, and then the shooting direction and / or shooting position of the movable platform is adjusted again to follow the target to continue shooting the third image sequence.

54. The method according to any one of claims 45, 49 and 53, characterized in that Also includes: In the case that the target is out of the shooting picture of the shooting device, the movable platform is controlled to perform following based on the position information of the electronic device carried by the target.

55. The method according to any one of claims 45, 49 and 53, characterized in that Also includes: In the case that the target is out of the shooting picture of the shooting device, the movable platform is controlled to perform following based on the data acquired by the sensing sensor of the movable platform.

56. The method of claim 49, wherein: Controlling the shooting device carried by the movable platform to change the shooting direction includes: Based on the aesthetic evaluation information corresponding to the environmental information, the mobile platform is controlled to execute at least one of the following, so that the captured image meets the preset aesthetic evaluation: changing the relative distance to the target; changing the relative position to the target; Change the shooting direction of the mounted camera.

57. The method according to claim 56, characterized in that The aesthetic evaluation information is determined based on at least one of a distribution rule, a symmetrical composition rule, and a clutter rule of the photographed elements; Among them, the shooting element distribution rule is used to indicate that different types of shooting elements can be distributed adjacent to each other in the shooting picture according to a preset distribution order; the symmetrical composition rule is used to indicate that the same shooting element can be symmetrically distributed in the shooting picture; and the clutter rule is used to indicate that the number of different types of shooting elements is lower than a threshold.

58. The method of claim 45, wherein: During at least a portion of the time period when the movable platform follows the target, controlling a shooting device carried by the movable platform to shoot the target includes at least one of the following: When the movable platform is maintained at the first relative position and the first relative distance, controlling a shooting device carried by the movable platform to shoot a first image sequence of the target; When the movable platform is maintained at the second relative position and the second relative distance, controlling a shooting device carried by the movable platform to shoot a second image sequence of the target; In the process that the movable platform gradually moves from the first relative position and the first relative distance to the second relative position and the second relative distance, the shooting device carried by the movable platform is controlled to shoot a third image sequence of the target.

59. The method according to claim 1 or 58, characterized in that The method further comprises: After the target is followed, the image sequence acquired by the shooting device carried by the movable platform is processed to obtain a target image sequence.

60. The method according to claim 1, characterized in that The target trajectory is determined based on an input operation of a user.

61. The method according to claim 60, characterized in that The target trajectory is determined based on user input of a target interface displayed on a control device, wherein the target interface is used to indicate a relative distance and / or a relative orientation between the target and the movable platform.

62. The method according to claim 61, characterized in that The target trajectory is determined based on the current relative position of the movable platform and the target and the target point input by the user on the target interface.

63. The method according to claim 62, characterized in that The target trajectory is determined based on the relative relationship between a current first relative position of the movable platform and the target and a second relative position corresponding to the target point, and different relative positions correspond to different relative distances and / or relative orientations.

64. The method according to claim 63, characterized in that When the relative distance between the first relative position and the second relative position is less than a first preset threshold, the movable platform switches from the first relative position to the second relative position according to a first preset line type to follow the target; When the relative distance between the first relative position and the second relative position is greater than or equal to a first preset threshold, the movable platform switches from the first relative position to the second relative position to follow the target according to the first preset line type connected to the second preset line type; The first preset line type is different from the second preset line type.

65. The method according to claim 64, characterized in that The beginning end of the first preset line type is tangent to a circle of a first radius with the target as the center, and the end end is tangent to a circle of a second radius with the target as the center. The second preset line type coincides with the circle of the first radius or the circle of the second radius. The first radius is the first relative distance, and the second radius is the second relative distance.

66. The method according to claim 61, characterized in that The target trajectory is determined based on at least one target point input by a user on the target interface.

67. The method according to claim 61, characterized in that The target trajectory is determined based on a trajectory input by a user.

68. The method according to claim 67, characterized in that The trajectory input by the user is used to determine the starting point and / or end point of the target trajectory.

69. The method according to claim 67, characterized in that The trajectory input by the user is used to determine the direction of the target trajectory.

70. The method according to claim 60, characterized in that The target trajectory is determined based on user input to at least one physical control on the control device.

71. The method according to claim 70, characterized in that The physical controls include at least one of a mechanical button, an electronic button, a joystick, a dial, and a code disk.

72. The method according to claim 70, characterized in that A physical control corresponds to at least the relative distance and / or the relative orientation.

73. The method according to any one of claims 60 to 72, characterized in that The target trajectory is one of a curve and a straight line, or a combination of both.

74. A control method for a movable platform, characterized in that: include: receiving user input to the control device; In response to the input, a first instruction is generated, wherein the first instruction is used to instruct the movable platform to move from the first relative position toward or away from the target to a second relative distance and a second relative position based on the target trajectory while maintaining a first relative distance and a first relative orientation to follow the target, and to maintain the second relative distance and the second relative orientation to follow the target.

75. The method according to claim 74, characterized in that In the process of moving from the first relative position close to the target to the second relative distance and the second relative position based on the target trajectory, the relative distance between the movable platform and the target decreases; in the process of moving from the first relative position close to the target to the second relative distance and the second relative position based on the target trajectory, the relative distance between the movable platform and the target increases.

76. The method of claim 74, wherein: The control device includes a target interface, and receiving a user input to the control device includes: An input from a user on the target interface is received, where the target interface is used to indicate and / or change a relative distance and / or a relative orientation between the target and the movable platform.

77. The method according to claim 76, characterized in that The target trajectory is determined based on at least one target point input by a user on the target interface.

78. The method according to claim 77, characterized in that The target trajectory is determined based on a current first relative position of the movable platform and the target and a second relative position corresponding to the target point.

79. The method according to claim 78, characterized in that When the relative distance between the first relative position and the second relative position is less than a first preset threshold, the target track connects the first relative position and the second relative position with a first preset line type; When the relative distance between the first relative position and the second relative position is greater than or equal to a first preset threshold, the target track connects the first relative position and the second relative position with a second preset line type; The first preset line type is different from the second preset line type.

80. The method according to claim 79, characterized in that The beginning end of the first preset line type is tangent to a circle of a first radius with the target as the center, and the end end is tangent to a circle of a second radius with the target as the center. The second preset line type coincides with the circle of the first radius or the circle of the second radius. The first radius is the first relative distance, and the second radius is the second relative distance.

81. The method of claim 75, wherein: The target trajectory is determined based on a trajectory input by a user.

82. The method according to claim 81, characterized in that The trajectory input by the user is used to determine the starting point and / or end point of the target trajectory.

83. The method according to claim 81, characterized in that The trajectory input by the user is used to determine the direction of the target trajectory.

84. The method according to any one of claims 75 to 83, characterized in that The target trajectory is one of a curve and a straight line, or a combination of both.

85. The method according to any one of claims 75 to 83, characterized in that The target trajectory is a trajectory surrounding the target.

86. The method according to any one of claims 75 to 83, characterized in that Receiving user input on the target interface includes: receiving a user's click operation on the target interface, and determining at least one target point in the target trajectory; and / or, A sliding operation of the user on the target interface is received, and the target trajectory is determined.

87. The method of claim 76, wherein: The target interface includes at least two areas, and different areas indicate different relative distances and / or relative directions; The receiving the user's input on the target interface includes: Receiving a first input to at least one area in the target interface; The first instruction is also used to: in response to the first input, control the movable platform to move to the relative position and relative distance indicated by the area corresponding to the user input.

88. The method according to claim 87, characterized in that The at least two areas include a first area and a second area, wherein the relative distance and / or relative orientation indicated by any target point in the first area is the same, and the relative distance and / or relative orientation indicated by any target point in the second area is the same.

89. The method according to claim 87, characterized in that When the relative distances of any target points in the first area are the same, the first instruction is further used to: When receiving input for at least one target point in the first area, the movable platform is controlled to change the relative orientation between the movable platform and the target based on the relative position of the target point in the first area during following the target.

90. The method according to claim 88, characterized in that When the relative orientations of any target points in the first area are the same, the first instruction is further used to: When receiving input for at least one target point in the first area, the movable platform is controlled to change a relative distance between the movable platform and the target based on a relative position of the target point in the first area during following the target.

91. The method according to claim 88, characterized in that The receiving the user's input on the target interface includes: receiving a second input of the user on the first area and the second area, wherein the second input is a track input; The first instruction is also used to: In response to the second input, the movable platform is controlled to gradually move from the relative distance and relative orientation indicated by the first area to the relative distance and relative orientation indicated by the second area based on the direction of the trajectory input during the process of following the target.

92. The method according to claim 91, characterized in that The areas indicating different relative distances are located on circles with different radii taking the target as the center.

93. The method according to claim 91, characterized in that The areas indicating different relative directions are located on a circle with the same radius and the target as the center.

94. The method according to any one of claims 87 to 93, characterized in that The relative distances and / or relative positions of the different area indications can be set by the user.

95. The method of claim 77, wherein: The target interface also includes an automatic execution control, and the method further includes: receiving a third input from a user for the automatic execution control; In response to the third input, a second instruction is generated, wherein the second instruction is used to instruct the movable platform to follow the target according to a preset motion following strategy, wherein the preset motion following strategy is used to enable the movable platform to cover at least two different relative distances and relative orientations with the target while following the target for shooting.

96. The method according to claim 95, characterized in that The method further comprises: When the movable platform follows the target, the movement trend information of the movable platform is displayed on the target interface.

97. The method according to claim 74 or 75, characterized in that The relative distance includes a horizontal relative distance and a vertical relative distance.

98. The method according to claim 97, characterized in that The horizontal relative distance and the vertical relative distance correspond one to one.

99. The method according to claim 97, characterized in that The target interface indicates a three-dimensional spatial relationship with the target.

100. The method according to claim 97, characterized in that The receiving the user's input on the target interface includes: receiving a trajectory input operation of a user along a target direction on the target interface, wherein the target direction is used to instruct the movable platform to change a horizontal relative distance and a vertical relative distance between the movable platform and the target; The first instruction is also used to: In response to the input operation, the movable platform is controlled to change its relative orientation to the target, while changing a horizontal relative distance and a vertical relative distance to the target along the target direction.

101. The method according to claim 97, characterized in that The receiving user input to the control device comprises: An input of a user to at least one control on the control device is received, wherein the at least one control is respectively used for at least one of a relative position, a relative horizontal distance, and a relative vertical distance to the target.

102. The method according to claim 74, characterized in that The receiving user input to the control device comprises: Receive user input to at least one physical control on the control device.

103. The method according to claim 102, characterized in that The physical controls include at least one of a mechanical button, an electronic button, a joystick, a dial, and a code disk.

104. The method according to claim 74, characterized in that Also includes: receiving a fourth input from a user to the control device; In response to the fourth input, a motion parameter of the movable platform in a process of following the target is changed, wherein the motion parameter includes at least one of a following speed, a following height, and an obstacle avoidance posture.

105. The method according to claim 74, characterized in that Also includes: receiving a fifth input from a user to the control device; In response to the fifth input, shooting parameters of a shooting device carried by the movable platform are changed when the movable platform is following the target, the shooting parameters including at least one of a shooting direction, a shooting object, a focus distance, and an aperture size.

106. The method according to claim 104 or 105, characterized in that The fourth input and / or the fifth input is an input to the control device before following the target.

107. The method according to claim 104 or 105, characterized in that The fourth input and / or the fifth input is an input to the control device during the process of following the target.

108. A control method, characterized in that: include: When the movable platform follows the target to shoot, the relative position between the movable platform and the target is adjusted at least according to the environmental information; The movable platform is controlled to keep following the target at the adjusted relative position.

109. The method according to claim 108, characterized in that The environmental information includes at least one of the following: Environmental information of the shooting area preset by the user; Environmental information of the environment in which the target is located; Environmental information of the environment in which the movable platform is located.

110. The method according to claim 108 or 109, characterized in that The method further comprises: Before following the target to take photos, and / or during following the target, the movable platform is controlled to obtain environmental information of the shooting area.

111. The method according to claim 108 or 109, characterized in that The environmental information is acquired based on image data from a photographing device carried by the movable platform, and / or the environmental information is acquired based on data from a perception sensor provided on the movable platform.

112. The method according to claim 108 or 109, characterized in that The environmental information is obtained based on global environmental data fused from data detected by multiple perception sensors arranged on the mobile platform.

113. The method according to claim 108 or 109, characterized in that Adjusting the relative position between the movable platform and the target according to the environmental information of the environment in which the target is located includes: At least according to the environmental information of the shooting area, a following path passing through at least two following areas is determined in the process of following the target, and the at least two following areas indicate different relative distances and different relative orientations to the target.

114. The method according to claim 113, characterized in that The following path is determined based on observation data when the movable platform starts to follow the target, and / or the following path is determined in real time based on observation data during the process of the movable platform following the target.

115. The method according to claim 113, characterized in that The following area is also associated with historical following information.

116. The method according to claim 115, characterized in that The historical follow-up information includes at least one of the following: History follows direction; history follows distance; history follows trajectory.

117. The method according to claim 116, characterized in that The historical following positions include one or more relative positions maintained between the movable platform and the target during the process of following the target.

118. The method according to claim 116, characterized in that The historical following distance includes one or more relative distances maintained between the movable platform and the target during the process of following the target.

119. The method according to claim 116, characterized in that The historical following trajectory includes a relative motion trajectory formed between the movable platform and the target when the movable platform moves between different following areas during the process of following the target.

120. The method according to claim 108 or 109, characterized in that The environmental information includes at least one of the following: Environmental openness information; obstacle information; shooting element information; aesthetic evaluation information.

121. The method according to claim 120, characterized in that The shooting element information is obtained based on semantic recognition of environmental information acquired by the movable platform.

122. The method according to claim 120, characterized in that The photographing element information can be preset by a user; and / or, the photographing element information is determined in real time based on image information acquired by the mobile platform.

123. The method according to claim 120, characterized in that The aesthetic evaluation information is determined based on at least one of a distribution rule, a symmetrical composition rule, and a clutter rule of the photographed elements; Among them, the shooting element distribution rule is used to indicate that different types of shooting elements can be distributed adjacent to each other in the shooting picture according to a preset distribution order; the symmetrical composition rule is used to indicate that the same shooting element can be symmetrically distributed in the shooting picture; and the clutter rule is used to indicate that the number of different types of shooting elements is lower than a threshold.

124. The method according to claim 120, characterized in that The aesthetic evaluation information can be preset by a user; and / or, the aesthetic evaluation information is determined in real time based on image information acquired by the mobile platform.

125. The method according to claim 113, characterized in that The duration for which the movable platform remains in the following area corresponding to the adjusted relative position is also associated with the environmental information of the current following area.

126. The method according to claim 125, characterized in that The length of time that the movable platform stays following the target in a high-clearance following area is longer than the length of time that the movable platform stays following the target in a low-clearance following area; or, The length of time that the movable platform stays following the target in a following area with fewer obstacles is longer than the length of time that the movable platform stays following the target in a following area with more obstacles; The stay time of the following area where the photographic element exists is longer than the stay time of the following area where the photographic element does not exist; The dwell time of the following area with a high aesthetic score is longer than that of the following area with a low aesthetic score.

127. The method according to claim 125, characterized in that The method further comprises at least one of the following: When the duration of staying in the current following area is less than the preset threshold, if the spaciousness of the current following area is higher than the preset threshold, the following is continued in the current following area; When the duration of stay in the current following area is less than a preset threshold, if the spaciousness of the current following area is lower than the preset threshold, controlling the movable platform to move to a following area whose spaciousness is higher than the preset threshold; When the stay time in the current following area is greater than or equal to the preset threshold, if there is a following area with a degree of spaciousness higher than the preset threshold, the movable platform is controlled to move to the following area with a degree of spaciousness higher than the preset threshold.

128. The method according to claim 125, characterized in that The method further comprises: During at least a portion of the time period when the movable platform follows the target, a shooting device carried by the movable platform is controlled to shoot the target.

129. The method according to claim 128, characterized in that The controlling the shooting device carried by the movable platform to shoot the target includes: The target is controlled to be approximately at the center of the shooting picture of the shooting device.

130. The method according to claim 128, characterized in that During at least a portion of the time period when the movable platform follows the target, controlling a shooting device carried by the movable platform to shoot the target includes: During at least part of the time period when the movable platform follows the target, the shooting direction of the shooting device carried by the movable platform is controlled to change according to the changes in the relative distance and relative orientation between the movable platform and the target, so that the relative position of the target in the shooting picture of the shooting device changes.

131. The method according to claim 130, characterized in that The method further comprises: During at least a portion of the time period when the movable platform follows the target, the camera mounted on the movable platform is controlled to change the shooting direction according to the moving direction of the target, so that in the shooting picture of the camera, the distance from the target along the moving direction to the border of the shooting picture is greater than the distance from the target along the direction opposite to the moving direction to the border of the shooting picture. The distance to the other edge of the face.

132. The method according to claim 128, characterized in that Also includes: During at least a portion of the time period when the movable platform follows the target, a shooting device carried by the movable platform is controlled to change a shooting direction according to environmental information acquired by the movable platform.

133. The method according to any one of claims 128, 130, and 132, characterized in that Also includes: In a case where the environment information acquired by the mobile platform indicates that the environment includes a target shooting element, controlling the mobile platform to execute at least one of the following, so that the target shooting element exists in the shooting picture during at least a partial period of time when the mobile platform follows the target: changing the relative distance to the target; changing the relative position to the target; Change the shooting direction of the mounted camera.

134. The method according to any one of claims 128, 130, and 132, characterized in that Also includes: When it is determined that the sky is above the shooting picture of the shooting device according to the environmental information acquired by the mobile platform, the mobile platform is controlled to perform at least one of the following, so that most of the target in the shooting picture is located in the lower half of the shooting picture: changing the relative distance to the target; changing the relative position to the target; Change the shooting direction of the mounted camera.

135. The method according to any one of claims 128, 130, and 132, characterized in that Also includes: In a case where the environment information acquired by the movable platform indicates that the environment includes a seaside and a beach, the movable platform is controlled to perform at least one of the following, so that in the captured image, the seaside and the beach are respectively located on both sides of the target and have approximately the same proportions: changing the relative distance to the target; changing the relative position to the target; Change the shooting direction of the mounted camera.

136. The method according to claim 128, characterized in that Also includes: After the movable platform follows the target to shoot the first image sequence, the shooting direction and / or shooting position of the movable platform is adjusted to shoot the second image sequence corresponding to the current environment, and then the shooting direction and / or shooting position of the movable platform is adjusted again to follow the target to continue shooting the third image sequence.

137. The method according to any one of claims 128, 130, and 132, characterized in that Also includes: In the case that the target is out of the shooting picture of the shooting device, the movable platform is controlled to perform following based on the position information of the electronic device carried by the target.

138. The method according to any one of claims 128, 130, and 132, characterized in that Also includes: In the case that the target is out of the shooting picture of the shooting device, the movable platform is controlled to perform following based on the data acquired by the sensing sensor of the movable platform.

139. The method according to claim 134, characterized in that In a case where the environmental information includes image data acquired by the shooting device, controlling the shooting device carried by the movable platform to change the shooting direction includes: Based on the aesthetic evaluation information corresponding to the environmental information, the mobile platform is controlled to execute at least one of the following, so that the captured image meets the preset aesthetic evaluation: changing the relative distance to the target; changing the relative position to the target; Change the shooting direction of the mounted camera.

140. The method according to claim 139, characterized in that The aesthetic evaluation information is determined based on at least one of a distribution rule, a symmetrical composition rule, and a clutter rule of the photographed elements; Among them, the shooting element distribution rule is used to indicate that different types of shooting elements can be distributed adjacent to each other in the shooting picture according to a preset distribution order; the symmetrical composition rule is used to indicate that the same shooting element can be symmetrically distributed in the shooting picture; and the clutter rule is used to indicate that the number of different types of shooting elements is lower than a threshold.

141. The method according to claim 128, characterized in that During at least a portion of the time period when the movable platform follows the target, controlling a shooting device carried by the movable platform to shoot the target includes at least one of the following: When the movable platform is maintained at the first relative position and the first relative distance, controlling a shooting device carried by the movable platform to shoot a first image sequence of the target; When the movable platform is maintained at the second relative position and the second relative distance, controlling a shooting device carried by the movable platform to shoot a second image sequence of the target; In the process that the movable platform gradually moves from the first relative position and the first relative distance to the second relative position and the second relative distance, the shooting device carried by the movable platform is controlled to shoot a third image sequence of the target.

142. The method according to claim 128 or 141, characterized in that The method further comprises: After finishing following the target, the image sequence acquired by the shooting device carried by the movable platform is processed based on a preset filming strategy to obtain a target image sequence, wherein the filming strategy is used to indicate the selection of target image frames from the image sequence and combination into the target image sequence.

143. The method according to claim 108, characterized in that In the process of the movable platform following the target to shoot, adjusting the relative position between the movable platform and the target at least according to the environmental information includes: During the process of the movable platform following the target for shooting, the relative position between the movable platform and the target is adjusted according to environmental information and a preset motion following strategy; wherein the motion following strategy is also used to make the following areas switched twice adjacently correspond to different following distances and / or following positions during the process of the movable platform following the target.

144. The method according to claim 143, characterized in that The motion following strategy is also used to enable the movable platform to traverse all preset relative positions and all relative distances during the whole process of following the target.

145. The method according to claim 144, characterized in that All relative positions include front, back, left, right, left front, left back, right front, and right back.

146. The method according to claim 144, characterized in that The motion following strategy is also used to ensure that, during the process of the movable platform following the target, the following areas switched twice adjacently correspond to different following distances and / or following directions.

147. The method according to claim 144, characterized in that The motion following strategy is also used to ensure that, during the process of following the target, the deflection angle of the movable platform relative to the target when the movable platform switches from the first following area to the second following area is different from the deflection angle and / or deflection direction of the movable platform relative to the target when the movable platform switches from the second following area to the third following area.

148. The method according to claim 144, characterized in that The motion following strategy is also used to enable the movable platform to select a following area with no obstacles or few obstacles when switching from a previous following area to a next following area to follow the target, wherein different following areas correspond to different relative distances and / or relative orientations.

149. The method according to claim 144, characterized in that The motion following strategy is also used to enable the movable platform to select a following area that meets a preset aesthetic evaluation when switching from a previous following area to a next following area to follow the target, wherein different following areas correspond to different relative distances and / or relative orientations.

150. The method according to claim 144, characterized in that The motion following strategy is also used to enable the movable platform to select a following area that is not covered during the current following process when switching from the previous following area to the next following area to follow the target, wherein different following areas correspond to different relative distances and / or relative orientations.

151. The method according to claim 144, characterized in that The motion following strategy is also used to enable the movable platform to select a switching target trajectory when switching from a previous following area to a next following area to follow the target, and the target trajectory includes gradually approaching or gradually moving away.

152. A control device, characterized in that: The control device includes a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program and implement the method steps as described in any one of claims 1-73 when executing the computer program.

153. A control device, characterized in that: The control device includes a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program and implement the method steps as described in any one of claims 74-107 when executing the computer program.

154. A control device, characterized in that: The control device includes a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program and implement the method steps as described in any one of claims 108-151 when executing the computer program.

155. A movable platform, characterized in that: Comprising a control device as described in claim 152 and / or claim 154.

156. A control system, characterized in that: include: A movable platform comprising the control device according to claim 152 and / or claim 154; A control terminal is used to control the movable platform.

157. A control system, characterized in that: include: Movable platform; A control terminal, used to control the movable platform, comprises a control device as described in claim 153.

158. A control system, characterized in that: include: A movable platform comprising a control device as claimed in claim 152, and / or, 154; A control terminal, used to control the movable platform, comprises a control device as described in claim 153.

159. A readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to implement at least one of the following: The method steps as claimed in any one of claims 1 to 73; The method steps as claimed in any one of claims 74 to 107; The method steps as described in any one of claims 108 to 151.

Images