Control method, control device, movable platform, and storage medium

Abstract

A control method, a control device, a movable platform, and a storage medium. The method comprises: acquiring position-related information of a movable platform (210); acquiring movement information of a target object (202); before executing a follow mode, determining a follow parameter of the follow mode on the basis of the position-related information of the movable platform and the movement information of the target object, wherein the follow parameter comprises a relative orientation of the movable platform with respect to a movement direction of the target object during execution of the follow mode (203); and controlling the movable platform to execute the follow mode, wherein in the follow mode, the movable platform follows the target object while maintaining the relative orientation (204).

Description

Control method, control device, movable platform and storage medium TECHNICAL FIELD

[0001] The present application relates to the field of control, and particularly relates to a control method, a control device, a movable platform and a storage medium. BACKGROUND

[0002] With the development of scientific information technology, how to control a movable platform to realize automatic following of a target object is a development direction that people pay more attention to, for example, how to realize following shooting of a moving person and object by a shooting device carried by the movable platform, how to realize following rescue of a moving disaster by a rescue device carried by the movable platform, and the like. At present, how to better control the movable platform to improve the user experience of the movable platform in following the target object is an urgent technical problem to be solved. SUMMARY

[0003] Based on this, the embodiments of the present application provide a control method, a control device, a movable platform and a storage medium, aiming to improve the user experience of the movable platform in following the target object.

[0004] In a first aspect, the embodiments of the present application provide a control method of a movable platform, comprising:

[0005] obtaining position-related information of the movable platform;

[0006] obtaining motion information of the target object;

[0007] determining a following parameter of the following mode based on the position-related information of the movable platform and the motion information of the target object before executing the following mode, the following parameter comprising a relative position of the movable platform relative to a motion direction of the target object when executing the following mode; and

[0008] controlling the movable platform to execute the following mode, wherein in the following mode, the movable platform follows the target object while keeping at the relative position.

[0009] Before performing the following mode, the movable platform can automatically determine the expected following parameter of the target object, such as the relative position of the movable platform relative to the movement direction of the target object, by analyzing the position related information of the movable platform and the movement information of the target object, and always keep following the target object at the relative position during the following mode. In response to the change of the movement direction of the target object, the movable platform can also adaptively move to keep at the relative position. Therefore, the movable platform can intelligently and automatically determine the expected following parameter of the target object, such as the relative position, before performing the following mode, thereby improving the user experience of the movable platform performing the following mode.

[0010] In a second aspect, the embodiments of the present application provide a control method of a movable platform, comprising:

[0011] controlling the movable platform to detect a target object moving in space and collect movement information of the target object; and

[0012] in response to determining that the movement of the target object meets a movement distance condition based on the movement information of the target object, controlling the movable platform to start a following mode of following the target object.

[0013] Before starting the following mode of following the target object, the movable platform can automatically detect the target object moving in space and collect the movement information of the target object, and determine that the movement of the target object meets the movement distance condition by intelligently analyzing the movement information, and then start the following mode of following the target object. Different from the movable platform directly starting the following mode by simply detecting the gesture or body posture of the target object, which is a transient user trigger instruction, the embodiments of the present application detect the target object moving in space and collect the movement information of the target object, and start the corresponding following mode when the movement of the target object meets the movement distance condition. This can ensure that the target object indeed has a relatively clear intention of starting the following mode, and can ensure that the movable platform can effectively use the movement process of the target object to more accurately analyze the intention of the target object, thereby facilitating the determination of the following mode corresponding to the intention, and improving the user experience of the movable platform performing the following mode.

[0014] In a third aspect, the embodiments of the present application provide a control device, comprising:

[0015] at least one processor; and

[0016] at least one memory including computer program code;

[0017] At least one of the memories and the computer program codes are configured to, together with the at least one processor, enable the control device to at least perform the control method according to at least one of the first aspect and the second aspect.

[0018] In a fourth aspect, the embodiments of the present application provide a movable platform, comprising:

[0019] a body;

[0020] a power assembly;

[0021] a control device, the control device comprising at least one processor and at least one memory including computer program codes;

[0022] At least one of the memories and the computer program codes are configured to, together with the at least one processor, enable the movable platform to at least perform the control method according to at least one of the first aspect and the second aspect.

[0023] In a fifth aspect, the embodiments of the present application provide a computer readable storage medium, having stored thereon computer instructions, which, when executed by a processor, implement the steps of the method according to at least one of the first aspect and the second aspect.

[0024] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0026] Fig. 1 is a schematic diagram of an application scenario of a control method of a movable platform according to an embodiment of the present application;

[0027] Fig. 2 is a flowchart of a control method of a movable platform according to an embodiment of the present application;

[0028] Fig. 3 is a schematic diagram of an interaction before following mode is executed according to an embodiment of the present application;

[0029] Fig. 4 is a schematic diagram of a following process of a movable platform according to an embodiment of the present application;

[0030] Fig. 5 is a schematic diagram of a relative position of a movable platform relative to a motion direction of a target object according to an embodiment of the present application;

[0031] FIG. 6 is a flowchart of a control method of a movable platform according to an embodiment of the present application;

[0032] FIG. 7 is a schematic diagram of determining relative position before executing a following mode according to an embodiment of the present application;

[0033] FIG. 8 is a schematic diagram of determining relative position before executing a following mode according to an embodiment of the present application;

[0034] FIG. 9 is a schematic diagram of a movable platform executing a following mode according to an embodiment of the present application;

[0035] FIG. 10 is a flowchart of a control method of a movable platform according to an embodiment of the present application;

[0036] FIG. 11 is a schematic diagram of a movable platform executing a protection strategy according to an embodiment of the present application;

[0037] FIG. 12 is a flowchart of a control method of a movable platform according to an embodiment of the present application;

[0038] FIG. 13 is a flowchart of a control method of a movable platform according to an embodiment of the present application;

[0039] FIG. 14 is a schematic diagram of a control device according to an embodiment of the present application;

[0040] FIG. 15 is a schematic block diagram of a movable platform according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0042] The flowcharts shown in the drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the described order. For example, some operations / steps can be further decomposed, combined or partially merged, so the actual execution order can be changed according to the actual situation.

[0043] With the development of scientific information technology, how to control the movable platform to realize automatic following of the target object is a development direction that people pay more attention to, for example, how to realize the movable platform carrying the shooting device to follow and shoot the moving people and objects, how to realize the movable platform carrying the rescue device to follow and rescue the moving disaster, and so on. At present, how to better control the movable platform to improve the user experience of the movable platform following the target object is a technical problem to be solved.

[0044] At present, a following scheme in the related art is to control the movable platform to follow the target object, the movable platform does not perceive the moving direction of the target object, only by acquiring the image collected by the shooting device carried by the movable platform, the target object in the image is detected to obtain the target frame containing the target object, the distance between the movable platform and the target object is adjusted by the size of the target frame in the field of view of the shooting device to keep the movable platform always following behind the target object, only two degrees of freedom of the orientation of the movable platform and the distance relative to the target object are controlled in this scheme, and the specific steps are as follows:

[0045] The orientation of the shooting device of the movable platform is controlled to center the detected target frame;

[0046] When the proportion of the target frame in the field of view of the shooting device becomes larger, the moving speed of the movable platform is reduced, so that the moving speed of the movable platform is less than the moving speed of the target object;

[0047] When the proportion of the target frame in the field of view of the shooting device becomes smaller, the moving speed of the movable platform is increased, so that the moving speed of the movable platform is greater than the moving speed of the target object.

[0048] The above-mentioned following mode can only passively follow behind the target object, the following direction is relatively single and fixed, and the demand of the target object expecting to be followed in each other direction cannot be met, for example, in the scene of following shooting, such as running and cycling, the movable platform is expected to follow in front of or on the side of the moving direction of the target object.

[0049] Another following scheme in the related art is to control the movable platform to follow the target object in the forward direction, on the basis of the above-mentioned following, the control amount of the movable platform in the horizontal direction is output by sensing whether the target frame is left or right in the picture through the offset amount, three degrees of freedom of the orientation of the movable platform, the distance relative to the target object and the relative moving direction are controlled in this scheme, and the specific steps are as follows:

[0050] The orientation of the shooting device of the movable platform is controlled to center the detected target frame;

[0051] When the proportion of the target frame in the field of view of the shooting device becomes larger, the moving speed of the movable platform is reduced, and the movable platform is less than the moving speed of the target object;

[0052] When the proportion of the target frame in the field of view of the shooting device becomes smaller, the moving speed of the movable platform is increased, and the movable platform is greater than the moving speed of the target object;

[0053] When the target frame is left in the field of view of the shooting device, the control device is controlled to move to the left while the target frame is centered;

[0054] When the target frame is right in the field of view of the shooting device, the control device is controlled to move to the right while the target frame is centered.

[0055] The above-mentioned forward following mode simply realizes the adjustment of the relative direction through the offset of the target in the picture, and can follow in front of the target object at low speed. However, when the moving speed of the target object is fast and the direction of the speed changes greatly, the target object cannot be accurately and quickly adjusted to the front for following, and the use experience is not ideal.

[0056] Another following scheme in the related art is to control the movable platform to follow the target object in parallel. On the basis of the above-mentioned tailing, the orientation of the movable platform in the world coordinate system is locked when entering the parallel following through the sensing of the orientation of the movable platform by the compass, IMU and other sensors. In the process of the movement of the target object, in addition to the control of the orientation of the movable platform and the distance from the target object, the movable platform is additionally controlled to move to the left or to the right to always keep the orientation of the movable platform in the world coordinate system. The specific steps are as follows:

[0057] The detected target frame is centered by controlling the orientation of the movable platform shooting device;

[0058] When the proportion of the target frame in the field of view of the shooting device becomes larger, the moving speed of the movable platform is reduced, and the movable platform is less than the moving speed of the target object;

[0059] When the proportion of the target frame in the field of view of the shooting device becomes smaller, the moving speed of the movable platform is increased, and the movable platform is greater than the moving speed of the target object;

[0060] When the position of the target frame in the field of view of the shooting device changes, the orientation of the shooting device is controlled to center the target frame, and the movable platform is controlled to move to the left or to the right, so as to adjust the orientation of the movable platform back to the orientation in the world coordinate system locked at the initialization;

[0061] The parallel following mode can meet the application requirements of simple following scenarios, but is difficult to apply in complex scenarios. Both the tail following mode and the forward following mode follow the movement route of the target object, which can guarantee the safety to the greatest extent. However, the parallel following mode is usually maintained in the geographical position at the entering function moment, and there is a safety risk in the following process. Moreover, after the target object turns, the parallel following mode cannot follow as expected by still maintaining the relative target movement direction.

[0062] It can be understood that the above several following modes are relatively single, and the movable platform only supports automatic following in a pre-set following position, which leads to the fact that the pre-set following position may not be the actual expected following position of the user.

[0063] At present, in the scenario of automatic following of the target object by the movable platform, for example, when the target object is riding, running or skateboarding, the target object often expects the movable platform to maintain the relative position in the movement direction of the target object to follow, so as to obtain the best following effect.

[0064] In the related art, before the following mode is executed, the user can manually select an expected relative position of the movable platform relative to the movement direction of the target object by using direct interaction means, such as input operation on the control device of the movable platform, so that the movable platform can maintain the relative position after learning the relative position when the following mode is executed. For example, the user can manually select the relative position on the control APP interface of the movable platform. However, in the case where the user does not have or is not convenient to use the above direct interaction means, for example, in the case where the control APP or the remote controller and other control devices that can send explicit wireless signals cannot be used to manually select the above relative position, the movable platform cannot automatically determine the relative position of the movable platform expected by the target object when the following mode is executed before the following mode is executed, which leads to poor user experience of the movable platform in executing the following mode.

[0065] In addition, with the gradual improvement of the intelligence level of the movable platform, in the related technology, the user can trigger the movable platform to automatically follow the target object through user trigger instructions such as gestures, body postures, etc. The movable platform often directly starts the corresponding following mode in response to the user trigger instruction, without considering the possibility of misjudgment of the movable platform in judging the start of the following mode. For example, the user only unconsciously makes a certain body posture, but the target object actually has no clear intention to control the movable platform to start the following mode, so that the movable platform incorrectly judges that the target object intends to start the following mode corresponding to the body posture. Or, due to the limitations of the computing power of the movable platform itself, the complexity of the environment and other factors, the recognition of the gesture with clear intention made by the target object is wrong, causing the movable platform to incorrectly start a following mode that is not expected by the user. The above misjudgment will make the user experience of the movable platform executing the following mode poor.

[0066] To solve the above problems, the embodiments of the present application provide a control method, a control device, a movable platform and a storage medium to improve the user experience of the movable platform following the target object.

[0067] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the case of no conflict, the embodiments described below and the features in the embodiments can be combined with each other.

[0068] It should be noted that the control method provided by the embodiments of the present application can be applied to a movable platform. In some embodiments, the movable platform can have a power device itself, which can drive the movable platform to move. In some embodiments, the movable platform needs an external device to drive it to move. The above is only an example, and the embodiments of the present application do not specifically limit how the movable platform moves. The movable platform can be a manned platform device or an unmanned platform device.

[0069] The movable platform can be a flying vehicle, a ground movable platform, a water surface movable platform or a movable platform in other scenarios. For example, the flying vehicle can include but is not limited to any one of manned flying vehicles, logistics flying vehicles, aerial photography flying vehicles, agricultural plant protection flying vehicles, industry rescue flying vehicles and performance flying vehicles. The above is only an example, and the embodiments of the present application do not specifically limit the type of flying vehicle. The flying vehicle includes a manned flying vehicle or an unmanned flying vehicle. The ground movable platform includes an autonomous moving vehicle, an autonomously movable robot, a handheld gimbal, a motion camera and the like. The water surface movable platform includes a ship.

[0070] The unmanned aerial vehicle can include a rotor type movable platform, such as a two-rotor, three-rotor, four-rotor, six-rotor, or eight-rotor, or a fixed-wing movable platform, or a combination of a rotor type movable platform and a fixed-wing movable platform, and the embodiments of the present application do not make specific limitations in this regard.

[0071] In the embodiments of the present application, the target object can be a human body, other animals, a vehicle, or other movable platforms, etc. The movable platform can follow the target object in a moving state or a stationary state, and the present application does not make specific limitations in this regard.

[0072] In the embodiments of the present application, the movable platform is exemplified by an aerial vehicle, and the target object is exemplified by a human body.

[0073] Referring to FIG. 1, FIG. 1 is a schematic diagram of an application scenario of a control method of a movable platform according to an embodiment of the present application. As shown in FIG. 1, the aerial vehicle 100 can be used to automatically follow a human body. Further, the aerial vehicle 100 can also take images during the process of automatically following the target object. Specifically, the aerial vehicle 100 can take images containing the target object or take images of the environment around the target object.

[0074] In some embodiments, the aerial vehicle 100 includes a fuselage 110, a power system 120, an image capturing device 130, a gimbal 140, and a control device (not shown in FIG. 1). The fuselage 110 can include a nose. In some embodiments, the aerial vehicle 100 further includes an arm, wherein the arm is connected to the fuselage 110 and is used to mount the power system 120. In some embodiments, the power system 120 can be directly mounted on the fuselage 110.

[0075] In some embodiments, the fuselage 110 is provided with operation buttons and / or indicator lights corresponding to the operation buttons. Exemplarily, the operation buttons include a working mode button of the aerial vehicle 100. In some embodiments, the working mode can include an intelligent image capturing mode. For example, one or more intelligent image capturing modes can be selected or switched by triggering the mode button on the fuselage 110. Optionally, short pressing of the mode button can switch the modes, and long pressing of the mode button can realize palm take-off of the aerial vehicle. Optionally, before the countdown ends after long pressing of the mode button, short pressing of the mode button once can cancel the palm take-off of the aerial vehicle. Optionally, after switching the modes, the aerial vehicle will broadcast the currently selected mode by voice, and the indicator light corresponding to the operation button will light up. In some embodiments, the working mode can also include a flight mode, such as a flower flying mode, which can specifically include one-key somersault, one-key drift, etc.

[0076] In some embodiments, the intelligent image capturing mode includes at least one of the following: a normal following mode, a gradually far mode, a surrounding mode, a sky-high mode, a focusing mode, and a custom mode.

[0077] For example, after the corresponding intelligent shooting mode is executed, the aerial vehicle 100 will hover at the take-off point.

[0078] For example, the normal follow mode includes flying and shooting behind the target object, and when the target object is far away, the aerial vehicle 100 will fly forward following the target object. When the target object is close, the aerial vehicle 100 will hover in place and will not retreat following the close target object. Optionally, when the target object is out of the field of view of the shooting device carried by the aerial vehicle 100, for example, when the target object makes a sharp turn or is blocked, in order to ensure safety, the aerial vehicle 100 may hover due to the loss of the target object. When the target object returns to the field of view of the shooting device, the aerial vehicle 100 will reconfirm the target object to be followed. Optionally, the user can set the following distance and height of the aerial vehicle 100 through the terminal device or other interactive methods.

[0079] For example, the gradual far mode includes keeping the shooting device facing the initial position of the target object, and the aerial vehicle 100 retreats to shoot a video, and then approaches to shoot another video. Optionally, the user can set the farthest distance and height of the aerial vehicle 100 through the terminal device or other interactive methods.

[0080] For example, the surrounding mode includes keeping the shooting device facing the target object, and the aerial vehicle 100 retreats to a surrounding distance, and then surrounds the target object to fly a circle and shoot a video. Optionally, the user can set the surrounding distance through the terminal device or other interactive methods.

[0081] For example, the up-to-the-sky mode includes keeping the shooting device facing the initial position of the target object, and the aerial vehicle 100 ascends to shoot a video, and then descends to shoot another video. Optionally, the user can set the maximum height of the aerial vehicle 100 and whether the aerial vehicle 100 rotates during the ascending and descending process through the terminal device or other interactive methods.

[0082] For example, the focus mode includes hovering and shooting after taking off, and the shooting device will always face the target object during the shooting process. Optionally, the user can set the mode of the shooting device of the aerial vehicle 100 to be video recording or photographing through the terminal device or other interactive methods. When set to be photographing, the target object can maintain a fixed posture for a preset time length, for example, 3s, to trigger an automatic photographing.

[0083] For example, the custom mode can include a directional follow mode, in which the aerial vehicle 100 retreats a distance after taking off, and then determines the motion direction of the target object to determine the follow direction. After the determination, the aerial vehicle 100 will keep the follow direction unchanged relative to the motion direction of the target object, and fly and shoot.

[0084] In embodiments of the present application, the following mode can correspond to the directional following mode.

[0085] Specifically, the directional following mode can be divided into three stages: initialization, execution of the directional following mode, and exit of the directional following mode.

[0086] (1) Exemplarily, the initialization stage can specifically include one or more steps as follows:

[0087] a) Enter the directional following mode: The target object can trigger the function of entering the directional following mode through the mode button of the aerial vehicle 100.

[0088] b) Detection of following conditions: After triggering the entry function, it is detected whether the directional following conditions are met. If not, the abnormal reason is prompted by voice. If yes, the aerial vehicle 100 will fly to the preset position.

[0089] c) The aerial vehicle 100 flies to the preset position: In response to the directional following conditions being met, the aerial vehicle 100 is automatically taken off and flies to the preset position. Specifically, the preset position includes a preset height and / or a preset distance from the target object. Exemplarily, the aerial vehicle 100 can be controlled to take off from a preset body part of the target object and actively retreat to hover at a preset distance and a preset height set by the target object.

[0090] d) Observe the movement information of the target object: After the aerial vehicle 100 flies to the preset position, the movement information of the target object can be observed to lock the desired relative orientation of the target object, which can specifically include the following steps: record the initial positions of the aerial vehicle 100 and the target object in the world coordinate system. After waiting for the target object to start moving, the aerial vehicle 100 will follow the target object in parallel for a period of time. While maintaining the parallel following, the positions of the target object and the aerial vehicle 100 in the world coordinate system are updated and recorded in real time to generate a historical trajectory.

[0091] e) Start the directional following mode: The aerial vehicle 100 locks or determines the relative orientation by matching the relative geometric relationship between the initial position and the generated historical trajectory, and starts the directional following mode.

[0092] In response to the movement distance of the target object being greater than or equal to the preset distance, the relative orientation can be locked more accurately, which can improve the accuracy of locking the relative orientation.

[0093] Of course, in some embodiments, during the execution of the following mode, the relative orientation can also be re-determined, so as to control the aerial vehicle 100 to switch to the re-determined relative orientation to follow the target object.

[0094] The locking timing of the relative position is not specifically limited in the embodiments of the present application, and can be selected based on actual requirements.

[0095] (2) Exemplarily, the execution of the following mode stage specifically can include one or more steps as follows:

[0096] In the execution of the directional following mode stage, the movement direction of the aerial vehicle 100 relative to the target object will always be kept on the relative position determined in the initialization stage. Optionally, the user can set the following distance and height of the aerial vehicle 100 through a terminal device or other interactive mode.

[0097] Optionally, when the movement of the target object does not meet the preset condition, for example, the target object moves too fast relative to the aerial vehicle 100 or the direction changes too much, the aerial vehicle 100 will switch to follow the rear of the target object. If the aerial vehicle 100 rejudges that the movement of the target object meets the preset condition, the aerial vehicle 100 can automatically switch to the relative position determined in the initialization stage to follow the target object.

[0098] (3) Exemplarily, the exit of the directional following mode stage can include the following steps:

[0099] If the target object wants to exit the directional following mode, the target object can face the aerial vehicle 100 and keep still, and wait until the aerial vehicle 100 automatically returns to the vicinity of the target object.

[0100] Optionally, when the target object is out of the field of view of the shooting device carried by the aerial vehicle 100, for example, the target object makes a sharp turn or is blocked, in order to ensure safety, the aerial vehicle 100 can hover due to the loss of the target object. When the target object returns to the field of view of the shooting device, the aerial vehicle 100 will reconfirm the target object to be followed.

[0101] Exemplarily, the self-defined mode can further include a spiral mode, the aerial vehicle 100 keeps the shooting device facing the target object, and retreats to a preset distance, for example, 2 m, from the takeoff point, and refers to the spiral curve to ascend and retreat simultaneously, surrounds the flight for one circle and performs shooting. Optionally, the user can set the farthest flight distance of the aerial vehicle 100 through a terminal device or other interactive mode.

[0102] Exemplarily, the self-defined mode includes a comet mode, the aerial vehicle 100 keeps the shooting device facing the target object, surrounds the flight for one circle and performs shooting in an elliptical flight trajectory, and the aerial vehicle 100 ascends and descends on the elliptical trajectory during flight, and the flight height is highest at the farthest distance from the takeoff point.

[0103] In some embodiments, the power system 120 is configured to provide flight power for the aerial vehicle 100, and the power system 120 can include an electric motor and a propeller mounted on and driven by the electric motor. The power system 120 can drive the body 110 of the aerial vehicle 100 to rotate about one or more rotational axes. For example, the rotational axes can include a roll axis, a yaw axis, or a pitch axis. When the power system 120 drives the body 110 to rotate about the yaw axis, the yaw orientation of the nose of the body 110 can change, i.e., the yaw rotation of the body 110 can be controlled by controlling the power system 120. It should be understood that the electric motor can be a direct current motor or an alternating current motor. In addition, the electric motor can be a brushless motor or a brushed motor.

[0104] In some embodiments, the camera 130 is carried by the body 110 directly or via the gimbal 140, and is configured to capture images, which can be pictures and / or videos. In some embodiments, as shown in FIG. 1, the aerial vehicle 100 can include a gimbal 140, and the camera 130 is mounted on the gimbal 140, which is connected to the body 110. In some embodiments, the gimbal 140 is configured to control the yaw rotation of the camera 130 to adjust the yaw orientation of the camera 130, and specifically, the gimbal 140 can include a yaw motor configured to control the yaw rotation of the camera 130. In some embodiments, the gimbal 140 is configured to control the pitch rotation of the camera 130 to adjust the pitch orientation of the camera 130, and specifically, the gimbal 140 can include a pitch motor configured to control the pitch rotation of the camera 130. In some embodiments, the gimbal 140 is configured to control the roll rotation of the camera 130 to adjust the roll orientation of the camera 130, and specifically, the gimbal 140 can include a roll motor configured to control the roll rotation of the camera 130. In the yaw direction, the yaw rotation of the camera 130 can be associated with the yaw rotation of the body 110, and further, the camera 130 can follow the yaw rotation of the body 110 or the body 110 can follow the yaw rotation of the camera 130.

[0105] In some embodiments, the aerial vehicle 100 can also carry a sensing assembly (not shown in the figures). Optionally, the sensing assembly can include one or more sensors capable of sensing a state of the aerial vehicle 100 itself. Optionally, the sensing assembly can include one or more sensors capable of sensing an environment surrounding the aerial vehicle 100. The sensing assembly can include a single type of sensor or multiple types of sensors. Examples of sensor types can include, but are not limited to, a position sensor (e.g., a global positioning system sensor, a mobile device transmitter supporting position triangulation), a vision sensor (e.g., a camera capable of detecting visible light, infrared, or ultraviolet light), a distance sensor (e.g., an ultrasonic sensor, a lidar, a TOF sensor), an inertial sensor (e.g., an accelerometer, a gyroscope), an altitude sensor, a pressure sensor (e.g., a barometer, an e-skin), an audio sensor (e.g., a microphone), or a field effect sensor (e.g., a magnetometer, an electromagnetic sensor). Any suitable number and combination of sensors can be used, such as one, two, three, four, five, or more sensors. Optionally, different types of sensors can measure different types of signals and / or utilize different types of measurement techniques to obtain data, for example, the sensors can include any suitable combination of active and passive sensors. Optionally, data from different sensors can be analyzed separately or together. Optionally, the sensors can have various detectable ranges, which can be different or can overlap with each other.

[0106] In some embodiments, the aerial vehicle 100 can be communicatively connected with a terminal device. The terminal device can be used to control the aerial vehicle 100. The terminal device can include at least one of a smartphone, a remote controller, a tablet computer, a wearable device including a head-mounted display device, which can include a virtual reality (VR) display device or a first person view (FPV) display device.

[0107] The terminal device can include an input device, which can detect a control operation of a user of the terminal device, and the terminal device can generate a control instruction for the aerial vehicle according to the control operation of the user detected by the input device. For example, the terminal device can generate a yaw control instruction according to a yaw control operation of a user of the terminal device detected by the input device, and the terminal device can send the yaw control instruction to the aerial vehicle. The terminal device can generate a tilt control instruction according to a tilt control operation of a user of the terminal device detected by the input device, and the terminal device can send the tilt control instruction to the aerial vehicle.

[0108] In some embodiments, the terminal device comprises a smart phone, when a user controls the aerial vehicle 100 by using the smart phone, the aerial vehicle 100 can be connected to an application program on the smart phone by WiFi, so as to control the aerial vehicle 100 by using the smart phone. In the application program, various parameters of the aerial vehicle can be set, intelligent shooting can be realized, etc. Optionally, the application program can also support manual control, application program radio, voice control, etc.

[0109] In some embodiments, the terminal device comprises a remote controller, the remote controller is provided with an input device and a communication device, the communication device is a wireless communication device, which can comprise at least one of a high-frequency radio transceiver, a WiFi module, and a Bluetooth module. The input device is used to generate corresponding control instructions in response to the control of the user, so that the remote controller can control the aerial vehicle to adjust the flight attitude and / or flight speed through the control instructions. The input device comprises at least one of a key, a joystick, a dial, and a touch display screen. For example, the input device is a joystick, which is installed on the body of the remote controller. The remote controller senses the control of the user on the joystick to generate corresponding control instructions. The user can generate control instructions by using the key, the joystick, and the dial, or can generate control instructions by inputting on the touch display screen, which is not limited here.

[0110] In some embodiments, the terminal device can receive the image transmitted by the aerial vehicle 100 and display it on a display device. The display device can be integrated with the terminal device, or the display device can be separately arranged from the terminal device and communicatively connected to the terminal device. The communication connection can be achieved by a wired communication connection or a wireless communication connection. For example, the wireless communication connection can be a WiFi connection, a Bluetooth connection, or a high-frequency wireless signal connection.

[0111] Please refer to FIG. 2, which is a flowchart 200 of a control method of a movable platform according to an embodiment of the present application. The method is mainly used to illustrate the complete flow of the embodiment, which can comprise:

[0112] Step 201: obtaining position-related information of the movable platform;

[0113] Step 202: obtaining motion information of the target object;

[0114] Step 203: before executing the following mode, determining a following parameter of the following mode based on the position-related information of the movable platform and the motion information of the target object, the following parameter comprising a relative position of the movable platform relative to the motion direction of the target object when the movable platform executes the following mode;

[0115] Step 204: controlling the movable platform to execute the following mode, wherein in the following mode, the movable platform keeps following the target object at the relative position.

[0116] Currently in the scenario that a movable platform automatically follows a target object, for example, the target object is riding, running or skateboarding, the target object often expects the movable platform to keep following in the relative orientation of the movement direction of the target object, so as to obtain the best following effect.

[0117] In the related art, before executing the following mode, the user can manually select a desired relative orientation of the movable platform relative to the movement direction of the target object by using direct interaction means, such as input operation on the control device of the movable platform, so that the movable platform can keep the relative orientation after learning the relative orientation, and keep the relative orientation when executing the following mode. For example, the user can manually select the relative orientation on the control APP interface of the movable platform. However, in the case that the user does not have or is not convenient to use the above direct interaction means, for example, cannot manually select the above relative orientation by using the control APP or remote controller which can send explicit wireless signals, the movable platform cannot intelligently and automatically determine the relative orientation of the movable platform expected by the target object when executing the following mode before executing the following mode, resulting in poor user experience of the movable platform executing the following mode.

[0118] To solve the above technical problem, before executing the following mode, the movable platform can automatically determine the following parameter expected by the target object, such as the above relative orientation of the movable platform relative to the movement direction of the target object, by analyzing the position related information of the movable platform and the movement information of the target object, and keep following the target object in the relative orientation during the execution of the following mode. In response to the change of the movement direction of the target object, the movable platform can also adaptively move to keep in the relative orientation. Therefore, the movable platform can intelligently and automatically determine the following parameter expected by the target object, such as the above relative orientation, before executing the following mode, thereby improving the user experience of the movable platform executing the following mode.

[0119] In some embodiments, the flow 200 can be applied to a movable platform. It is noted that some or all aspects of the flow 200 (or any other flowchart described herein, or variations and / or combinations thereof) can be performed by one or more processors on the movable platform, the terminal device, any other system or device, or a combination thereof. Some or all aspects of the flow 200 (or any other process described herein, or variations and / or combinations thereof) can be performed under the control of one or more computers / control systems configured with executable instructions and can be implemented as code (for example, executable instructions, one or more computer programs or one or more applications) executing collectively on one or more processors, by hardware or combinations thereof. The code can be stored on a computer-readable storage medium, for example, in the form of a computer program comprising a plurality of instructions executable by one or more processors. The computer-readable storage medium can be non-transitory. The order in which the operations are described is not intended to be limiting, and any number of the described operations can be combined in any order and / or in parallel to implement the flow.

[0120] Referring to FIG. 3, FIG. 3 is an interaction diagram before executing the following mode according to an embodiment of the present disclosure. As shown in FIG. 3, before executing the following mode, the head of the movable platform or the sensor carried by the movable platform can be directed towards the target object, so as to facilitate the identification and locking of the target object to be followed by the movable platform. For example, the target object can place the movable platform on a body part such as an extended palm, so that the head of the movable platform is directed towards the target object. Optionally, the movable platform can further prompt the target object to remain stationary, so as to facilitate the better identification of the target object by the movable platform.

[0121] In some embodiments, after the movable platform is directed towards the target object, the target object can select the following mode from the working modes of the movable platform through a user triggered instruction. For example, the user triggered instruction can include a selection operation on a remote control device, or a selection operation on a working mode key of the body of the movable platform.

[0122] In some embodiments, after the user selects the following mode, the movable platform can autonomously determine whether the following condition is met. For example, as shown in FIG. 3, the movable platform will identify the target object, and will feed back the result of whether the identification is successful to the user through prompt information, including but not limited to voice information, text information, tactile information, etc. The issuer of the prompt information can be the movable platform, or a control device for controlling the movable platform. For example, if the identification is successful, the movable platform will lock the target object, and will perform a countdown voice broadcast, for example, broadcasting that it is currently in the following mode. If the identification is not successful, the movable platform can also indicate the target confirmation failure through voice broadcast. Further, the movable platform can also output the reason for the target confirmation failure, thereby assisting the user to quickly adjust to improve the identification success rate. For example, the movable platform can prompt that the target object is blocked or the current ambient light is not suitable for accurate identification of the target object, thereby prompting the user to adjust his / her position to avoid blocking, or to adjust to a position with better ambient light.

[0123] In some embodiments, if the movable platform autonomously determines that the following condition is met, the movable platform can be controlled to start moving from a preset body part of the target object and move to a preset position for hovering in response to a user triggering instruction; wherein the preset position includes a preset height and / or a preset distance from the target object.

[0124] For example, in order to ensure safety and to accurately identify the following intention of the target object subsequently, the distance between the preset position and the position of the target object is greater than or equal to a preset distance value. Optionally, the height between the preset position and the position of the target object is greater than or equal to a preset height value. Optionally, the preset distance value and / or the preset height value include the following distance and / or following height that the movable platform needs to maintain with the target object when the movable platform executes the following mode, for example, 2m or 5m. Optionally, the following distance and / or following height can be pre-set, or can be automatically determined by the movable platform based on environmental information. Optionally, as shown in FIG. 3, the movable platform can take off from the palm of the target object and fly upwards, and then retreat a certain distance until it hovers at the preset position, the height and / or distance of which is pre-set by the target object.

[0125] Of course, in some embodiments, the movable platform is not currently stationary at the preset body part of the target object, but is stationary or moving at a location other than the location of the target object or a part of the target object. For example, the movable platform has taken off and is currently stationary or moving in space. For example, the movable platform is already in a working state, such as in the process of performing a shooting task. If the user triggers the user trigger instruction at this time, the movable platform determines that the following condition is met, and the movable platform can also respond to the user trigger instruction to control the movable platform to move from the current location to the preset location to prepare to enter the working mode indicated by the user trigger instruction, such as the following mode. Thus, when the movable platform is already at a location other than the location of the target object or a part of the target object, the movable platform can also intelligently respond to the user trigger instruction to enter the following mode. The degree of convenience of the movable platform responding to the user trigger instruction of the target object is improved. For example, the movable platform is currently in the process of performing a certain working mode, and in response to the user trigger instruction, the movable platform can re-enter a new working mode such as the following mode. For example, the movable platform is currently performing the receding mode, and if the target object wants to switch to the following mode at this time, the corresponding user trigger instruction is triggered, and in response to the user trigger instruction, the movable platform will automatically interrupt the execution of the current receding mode and enter the following mode. In response to the following condition being met, the aircraft is controlled to autonomously move to the preset location near the target object.

[0126] In some embodiments, after controlling the movable platform to move to the preset location, the movable platform can be controlled to obtain movement information of the target object. The sub-following mode of the movable platform is automatically identified based on the movement information, wherein the following mode includes at least two sub-following modes. In different sub-following modes, the relative position of the movable platform relative to the movement direction of the target object is different. The movable platform is controlled to execute the identified sub-following mode and follow the target object at the relative position corresponding to the identified sub-mode.

[0127] In this way, after obtaining the user trigger instruction, the movable platform first moves to the preset location, and then observes the movement information of the target object for a period of time (for example, enters a pre-following stage of the following mode, and in the pre-following stage, the movement information of the target object is collected) to further automatically identify the sub-following mode, so that the real intention of the target object can be determined more accurately through a period of observation, and the movable platform is not simply preset to follow at a fixed relative position, but can adaptively select the relative position according to the movement information of the target object, thereby improving the refinement degree of the movable platform in executing the following mode.

[0128] For example, based on first movement information of the target object, such as the target object moving towards the movable platform, a forward following sub-mode is identified, and the relative orientation of the movable platform relative to the movement direction of the target object is forward; based on second movement information of the target object, such as the target object moving away from the movable platform, a backward following sub-mode is identified, and the relative orientation of the movable platform relative to the movement direction of the target object is backward. Thus, after the target object triggers the user trigger instruction, the movable platform can automatically identify the sub-following mode that meets the user's expectation without further operation, and keep following the target object at the relative orientation corresponding to the identified sub-mode, thereby improving the user experience of the movable platform executing the following mode.

[0129] Please refer to FIG. 4, which is a schematic diagram of a following process of a movable platform according to an embodiment of the present application. In the pre-following stage, before the sub-following mode is automatically identified, for example, before the relative orientation is determined, the movable platform can be controlled to follow the target object in response to the movement of the target object, so that the line between the position of the movable platform and the position of the target object remains parallel at different times.

[0130] In this way, the target object has triggered the user trigger instruction indicating entering the following mode, and the target object has started to move. Even if the movable platform has not accurately determined the sub-following mode or the relative orientation expected by the target object at this time, the movable platform can still move and follow the target object, so that the target object can at least confirm that its user trigger instruction has been successful through the following behavior of the movable platform, thereby improving the user experience of the user using the following mode.

[0131] Furthermore, the line between the position of the movable platform and the position of the target object remains parallel at different times, so that the movable platform can achieve parallel following of the target object. In the parallel following, the movable platform will lock the orientation of the movable platform in the world coordinate system. This means that in a relatively simple following scenario, for example, when the movement direction of the target object is basically unchanged, the relative orientation of the movable platform relative to the movement direction of the target object in the pre-following stage can be basically consistent with the relative orientation of the movable platform relative to the movement direction of the target object in the execution of the sub-following mode, that is, the relative orientation of the movable platform relative to the movement direction of the target object is basically consistent in the pre-following stage and in the execution of the sub-following mode, thereby achieving coordination of the entire following process of the movable platform, and further improving the user experience.

[0132] Of course, in some embodiments, in the pre-following stage, before the relative orientation is determined, the movable platform can also be controlled to remain stationary. Thus, the movable platform can collect movement information of the target object at a relatively stable position, thereby more accurately determining the relative orientation.

[0133] In some embodiments, the movable platform can automatically determine or identify the relative position of the movable platform with respect to the motion direction of the target object when the movable platform is performing the following mode, before the movable platform performs the following mode, thanks to the sensing capability of the movable platform itself. Correspondingly, the movable platform can be equipped with a sensing component. The sensing component can include one or more sensors capable of sensing the state of the movable platform, so as to be able to collect data information about the movable platform itself, for example, to obtain position-related information of the movable platform. The sensing component can include one or more sensors capable of sensing the environment around the movable platform, so as to be able to collect data information from the environment around the movable platform, for example, to obtain motion information of the target object. The sensor can include one or more of a visual sensor, a laser radar, an ultrasonic sensor, an infrared sensor, a TOF sensor, a GPS, an odometer, etc., and the embodiments of the present application do not make specific limitations in this regard. Optionally, the sensor can include a monocular visual sensor, which can independently complete the collection of motion information of the target object.

[0134] In some embodiments, before performing the following mode, the movable platform observes the motion of the target object through the sensing component and continuously collects the motion information of the target object, so as to automatically identify and lock the following intention of the target object, such as the relative position of the movable platform with respect to the motion direction of the target object when the movable platform performs the following mode. After locking the relative position, the movable platform can continuously observe the motion direction information of the target object with respect to the movable platform, such as the direction information of the motion speed, through the sensing component, so as to be able to accurately and quickly adaptively adjust the position of the movable platform itself to maintain the following of the target object at the locked relative position. When the motion direction of the target object changes, the movable platform can actively adjust to the locked relative position, so as to better meet the needs of the target object to stably follow at a certain relative position.

[0135] In some embodiments, the position-related information of the movable platform includes position information of the movable platform. For example, the position information includes position information of the movable platform as a whole or in part moving in space. The position information can be absolute position information or relative position information. In other embodiments, the position-related information of the movable platform can include information associated with the position of the movable platform, such as motion state information of the movable platform, which can include speed information, acceleration information, etc. The embodiments of the present application do not make specific limitations on the specific information type of the position-related information of the movable platform.

[0136] In some embodiments, the motion information of the target object includes position related information of the target object. For example, the position information includes position information of the whole target object moving in space. The position related information of the target object can include position information of the target object, or information associated with the position information of the target object. The position information can be absolute position information, or relative position information. In other embodiments, the motion information of the target object includes position related information and direction related information of the target object. Optionally, the direction related information includes the moving direction of the target object, or the orientation of a part of the target object. Further, the moving direction of the target object includes the current moving direction of the target object, or the direction of the moving trend of the target object. Optionally, the moving direction of the target object can include any one of the following: the direction of the moving speed of the target object; the extension direction of the moving track of the target object. Further, taking the target object as a human body, the orientation of a part of the target object can include the orientation of the face, or the orientation of the two feet, etc. The embodiments of the present application do not limit the specific type of the motion information of the target object.

[0137] Please refer to FIG. 5, which is a schematic diagram of the relative position of the moving direction of the movable platform relative to the target object. As shown in FIG. 5, the moving direction of the target object is indicated by arrow m, and the relative position refers to the relative position of the movable platform relative to the moving direction of the target object. For example, the relative position can include forward, backward, leftward, rightward, which are represented by symbols F, B, L, R respectively in the diagram. Further, the relative position can also include left forward, left backward, right forward, right backward, which are represented by symbols LF, LB, RF, RB respectively in the diagram. Each relative position corresponds to an included angle between the line connecting the position of the movable platform and the position of the target object, and the moving direction of the target object. The included angle can include any angle value within the range of 0-360°, or an angle range within the range of 0-360°, which can be determined according to actual conditions, and is not limited herein.

[0138] For example, if the position direction of the target object is 0°, and the positive direction of the angle is counterclockwise, in some embodiments, the forward direction, the left direction, the backward direction, and the right direction respectively represent the corresponding included angles of 0°, 90°, 180°, and 270°, for example, in terms of angle values. In some embodiments, the forward direction, the left direction, the backward direction, and the right direction respectively represent the corresponding angle ranges of greater than 0° and less than or equal to 45° or greater than 315° and less than or equal to 360°, greater than 45° and less than or equal to 135°, greater than 135° and less than or equal to 225°, and greater than 225° and less than or equal to 315°, for example, in terms of angle ranges. Similarly, the left front direction, the left rear direction, the right front direction, and the right rear direction respectively represent the corresponding included angles, which are not described herein.

[0139] Referring to FIG. 6, FIG. 6 is a flowchart 600 of a control method of a movable platform according to an embodiment of the present application. As shown in FIG. 6, in some embodiments, the following steps can be included to determine the relative position of the movable platform relative to the movement direction of the target object when the following mode is executed:

[0140] In step 601, based on the position-related information of the movable platform and the movement information of the target object, the relative direction information of the target object relative to the movable platform during the movement of the target object is determined.

[0141] In step 602, based on the relative direction information, the relative position is determined.

[0142] In this embodiment, before the following mode is executed, the relative direction information of the target object relative to the movable platform during the movement of the target object can be analyzed first, so that the relative position when the following mode is executed is determined based on the information. The information determined before the following matches the information to be maintained when the following, so that the process of determining the relative position by the movable platform is more convenient for users to understand. Furthermore, the information determined before the following is the relative direction information of the target object relative to the movable platform during the movement of the target object, and the relative direction can be various. The information determined before the following corresponds to the information to be maintained when the following, so that the relative position when the following can also be various, which enriches the number of relative positions, and further enables the following of any relative position within 360°, and improves the refinement degree of the movable platform when following in the relative position.

[0143] Suppose a scenario that before entering the following mode, the target object starts to move in the space, and in the process of the movement, the target object meets a desired relative direction compared with the movable platform, and the movable platform automatically acquires and identifies the desired relative direction through the sensor carried by itself in the process of the movement of the target object, and the movable platform analyzes that the target object also hopes that the movable platform can keep the relative position corresponding to the relative direction when the following mode is executed. Therefore, the movable platform can intelligently and accurately analyze the following intention of the target object before entering the following mode, so as to automatically generate the following parameter meeting the following intention when the following mode is executed, and keep the following parameter when the following mode is executed, thereby improving the user experience when the following mode is executed.

[0144] In some embodiments, the movement information of the target object includes position-related information of the target object, the position-related information including first position information of the target object at a first time in the process of the movement and second position information of the target object at a second time, and the information related to the relative direction of the target object compared with the movable platform in the process of the movement includes:

[0145] The information related to the relative direction is determined based on the first position information of the target object at the first time, the second position information of the target object at the second time, and the first position information of the movable platform at the first time.

[0146] In some embodiments, the information related to the relative direction is determined based on the first position information of the target object at the first time, the second position information of the target object at the second time, and the first position information of the movable platform at the first time, including:

[0147] The included angle between the first connecting line and the second connecting line is determined based on the first position information of the target object at the first time, the second position information of the target object at the second time, and the first position information of the movable platform at the first time.

[0148] The first connecting line includes a connecting line between the first position of the movable platform and the first position of the target object, and the second connecting line includes a connecting line between the first position of the target object and the second position of the target object.

[0149] The relative position is determined based on the information related to the relative direction, including:

[0150] The relative position is determined based on the included angle.

[0151] In some embodiments, the first position information of the movable platform comprises initialization position information of the movable platform when determining whether the motion information of the target object meets the preset condition, the first position information of the target object comprises initialization position information of the target object when determining whether the motion information of the target object meets the preset condition, and the second position information of the target object comprises current position information of the target object when determining that the motion information of the target object meets the preset condition.

[0152] Specifically, for the purpose of intuitive understanding of the embodiments of the present application, please refer to FIG. 7, which is a schematic diagram for determining the relative position before executing the following mode, and is shown in the form of a top view. As shown in FIG. 7, the following distance between the movable platform and the target object set by the target object is taken as an example of 2m, and the following distance can also be 3m, 5m or 10m. The motion distance of the target object is taken as an example of 1m, and the motion distance of the target object can also be 2m, 3m or 5m, etc. The following distance and the motion distance of the target object can be set according to the actual application scene and requirements, and the embodiments of the present application do not make specific limitations on the following distance and the motion distance of the target object.

[0153] For example, in response to receiving the user triggering instruction, the movable platform first moves from the palm of the target object until hovering at a position 2m away from the target object. Optionally, the movement process can be divided into two stages as shown in FIG. 3, such as first taking off from the palm to a position at a preset height, and then retreating to a position 2m away from the target object to hover. The first position information of the movable platform, or the initialization position information of the movable platform when determining whether the motion information of the target object meets the preset condition, can be the position information at the preset height after taking off, or the hovering position information after retreating. The initialization position information of the movable platform is represented by the center position of the circle with a radius of 2m in which the movable platform is located, and the time when the movable platform reaches the initialization position is the first time. The first time includes the taking-off time, and can also include the hovering time. The first position information of the target object, or the initialization position information of the target object when determining whether the motion information of the target object meets the preset condition, can be the first position information of the target object at the first time when the movable platform reaches the initialization position. Generally, the position of the target object does not change during the process of triggering the user instruction to the movement of the movable platform to the initialization position, so the initialization position information of the target object can also be the first position information of the target object when the user instruction is triggered. The initialization position of the target object is represented by the center position of the circle with a radius of 1m in which the target object is located.

[0154] The second position information of the target object when the motion information of the target object meets the preset condition can include that the target object starts to move from the initial position or the first position (for example, the position of the center of the circle shown in the figure) to the current position of the target object when the distance between the first position and the current position exceeds the preset distance, for example, 1 m. At this time, it also corresponds to the second moment. As shown in FIG. 7, the positions 1, 2, 3, or 4. The arrows from the center position of the circle with a radius of 1 m to the positions 1, 2, 3, or 4 represent the motion trajectory of the target object from the first moment to the second moment. The above four motion trajectories are only for illustration, and the target object can move arbitrarily within this range.

[0155] For example, the first connecting line can be the connecting line between the initial position of the movable platform and the initial position of the target object shown in FIG. 7, that is, the connecting line between the center position of the circle with a radius of 2 m and the center position of the circle with a radius of 1 m, which is represented by a dashed line connecting the two in FIG. 7. The second connecting line is the connecting line between the initial position of the target object at the first moment and the current position of the target object moving to the second moment, that is, the connecting line between the center position of the circle with a radius of 1 m and the positions 1, 2, 3, or 4 in FIG. 7. For example, the target object moves straight from the center position of the circle with a radius of 1 m to the position 4, and at this time, the arrow from the center position of the circle with a radius of 1 m to the position 4 represents the motion trajectory of the target object and also represents the second connecting line. For example, the target object moves straight from the center position of the circle with a radius of 1 m to the position 2, and at this time, the arrow from the center position of the circle with a radius of 1 m to the position 2 represents the motion trajectory of the target object, which is a curve, and at this time, the second connecting line is a straight line connecting the center position of the circle with a radius of 1 m and the position 2 (not shown in the figure).

[0156] For example, after the movable platform moves to the initial position, for example, the center position of the circle with a radius of 2 m shown in FIG. 7, an initial circle for determining the relative position of the movable platform when the movable platform executes the following mode will be determined. Specifically, the movable platform will draw a circle with the target object as the center and a radius of 1 m, which is represented by the circle with a radius of 1 m shown in FIG. 7 with the target object as the center. The initial circle is divided into multiple sectors by taking the connecting line between the initial position of the target object and the initial position of the movable platform as the division reference, and the division manner is represented by a dashed line in FIG. 7. Each sector corresponds to a different relative position. For example, the initial circle can be divided into four 90° sectors, and the connecting line between the two indicates the forward direction. The initial circle can be divided into four relative positions, that is, forward, backward, left, and right, which are represented by F, B, L, and R respectively in FIG. 7. Of course, if a more refined relative position is to be determined, the initial circle can also be divided into eight relative positions, for example, forward, backward, left, right, left forward, left backward, right forward, and right backward, as shown in FIG. 5.

[0157] For example, when the movable platform moves to the first position or the initial position at the first time, corresponding to the center position of the circle with a radius of 2m shown in FIG. 7, the recording and real-time observation of the movement trajectory of the target object can be started. As shown in FIG. 7, the target object starts to move from the center position of the circle with a radius of 1m, and moves to position 1, position 2, position 3 or position 4. The arrows between the center position and the positions 1, 2, 3 or 4 represent the possible four movement trajectories of the target object. Alternatively, as shown in FIG. 4, when the target object moves within the initial circle, the movable platform can follow the target object in a geographically parallel manner to improve the user experience during the following process. When the movement trajectory of the target object breaks through the initial circle, the relative position corresponding to the position of the target object in the initial circle will be determined as the relative position when the following mode is executed. Specifically, the relative positions determined by the above four movement trajectories are exemplified as follows:

[0158] For example, the target object moves from the center position to position 1. Since position 1 corresponds to the forward sector F divided in the initial circle, it can be determined that the relative position when the following mode is executed is forward.

[0159] For example, the target object moves from the center position to position 2. Since position 2 corresponds to the right sector R divided in the initial circle, it can be determined that the relative position when the following mode is executed is right.

[0160] For example, the target object moves from the center position to position 3. Since position 3 corresponds to the backward sector B divided in the initial circle, it can be determined that the relative position when the following mode is executed is backward.

[0161] For example, the target object moves from the center position to position 4. Since position 4 corresponds to the left sector L divided in the initial circle, it can be determined that the relative position when the following mode is executed is left.

[0162] For example, the embodiment of the present application focuses on the position of the target object at the moment when the target object breaks through the initialization circle from the center of the initialization circle. The first line is the line connecting the initialization position of the movable platform and the initialization position of the target object, and the second line is the line connecting the initialization position of the target object and the position point of the target object at the moment when the target object breaks through the initialization circle. The relative orientation is determined by the included angle between the first line and the second line. When the target object moves within the initialization circle, the embodiment of the present application focuses on the result of the movement of the target object, such as the position point of the target object at the moment when the target object breaks through the initialization circle, rather than the process of the movement of the target object, such as the trajectory of the target object within the initialization circle. Therefore, the movement information of the target object, such as the direction of the movement speed of the target object, can be more accurately analyzed by the initialization position of the target object and the position point of the target object at the moment when the target object breaks through the initialization circle, so that the relative orientation meeting the intention of the target object can be more accurately determined. For example, the target object moves from the center position to position 2, that is, the embodiment of the present application focuses on the position point of position 2. As shown in the figure, the target object starts to move in a curve from the center position, first moves in the rear sector, then moves to the right sector, and finally breaks through the initialization circle in the right sector. Therefore, the relative orientation is determined as right. Although the target object moves in the rear sector, it does not break through the initialization circle from the rear sector, so the relative orientation is not determined as rear.

[0163] In some embodiments, the relative orientation is determined in response to the movement information of the target object meeting the preset state condition.

[0164] In some embodiments, the movement information of the target object includes that the target object moves from a first position at a first time to a second position at a second time, and the preset state condition includes that the distance between the first position and the second position is greater than or equal to a preset distance. For example, referring to FIG. 7, the target object moves from the initialization position to the position breaking through the initialization circle, and the distance between the first position and the second position is equal to the preset distance 1 m. At this time, the relative orientation can be determined.

[0165] If the movement distance of the target object is too short, the target object may not have the intention to determine the following orientation, and the movable platform cannot accurately determine the intention of the target object. Therefore, the embodiment of the present application triggers the step of determining the relative orientation in response to the movement distance of the target object being greater than or equal to the preset distance, which can ensure that the target object has a relatively clear intention to determine the following orientation, and can ensure that the movable platform can effectively analyze the intention of the target object in this process or stage, thereby facilitating the determination of the following mode corresponding to the intention, and improving the user experience of the movable platform executing the following mode.

[0166] In some embodiments, the motion information of the target object includes position-related information and direction-related information of the target object, the position-related information of the target object includes first position information of the target object at a first time during the motion process, and the direction-related information includes a motion direction of the target object; the determining the relative direction-related information of the target object during the motion process relative to the movable platform includes:

[0167] determining the relative direction-related information based on the first position information of the target object at the first time during the motion process, the first position information of the movable platform at the first time, and the motion direction of the target object;

[0168] The motion direction of the target object includes a current motion direction of the target object or a direction of a motion trend of the target object.

[0169] In some embodiments, the determining the relative direction-related information based on the first position information of the target object at the first time during the motion process, the first position information of the movable platform at the first time, and the motion direction of the target object includes:

[0170] determining an included angle between a first line and the motion direction of the target object based on the first position information of the target object at the first time during the motion process, the first position information of the movable platform at the first time, and the motion direction of the target object;

[0171] The first line includes a line between the first position of the movable platform and the first position of the target object.

[0172] The determining the relative direction-related information based on the first position information of the target object at the first time during the motion process, the first position information of the movable platform at the first time, and the motion direction of the target object includes:

[0173] The determining the relative direction-related information based on the first position information of the target object at the first time during the motion process, the first position information of the movable platform at the first time, and the motion direction of the target object includes:

[0174] In the embodiment, before the following mode is executed, the first line can be determined based on the first position information of the target object at a first moment in a movement process and the first position information of the movable platform at the first moment, and the relative direction when the following mode is executed can be determined based on an included angle between the movement direction of the target object and the first line. The movement direction of the target object includes the current movement direction of the target object or the direction of the movement trend of the target object. In this way, the movable platform can intelligently and quickly perceive the current movement direction of the target object or the direction of the movement trend of the target object, so as to more quickly lock the relative direction. For example, after the target object triggers the user triggering instruction, before the following mode is executed, the movable platform only needs to observe the direction in which the target object is facing to lock the relative direction when the following task is executed, because by judging the direction in which the target object is facing, the movement trend of the target object can be roughly determined. For another example, after the target object triggers the user triggering instruction, before the following mode is executed, the target object only needs to move a small distance, for example, a human body only moves one step, and the movement trend of the target object can also be quickly and accurately determined, so as to lock the relative direction when the following task is executed.

[0175] In some embodiments, the relative direction related information includes an included angle between the movement direction of the target object and the initial relative direction between the target object and the movable platform, and the relative direction is determined based on the relative direction related information, including:

[0176] obtaining a mapping relationship between the included angle and a preset included angle range;

[0177] determining the relative direction based on the included angle and the mapping relationship.

[0178] In this way, the embodiment of the application presets an included angle and a preset included angle mapping relationship, can calculate the included angle between the movement direction of the target object and the initial relative direction between the target object and the movable platform before the following mode is executed, and correspondingly determine a relative direction when the following mode is executed based on the included angle and the mapping relationship, so that the process of determining the relative direction by the movable platform is more quick and accurate.

[0179] In some embodiments, the position of the target object points to the position of the movable platform as a 0° direction, and counterclockwise rotation is the positive direction of the angle, and the relative direction is determined based on the included angle and the mapping relationship, including:

[0180] if the included angle is in a preset included angle range greater than 0° and less than or equal to 45° or greater than 315° and less than or equal to 360°, the relative direction includes a front direction; or

[0181] if the included angle is in a preset included angle range greater than 45° and less than or equal to 135°, the relative direction includes a right direction; or

[0182] If the included angle is within a preset included angle range greater than 135° and less than or equal to 225°, the relative direction includes rearward.

[0183] If the included angle is within a preset included angle range greater than 225° and less than or equal to 315°, the relative direction includes leftward.

[0184] Exemplarily, please also refer to FIG. 7, taking the initial position of the target object as the initial position of the movable platform as 0° direction, if the included angle is within a preset included angle range greater than 0° and less than or equal to 45° or greater than 315° and less than or equal to 360°, it represents F sector, and the F sector corresponds to the relative direction of forward; if the included angle is within a preset included angle range greater than 45° and less than or equal to 135°, it represents R sector, and the R sector corresponds to the relative direction of rightward; if the included angle is within a preset included angle range greater than 135° and less than or equal to 225°, it represents B sector, and the B sector corresponds to the relative direction of rearward; if the included angle is within a preset included angle range greater than 225° and less than or equal to 315°, it represents L sector, and the L sector corresponds to the relative direction of leftward.

[0185] In some embodiments, in response to receiving a user trigger instruction for entering the following mode, the user instruction is used to instruct the movable platform to enter the following mode, the movable platform will record the position of itself and the position of the target object at the moment when the user trigger instruction is triggered, and when the target object starts to move, the movable platform will continuously update and record the historical planning of itself and the historical trajectory of the target object, and after a period of time, by comparing the two trajectories, the movable platform will deduce the relative following direction intended by the target object. In a simple and popular understanding, after triggering the user trigger instruction, if the target object advances towards the movable platform, so that the movable platform is in front of the movement direction of the target object, the following task this time will be locked as forward following; if the target object moves away from the movable platform, so that the movable platform is behind the movement direction of the target object, the following task this time of the movable platform will be locked as tailing; if the target object keeps the movable platform moving on the right side of itself, the following task this time will be locked as rightward following; if the target object keeps the movable platform moving on the left side of itself, the following task this time will be locked as leftward following.

[0186] Further, please refer to FIG. 8, which is a schematic diagram for determining the relative direction before executing the following mode according to an embodiment of the present application. The diagram can correspond to the initial circle of 1 m radius with the target object as the center in FIG. 7. When the movement distance of the target object is greater than or equal to a preset distance value such as 1 m before executing the following mode, the movable platform can lock the relative direction. As shown in FIG. 8, the diagram shows the initial position of the movable platform; the initial position of the target object, i.e., the center position, is shown as t 0This indicates the position of the target object after it has moved from its initial position to a distance equal to a preset value. The value is represented by t in the diagram. 1 The initial position of the movable platform and the initial position of the target object are represented by dashed arrows, while the initial position of the target object and its position after moving a preset distance are represented by solid arrows. Similar to Figure 7, the initialization circle is divided into four sectors, which correspond to the four relative positions of the movable platform to the target object's movement direction when executing follow mode. In the illustration, the four sectors are represented by F, B, L, and R, respectively, representing forward, backward, left, and right directions.

[0187] As shown in Figure 8, the target object starts from t 0 Position moved to t 1 The sector indicated by the position is forward. Since the initial position of the movable platform is always to the left relative to the target object's movement direction during the target object's movement, the movable platform analyzes this and determines that when executing follow mode, the target object also expects the movable platform to maintain a leftward following position relative to the target object's movement direction, thus determining the relative orientation as left. Optionally, it can analyze which sector the angle θ between the line connecting the initial position of the target object and the initial position of the movable platform and the target object's movement direction falls into. The sector it falls into determines the relative orientation represented by that sector. For example, in the current illustration, the angle θ falls into the left sector, so the relative orientation will be locked as left. For example, if the initial position of the movable platform in the illustration is in the backward sector, then the angle θ falls into the backward sector, so the relative orientation will be locked as backward. For example, if the initial position of the movable platform in the illustration is in the right sector, then the angle θ falls into the right sector, so the relative orientation will be locked as right. For example, if the initial position of the movable platform in the diagram is located in the forward sector, then the included angle θ falls within the forward sector, and the relative orientation will be locked as forward. Of course, if there are eight or more relative orientations when executing follow mode, the determination method for the four relative orientations mentioned above can be used in a similar manner.

[0188] In some embodiments, the first position vector can be obtained based on the line connecting the initial position of the target object and the initial position of the movable platform, the vector of the motion speed of the target object when the target object starts to move can be determined, and the included angle θ can be calculated based on the first position vector and the vector of the motion speed. In some embodiments, the first position vector can be obtained based on the line connecting the initial position of the target object and the initial position of the movable platform, an initial circle can be drawn with the initial position of the target object as the center, a position of the target object when the target object breaks through the initial circle can be recorded, a second position vector can be obtained based on the line connecting the position of the target object when the target object breaks through the initial circle and the initial position of the target object, and the included angle between the two position vectors can be determined as θ.

[0189] In some embodiments, after the relative position is determined or locked by using the above scheme, the movable platform can be controlled to perform a following mode, in which the movable platform keeps following the target object in the relative position.

[0190] Referring to FIG. 9, FIG. 9 is a schematic diagram of the movable platform performing the following mode according to an embodiment of the present application. In the embodiment, the movable platform can estimate the motion speed of the target object relative to the movable platform in real time, and by observing the motion information of the target object relative to the movable platform, for example, estimating the motion direction, the movable platform can accurately and quickly adjust its own position, so that the movable platform can always maintain in the locked relative position. As shown in FIG. 9, for example, the relative position is locked to be leftward, and the movable platform keeps following in the left direction of the target motion direction. If the target object changes the motion direction at this time, the movable platform will actively switch to the left side of the target object in the motion direction of the target object to follow the target object, thereby improving the user experience of the user when performing the following mode.

[0191] In addition, it is found in the development process of the present application that when the motion direction of the target object does not meet the preset condition, for example, the target object changes the motion direction by a large amount exceeding the preset value, if the movable platform wants to keep following in the relative position, it needs to move in a large range around the target object, which is a dangerous behavior for the movable platform without obstacle avoidance sensing capability.

[0192] Therefore, referring to FIG. 10, the embodiment further provides a flowchart 1000 of a control method of a movable platform, and the method is mainly used to illustrate the complete process of the embodiment, which can include the following steps:

[0193] In step 1001, in response to the motion information of the target object meeting the preset condition, the movable platform is controlled to keep following the target object in the relative position; or

[0194] In response to the motion information of the target object not satisfying the preset condition, the movable platform is controlled to execute a safety protection strategy, in step 1002.

[0195] In this embodiment, when the motion direction of the target object satisfies the preset condition, the movable platform can move to keep following the target object in the relative orientation. Since the range of movement of the movable platform is small at this time, the probability of encountering an obstacle in a small range is small, which can ensure the safety of the movable platform to a certain extent. When the motion direction of the target object does not satisfy the preset condition, considering that the movable platform needs to move a large range to keep following the target object in the relative orientation, there may be a large collision risk. Therefore, the movable platform executes the corresponding safety protection strategy to ensure the safety of the movable platform.

[0196] In some embodiments, the motion information of the target object includes related information of the motion direction of the target object.

[0197] In some embodiments, the preset condition is satisfied in at least one of the following situations:

[0198] The change amount of the motion direction of the target object satisfies a preset change amount condition;

[0199] An included angle between the motion direction of the target object and the relative direction between the target object and the movable platform satisfies a preset included angle condition.

[0200] In some embodiments, the preset change amount condition includes that the change amount is less than or equal to a preset change amount threshold value at a current time relative to a previous time.

[0201] The preset included angle condition can include that an included angle between the motion direction of the target object at a current position and a line connecting the current position of the target object and the current position of the movable platform is less than or equal to a preset included angle threshold value.

[0202] In this way, by the change amount of the motion direction of the target object not satisfying the preset change amount condition, and / or the included angle between the motion direction of the target object and the relative direction between the target object and the movable platform not satisfying the preset included angle condition, it can be represented that the motion information of the current target object can not satisfy the preset condition. If the movable platform is to respond to the motion of the target object and adjust to the relative orientation to be kept, there will be a large safety risk. At this time, the movable platform will degenerate to execute the safety protection strategy.

[0203] In some embodiments, controlling the movable platform to execute the safety protection strategy can include controlling the relative positional relationship between the movable platform and the target object until the movable platform is located behind the target object in the motion direction.

[0204] In this way, the relative position relationship between the movable platform and the target object is controlled until the movable platform is behind the target object in the movement direction, which can also be referred to as the movable platform trailing the target object, or becoming a trailing mode. Since the path of the movement of the movable platform is the historical trajectory of the target object that has safely passed, the safety of the movable platform during movement can be ensured to some extent.

[0205] In some embodiments, the control of the relative position relationship between the movable platform and the target object can include: in response to the movement of the target object, gradually controlling the movable platform to move to the rear of the target object in the movement direction.

[0206] In the embodiments of the present application, the condition for the movable platform to move to the rear of the target object in the movement direction depends on the movement of the target object, and the target object does not actively move to the rear of the target object in the movement direction, but moves under the movement of the target object, thereby further improving the safety of the movable platform. For the convenience of understanding, it can be understood that at this time the target object pulls the movable platform by a rope, and the length of the rope corresponds to the following distance. In the case where the rope is not straight, the movable platform will be stationary. The movement of the target object makes the rope straight, which will move the movable platform behind the target object in the movement direction. Imagine a scenario where the movable platform is following the target object with a relative position of rearward, and the movement direction of the target object suddenly adjusts by 180°. At this time, the movement direction of the target object will suddenly be towards the movable platform. Considering that the change amount of the movement direction of the target object satisfies the preset change amount condition, the movable platform will degenerate into a trailing mode at this time, but the movable platform will not rotate by 180° to the rear of the movement direction of the target object, but will hover at the current position, waiting for the target object to move towards itself. If the target object moves towards the movable platform, but has not approached the movable platform, the movable platform continues to hover at the current position. When the target object continues to move, the target object passes and moves away from the movable platform, and the distance between the target object and the movable platform reaches a certain threshold, the movable platform is then controlled to gradually move to the rear of the target object in the movement direction, that is, in this case the rope is straightened, thereby pulling the movable platform from the current position to gradually transition to the rear of the movement direction of the target object.

[0207] Please refer to FIG. 11, which is a schematic diagram of a movable platform executing a protection strategy according to an embodiment of the present application. Taking the relative orientation locking at the initialization time as the forward direction as an example, the center of the circle is the position of the target object at the current time, and the movable platform is respectively at four different positions a, b, c and d at the current time. In these four cases, the movable platform at the current time is normally kept in the forward direction of the target object to follow the target object, and the line connecting the target object to the movable platform in solid line in the figure also represents the motion direction of the target object at the current time. At the next time, the motion direction of the target object suddenly changes, which is represented by the dashed arrow emitted from the target object in the figure.

[0208] Then the movable platform can divide the 360-degree area around the target object into two 180-degree areas in front and behind the target object with the target object as the center and the motion direction of the target object as the front direction. When the speed direction of the target object changes, the line connecting the movable platform to the target object will fall into one of the two areas. When the line connecting the movable platform to the target object falls into the front half area, such as in the cases of a and b, it means that the movable platform reaches the front direction less than the safety protection threshold of 90 degrees, and only needs to adjust an arc less than 90 degrees, so it is relatively safe, and the movable platform will actively adjust the following orientation to the front direction of the speed of the target object. When the line connecting the movable platform to the target object falls into the back half area, such as in the cases of c and d, the movable platform needs to select an arc more than 90 degrees around the target object to adjust to the front direction of the speed of the target object, which is a relatively dangerous behavior for the movable platform without obstacle avoidance sensing capability, and is also outside the line of sight of the user, so the movable platform will execute the protection strategy and not actively adjust the following orientation, but degenerate into the trailing mode and gradually transition to the back direction of the speed of the target object when the target object continues to move away.

[0209] The front half area here is only an example, and the essence is that as long as the change of the target speed direction is within a threshold range, such as 60 degrees, 120 degrees, 150 degrees, 180 degrees, the front half area is taken as an example of 90 degrees.

[0210] For example, in the process of the movable platform executing the safety protection strategy, in response to the motion information of the target object satisfying the preset condition again, the movable platform can be controlled to follow the target object again on the relative orientation. Specifically, the preset condition can include that the motion speed value of the target object is greater than or equal to a preset speed threshold.

[0211] In this way, when the speed direction of the target object changes greatly, the movable platform can be controlled to execute a safety protection strategy, such as degenerating into a trailing mode to ensure the safety of the movement route followed by the movable platform. When the movement information of the target object again meets the preset condition, such as the movement speed of the target object being relatively stable and the relative azimuth error being less than a certain value, the movable platform can be controlled to again enter a state of keeping in the relative trailing azimuth, so that the user experience can be more intelligently met while ensuring the safety of the movement of the movable platform.

[0212] Specifically, controlling the movable platform to execute the safety protection strategy can include controlling the movable platform to keep still, so that the movable platform can be prevented from continuing to move and causing danger. For example, when the movable platform moves in the air, the movable platform can be controlled to hover in the air. Of course, the movable platform can also be controlled to land to further improve safety.

[0213] In some embodiments, the movement information of the target object includes related information of the movement speed of the target object.

[0214] In some embodiments, the preset condition includes that the movement speed value of the target object is greater than or equal to a preset speed threshold.

[0215] When the speed of the target object is not significant enough, the signal-to-noise ratio of the information obtained by the movable platform about the target object is small, and to ensure safety, the movable platform can also degenerate into a trailing mode. When the speed of the target object is not significant enough, the signal-to-noise ratio of the movement information obtained by the movable platform about the target object is small, and if the movable platform is controlled to follow the target object based on this, danger can be caused. Therefore, to ensure safety, the movable platform can also be controlled to degenerate into a trailing mode. When the movement information of the target object again meets the preset condition, such as the movement speed of the target object exceeding a certain value, the movable platform can be controlled to again enter a state of keeping in the relative trailing azimuth, so that the user experience can be more intelligently met while ensuring the safety of the movement of the movable platform.

[0216] In some embodiments, in response to the state of the target object meeting a preset state condition, the movable platform can be controlled to execute a preset operation, so that direct interaction between the target object and the movable platform can be intelligently implemented.

[0217] Optionally, the state of the target object meeting the preset state condition can include the target object being stationary relative to the movable platform for a preset time length. For example, the specific length of time of the stationary time length can be set according to actual needs, and the present application does not make a specific limitation thereon.

[0218] Optionally, the state of the target object meeting the preset state condition can include the target object making a preset body posture.

[0219] Optionally, the state of the target object satisfying the preset state condition can include the target object issuing a preset voice control instruction.

[0220] In some embodiments, the control of the movable platform to perform the preset operation can include adjusting the following parameter and controlling the movable platform to follow the target object with the adjusted following parameter. In the following process, the target object can conveniently adjust the following parameter to meet its actual needs. Specifically, the following parameter can include one or more of the following: following direction, following distance, following height, and following speed.

[0221] In some embodiments, the control of the movable platform to perform the preset operation includes controlling the movable platform to autonomously move to a preset position.

[0222] For example, the preset position can be used to facilitate the target object to store the movable platform. Optionally, when the speed of the target object is less than a certain value and faces the movable platform for a period of time, the movable platform will automatically return to the vicinity of the target object for convenient recovery.

[0223] Optionally, in the initialization stage before the execution of the following mode or in the execution stage of the following mode, the target object can specify the desired relative following direction through a preset gesture. For example, taking a human body as an example, the two arms of the human body can be arranged at different angles to specify the desired relative following direction, such as defining the forward stretch of both hands as forward following and the forward stretch of the left hand and the rightward stretch of the right hand as rightward following. In the exit stage of the following mode, if it is desired to end the execution of the following mode, the target object can specify the desired relative following direction through other preset gestures, such as stretching the arm towards the movable platform, which can be defined as controlling the movable platform to move to a preset position, such as controlling the movable platform to automatically return or be recovered.

[0224] Optionally, the movable platform has the ability to receive sound. In the initialization stage, the target object can directly specify a certain relative direction through voice, such as a “forward-directional following” instruction that can directly skip the initialization link and enter the directional following mode with the relative direction being forward. In the execution stage of the following mode, the distance and height of the following can be adjusted through voice interaction, such as the interactive instructions of “closer” “higher” “medium distance”, etc. In the exit stage of the following mode, the return can be directly triggered through voice, such as the voice instruction “return”.

[0225] In some embodiments, the preset position includes:

[0226] a position within a preset distance range of the target object; or

[0227] a preset body part of the target object.

[0228] In some embodiments, the method further comprises: in the process of following the target object by the movable platform, the photographing device carried by the movable platform can also be controlled to photograph the target object to obtain a photographed image.

[0229] In some embodiments, in response to determining that the photographed image meets a preset image condition, the movable platform can be controlled to stop moving. Illustratively, the preset image condition can include that a pixel proportion of the target object in the photographed image is less than or equal to a preset pixel proportion. Illustratively, the preset image condition can also include that the target object does not completely appear in the photographed image. In this way, the movable platform can determine that the target object is lost or the target object is blocked by an obstacle based on the image judging that the proportion of the target object in the photographed image is too small and / or the target object does not completely appear in the photographed image. At this time, in order to ensure the safety of the movable platform, the movable platform can be controlled to stop moving, for example, to stop.

[0230] In addition, illustratively, the preset image condition can also include a condition of an image parameter of the photographed image, and the image parameter can include one or more of a blur degree, a shaking degree, an exposure degree, and a color change degree of the image. In this way, the movable platform can determine that the current state of the movable platform and / or the environment in which the target object is located can not be conducive to good photographing of the target object based on the image parameter, at which time the movable platform can also stop moving and can issue relevant prompt information.

[0231] In other cases, in response to determining that the photographed image meets the preset image condition, the movable platform can also be controlled to continue moving to follow the target object, thereby more intelligently improving the following experience of the target object. Illustratively, the target object can carry a control device, the positioning information of the control device can represent the positioning information of the target object, and the control device can have high-precision positioning function. Even if it is determined that the photographed image meets the preset image condition, for example, the photographed target object is blocked, at this time the control device can communicate with the movable platform and send the high-precision positioning information of the control device to the movable platform, so that the movable platform can follow the target object based on the received positioning information. Optionally, the control device can be a Beacon Bluetooth positioning beacon controller.

[0232] Further, the movable platform can also fuse the information related to the photographed image and the positioning information sent by the control device to determine the positioning information associated with the target object more accurately, which can specifically include the relative position information between the target object and the movable platform, so that the movable platform can follow the target object more accurately based on the relative position information. The relative position information can include relative angle information and relative distance information. Further, the movable platform can also carry an SDR image transmission module, which can send the photographed image to the control device and provide the positioning information associated with the target object, which can specifically include the relative distance information between the control device and the movable platform, i.e., the relative distance information between the target object and the movable platform. Thus, the information provided by the SDR image transmission module, the information related to the photographed image, and the positioning information sent by the control device can be fused to determine more stable and accurate positioning information associated with the target object, which can specifically include the relative positioning information between the target object and the movable platform, so as to control the movable platform to follow the target object more stably and accurately.

[0233] In addition, with the development of scientific information technology, how to control the movable platform to realize automatic following is a development direction that people pay more attention to. At present, with the gradual improvement of the intelligence level of the movable platform, in the related technology, the user can trigger the movable platform to automatically follow the target object through user trigger instructions such as gestures, body postures, etc. The movable platform often responds to the user trigger instruction to directly start the corresponding following mode, without considering the problem that the movable platform may misjudge when judging to start the following mode. For example, the user only unconsciously makes a certain body posture, but the target object actually has no clear intention to control the movable platform to start the following mode, so that the movable platform incorrectly judges that the target object intends to start the following mode corresponding to the body posture. Or, due to the complexity of the environment, the recognition of the gesture with clear intention made by the target object is wrong, which causes the movable platform to incorrectly start a following mode that is not expected by the user. The above misjudgment will make the user experience of the movable platform executing the following mode poor.

[0234] To solve the above technical problems, referring to FIG. 12, a flowchart of a control method of a movable platform, the present application also provides a control method of a movable platform, which comprises:

[0235] Step 1201, detecting a target object moving in space and collecting movement information of the target object by controlling the movable platform;

[0236] In step 1202, in response to determining that the movement of the target object meets the movement distance condition based on the movement information of the target object, the movable platform is controlled to start the following mode of following the target object.

[0237] Before starting the following mode of following the target object, the movable platform can automatically detect the target object moving in the space and collect the movement information of the target object. Through intelligent analysis of the movement information, it is determined that the movement of the target object meets the movement distance condition, and then the following mode of following the target object is started. Unlike the movable platform directly starting the following mode by simply detecting the gesture or body posture of the target object, the embodiment of the present application detects the target object moving in the space and collects the movement information of the target object. When the movement of the target object meets the movement distance condition, the corresponding following mode is started. Firstly, it can be ensured that the target object indeed has a relatively clear intention of starting the following mode. Secondly, it can be ensured that the movable platform can effectively utilize the movement of the target object to more accurately analyze the intention of the target object, thereby facilitating the determination of the following mode corresponding to the intention, and improving the user experience of the movable platform executing the following mode.

[0238] For example, in response to the user trigger instruction, the movable platform can be controlled to detect the target object moving in the space. Before controlling the movable platform to detect the target object moving in the space, in response to the user trigger instruction, the movable platform can also be controlled to be at a preset position. Specifically, the preset position includes a position having a preset height and / or a preset distance from the target object. Specifically, in response to the user trigger instruction, the movable platform can be controlled to start moving from a preset body part of the target object and hover at the preset position. For details, please refer to the foregoing embodiments, which will not be repeated here.

[0239] In some embodiments, controlling the movable platform to start the following mode of following the target object can include determining the following parameter of the following mode based on the movement information of the target object, the following parameter including the relative relationship between the movable platform and the target object when the movable platform executes the following mode. Specifically, the relative relationship can be determined according to user input information, or can be determined according to environmental information, or can be determined according to the movement information of the target object. For example, the relative relationship can include at least one of the following:

[0240] The relative position of the movable platform and the target object; the relative direction of the movable platform and the target object; the relative speed of the movable platform and the target object; the included angle between the position line of the movable platform and the target object and the speed direction of the target object; the relative acceleration of the movable platform and the target object; and the relative angular velocity of the movable platform and the target object.

[0241] Optionally, the relative position of the movable platform to the target object can be used to indicate the relative distance between the target object and the movable platform and / or to represent how the movable platform points to the target object.

[0242] Optionally, the relative position of the movable platform to the target object can refer to the position of the movable platform relative to the target object in a North-East-Down coordinate system, for example, the position of the movable platform in the northwest direction or west direction of the target object, etc. Optionally, the relative position of the movable platform to the target object can include the relative position of the movement direction of the movable platform to the target object.

[0243] Optionally, the relative velocity of the movable platform to the target object can refer to the velocity of the movable platform relative to the target object, i.e., the velocity of the movable platform away from or close to the target object assuming that the target object is stationary. Optionally, the velocity can refer to the velocity magnitude and the velocity direction. For example, the relative velocity of the movable platform to the target object can refer to the relative velocity magnitude and / or the relative velocity direction of the movable platform to the target object.

[0244] Optionally, the angle between the position line of the movable platform to the target object and the velocity direction of the target object can be a clockwise angle starting from the velocity direction, and the angle is used or calculated in a clockwise manner starting from the velocity direction during use or calculation. Optionally, the angle can also be an anticlockwise angle starting from the velocity direction, and the angle is used or calculated in an anticlockwise manner starting from the velocity direction during use or calculation.

[0245] Optionally, the relative acceleration of the movable platform to the target object can refer to the acceleration of the movable platform relative to the target object, i.e., the acceleration of the movable platform away from or close to the target object assuming that the target object is stationary.

[0246] Optionally, the relative angular velocity of the movable platform to the target object can refer to the angular velocity of the movable platform relative to the target object, i.e., the angular velocity of the movable platform rotating around the target object assuming that the target object is stationary.

[0247] In some embodiments, the relative relationship of the target object includes a relative position to the movement direction of the target object.

[0248] In some embodiments, before determining, based on the movement information of the target object, that the movement of the target object satisfies the movement distance condition, the method further includes: determining, based on the movement information of the target object, a following parameter of the following mode, the following parameter including a relative relationship between the movable platform and the target object when the movable platform executes the following mode. With reference to the foregoing, the following parameter can include a relative position of the movable platform with respect to a movement direction of the target object when the movable platform executes the following mode.

[0249] In some embodiments, after controlling the movable platform to start the following mode of following the target object, the method further includes: controlling the movable platform to execute the following mode, wherein, in the following mode, the movable platform keeps the relative relationship to follow the target object. For example, in the following mode, the movable platform keeps following the target object in the relative position.

[0250] In some embodiments, in response to the state information of the target object satisfying the preset condition, the movable platform can be controlled to keep the relative relationship to follow the target object. Alternatively, in response to the state information of the target object not satisfying the preset condition, the movable platform is controlled to execute a safety protection strategy. Specifically, controlling the movable platform to execute the safety protection strategy can include: controlling the relative position relationship between the movable platform and the target object until the movable platform is located behind the target object in the movement direction.

[0251] Alternatively, during execution of the safety protection strategy by the movable platform, in response to the state information of the target object again satisfying the preset condition, the movable platform is again controlled to keep the relative relationship to follow the target object. For example, the movable platform is again controlled to follow the target object in the relative position. Alternatively, in response to the state of the target object satisfying the preset state condition, the movable platform is controlled to execute a preset operation. Specifically, the state of the target object satisfying the preset state condition includes at least one of the following: the target object is stationary relative to the movable platform for a preset time length; the target object makes a preset body posture; the target object issues a preset voice control instruction. Specifically, controlling the movable platform to execute the preset operation includes: controlling the movable platform to autonomously move to a preset position. Alternatively, the preset position is used to facilitate the target object to recover the movable platform. The specific implementation can be referred to the foregoing embodiments, and will not be described here again to avoid repetition.

[0252] Next, an embodiment is taken as an example, in which the movable platform is taken as an aircraft. The aircraft can automatically lock the relative position of the aircraft relative to the movement direction of the target object and keep the locked relative position during the following process. The aircraft can perceive the movement direction of the target object in real time and actively and quickly adjust the locked relative position to meet the demand of the target object for stable following and shooting in a certain relative position. The function can make full use of visual information and estimate the movement speed of the target object relative to the aircraft by combining the pose observation of the aircraft. By perceiving the movement speed direction of the target object relative to the aircraft at the initialization time, the relative position desired by the target object is recognized, and the relative position is maintained for following and shooting, which is very suitable for the out-of-control scene.

[0253] (1) Optionally, the function layer specifically includes but is not limited to one or more of the following steps:

[0254] a) Enter the following mode: The target object can trigger the function by the mode button on the aircraft to enter the following mode.

[0255] b) Start the following mode: After entering the following mode, the relative position desired by the target object is recognized and locked by comparing the movement path and the initialization position of the target object in a short time, and the following mode is started. Specifically, refer to FIG. 7 again. As shown in FIG. 7, the following distance of the target object is set to 2 m as an example. When the user triggers the function by pressing the button, the aircraft will automatically retreat to a position 2 m away from the target object, record and start to estimate the movement trajectory of the target object in real time. When the target object moves within the circle with the target object as the center and 1 m as the radius, the aircraft will follow the target object in parallel. When the movement trajectory of the target object breaks through the initialization circle, the position of the target object will be used to lock the relative position.

[0256] c) Execute the following mode: The aircraft executes the following mode in response to the movement information of the target object meeting the preset condition. In the following mode, the aircraft keeps following the target object in the relative position. Specifically, the aircraft can estimate the movement speed of the target object relative to the aircraft in real time. By estimating the movement speed of the target object relative to the aircraft, the aircraft can accurately and quickly adjust the position to keep following the target object in the locked relative position.

[0257] In response to the motion information of the target object not satisfying the preset condition, the movable platform is controlled to execute a safety protection strategy. Specifically, when the speed direction of the target object changes greatly, the aircraft degenerates into a trailing mode to ensure the safety of the aircraft, and when the speed of the target object is stable and the relative azimuth error is less than a certain value, the aircraft enters the active switching state again and keeps the relative azimuth.

[0258] As shown in FIG. 11, taking forward following as an example. The aircraft can divide the 360-degree area around the target object into two 180-degree areas in front and behind with the target object as the center and the motion direction of the target object as the front. When the speed direction of the target object changes, the line connecting the aircraft and the target object will fall into one of the two areas. When the line connecting the aircraft and the target object falls into the front half area, as in the cases of a and b, it indicates that the aircraft reaches the front direction less than the safety protection threshold of 90 degrees, and only needs to adjust an arc less than 90 degrees, so it is relatively safe. The aircraft will actively adjust the following azimuth to the front direction of the speed of the target object. When the line connecting the aircraft and the target object falls into the back half circle, as in the cases of c and d, the aircraft needs to select an arc more than 90 degrees around the target object to reach the front direction of the speed of the target object, which is a relatively dangerous behavior for the aircraft without obstacle avoidance sensing capability and is outside the line of sight of the user. Therefore, at this time, the aircraft will enter the degenerate protection logic and not actively adjust the azimuth of the aircraft, but degenerate into a trailing mode. When the target object continues to move away from the aircraft, the aircraft gradually transitions to the back direction of the speed of the target object.

[0259] d) Exit following mode: if the target object expects to exit the following mode, when the speed of the target object is less than a certain value and faces the aircraft for a period of time, the aircraft will automatically return to the vicinity of the target object for easy recovery. For example, the target object faces the aircraft for 3 seconds, and the aircraft automatically exits the following mode and returns to the vicinity of the target object.

[0260] Optionally, monocular vision information can be used to complete a series of target object information sensing and identification actions.

[0261] (2) Optionally, the human-computer interaction layer includes but is not limited to one or more of the following steps:

[0262] a) Relative position selection interaction: after triggering the entering function, the aerial vehicle will record the first position information of the aerial vehicle and the first position information of the target object at the time of entering the function, and when the target object starts to move, the aerial vehicle will continuously update and record the historical planned trajectory of the aerial vehicle and the historical trajectory of the target object. After a period of time, by comparing the two trajectories, for example, by analyzing the first position information of the target object, the first position information of the aerial vehicle and the movement direction of the target object, the aerial vehicle will deduce and lock the relative position that the target object wants. For the locking time of the relative position, reference can be made to the foregoing content, which is not limited in the present application. Illustratively, after triggering the entering function, the target object advances towards the aerial vehicle, and then the relative position can be locked as forward. The target object moves away from the aerial vehicle, and then the relative position can be locked as backward. The target object keeps the aerial vehicle on the right side of itself, and then the relative position can be locked as rightward. The target object keeps the aerial vehicle on the left side of itself, and then the relative position can be locked as leftward.

[0263] b) Exit following mode interaction: after following for a period of time, if the target object wants to exit the following mode and retrieve the aerial vehicle, the target object can stop moving and face the aerial vehicle for a period of time, and then the aerial vehicle will automatically return to the vicinity of the target object after a period of time.

[0264] (3) Optionally, further development of the embodiment includes but is not limited to one or more of the following steps:

[0265] a) After triggering the function, the aerial vehicle observes the direction in which the target object is moving, and then the relative position can be locked. After triggering the function, the target object only needs to move one step, and then the aerial vehicle can lock the relative position.

[0266] b) By improving the performance of target object depth estimation, the angle of the relative position can be further refined to any angle between 0 degrees and 360 degrees.

[0267] c) By improving the environmental perception ability of the aerial vehicle, autonomous obstacle avoidance can be realized, and the aerial vehicle can always maintain the locked relative position to follow the target object.

[0268] d) By improving the target object recognition ability of the aerial vehicle, the interaction ability of the aerial vehicle can be improved. Taking the target object as a human body as an example, in the initialization stage and the following mode execution stage, different angles of the two arms can be used to specify the relative position, such as extending both hands forward to define forward, extending the left hand and extending the right hand to the right to define rightward following. In the exit following mode stage, extending the arm towards the aerial vehicle can be defined as returning.

[0269] e) By improving the sound or WIFI sound receiving ability of the aerial vehicle, the voice recognition interaction ability of the aerial vehicle can be improved. In the initialization stage, a certain orientation can be directly specified by voice, such as a "forward-directional following" instruction, which can directly skip the initialization link and enter the directional following mode with the relative orientation being locked in the forward direction. In the execution stage of the following mode, the distance and height of the following can be adjusted through voice interaction, such as "closer", "higher", "medium distance" and the like. In the exit stage of the following mode, the return can be directly triggered by voice, such as the voice instruction "return".

[0270] Further, please refer to FIG. 13, which is a flowchart of a control method of a movable platform provided by an embodiment of the present application, and the movable platform is taken as an example for illustration. Specifically, the control method can include three stages of initialization, execution of the following mode, and exit of the following mode. The following will be explained around the three stages.

[0271] (1) Initialization stage:

[0272] a) Enter the following mode: the target object can trigger the function by the mode button on the aerial vehicle to enter the following mode.

[0273] b) Detection of the following condition: after triggering the entry function, the aerial vehicle will detect whether the following condition is met, and if not, it will voice prompt the abnormal reason, and if so, the aerial vehicle will fly to the preset position.

[0274] c) The aerial vehicle flies to the preset position: in response to the following condition being met, the aerial vehicle is automatically controlled to take off and fly to the preset position. Specifically, the preset position includes a preset height and / or a preset distance from the target object. For example, the aerial vehicle can be controlled to take off from a preset body part of the target object and actively retreat to a preset distance and a preset height above the target object to hover.

[0275] d) Observe the movement information of the target object: after the aerial vehicle flies to the preset position, it can start to observe the movement information of the target object for locking the relative orientation expected by the target object, which can include the following steps: recording the initial positions of the aerial vehicle and the target object in the world coordinate system. After waiting for the target object to start moving, the aerial vehicle keeps following the target object in a geographically parallel manner for a period of time. While keeping following in a geographically parallel manner, the positions of the target object and the aerial vehicle in the world coordinate system are updated and recorded in real time to generate a historical trajectory.

[0276] e) Start the following mode: the aerial vehicle locks the relative orientation by matching the relative geometric relationship between the initial position and the generated historical trajectory, and starts the following mode.

[0277] The real intention of the target object can be more accurately analyzed, and the accuracy of locking the relative orientation is improved, only when the movement distance of the target object is greater than or equal to the preset distance.

[0278] Of course, in some embodiments, the relative orientation can also be re-determined during the execution of the following mode, so as to control the aircraft to switch to the re-determined relative orientation to follow the target object. The locking timing of the relative orientation in the embodiments of the present application is not specifically limited, and can be selected based on actual needs.

[0279] As shown in FIG. 8, taking the orientation of the target object as the front direction, when the included angle θ between the line connecting the recorded target object and the aircraft position and the orientation of the movement speed of the target object falls within the left direction area, the relative orientation will be locked as the left direction, and the other several relative orientations can be obtained in the same way. In some embodiments, the included angle θ can be calculated by the position vectors of the target object position and the aircraft position at the initialization time and the speed vector of the target object when the target object starts to move. In some embodiments, the position vectors of the target object position and the aircraft position at the initialization time, and the initialization circle is drawn with the initialization target object position as the center. When the target object breaks through the initialization circle, a position is recorded, and the second position vector is obtained by the line connecting the breakthrough position and the initialization position of the target object. The included angle of the two position vectors is determined as θ.

[0280] (2) Execution of the following mode stage:

[0281] a) Maintaining the relative orientation following: after the aircraft locks a certain relative orientation or starts the following mode, the aircraft will always control its own orientation, so as to maintain the locked relative orientation with the orientation of the target object. Specifically, the aircraft can observe the speed direction α of the target object in real time, and calculate the direction β of the line connecting the target object and the aircraft. If |α-β| is less than the direction adjustment setting angle, the aircraft is controlled to maintain the relative orientation following. Exemplarily, in response to the change of the orientation of the target object, the aircraft will also automatically control to adjust its own orientation, so as to ensure maintaining the locked relative orientation to follow.

[0282] b) Degeneration to the following mode following: when the speed orientation of the target object changes dramatically or is not significant enough, the aircraft will execute a protection strategy to ensure safety. The protection strategy can include following the target object in the following mode. Specifically, if |α-β| is greater than or equal to the direction adjustment setting angle, the aircraft is controlled to degenerate to the following mode following.

[0283] Regarding the two scenarios mentioned above in the follow mode phase, please refer to Figure 11 and the aforementioned embodiments again. Taking forward following as an example, the relative orientation locked in the initialization phase is forward. When the line connecting the movable platform and the target object falls in the front half area, such as in cases a and b, it means that the movable platform has reached a forward angle less than the safety protection threshold of 90 degrees. It only needs to adjust the arc less than 90 degrees, so it is relatively safe. The movable platform will actively adjust the following orientation to be directly in front of the target object's speed.

[0284] When the line connecting the mobile platform and the target object falls in the latter half of the region, as in cases c and d, the mobile platform needs to navigate around the target object in an arc exceeding 90 degrees to adjust itself to be directly in front of the target object's velocity. This is a relatively dangerous behavior for a mobile platform without obstacle avoidance capabilities, especially since it is outside the user's line of sight. Therefore, the mobile platform will implement a protection strategy in this situation, not actively adjusting its following position, but instead reverting to a tail-following mode. As the target object continues to move away, it will gradually transition to being directly behind the target object's velocity. When the aircraft is in a tail-following mode, if the target object's velocity changes and becomes relatively stable, and the angle between the line connecting the target object and the aircraft and the target object's velocity and azimuth is in the upper half of the region, the aircraft will revert to maintaining relative azimuth following, actively adjusting its own position to ensure it is directly in front of the target object's direction of movement.

[0285] The first half of this section is just an example. Essentially, as long as the change in the speed and orientation of the target object is within the threshold range, such as 60 degrees, 120 degrees, 150 degrees, or 180 degrees, the upper half is 90 degrees as an example for explanation.

[0286] (3) Exit Follow Mode Phase:

[0287] After the mobile platform has been in follow mode for a period of time, if the target object wants to exit follow mode, it only needs to face the aircraft and remain still for 3 seconds. The aircraft will recognize the user's intention to exit and will actively fly to the vicinity of the target object for easy recovery.

[0288] It is worth noting that the various technical features in the above embodiments can be combined arbitrarily, as long as there is no conflict or contradiction between the combinations of features. However, due to space limitations, they have not been described one by one. Therefore, the arbitrary combination of the various technical features in the above embodiments is also within the scope of this specification.

[0289] Please refer to Figure 14, which is a schematic block diagram of a control device provided in an embodiment of this application. This control device is applied to the aforementioned movable platform. The control device can be integrated into the aforementioned movable platform, or it can be independently set up and communicatively connected to the movable platform. The aforementioned control method can also be applied to this control device. As shown in Figure 14, the control device includes:

[0290] at least one processor; and

[0291] at least one memory including computer program codes;

[0292] wherein the at least one memory and the computer program codes are configured to, with the at least one processor, enable the control device to at least perform the control method of any embodiment of the present application.

[0293] Specifically, the processor and the memory are connected through a bus, such as an I2C (Inter-integrated Circuit) bus. For example, the processor can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc. Specifically, the memory can be a flash chip, a read-only memory (ROM) disk, an optical disk, a U disk, or a mobile hard disk, etc.

[0294] Specifically, the at least one memory and the computer program codes are configured to, with the at least one processor, enable the control device to at least perform:

[0295] obtaining position-related information of the movable platform;

[0296] obtaining movement information of the target object;

[0297] determining a following parameter of the following mode based on the position-related information of the movable platform and the movement information of the target object before executing the following mode, the following parameter comprising a relative position of the movable platform relative to a movement direction of the target object when executing the following mode; and

[0298] controlling the movable platform to execute the following mode, wherein in the following mode, the movable platform follows the target object at the relative position.

[0299] Specifically, the at least one memory and the computer program codes are configured to, with the at least one processor, enable the control device to at least perform:

[0300] controlling the movable platform to detect the target object moving in the space and collect movement information of the target object; and

[0301] controlling the movable platform to start a following mode of following the target object in response to determining that the movement of the target object satisfies a movement distance condition based on the movement information of the target object.

[0302] The specific implementation can refer to the method embodiment. To avoid repetition, details are not repeated here.

[0303] It should be noted 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 foregoing control method embodiments, and details are not repeated here.

[0304] As shown in FIG. 15, FIG. 15 is a structural schematic block diagram of a movable platform provided by an embodiment of the present application. The movable platform comprises a body, a power assembly, and a control device. The control device comprises at least one processor and at least one memory including computer program code;

[0305] The at least one memory and the computer program code are configured to, together with the at least one processor, enable the movable platform to at least perform the control method of any embodiment of the present application.

[0306] The movable platform comprises a body, a power assembly, and a control device of the movable platform. The control device comprises a processor and a memory for storing processor-executable program instructions, and the control device comprises the control device of the movable platform mentioned in any embodiment of the present application. When the processor invokes the executable program instructions, the control method of any embodiment of the present application is executed.

[0307] Specifically, the at least one memory and the computer program code are configured to, together with the at least one processor, enable the movable platform to at least perform:

[0308] Obtaining position-related information of the movable platform;

[0309] Obtaining movement information of the target object;

[0310] Before executing the following mode, determining a following parameter of the following mode based on the position-related information of the movable platform and the movement information of the target object, the following parameter comprising a relative position of the movable platform relative to a movement direction of the target object when the movable platform executes the following mode; and

[0311] Controlling the movable platform to execute the following mode, wherein in the following mode, the movable platform follows the target object at the relative position.

[0312] Specifically, the at least one memory and the computer program code are configured to, together with the at least one processor, enable the movable platform to at least perform:

[0313] Controlling the movable platform to detect the target object moving in the space and collect movement information of the target object; and

[0314] In response to determining that the movement of the target object meets the movement distance condition based on the movement information of the target object, the control unit controls the movable platform to start a following mode of following the target object.

[0315] It should be noted that the specific working process of the movable platform described above can be clearly understood by those skilled in the art, and for the convenience and brevity of description, reference can be made to the corresponding process in the foregoing control method embodiments, which will not be described here.

[0316] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program includes program instructions. A processor executes the program instructions to implement the steps of the control method provided in the foregoing embodiments.

[0317] The computer readable storage medium can be an internal storage unit of the gimbal, such as a hard disk or a memory of the gimbal. The computer readable storage medium can also be an external storage device of the gimbal, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0318] It should be noted that various technical features in the above embodiments can be combined arbitrarily, as long as the combination of features does not conflict or contradict. Therefore, any combination of various technical features in the above embodiments also falls within the scope disclosed in the present specification.

[0319] It should be understood that, in the present document, the terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. The terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0320] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and do not intend to limit the present application. As used in the present specification and the appended claims, unless otherwise clearly indicated by the context, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0321] It should also be understood that, in the claims hereinafter presented by way of example, any means for performing an operation and any reference characters for performing an operation are intended to encompass any means for performing the operation and any reference characters for performing the operation, even if performing the operation is not specifically claimed.

[0322] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be encompassed in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

A control method of a movable platform, characterized by, The method comprises: obtaining position-related information of the movable platform; obtaining motion information of a target object; determining, before executing a following mode, a following parameter of the following mode based on the position-related information of the movable platform and the motion information of the target object, the following parameter comprising a relative position of the movable platform relative to a motion direction of the target object when the movable platform executes the following mode; controlling the movable platform to execute the following mode, wherein in the following mode, the movable platform follows the target object while maintaining the relative position. The determining of the following parameter of the following mode, the following parameter comprising the relative position of the movable platform relative to the motion direction of the target object when the movable platform executes the following mode, comprises: The method of claim 1, wherein determining, based on the position-related information of the movable platform and the motion information of the target object, information about a relative direction of the target object relative to the movable platform during motion; and determining the relative position based on the information about the relative direction. The motion information of the target object comprises position-related information of the target object, the position-related information comprising first position information of the target object at a first time during motion and second position information of the target object at a second time, and the determining of the information about the relative direction of the target object relative to the movable platform during motion comprises: The method according to claim 2, characterized in that determining the information about the relative direction based on the first position information of the target object at the first time, the second position information of the target object at the second time, and first position information of the movable platform at the first time. The determining of the information about the relative direction based on the first position information of the target object at the first time, the second position information of the target object at the second time, and the position information of the movable platform at the first time comprises: The method according to claim 3, characterized in that determining an included angle between a first line and a second line based on the first position information of the target object at the first time, the second position information of the target object at the second time, and the first position information of the movable platform at the first time; wherein the first line comprises a line between a first position of the movable platform and a first position of the target object, and the second line comprises a line between the first position of the target object and a second position of the target object. The determining of the relative position based on the information about the relative direction comprises: determining the relative position based on the included angle. The motion information of the target object comprises position-related information of the target object and direction-related information of the target object, the position-related information of the target object comprising first position information of the target object at a first time during motion, and the direction-related information comprising a motion direction of the target object, and the determining of the information about the relative direction of the target object relative to the movable platform during motion comprises: The method according to claim 2, characterized in that ​ determining, based on the first position information of the target object at the first time point in the movement process, the first position information of the movable platform at the first time point, and the movement direction of the target object, the relative direction related information; wherein the movement direction of the target object comprises a current movement direction of the target object or a direction of a movement trend of the target object. The method according to claim 5, characterized in that The determining, based on the first position information of the target object at the first time point in the movement process, the first position information of the movable platform at the first time point, and the movement direction of the target object, the relative direction related information comprises: determining, based on the first position information of the target object at the first time point in the movement process, the first position information of the movable platform at the first time point, and the movement direction of the target object, an included angle between a first line and the movement direction of the target object; wherein the first line comprises a line between the first position of the movable platform and the first position of the target object. The determining, based on the relative direction related information, the relative position comprises: determining, based on the included angle, the relative position. The method according to claim 3 or 5, characterized in that The first position information of the movable platform comprises initialization position information of the movable platform when determining whether the movement information of the target object meets a preset condition, the first position information of the target object comprises initialization position information of the target object when determining whether the movement information of the target object meets the preset condition, and the second position information of the target object comprises current position information of the target object when determining that the movement information of the target object meets the preset condition. The method according to claim 2, characterized in that The relative direction related information comprises an included angle between the movement direction of the target object and an initial relative direction of the target object and the movable platform, and the determining, based on the relative direction related information, the relative position comprises: obtaining a mapping relationship between the included angle and a preset included angle range; determining, based on the included angle and the mapping relationship, the relative position. The method of claim 8, wherein With a position of the target object pointing to a position of the movable platform as a 0° direction, a positive direction of the angle being counterclockwise rotation, the determining, based on the included angle and the mapping relationship, the relative position comprises: if the included angle is in the preset included angle range greater than 0° and less than or equal to 45° or greater than 315° and less than or equal to 360°, the relative position comprises a forward direction; or if the included angle is in the preset included angle range greater than 45° and less than or equal to 135°, the relative position comprises a right direction; or if the included angle is in the preset included angle range greater than 135° and less than or equal to 225°, the relative position comprises a backward direction; or if the included angle is in the preset included angle range greater than 225° and less than or equal to 315°, the relative position comprises a left direction. The method of claim 1, wherein The movement direction of the target object comprises any one of: a direction of a movement speed of the target object; an extension direction of a movement track of the target object. The method of claim 1, wherein The method further comprises: In response to a user triggering instruction, the movable platform is controlled to move from a preset body part of the target object and hover at a preset position; The preset position includes a preset height and / or a preset distance from the target object. The method of claim 1, wherein The method further includes: Before determining the relative position, in response to movement of the target object, the movable platform is controlled to follow the target object, so that a line between the position of the movable platform and the position of the target object remains parallel at different times. The method of claim 1, wherein The method further includes: Before determining the relative position, the movable platform is controlled to remain stationary. The method of claim 1, wherein The method further includes: In response to the movement information of the target object satisfying a preset state condition, the relative position is determined. The method of claim 14, wherein The movement information of the target object includes movement of the target object from a first position at a first time to a second position at a second time, and the preset state condition includes: The distance between the first position and the second position is greater than or equal to a preset distance. The method of claim 1, wherein The method further includes: In response to the movement information of the target object satisfying a preset condition, the movable platform is controlled to follow the target object at the relative position; or In response to the movement information of the target object not satisfying the preset condition, the movable platform is controlled to execute a safety protection strategy. The method of claim 16, wherein The movement information of the target object includes related information of a movement direction of the target object. The method of claim 17, wherein The preset condition is satisfied in at least one of the following situations: The change amount of the movement direction of the target object satisfies a preset change amount condition; An included angle between the movement direction of the target object and a relative direction of the target object and the movable platform satisfies a preset included angle condition. According to the method of claim 18, wherein: The preset change amount condition includes: the change amount at a current time relative to a previous time is less than or equal to a preset change amount threshold; The preset included angle condition includes: an included angle between the movement direction of the target object at a current position and a line between the current position of the target object and the current position of the movable platform is less than or equal to a preset included angle threshold. The method of claim 16, wherein The control of the movable platform to execute the safety protection strategy includes: Controlling the relative position relationship between the movable platform and the target object until the movable platform is located behind the target object in the movement direction. The method of claim 20, wherein The control of the relative position relationship between the movable platform and the target object includes: In response to the movement of the target object, the movable platform is gradually controlled to move to the rear of the movement direction of the target object. The method of claim 16, wherein The method further includes: During execution of the safety protection strategy by the movable platform, in response to the movement information of the target object again satisfying the preset condition, the movable platform is again controlled to follow the target object at the relative position. The method of claim 16, wherein The control of the movable platform to execute the safety protection strategy includes controlling the movable platform to remain stationary or land. The method of claim 1, wherein The movement information of the target object includes related information of a movement speed of the target object. The method of claim 24, wherein The preset condition comprises: a motion speed value of the target object is greater than or equal to a preset speed threshold. The method of claim 1, wherein The method further comprises: In response to a state of the target object satisfying a preset state condition, controlling the movable platform to perform a preset operation. The method of claim 26, wherein The state of the target object satisfying the preset state condition comprises at least one of: The target object is stationary relative to the movable platform for a preset time length; The target object makes a preset body posture; The target object issues a preset voice control instruction. The method of claim 26, wherein The controlling the movable platform to perform the preset operation comprises: adjusting the following parameter; and controlling the movable platform to follow the target object with the adjusted following parameter. The method of claim 28, wherein The following parameter further comprises one or more of: a following distance, a following height, and a following speed. The method of claim 26, wherein The controlling the movable platform to perform the preset operation comprises: controlling the movable platform to autonomously move to a preset position. The method of claim 30, wherein The preset position comprises: a position within a preset distance range of the target object; or a preset body part of the target object. The method of claim 1, wherein The method further comprises: In a process in which the movable platform follows the target object, controlling a shooting device carried by the movable platform to shoot toward the target object to obtain a shooting image. The method of claim 32, wherein The method further comprises: In response to determining that the shooting image satisfies a preset image condition, controlling the movable platform to stop moving. The method of claim 33, wherein The preset image condition comprises: a pixel proportion of the target object in the shooting image is less than or equal to a preset pixel proportion. A control method of a movable platform, characterized by, comprises: controlling the movable platform to detect a target object moving in a space and collect movement information of the target object; and in response to determining, based on the movement information of the target object, that movement of the target object satisfies a movement distance condition, controlling the movable platform to start a following mode of following the target object. The controlling the movable platform to detect the target object moving in the space comprises: The method of claim 35, wherein in response to a user triggering instruction, controlling the movable platform to detect the target object moving in the space. Before the controlling the movable platform to detect the target object moving in the space, the method further comprises: The method of claim 35, wherein in response to a user triggering instruction, controlling the movable platform to be at a preset position; wherein the preset position comprises a position having a preset height and / or being a preset distance away from the target object. The in response to the user triggering instruction, controlling the movable platform to be at the preset position comprises: The method of claim 37, wherein in response to the user triggering instruction, controlling the movable platform to move from a preset body part of the target object and hover at the preset position. The method further comprises: The method of claim 35, wherein based on the movement information of the target object, determining a following parameter of the following mode, the following parameter comprising a relative relationship of the movable platform with the target object when the movable platform performs the following mode. The relative relationship of the target object comprises a relative direction with a motion direction of the target object. The method of claim 39, wherein After the controlling the movable platform to start the following mode of following the target object, the method further comprises: The method of claim 39, wherein ​ controlling the movable platform to perform the following mode, in which the movable platform keeps the relative relationship to follow the target object. The method of claim 39, wherein The method further comprises: in response to the state information of the target object satisfying a preset condition, controlling the movable platform to keep the relative relationship to follow the target object; or, in response to the state information of the target object not satisfying the preset condition, controlling the movable platform to perform a safety protection strategy. The method of claim 42, wherein The control of the movable platform to perform the safety protection strategy comprises: controlling the relative position relationship between the movable platform and the target object until the movable platform is located behind the target object in the movement direction. The method of claim 42, wherein The method further comprises: in response to the state information of the target object again satisfying the preset condition during the process of the movable platform performing the safety protection strategy, controlling the movable platform to keep the relative relationship to follow the target object again. The method of claim 35, wherein The method further comprises: in response to the state of the target object satisfying a preset state condition, controlling the movable platform to perform a preset operation. The method of claim 44, wherein The state of the target object satisfying the preset state condition comprises at least one of: the target object being stationary relative to the movable platform for a preset time length; the target object making a preset body posture; the target object issuing a preset voice control instruction. The method of claim 44, wherein The control of the movable platform to perform the preset operation comprises: controlling the movable platform to autonomously move to a preset position. A control device characterized by comprising: comprises: at least one processor; and at least one memory including computer program code; wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the control device to at least perform the method of any one of claims 1 to 47. A movable platform comprises: a body; a power assembly; a control device, the control device comprising at least one processor and at least one memory including computer program code; wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the movable platform to at least perform the method of any one of claims 1 to 47. A non-computer readable storage medium having stored thereon computer instructions, characterized in that, The instruction is executed by the processor to implement the steps of the method of any one of claims 1 to 47.

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