Control method and apparatus for movable platform, and device, platform, system and medium

Abstract

A control method for a movable platform (200). The method comprises: switching the direction of a display viewing angle of a first image currently displayed, wherein the first image is collected by an image sensor of the movable platform (200), the orientation of the movable platform (200) does not change with a change in the direction of the display viewing angle of the first image, and the direction of the display viewing angle of the first image is different from the orientation of the movable platform (200) (S111); and by taking the direction of the display viewing angle of the first image as a reference, controlling the movable platform to move (S112). The method improves the control efficiency regarding the movable platform (200).

Description

Control methods, devices, equipment, platforms, systems and media for mobile platforms Technical Field

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

[0002] Currently, users can adjust the movement of the movable platform using a remote control. For example, if a user moves the lever forward, the platform will move forward; if a user moves the lever backward, the platform will move backward; if a user moves the lever to the left, the platform will move to the left; and if a user moves the lever to the right, the platform will move to the right.

[0003] Mobile platforms, such as aircraft, often fly beyond visual line of sight. When the mobile platform is far from the user, the user cannot clearly know the current orientation of the mobile platform. Therefore, it is not possible to accurately and efficiently control the mobile platform to move in the direction the user wants. This makes the control of the mobile platform not intuitive and results in low control efficiency.

[0004] Summary of the Invention

[0005] Based on this, embodiments of this application provide a control method, apparatus, control device, mobile platform, system, and storage medium for a mobile platform, aiming to improve the control efficiency of the mobile platform.

[0006] In a first aspect, embodiments of this application provide a control method for a mobile platform, including:

[0007] Switch the display view direction of the currently displayed first image, which is acquired by the image sensor of the movable platform. The orientation of the movable platform does not change with the change of the display view direction of the first image, and the display view direction of the first image is different from the orientation of the movable platform.

[0008] The movable platform is controlled to move using the direction of the display view of the first image as a reference.

[0009] The control method provided in the first aspect switches the display view of the currently displayed image and uses the switched display view as a reference for controlling the movement of the movable platform. In this way, the user can control the movement of the movable platform with the view as a reference, making the control of the movable platform more intuitive, improving the convenience of controlling the movable platform, facilitating the accuracy of the user's movement control of the movable platform, enriching the control methods of the movable platform, providing a safer, more efficient, and more convenient operation method and operation experience, and improving the control efficiency of the movable platform.

[0010] Secondly, embodiments of this application also provide a control method for a mobile platform, including:

[0011] Obtain control commands;

[0012] The movable platform is controlled to move according to the control command, with the direction of the display view of the first image currently displayed by the control device of the movable platform as a reference. The first image is acquired by the image sensor of the movable platform, and the orientation of the movable platform does not change with the direction of the display view of the first image, and the direction of the display view of the first image is different from the orientation of the movable platform.

[0013] The second aspect provides a control method that uses the direction of the display view of the first image currently displayed on the control device of the movable platform as a reference for controlling the movement of the movable platform. In this way, the user can control the movement of the movable platform with the direction of the viewing view as a reference, making the control of the movable platform more intuitive, improving the convenience of controlling the movable platform, facilitating the improvement of the accuracy of the user's movement control of the movable platform, enriching the control methods of the movable platform, providing a safer, more efficient, and more convenient operation method and operation experience, and improving the control efficiency of the movable platform.

[0014] Thirdly, embodiments of this application also provide a control method for a mobile platform, including:

[0015] The direction of the display view of the currently displayed first image is switched. The first image is obtained from an image sensor of the movable platform from a first perspective. The direction of the display view of the first image is variable and is achieved by obtaining the first image from different positions in the first perspective image.

[0016] The movable platform is always controlled to move with reference to the direction of the display view of the currently displayed first image after switching.

[0017] The control method provided in the third aspect switches the display view direction of the currently displayed first image by obtaining the first image from different positions in the first-view image, and always uses the switched display view direction as the reference benchmark for controlling the movement of the movable platform. In this way, the user can control the movement of the movable platform with the view direction as the reference benchmark, making the control of the movable platform more intuitive, improving the convenience of controlling the movable platform, facilitating the improvement of the accuracy of the user's movement control of the movable platform, enriching the control methods of the movable platform, providing a safer, more efficient and convenient operation method and operation experience, and improving the control efficiency of the movable platform.

[0018] Fourthly, embodiments of this application also provide a control method for a mobile platform, including:

[0019] Obtain control commands;

[0020] According to the control command, the movable platform is always moved with the direction of the display view of the first image currently displayed after the control device of the movable platform is switched as a reference. The first image is obtained from the first view image captured by the image sensor of the movable platform. The direction of the display view of the first image is variable and is achieved by obtaining the first image from different positions in the first view image.

[0021] The control method provided in the fourth aspect switches the display view direction of the first image currently displayed by the control device of the movable platform by obtaining the first image from different positions in the first-view image. Furthermore, the display view direction of the currently displayed first image after switching by the control device of the movable platform is always used as the reference benchmark for controlling the movement of the movable platform. In this way, the user can control the movement of the movable platform using the direction of the viewed view as a reference benchmark, making the control of the movable platform more intuitive, improving the convenience of control, facilitating the accuracy of user movement control, enriching the control methods of the movable platform, providing a safer, more efficient, and convenient operation method and experience, and improving the control efficiency of the movable platform.

[0022] Fifthly, embodiments of this application also provide a control device for a mobile platform, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0023] Switch the display view direction of the currently displayed first image, which is acquired by the image sensor of the movable platform. The orientation of the movable platform does not change with the change of the display view direction of the first image, and the display view direction of the first image is different from the orientation of the movable platform.

[0024] The movable platform is controlled to move using the direction of the display view of the first image as a reference.

[0025] Sixthly, embodiments of this application also provide a control device for a mobile platform, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0026] Obtain control commands;

[0027] The movable platform is controlled to move according to the control command, with the direction of the display view of the first image currently displayed by the control device of the movable platform as a reference. The first image is acquired by the image sensor of the movable platform, and the orientation of the movable platform does not change with the direction of the display view of the first image, and the direction of the display view of the first image is different from the orientation of the movable platform.

[0028] In a seventh aspect, embodiments of this application also provide a control device, including: a display, a memory, and a processor, wherein the memory is used to store computer programs;

[0029] The display is used to display the first image;

[0030] The processor is used to switch the direction of the display viewing angle of the first image displayed on the display, the first image being acquired by the image sensor of the movable platform, wherein the orientation of the movable platform does not change with the change of the direction of the display viewing angle of the first image, and the direction of the display viewing angle of the first image is different from the orientation of the movable platform.

[0031] The processor is also configured to control the movable platform to move with reference to the direction of the display view of the first image.

[0032] Eighthly, embodiments of this application also provide a mobile platform, characterized in that it includes: a communication interface, a memory, and a processor, wherein the memory is used to store computer programs;

[0033] The communication interface is used to acquire control commands;

[0034] The processor is configured to control the movable platform to move according to the control instructions, using the direction of the display view of the first image currently displayed by the control device of the movable platform as a reference, wherein the first image is acquired by the image sensor of the movable platform, the orientation of the movable platform does not change with the direction of the display view of the first image, and the direction of the display view of the first image is different from the orientation of the movable platform.

[0035] Ninthly, embodiments of this application also provide a control system for a mobile platform, including a display, a communication interface, a memory, and a processor, wherein:

[0036] The memory is used to store computer program instructions;

[0037] The display is used to display the first image;

[0038] The processor is configured to switch the display viewing angle of the first image currently displayed on the display, wherein the first image is acquired by the image sensor of the movable platform, and the orientation of the movable platform does not change with the change of the display viewing angle of the first image, and the orientation of the display viewing angle of the first image is different from the orientation of the movable platform.

[0039] The communication interface is used to transmit control commands;

[0040] The processor is further configured to control the movable platform to move according to the control instructions, with the direction of the display view of the first image as a reference.

[0041] In a tenth aspect, embodiments of this application also provide a control device for a mobile platform, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0042] Switch the display perspective of the currently displayed first image, which is obtained from an image sensor of the movable platform. The direction of the display perspective of the first image is variable and is achieved by acquiring the first image from different positions in the first image.

[0043] The movable platform is always controlled to move with reference to the direction of the display view of the currently displayed first image after switching.

[0044] Eleventhly, embodiments of this application also provide a control device for a mobile platform, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0045] Obtain control commands;

[0046] According to the control command, the movable platform is always moved with the direction of the display view of the first image currently displayed after the control device of the movable platform is switched as a reference. The first image is obtained from the first view image captured by the image sensor of the movable platform. The direction of the display view of the first image is variable and is achieved by obtaining the first image from different positions in the first view image.

[0047] In a twelfth aspect, embodiments of this application also provide a control device, including: a display, a memory, and a processor, wherein the memory is used to store computer programs;

[0048] The display is used to display the first image;

[0049] The processor is configured to switch the display viewing angle of the first image currently displayed on the display, wherein the first image is obtained from an image sensor of a movable platform at a first viewing angle, and the display viewing angle of the first image is variable and is achieved by obtaining the first image from different positions in the first viewing angle image.

[0050] The processor is also configured to control the movement of the movable platform with the direction of the display view of the currently displayed first image after switching as a reference.

[0051] In a thirteenth aspect, embodiments of this application also provide a mobile platform, including: a communication interface, a memory, and a processor, wherein the memory is used to store computer programs;

[0052] The communication interface is used to acquire control commands;

[0053] The processor is configured to control the movable platform to move according to the control instructions, always using the direction of the display view of the first image currently displayed after the control device of the movable platform is switched as a reference. The first image is obtained from an image of a first view acquired by the image sensor of the movable platform. The direction of the display view of the first image is variable and is achieved by acquiring the first image from different positions in the first view image.

[0054] In a fourteenth aspect, embodiments of this application also provide a control system for a mobile platform, including a display, a communication interface, a memory, and a processor, wherein:

[0055] The memory is used to store computer program instructions;

[0056] The display is used to display the first image;

[0057] The processor is configured to switch the display perspective of the first image currently displayed on the display, the first image being obtained from an image sensor of the movable platform at a first perspective, wherein the direction of the display perspective of the first image is variable and the direction of the display perspective of the first image is achieved by obtaining the first image from different positions in the image at the first perspective.

[0058] The communication interface is used to transmit control commands;

[0059] The processor is also configured to control the movable platform to move according to the control instructions, always using the direction of the display view of the currently displayed first image after the switch as a reference.

[0060] In a fifteenth aspect, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the control method for a mobile platform as described in the first, second, third, or fourth aspects.

[0061] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0062] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 is a schematic flowchart of the steps of a control method for a mobile platform provided in an embodiment of this application;

[0064] Figure 2 is a switching example diagram of the mapping relationship of the attitude control loop of the aircraft in the embodiment of this application;

[0065] Figure 3 is a schematic diagram of a display interface for displaying the first image and the second image in an embodiment of this application;

[0066] Figure 4 is another schematic diagram of the display interface for displaying the first image and the second image in an embodiment of this application;

[0067] Figure 5 is a top view of the relative position of the shooting target and the movable platform in an embodiment of this application;

[0068] Figure 6 is a schematic flowchart of another control method for a mobile platform provided in an embodiment of this application;

[0069] Figure 7 is a schematic flowchart of the steps of another control method for a mobile platform provided in an embodiment of this application;

[0070] Figure 8 is a schematic flowchart of the steps of another control method for a mobile platform provided in an embodiment of this application;

[0071] Figure 9 is a schematic block diagram of the structure of a control device for a mobile platform provided in an embodiment of this application;

[0072] Figure 10 is a schematic block diagram of the structure of a control device provided in an embodiment of this application;

[0073] Figure 11 is a schematic block diagram of the structure of a mobile platform provided in an embodiment of this application;

[0074] Figure 12 is a schematic block diagram of the structure of a control system for a mobile platform provided in an embodiment of this application. Detailed Implementation

[0075] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0076] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the described order. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0077] Currently, users can adjust the movement of the movable platform using a remote control. For example, if a user moves the lever forward, the platform will move forward; if a user moves the lever backward, the platform will move backward; if a user moves the lever to the left, the platform will move to the left; and if a user moves the lever to the right, the platform will move to the right.

[0078] Mobile platforms, such as aircraft, often fly beyond visual line of sight. When the mobile platform is far from the user, the user cannot clearly know the current orientation of the mobile platform. Therefore, it is not possible to accurately and efficiently control the mobile platform to move in the direction the user wants. This makes the control of the mobile platform not intuitive and results in low control efficiency.

[0079] To address the aforementioned problems, embodiments of this application provide a control method, apparatus, control device, mobile platform, system, and storage medium for a mobile platform. The technical solution provided by these embodiments enables users to control the movement of the mobile platform using the viewing angle or the direction of the image displayed on the monitor as a reference. This makes the control of the mobile platform more intuitive, improves its convenience, enhances the accuracy of user control, enriches the control methods, and provides a safer, more efficient, and convenient operating method and experience, thereby improving the control efficiency of the mobile platform.

[0080] Any mobile platform in the embodiments of this application may include aircraft, vehicles, ships, mobile robots (e.g., sweeping robots), etc. Aircraft may include unmanned aerial vehicles (UAVs) or manned aircraft, and may include fixed-wing aircraft, rotorcraft, or a combination of rotorcraft and fixed-wing aircraft. Rotorcraft may be, for example, single-rotor, dual-rotor, quadcopter, hexacopter, or octocopter. According to the application industry, aircraft can be classified as agricultural aircraft, industrial aircraft, aerial photography aircraft, logistics and transportation aircraft, etc. This application embodiment uses a mobile platform as an example of an aircraft; related embodiments can be extended to other types of mobile platforms besides aircraft.

[0081] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0082] Please refer to Figure 1, which is a schematic flowchart illustrating the steps of a control method for a mobile platform according to an embodiment of this application. This control method for a mobile platform can be implemented using a control device. The control device may include a remote control, a ground control platform, a mobile phone, a tablet computer, a laptop computer, a PC, or a cloud server, etc.

[0083] As shown in Figure 1, the control method of the mobile platform includes steps S111 to S112.

[0084] Step S111: Switch the display view direction of the currently displayed first image. The first image is acquired by the image sensor of the movable platform. The orientation of the movable platform does not change with the change of the display view direction of the first image, and the display view direction of the first image is different from the orientation of the movable platform.

[0085] Step S112: Control the movable platform to move using the direction of the display view of the first image as a reference.

[0086] This application embodiment switches the display view of the currently displayed image and uses the switched display view as a reference for controlling the movement of the movable platform. In this way, the user can control the movement of the movable platform with the view direction as a reference, making the control of the movable platform more intuitive, improving the convenience of controlling the movable platform, facilitating the accuracy of the user's movement control of the movable platform, enriching the control methods of the movable platform, providing a safer, more efficient, and more convenient operation method and operation experience, and improving the control efficiency of the movable platform.

[0087] In some embodiments, the first image is obtained from an image with a first viewpoint acquired by an image sensor. The first viewpoint is larger than the display viewpoint of the first image. Switching the direction of the display viewpoint of the first image includes: acquiring the first image from different positions in the image with the first viewpoint to switch the direction of the display viewpoint of the first image. This embodiment can achieve the switching of the direction of the display viewpoint of the first image by acquiring the first image with a smaller display viewpoint from different positions in the image with the larger first viewpoint, thereby improving the efficiency and convenience of switching the direction of the display viewpoint of the first image.

[0088] In some embodiments, the first-view image is acquired by a single image sensor, or the first-view image is formed by stitching together images acquired by multiple image sensors. In this embodiment, the first-view image can be acquired by a single image sensor or formed by stitching together images acquired by multiple image sensors, thus meeting the needs of a mobile platform equipped with one or more image sensors to acquire first-view images, and thus has high versatility.

[0089] In some embodiments, the orientation of the image sensor is adjusted by a first attitude adjustment device, and switching the display view of the first image includes adjusting the orientation of the image sensor by the first attitude adjustment device to switch the display view of the first image. This embodiment achieves the switching of the display view of the first image by adjusting the attitude of the attitude adjustment device to adjust the orientation of the image sensor, thus improving the efficiency and convenience of switching the display view of the first image.

[0090] In some embodiments, the image sensor is mounted on a movable platform via a first attitude adjustment device. For example, the first attitude adjustment device includes a gimbal or a robotic arm, and the image sensor is mounted on the movable platform via the gimbal or robotic arm. In other embodiments, the image sensor has a built-in first attitude adjustment device, which may be, for example, a micro-gimbal. The orientation of the image sensor is adjusted by adjusting the attitude of the photosensitive component of the image sensor via the first attitude adjustment device. That is, the orientation of the image sensor is adjusted by adjusting the attitude of the photosensitive component of the image sensor, thereby switching the direction of the display view of the first image.

[0091] In some embodiments, the first image is obtained by the mobile platform from an image sensor capturing a first-view image, or the first image is obtained by the control device of the mobile platform from the first-view image. For example, the mobile platform controls the image sensor to capture an image from the first-view image, obtains the first image from the first-view image, and sends the first image to the control device for display. Another example is that the mobile platform sends the acquired first-view image to the control device, the control device obtains the first image from the first-view image, and displays the first image. Obtaining the first image from the first-view image may include: cropping the first image from the first-view image, where the size of the first-view image is larger than the display angle of the first image.

[0092] In some embodiments, the first-view image includes a wide-angle image. For example, the first-view image includes a wide-angle image acquired by a single wide-angle image sensor, or the first-view image includes a wide-angle image stitched together from images acquired by multiple non-wide-angle image sensors. The wide-angle image includes any one of a wide-angle image with a horizontal angle of at least 100 degrees, a wide-angle image with a vertical angle of at least 100 degrees, and a wide-angle image with both a horizontal angle of at least 100 degrees and a vertical angle of at least 100 degrees. In this embodiment, since the first-view image includes a wide-angle image, and the coverage area of ​​a wide-angle image is larger than that of a normal image, it can more comprehensively describe the surrounding environment of the mobile platform, thereby making it easier and more accurate to obtain the first image from different positions in the wide-angle image. In some embodiments, the first-view image includes a wide-angle image, and the direction of the display view of the first image is switched by adjusting the orientation of the image sensor using a first attitude adjustment device.

[0093] In some embodiments, the first-view image includes a panoramic image. For example, the first-view image includes a panoramic image acquired by a single panoramic image sensor, or the first-view image includes a panoramic image stitched together from images acquired by multiple panoramic or non-panoramic image sensors. The panoramic image sensor may include a 180-degree panoramic image sensor or a 360-degree panoramic image sensor. The panoramic image includes any one of a panoramic image with at least 180 degrees horizontally (e.g., a 360-degree horizontal panoramic image), a panoramic image with at least 180 degrees vertically (e.g., a 360-degree vertical panoramic image), or a panoramic image with at least 180 degrees horizontally and at least 180 degrees vertically (e.g., a 360-degree horizontal and 360-degree vertical panoramic image). In this embodiment, since the first-view image includes a panoramic image, and the coverage area of ​​a panoramic image is wider than that of a regular image, it can more comprehensively describe the surrounding environment of the mobile platform, thereby making it easier and more accurate to obtain the first image from different positions in the panoramic image. In some embodiments, the first-view image includes a 360-degree panoramic image, and the direction of the display view of the first image is switched by acquiring the first image from different positions in the first-view image.

[0094] In some embodiments, the image sensor includes a panoramic image sensor or a wide-angle image sensor. The panoramic image sensor may include a 180-degree panoramic image sensor or a 360-degree panoramic image sensor. In this embodiment, the image sensor includes a panoramic image sensor or a wide-angle image sensor, enabling the first-view image acquired by the image sensor to cover a wider area, providing a more comprehensive description of the surrounding environment of the mobile platform, and thus facilitating and accurately obtaining the first image from different locations within the wide-angle image.

[0095] In some embodiments, the panoramic image sensor includes two image sensors. Of course, the panoramic image sensor may also include only one image sensor, or it may include two or more image sensors; this embodiment does not specifically limit this. For example, when the panoramic image sensor includes two image sensors, the first-view image is formed by stitching together the images acquired by the two image sensors. When the panoramic image sensor includes one image sensor, the first-view image is acquired by a single image sensor. When the panoramic image sensor includes two or more image sensors, the first-view image is formed by stitching together the images acquired by two or more image sensors.

[0096] In some embodiments, the panoramic image sensor includes two image sensors, and the optical axes of the two image sensors may be collinear or non-collinear. The two image sensors are distributed vertically along the vertical direction of the movable platform, or horizontally or backward along the horizontal direction of the movable platform.

[0097] In some embodiments, the image sensor includes an image capture sensor for capturing images or videos, or an image sensor for capturing and imaging. For example, the image capture sensor includes an optical camera or a digital camera. In this case, the first image originates from the image capture sensor or the main camera sensor, and a reference benchmark for the movement of the mobile platform is defined by switching the display viewing angle of the first image from the image captured by the image capture sensor. In other embodiments, the image sensor includes a perception sensor for detecting obstacles in the environment surrounding the mobile platform. For example, the perception sensor includes a vision sensor. The vision sensor may include a monocular vision sensor and / or a binocular vision sensor; for example, the vision sensor may be a fisheye sensor. In this case, the first image originates from the perception sensor, and a reference benchmark for the movement of the mobile platform is defined by switching the display viewing angle of the first image from the image captured by the perception sensor.

[0098] In some embodiments, controlling the movable platform with the direction indicated by the display viewpoint of the first image as a reference includes controlling the movement direction of the movable platform with the direction indicated by the display viewpoint of the first image as a reference. The movement direction of the movable platform includes forward, backward, left, right, up, or down directions. This embodiment controls the movement direction of the movable platform with the direction indicated by the display viewpoint of the first image as a reference, allowing the user to control the movement direction of the movable platform with the direction of their viewpoint as a reference. This makes the control of the movable platform more intuitive, improves the convenience of controlling the movable platform, facilitates more accurate movement control by the user, enriches the control methods of the movable platform, provides a safer, more efficient, and more convenient operation method and experience, and improves the control efficiency of the movable platform.

[0099] In some embodiments, using the direction of the display viewpoint of the first image as a reference includes defining the orientation of the movable platform as a reference point based on the direction indicated by the display viewpoint of the first image. The orientation of the movable platform as a reference point includes the front, back, left, right, up, or down directions of the movable platform. For example, the direction indicated by the display viewpoint of the first image defines the front, back, left, right, up, or down directions of the movable platform. This embodiment defines the orientation of the movable platform as a reference point based on the direction indicated by the display viewpoint of the first image, allowing the user to control the movement of the movable platform using the orientation defined by the direction of the viewing viewpoint. This makes the control of the movable platform more intuitive, improves the convenience of controlling the movable platform, enhances the accuracy of user movement control, enriches the control methods of the movable platform, provides a safer, more efficient, and convenient operation method and experience, and improves the control efficiency of the movable platform.

[0100] In some embodiments, using the direction of the display viewpoint of the first image as a reference includes: defining the forward or backward direction of the movable platform in the direction indicated by the display viewpoint of the first image, defining the left and right directions of the movable platform in the left and right directions of the direction indicated by the display viewpoint of the first image, and / or defining the upward or downward direction of the movable platform in the direction indicated by the display viewpoint of the first image. For example, the forward direction of the movable platform is defined in the direction indicated by the display viewpoint of the first image, the backward direction of the movable platform is defined in the direction opposite to the direction indicated by the display viewpoint of the first image, the left direction of the movable platform is defined in the left direction of the direction indicated by the display viewpoint of the first image, the right direction of the movable platform is defined in the right direction of the direction indicated by the display viewpoint of the first image, and the upward and downward directions of the movable platform are defined in directions perpendicular to both the direction indicated by the display viewpoint of the first image and the defined left and right directions.

[0101] In some embodiments, the mapping relationship of the attitude control loop of the movable platform changes as the display view of the first image changes. This embodiment changes the mapping relationship of the attitude control loop of the movable platform by changing the display view of the first image, eliminating the need for manual conversion of control quantities by the user. This allows the user to still control the movement of the movable platform using the previous control method after changing the display view of the first image, improving the convenience of controlling the movable platform, enhancing the accuracy of user movement control, enriching the control methods of the movable platform, providing a safer, more efficient, and convenient control method and experience, and improving the control efficiency of the movable platform.

[0102] For example, please refer to Figure 2. The control method of the aircraft is as follows: tilting the joystick of the remote controller forward, the aircraft moves forward; tilting the joystick backward, the aircraft moves backward; tilting the joystick to the left, the aircraft flies to the left; tilting the joystick to the right, the aircraft flies to the right. As shown in Figure 2, the aircraft includes a first power unit 11, a second power unit 12, a third power unit 13, and a fourth power unit 14. Before switching the display view of the first image, the nose of the aircraft is in the same direction as the shooting direction of the main camera 15. At this time, the mapping relationship of the aircraft's attitude control loop is as follows: tilting the remote controller's joystick forward increases the rotation speed of the third power unit 13 and the fourth power unit 14 to control the aircraft to fly forward; tilting the remote controller's joystick backward increases the rotation speed of the first power unit 11 and the second power unit 12 to control the aircraft to fly backward; tilting the remote controller's joystick to the left increases the rotation speed of the first power unit 11 and the fourth power unit 14 to control the aircraft to fly left; tilting the remote controller's joystick to the right increases the rotation speed of the second power unit 12 and the third power unit 13 to control the aircraft to fly right.

[0103] In addition to the main camera 15, the aircraft may also include an omnidirectional sensing sensor (not shown), which can acquire omnidirectional panoramic images and switch the display view of the first image by cropping the first image at different positions in the panoramic image; or, in addition to the main camera 15, the aircraft may also include a sensing sensor, which may not be an omnidirectional sensing sensor, but a local perspective sensing sensor, which can change the viewing angle or orientation through an attitude adjustment device to switch the display view of the first image. After switching the display view of the first image, assuming the display view of the first image is to the left of the aircraft's nose, the display view of the first image (to the left of the aircraft) can be defined as the forward direction of the aircraft. The mapping relationship of the aircraft's attitude control loop also changes accordingly: The remote controller's joystick tilts forward, increasing the rotation speed of the first power unit 11 and the fourth power unit 14 to control the aircraft to fly in the redefined forward direction (to the left of the aircraft's nose); the remote controller's joystick tilts backward, increasing the rotation speed of the second power unit 12 and the third power unit 13 to control the aircraft to fly in the opposite direction of the redefined forward direction (to the right of the aircraft's nose); the remote controller's joystick tilts to the left, increasing the rotation speed of the first power unit 11 and the second power unit 12 to control the aircraft to fly to the left of the redefined flight direction (to the rear of the aircraft's nose); the remote controller's joystick tilts to the right, increasing the rotation speed of the third power unit 13 and the fourth power unit 14 to control the aircraft to fly to the right of the redefined flight direction (to the nose of the aircraft). Therefore, after changing the mapping relationship of the aircraft's attitude control loop, the user can still control the aircraft's flight from the same perspective using the same control method (tilting the joystick forward on the remote controller moves the aircraft forward, tilting the joystick backward moves the aircraft backward, tilting the joystick to the left makes the aircraft fly left, and tilting the joystick to the right makes the aircraft fly right). This eliminates the need for manual conversion of control parameters, making control of mobile platforms more intuitive, improving the convenience of control, enhancing the accuracy of user movement control, enriching the control methods of mobile platforms, and providing a safer, more efficient, and convenient control method and experience, thus improving the control efficiency of mobile platforms.

[0104] In some embodiments, the mapping relationship of the controls of the movable platform changes as the display view of the first image changes. This embodiment changes the mapping relationship of the controls of the movable platform by changing the display view of the first image, eliminating the need for manual conversion of control values ​​by the user. This allows the user to still control the movement of the movable platform using the previous control methods after changing the display view of the first image. This makes the control of the movable platform more intuitive, improves its convenience, enhances the accuracy of user control, enriches the control methods, and provides a safer, more efficient, and convenient control method and experience, ultimately improving the control efficiency of the movable platform.

[0105] For example, referring to Figure 2, the aircraft is controlled as follows: tilting the remote control stick forward moves the aircraft forward; tilting the stick backward moves the aircraft backward; tilting the stick to the left makes the aircraft fly to the left; and tilting the stick to the right makes the aircraft fly to the right. As shown in Figure 2, the aircraft includes a first power unit 11, a second power unit 12, a third power unit 13, and a fourth power unit 14. Before switching the display view of the first image, the aircraft's nose direction is the same as the shooting direction of the main camera 15. At this time, the mapping relationship of the aircraft's controls is: tilting the remote control stick forward controls the aircraft to fly forward; tilting the remote control stick backward controls the aircraft to fly backward; tilting the remote control stick to the left controls the aircraft to fly to the left; and tilting the remote control stick to the right controls the aircraft to fly to the right.

[0106] After switching the display view of the first image, assuming the display view of the first image is to the left of the aircraft's nose, the display view of the first image (to the left of the aircraft) can be defined as the forward direction of the aircraft. The mapping relationship of the aircraft's controls also changes accordingly: tilting the remote control's joystick forward controls the aircraft to fly in the redefined forward direction (to the left of the aircraft's nose); tilting the remote control's joystick backward controls the aircraft to fly in the opposite direction of the redefined forward direction (to the right of the aircraft's nose); tilting the remote control's joystick to the left controls the aircraft to fly in the left direction of the redefined flight direction (to the rear of the aircraft's nose); tilting the remote control's joystick to the right controls the aircraft to fly in the right direction of the redefined flight direction (to the right of the aircraft's nose). Therefore, after changing the mapping relationship of the aircraft's controls, users can still control the aircraft's flight from the same perspective using the same control method (tilting the joystick forward on the remote control moves the aircraft forward, tilting the joystick backward moves the aircraft backward, tilting the joystick to the left makes the aircraft fly left, and tilting the joystick to the right makes the aircraft fly right). This eliminates the need for manual conversion of control parameters, making control of mobile platforms more intuitive, improving the convenience of control, enhancing the accuracy of user movement control, enriching the control methods of mobile platforms, and providing a safer, more efficient, and convenient control method and experience, thus improving the control efficiency of mobile platforms.

[0107] In some embodiments, an image sensor is disposed on at least one side of the movable platform. For example, at least one side of the movable platform includes at least one of the front, rear, left, right, upper, and lower sides of the movable platform. The image sensor includes one or more image sensors. For example, two image sensors are used. The first-view image is formed by stitching together the images acquired by the two image sensors. For example, if the image sensor is a 360-degree panoramic image sensor, the solution of this embodiment can be achieved with a single image sensor, and the switching of the display view direction of the first image can be achieved by acquiring the image at different positions within the 360-degree panoramic image. Alternatively, if the image sensor is a 180-degree panoramic image sensor, the acquisition of the 360-degree panoramic image can be achieved with two image sensors, and the switching of the display view direction of the first image can be achieved by acquiring the image at different positions within the 360-degree panoramic image. Alternatively, the image sensor can be a local viewpoint (e.g., 120 or 180 degrees), and by providing an attitude adjustment device, the image sensor can be oriented in different directions to switch the direction of the display view of the first image. In some embodiments, the first image may come from a main camera image sensor. In some embodiments, the first image may come from a different type of sensor than the main camera image sensor, such as a sensing sensor. For example, the mobile platform has a main camera sensor (capture sensor) and a sensing sensor, and the first image is obtained from the sensing sensor.

[0108] In some embodiments, besides displaying a first image on the display interface, and the direction of the display view of the first image being used to define a movement reference for the mobile platform, the control method provided in this application further includes: displaying a second image from a second perspective on the display interface, that is, simultaneously displaying two different images on the display interface. The second image is used to display a specific target. For example, the specific target includes a user or a target being captured by an image sensor. The second image can be a preview image of the captured image, allowing the user to preview the captured image effect in advance by viewing the second image. This embodiment, by displaying a first image and a second image from a second perspective, facilitates the user in defining a reference for controlling the movement of the mobile platform using the direction of the display view of the first image, and in previewing the captured image effect using the second image. This ensures both the control efficiency and the captured image effect of the mobile platform.

[0109] In some embodiments, the first image and the second image may both originate from the same image sensor of the mobile platform. For example, the image sensor may include a panoramic image sensor, and the first and second images are generated by cropping images from different perspectives from the first-view images acquired by the panoramic image sensor. In other embodiments, the first and second images may originate from different image sensors of the mobile platform. For example, the first image may originate from the perception sensor of the mobile platform, and the second image may originate from the imaging sensor of the mobile platform. The images captured by the perception sensor are mainly used to identify obstacles in the environment surrounding the mobile platform to provide obstacle avoidance reference for the mobile platform. The images captured by the perception sensor can also be displayed so that the user can understand the distribution of obstacles in the environment surrounding the mobile platform. By obtaining the first image from the first-view images acquired by the perception sensor, and by adjusting the direction of the display perspective of the first image to define the movement reference benchmark of the mobile platform, and by displaying specific targets through the imaging sensor to facilitate the user's preview of the shooting effect, it is possible to make full use of the different sensors of the mobile platform to achieve different purposes, and to achieve precise control of the mobile platform while being able to understand the shooting effect in a timely manner. The images acquired by the imaging sensor may be in color, and the images acquired by the perception sensor may be in black and white or in color.

[0110] In some embodiments, the mobile platform includes a first image sensor and a second image sensor. The first image is acquired by the first image sensor of the mobile platform, and the target to be captured by the second image sensor is selected from the images acquired by the second image sensor of the mobile platform. For example, the first image sensor is a sensing sensor, and the first image is acquired by the sensing sensor; the second image sensor is a capturing sensor, and the target to be captured is selected from the images acquired by the capturing sensor.

[0111] In some embodiments, the target for the second image sensor can be selected from images acquired by the first image sensor of the mobile platform. For example, the first image sensor is a sensing sensor, and the second image sensor is a capturing sensor. The user can select a target from the images acquired by the sensing sensor to adjust the orientation of the capturing sensor so that the selected target is present in the images acquired by the capturing sensor. For example, the sensing sensor can be an omnidirectional sensing sensor. Using multiple sensing sensors (e.g., four, five, or six), the obstacle situation in all directions around the mobile platform can be obtained. The field of view of the omnidirectional sensing sensor can be larger than that of the capturing sensor, thus allowing the images acquired by the sensing sensor to be used to select a target for the capturing sensor.

[0112] In some embodiments, the second image is acquired from an image from a first viewpoint captured by an image sensor, where the first viewpoint is larger than the second viewpoint. Further, the first image is acquired from an image from a first viewpoint captured by an image sensor. In this case, both the first and second images originate from the same image sensor capturing images from the same first viewpoint. For example, if the image sensor is a panoramic image sensor used to capture 360-degree panoramic images, local images from two different viewpoints can be obtained from different locations within the 360-degree panoramic image to obtain the first and second images.

[0113] In some embodiments, the movable platform includes a first image sensor and a second image sensor. The first image is acquired by the first image sensor of the movable platform, and the second-view image is acquired by the second image sensor of the movable platform. The first image sensor includes either a capture sensor or a sensing sensor, and the second image sensor includes either a capture sensor or a sensing sensor. For example, the first image sensor is a sensing sensor, and the second image sensor is a capture sensor. The second image sensor is disposed on at least one side of the movable platform, which includes at least one of the front, rear, left, right, upper, and lower sides of the movable platform. For example, the imaging sensor is located on the front side of the mobile platform, such as the nose side of the aircraft, while the sensing sensors are located on multiple sides of the mobile platform to sense environmental information in multiple directions around the mobile platform. For example, three sensing sensors are set on the upper side of the mobile platform and three sensing sensors are set on the lower side of the mobile platform. Alternatively, one sensing sensor is set on each of the two front ends of the mobile platform, one sensing sensor is set on each of the two rear ends of the mobile platform, and two sensing sensors are set on the lower side of the mobile platform. By setting sensing sensors at different positions on the mobile platform, it is convenient to observe obstacles in multiple directions of the mobile platform.

[0114] In some embodiments, the first image sensor includes a perception sensor, and the second image sensor includes a capture sensor. The perception sensor may include a vision sensor, for example, a monocular vision sensor and / or a binocular vision sensor. The capture sensor includes an optical camera or a digital camera.

[0115] In some embodiments, the first image and the second image are displayed on the same interface. This embodiment, by displaying the first and second images on the same interface, facilitates user control of the movable platform using both images, ensuring precise control of the movable platform while maintaining its shooting performance.

[0116] In some embodiments, the second image occupies a portion of the first image, or the first image occupies a portion of the second image. For example, as shown in FIG3, the first image 21 and the second image 22 are displayed on the same interface, and the first image 21 occupies a portion of the second image 22.

[0117] In some embodiments, the control method provided in this application further includes: a control device receiving user input; and the control device switching between a first display mode where the second image occupies a portion of the first image and a second display mode where the first image occupies a portion of the second image, in response to the user input. In this embodiment, the user can switch the display mode of the first image and the second image on the same interface according to actual needs, making it convenient for the user to view the first image or the second image in detail.

[0118] For example, when the first image and the second image are displayed in the first display mode on the same interface, the first display mode is switched to the second display mode in response to the user's click operation on the second image. When the first image and the second image are displayed in the second display mode on the same interface, the second display mode is switched back to the first display mode in response to the user's click operation on the first image.

[0119] In some embodiments, the first image and the second image are displayed on different interfaces. For example, the first image and the second image can be displayed vertically side-by-side or horizontally side-by-side. For instance, the first image and the second image can be displayed vertically side-by-side on the display screen of the control device, or horizontally side-by-side on the display screen of the control device. This embodiment displays the first image and the second image on different interfaces, making it easier for users to control the mobile platform using the first image and the second image. This ensures both precise control of the mobile platform and good shooting results.

[0120] In some embodiments, the second viewing angle is adjustable; for example, the direction and / or size of the second viewing angle is adjustable. This embodiment adjusts the second viewing angle to change the information in the displayed second image, thereby meeting the user's viewing needs from different perspectives, improving the richness of the displayed content, and facilitating the provision of multiple viewing angles. For example, for small displays, displaying multiple images from different perspectives can enhance the richness of the displayed content and provide a better user experience.

[0121] In some embodiments, the second perspective is adjusted based on user-input commands. These user-input commands may include user information. For example, user information may include the user's voice, gestures, posture, or movement parameters, with movement parameters including movement distance and / or movement direction. This embodiment can adjust the second perspective using user information such as voice, gestures, posture, or movement parameters, allowing users to choose the appropriate method to adjust the second perspective according to their needs, thus improving the convenience of second perspective adjustment.

[0122] For example, a control device acquires a user's voice and, upon recognizing that the voice is for adjusting a second-viewpoint, sends a command to a mobile platform to adjust the second-viewpoint. The mobile platform then adjusts the orientation of its image sensors related to the second-viewpoint or the platform's posture accordingly, thereby adjusting the direction of the second-viewpoint. Alternatively, the mobile platform acquires the user's voice and, upon recognizing that the voice is for adjusting a second-viewpoint, adjusts the orientation of its image sensors related to the second-viewpoint or the platform's posture accordingly, thereby adjusting the direction of the second-viewpoint. Besides adjusting the orientation of the image sensors or the platform's posture, the direction of the second-viewpoint can also be adjusted by changing its position within the first-viewpoint image. For instance, the control device acquires the user's voice and, upon recognizing that the voice is for adjusting the direction of the second-viewpoint, crops a second-viewpoint image at a corresponding position within the first-viewpoint image, thereby adjusting the direction of the second-viewpoint. Alternatively, a mobile platform can acquire the user's voice and send the recognized user voice to a control device, so that the control device can crop the second-view image based on the corresponding position in the first-view image according to the recognized user voice, thereby adjusting the direction of the second-view image.

[0123] For example, the control device recognizes a user's gesture, and when it recognizes that the gesture is for adjusting the second viewpoint, it adjusts the orientation of the image sensor related to the second viewpoint in the movable platform or the posture of the movable platform based on the gesture, thereby adjusting the direction of the second viewpoint. Alternatively, the movable platform recognizes the user's posture, and when it recognizes that the posture is for adjusting the second viewpoint, it adjusts the orientation of the image sensor related to the second viewpoint in the movable platform or the posture of the movable platform based on the posture, thereby adjusting the direction of the second viewpoint. Besides adjusting the orientation of the image sensor related to the second viewpoint in the movable platform or the posture of the movable platform, the direction of the second viewpoint can also be adjusted by adjusting the position of the second viewpoint in the image of the first viewpoint. For example, the control device acquires a user's gesture, and when it recognizes that the gesture is for adjusting the second viewpoint, it crops the second viewpoint image at the corresponding position in the image of the first viewpoint based on the recognized user gesture, thereby adjusting the direction of the second viewpoint. Alternatively, a mobile platform can acquire the user's gestures and send the recognized gestures to a control device, so that the control device can crop the image from the corresponding position in the first-view image based on the recognized gestures to obtain a second-view image, thereby adjusting the direction of the second-view image.

[0124] For example, the mobile platform or control device identifies the user's movement direction, determines an adjustment command for the second viewpoint based on that direction, and adjusts the orientation of the image sensor related to the second viewpoint or the posture of the mobile platform according to the adjustment command, thereby adjusting the direction of the second viewpoint. Alternatively, the mobile platform or control device identifies the user's movement distance, determines an adjustment command for the second viewpoint based on that distance, and adjusts the orientation of the image sensor related to the second viewpoint or the posture of the mobile platform according to the adjustment command, thereby adjusting the direction of the second viewpoint. Another example is that the mobile platform identifies both the user's movement direction and distance, determines an adjustment command for the second viewpoint based on that direction and distance, and adjusts the orientation of the image sensor related to the second viewpoint or the posture of the mobile platform according to the adjustment command, thereby adjusting the direction of the second viewpoint. Besides adjusting the orientation of the image sensors related to the second perspective in the mobile platform or the posture of the mobile platform, the direction of the second perspective can also be adjusted by changing its position in the first perspective image. For example, the control device acquires the user's movement direction and / or movement distance, and after recognizing the user's movement direction and / or movement distance, crops the second perspective image at the corresponding position in the first perspective image based on the recognized user movement direction and / or movement distance, thereby adjusting the direction of the second perspective. Alternatively, the mobile platform acquires the user's movement direction and / or movement distance and sends the recognized user movement direction and / or movement distance to the control device, so that the control device crops the second perspective image at the corresponding position in the first perspective image based on the recognized user movement direction and / or movement distance, thereby adjusting the direction of the second perspective.

[0125] The mobile platform or its control device can preset a mapping relationship between voice, gesture, posture, or movement parameters and the angle / direction of view switching. When the mobile platform or control device detects the user's voice, gesture, posture, or movement parameters, it can map them to the corresponding angle / direction of view switching. The angle / direction of view switching can indicate the offset direction and / or offset amount of the second view. For example, when the voice is "offset 10 degrees to the right," it indicates that the current second view should be offset 10 degrees to the right; when the gesture is a raised right hand or a wave to the right, it indicates that the current second view should be offset to the right, and the offset amount can be preset or related to the amplitude of the rightward wave; when the posture is a rightward rotation, it indicates that the current second view should be offset to the right, and the offset amount can be preset or related to the amplitude of the rightward rotation; when the movement parameter is that the user has moved 1 meter to the right, it indicates that the current second view should be offset 10 degrees to the right.

[0126] In some embodiments, the second perspective is adjusted based on instructions input by the user through a control device on a mobile platform, which is communicatively connected to the control device. The instructions input through the control device on the mobile platform may include: posture adjusted by the control device or control instructions input through physical controls of the control device. For example, physical controls may include a display interface, joystick, buttons, or dials.

[0127] For example, the attitude of the control device is acquired by an attitude sensor. When it is determined that this attitude is for adjusting the second viewpoint, a command for adjusting the second viewpoint is sent to the movable platform based on this attitude. The movable platform then adjusts the orientation of the image sensor related to the second viewpoint or the attitude of the movable platform according to the command, thereby adjusting the direction of the second viewpoint. The attitude sensor may include an inertial measurement unit (IMU). Besides adjusting the orientation of the image sensor related to the second viewpoint or the attitude of the movable platform, the direction of the second viewpoint can also be adjusted by adjusting its position in the image of the first viewpoint. For instance, the control device acquires the attitude detected by the attitude sensor, and after recognizing a change in the attitude detected by the attitude sensor, it crops the second viewpoint image at the corresponding position in the image of the first viewpoint based on the recognized attitude detected by the attitude sensor, thereby adjusting the direction of the second viewpoint.

[0128] For example, the control device has a first control for adjusting the direction of the second viewpoint. The control device responds to a user's trigger operation on the first control; if the trigger operation is for adjusting the second viewpoint, then the direction of the second viewpoint is adjusted. The first control can be a joystick, button, dial, touchscreen, etc. Adjusting the direction of the second viewpoint can be achieved by adjusting the orientation of the movable platform or the orientation of the image sensor used to acquire the second image, or by acquiring the second image at different positions within the image from the first viewpoint.

[0129] In some embodiments, if the field of view of the image sensor used to acquire the second image is small, the direction of the second view can be adjusted by adjusting the orientation of the movable platform or the orientation of the image sensor used to acquire the second image. In some embodiments, if the field of view of the image sensor used to acquire the second image is large, for example, if the first view is large, such as 360 degrees, the direction of the second view can be adjusted by acquiring the second image at different positions in the image of the first view.

[0130] For example, the control device responds to the user's joystick input to adjust the direction of the second-viewpoint. For example, the control device includes a button for adjusting the second-viewpoint, responding to the user's tap, double-tap, or long-press operation on the button to adjust the direction of the second-viewpoint. For example, the control device includes a dial for adjusting the second-viewpoint, responding to the user's rotation of the dial to adjust the direction of the second-viewpoint.

[0131] In some embodiments, the second viewing angle is automatically adjusted by the mobile platform or its control device. In this embodiment, the second viewing angle is automatically adjusted by the mobile platform or control device, thereby freeing the user's hands and enabling the user to control the mobile platform more efficiently, improving the control efficiency and convenience of the mobile platform.

[0132] In some embodiments, the second viewpoint is automatically adjusted by the mobile platform or its control device based on the position of a specific target. This specific target includes a target being followed by the mobile platform. In this embodiment, the mobile platform or its control device automatically adjusts the second viewpoint based on the position of the specific target, ensuring that the specific target is located within the second image of the second viewpoint.

[0133] In some embodiments, the display viewing angle of the first image is adjustable. For example, the direction and / or size of the display viewing angle of the first image are adjustable, and the display viewing angle of the first image is adjusted based on user input instructions. The user input instructions may include user information. For example, user information includes the user's voice, gestures, posture, or movement parameters, and movement parameters include movement distance and / or movement direction. This embodiment allows users to manually switch the direction of the display viewing angle of the first image based on actual needs, thereby changing the reference base for controlling the movement of the movable platform, making it more convenient for users to control the movable platform.

[0134] For example, a control device acquires a user's voice, and when it recognizes that the user's voice is used to switch the display viewing angle, it switches the display viewing angle of the first image according to the recognized user's voice. Alternatively, a mobile platform acquires a user's voice and sends the acquired voice to the control device, which, when it recognizes that the user's voice is used to switch the display viewing angle, switches the display viewing angle of the first image according to the recognized user's voice.

[0135] For example, the mobile platform recognizes the user's gesture, and when it recognizes that the user's gesture is used to switch the direction of the display view, it switches the direction of the display view of the first image according to the gesture. Alternatively, the mobile platform sends the recognized user's gesture to the control device, and the control device switches the direction of the display view of the first image according to the gesture.

[0136] For example, the mobile platform can recognize the user's posture, and when it recognizes that the user's posture is the direction for switching the display view, it can switch the direction of the display view of the first image according to the posture. Alternatively, the mobile platform can send the recognized user's posture to the control device, and the control device can switch the direction of the display view of the first image according to the posture.

[0137] For example, the mobile platform can identify the user's direction of movement and distance of movement, and switch the display view of the first image according to the direction of movement and distance of movement. Alternatively, the mobile platform can send the identified direction of movement and distance of movement of the user to the control device, and the control device can switch the display view of the first image according to the direction of movement and distance of movement.

[0138] The direction of adjusting the display view of the first image can be achieved by changing the orientation of the image sensor by adjusting the posture of the first posture adjustment device, or by acquiring the first image at different positions within the image from the first perspective. In some embodiments, if the field of view of the image sensor used to acquire the first image is small, the direction of adjusting the display view of the first image can be achieved by adjusting the posture of the first posture adjustment device to change the orientation of the image sensor used to acquire the first image. In some embodiments, if the field of view of the image sensor used to acquire the first image is large, for example, if the first perspective is large, such as 360 degrees, the direction of adjusting the first perspective can be achieved by acquiring the first image at different positions within the image from the first perspective.

[0139] The mobile platform or its control device can preset a mapping relationship between voice, gesture, posture, or movement parameters and the angle switching amplitude / direction. When the mobile platform or control device detects the user's voice, gesture, posture, or movement parameters, it can map them to the corresponding angle switching amplitude / direction. The angle switching amplitude / direction can indicate the offset direction and / or offset amount of the display angle of the first image. For example, when the voice is "offset 10 degrees to the right," it indicates that the current display angle of the first image will be offset 10 degrees to the right; when the gesture is a raised right hand or a wave to the right, it indicates that the current display angle of the first image will be offset to the right, and the offset amount can be preset or related to the amplitude of the rightward wave; when the posture is a rightward rotation, it indicates that the current display angle of the first image will be offset to the right, and the offset amount can be preset or related to the amplitude of the rightward rotation; when the movement parameter is that the user has moved 1 meter to the right, it indicates that the current display angle of the first image will be offset 10 degrees to the right.

[0140] In some embodiments, the display viewing angle of the first image is adjusted based on instructions input by the user through a control device on a mobile platform. For example, the direction and / or size of the display viewing angle of the first image can be adjusted based on instructions input by the user through a control device on a mobile platform. The instructions input through the control device on the mobile platform include posture adjustments made by the control device or control instructions input through physical controls of the control device. For example, physical controls include a display interface, joystick, buttons, or dials.

[0141] For example, the attitude of the control device is acquired by an attitude sensor. When it is determined that the attitude is for switching the display viewpoint, the control device switches the display viewpoint of the first image according to the attitude. For instance, the control device determines the direction and distance of movement of the first image in the first viewpoint image based on the attitude, and moves the position of the first image in the first viewpoint image according to the direction and distance of movement to acquire the first image from different positions in the first viewpoint image, thereby switching the display viewpoint of the first image. The attitude sensor may include an inertial measurement unit.

[0142] For example, as shown in Figure 4, the display interface of the control device displays multiple second controls 23 for adjusting the direction of the display viewing angle of the first image. The control device responds to a user's click operation on one of the second controls 23, switching the direction of the display viewing angle of the first image to the direction corresponding to the clicked second control 23. Alternatively, the control device responds to a user's trigger operation on a second control 23; if the trigger operation is used to switch the direction of the display viewing angle of the first image, it adjusts the orientation of the image sensor related to the direction of the display viewing angle in the movable platform or adjusts the position of the first image in the image from the first viewing angle, thereby switching the direction of the display viewing angle of the first image. For another example, the display interface of the control device displays an image from a first viewing angle. The control device responds to a user's sliding or dragging operation in the image from the first viewing angle to acquire the first image from different positions in the image from the first viewing angle, thereby switching the direction of the display viewing angle of the first image.

[0143] For example, the control device includes a control mode and a non-control mode. In the control mode, the joystick of the control device is used to control the posture of the movable platform. In the non-control mode, the joystick of the control device is not used to control the posture of the movable platform, but is used to perform related functions, such as switching the display view of the first image. The control device responds to the user's joystick operation. If the control device is in the non-control mode and the display interface of the control device displays the first image, then the display view of the first image is switched to the direction corresponding to the joystick operation.

[0144] For example, the control device includes a button for switching the direction of the display view of the first image. In response to a user's click, double-click, or long-press operation on the button, the control device sends a command to the movable platform to switch the direction of the display view. The movable platform then adjusts the orientation of the image sensor related to the display view according to the command, thereby switching the direction of the display view of the first image. Alternatively, in response to a user's click, double-click, or long-press operation on the button, the control device acquires the first image at different positions within the first view image, thereby switching the direction of the display view of the first image. Another example is a dial for switching the direction of the display view of the first image. In response to a user's rotation of the dial, the control device sends a command to the movable platform to switch the direction of the display view. The movable platform then adjusts the orientation of the image sensor related to the display view according to the command, thereby switching the direction of the display view of the first image. Alternatively, in response to a user's rotation of the dial, the control device acquires the first image at different positions within the first view image, thereby switching the direction of the display view of the first image.

[0145] In some embodiments, besides manually switching the direction and / or size of the display view of the first image by the user, the device can also automatically switch the direction and / or size of the display view of the first image. For example, the control device of the mobile platform automatically switches the direction of the display view of the currently displayed first image in response to meeting preset conditions. The preset conditions can be set based on actual conditions, and this embodiment of the invention does not specifically limit them. For example, the preset conditions are associated with at least one of the following: information related to the current image, and information related to the mobile platform. This embodiment realizes the automatic switching of the direction of the display view of the first image, thereby freeing the user's hands, improving the control convenience and security of the mobile platform, enabling the user to better control the mobile platform, and providing a better user experience.

[0146] In some embodiments, the relevant information of the current image includes at least one of the following: the current shooting scene and the target object in the current image. That is, preset conditions are associated with the current shooting scene and / or the target object in the current image. For example, automatically switching the display view of the currently displayed first image in response to satisfying preset conditions may include: automatically switching the display view of the currently displayed first image in response to the current shooting scene being a preset shooting scene, or automatically switching the display view of the currently displayed first image in response to the type of the target object in the current image being a preset type. The preset shooting scene and preset type can be set based on actual conditions, and this application embodiment does not specifically limit them. For example, the preset type is a car, and the preset shooting scene is a following shooting scene.

[0147] In some embodiments, the relevant information of the mobile platform includes at least one of the following: a preset posture of the mobile platform and a preset motion state of the mobile platform. That is, the preset conditions are related to the preset posture and / or the preset motion state of the mobile platform. For example, automatically switching the display view of the currently displayed first image in response to meeting the preset conditions may include: automatically switching the display view of the currently displayed first image in response to the mobile platform's posture being a preset posture, or automatically switching the display view of the currently displayed first image in response to the mobile platform's motion state being a preset motion state. The preset posture and preset motion state can be set based on actual conditions, and this application embodiment does not specifically limit them.

[0148] In some embodiments, the control command for automatically switching the display viewing angle of the first image is issued by the controller of the movable platform or the controller of the control device of the movable platform. For example, in response to a preset condition being met, the controller of the movable platform issues a control command to the control device of the movable platform for automatically switching the display viewing angle of the first image, and the control device automatically switches the display viewing angle of the currently displayed first image according to the control command. Alternatively, the controller of the control device of the movable platform issues a control command for automatically switching the display viewing angle of the first image in response to a preset condition being met, and automatically switches the display viewing angle of the currently displayed first image according to the control command.

[0149] In some embodiments, in addition to displaying the first image on the display interface, the control method provided in this application further includes: displaying an image from a first perspective, wherein the first image is obtained from the image from the first perspective, and the first perspective is larger than the display perspective of the first image. The shooting target of the mobile platform is automatically determined by the mobile platform or determined by the user. The image from the first perspective is used by the user to select the shooting target of the mobile platform or to switch the direction of the display perspective of the first image. This embodiment, by displaying an image from the first perspective, facilitates the user in obtaining the first image from the image from the first perspective, in order to switch the direction of the display perspective of the first image or to facilitate the user in selecting the shooting target of the mobile platform, resulting in a better user experience.

[0150] In some embodiments, a selection box is displayed in the first-view image. The selection box is used by the user to select the shooting target of the movable platform or to switch the direction of the display view of the first image. For example, in response to the user's dragging operation of the selection box, the control device moves the selection box in the first-view image; determines the target object currently selected by the selection box in the first-view image as the shooting target of the movable platform or determines the partial image currently selected by the selection box in the first-view image as the first image, so as to switch the direction of the display view of the first image.

[0151] In some embodiments, controlling the movement of the movable platform with the direction of the display view of the first image as a reference includes: controlling the movement of the movable platform with the direction of the display view of the first image as a reference while the movable platform is following the target being photographed. In this embodiment, the direction of the display view of the first image is used as the reference for controlling the movable platform while it is following the target being photographed. This allows the user to control the movement of the movable platform with the direction of the viewing angle as a reference, enabling the user to control the movable platform more safely and efficiently to photograph the target being followed, ensuring the shooting effect. The control of the movable platform is more intuitive, improving the convenience of control and the accuracy of user movement control. It also enriches the control methods of the movable platform, providing a safer, more efficient, and convenient operation method and experience, and improving the control efficiency of the movable platform.

[0152] For example, as shown in Figure 5, it is a top view of the relative position of the target and the movable platform. The movable platform has a main camera sensor for taking pictures. The main camera sensor is located in the direction of the camera head. In addition, the movable platform also has an omnidirectional perception sensor for collecting panoramic images of the distribution of obstacles in all directions around the movable platform. The first-view image mentioned above is collected by the omnidirectional perception sensor. The first image comes from the first-view image, and the second-view image comes from the main camera sensor for taking pictures of the target. In this example, the target of the movable platform is a stationary target. During the process of the movable platform following the target, the second viewpoint (i.e., the shooting direction of the main camera sensor) can always be oriented towards the target. Simultaneously, the user can adjust the display viewpoint of the first image (e.g., by adjusting the position of the first image within the first viewpoint image) and align it with the user's desired forward movement direction of the movable platform. The user can then input control commands to move the movable platform in the desired forward movement direction. For example, the user can control the movable platform to move forward to one side of the target. During this movement, the platform will first gradually approach the target and then gradually move away from it. Throughout this movement, the second viewpoint remains oriented towards the target, and the target is always centered within the second viewpoint image. The image capture effect shows the target's proportion in the frame gradually increasing and then decreasing. During this process, the first image's display viewpoint shows the forward movement of the movable platform, allowing the user to easily observe the distribution of obstacles along the platform's movement direction.

[0153] In some embodiments, controlling the movement of a movable platform with the direction of the display view of the first image as a reference reference includes: controlling the movement of the movable platform with the direction of the display view of the first image as a reference reference via a first control device. The attitude of the second attitude adjustment device of the movable platform is automatically adjusted by the movable platform. The second attitude adjustment device is used to mount a second image sensor, which is used to capture a specific target. The horizontal rotation angle of the second attitude adjustment device includes 180°, 270°, or 360°, etc. In this embodiment, the movement of the movable platform can be controlled by a single control device, and the attitude of the image sensor used to capture the target is automatically adjusted by the system, achieving single-control of the movable platform and providing a better user experience.

[0154] In some embodiments, the attitude of the second attitude adjustment device of the movable platform is automatically adjusted by the movable platform according to the position of the target being followed. This embodiment allows for control of the movable platform's movement using a single control device, and the attitude of the image sensor used to capture the target is automatically adjusted by the system. This improves the control efficiency of the movable platform while enabling complex camera movements and ensuring optimal shooting results.

[0155] For example, the aircraft includes a first image sensor and a second image sensor. A second attitude adjustment device is used to mount the second image sensor. The first image sensor includes a visual sensor disposed on at least one of the front, rear, left, right, upper, and lower sides of the aircraft. The second image sensor includes a camera mounted on the aircraft via a gimbal. The aircraft is communicatively connected to a first control device. When the aircraft is in follow mode, the attitude of the gimbal is automatically adjusted according to the position of the target being followed, so that the camera of the aircraft always locks onto the target being followed. The user controls the aircraft through the first control device with the direction of the display view of the first image as a reference, so that the user can complete the attitude adjustment of the gimbal and the attitude adjustment of the aircraft by himself.

[0156] In some embodiments, controlling the movement of a movable platform with the direction of the display view of a first image as a reference includes: controlling the movement of the movable platform with the direction of the display view of the first image as a reference via a first control device, wherein the first image is obtained from an image of a first view acquired by a first image sensor. The attitude of a second attitude adjustment device of the movable platform is adjusted via a second control device, the second attitude adjustment device being used to mount a second image sensor. The second image sensor is used to capture a specific target, and the second attitude adjustment device may include a gimbal. This embodiment achieves dual control of the movable platform by using one control device to control the movement of the movable platform and another control device to adjust the attitude of the image sensor used to capture the target, resulting in a better user experience.

[0157] For example, the aircraft includes a first image sensor and a second image sensor, and a second attitude adjustment device is used to mount the second image sensor. The first image sensor includes a vision sensor disposed on at least one of the front, rear, left, right, upper, and lower sides of the aircraft. The second image sensor includes a camera mounted on the aircraft via a gimbal. The aircraft is communicatively connected to a first control device and a second control device. The first user (pilot) controls the flight of the aircraft using the first control device with the direction of the display view of the first image as a reference. The second user (gimbal operator) adjusts the attitude of the gimbal used to capture the image sensor of the target using the second control device.

[0158] Please refer to Figure 6, which is a schematic flowchart illustrating the steps of another control method for a mobile platform provided in an embodiment of this application. This control method can be applied to mobile platforms.

[0159] As shown in Figure 6, the control method of the mobile platform includes steps S121 to S122.

[0160] Step S121: Obtain control commands.

[0161] Step S122: According to the control command, the movable platform is controlled to move with the direction of the display view of the first image currently displayed by the control device of the movable platform as a reference. The first image is acquired by the image sensor of the movable platform. The orientation of the movable platform does not change with the direction of the display view of the first image and the direction of the display view of the first image is different from the orientation of the movable platform.

[0162] This embodiment uses the direction of the display view of the first image currently displayed on the control device of the movable platform as the reference reference for controlling the movement of the movable platform. In this way, the user can control the movement of the movable platform with the direction of the viewing view as the reference reference, making the control of the movable platform more intuitive, improving the convenience of controlling the movable platform, facilitating the improvement of the accuracy of the user's movement control of the movable platform, enriching the control methods of the movable platform, providing a safer, more efficient and convenient operation method and operation experience, and improving the control efficiency of the movable platform.

[0163] In some embodiments, acquiring control commands includes: acquiring control commands sent by a control device communicatively connected to the mobile platform via a communication interface. The control commands are triggered based on user information, attitude change information of the control device, or user operations on the physical controls of the control device.

[0164] In some embodiments, controlling the movement of the movable platform according to control instructions with reference to the direction of the display view of the first image currently displayed by the control device of the movable platform may include: controlling the movement of the movable platform according to the mapping relationship between the control instructions and the attitude control loop corresponding to the direction of the display view of the currently displayed first image.

[0165] For example, as shown in Figure 2, the original mapping relationship of the attitude control loop of the aircraft is as follows: tilting the joystick of the remote controller forward increases the rotation speed of the third power unit 13 and the fourth power unit 14 to control the aircraft to fly forward; tilting the joystick of the remote controller backward increases the rotation speed of the first power unit 11 and the second power unit 12 to control the aircraft to fly backward; tilting the joystick of the remote controller to the left increases the rotation speed of the first power unit 11 and the fourth power unit 14 to control the aircraft to fly left; tilting the joystick of the remote controller to the right increases the rotation speed of the second power unit 12 and the third power unit 13 to control the aircraft to fly right.

[0166] Let the direction of the display view after the first image switch be the left direction of the aircraft. The mapping relationship of the attitude control loop corresponding to the direction of the display view of the first image being the left direction of the aircraft is as follows: When the remote controller's joystick is tilted forward, the rotation speed of the first power unit 11 and the fourth power unit 14 is increased to control the aircraft to fly along the redefined flight direction (leftward of the aircraft's nose direction); when the remote controller's joystick is tilted backward, the rotation speed of the second power unit 12 and the third power unit 13 is increased to control the aircraft to fly in the opposite direction of the redefined flight direction (rightward of the aircraft's nose direction); when the remote controller's joystick is tilted to the left, the rotation speed of the first power unit 11 and the second power unit 12 is increased to control the aircraft to fly in the left direction of the redefined flight direction (rearward of the aircraft's nose direction); when the remote controller's joystick is tilted to the right, the rotation speed of the third power unit 13 and the fourth power unit 14 is increased to control the aircraft to fly in the right direction of the redefined flight direction (near the aircraft's nose direction).

[0167] Therefore, when the display view of the first image is to the left of the aircraft, the user tilts the remote control joystick forward, triggering a control command to control the aircraft's forward flight. The remote control sends this control command to the aircraft. Upon receiving the control command, the aircraft, based on the mapping relationship between the control command and the attitude control loop corresponding to the display view of the first image being to the left of the aircraft, determines that the controlled objects are the first power unit 11 and the fourth power unit 14. Therefore, the rotation speed of the first power unit 11 and the fourth power unit 14 is increased, thereby controlling the aircraft to fly along the redefined flight direction (to the left of the aircraft's nose). In this way, the user sees the aircraft flying along the redefined flight direction in the first image, which is consistent with the control logic of tilting the remote control joystick forward. This eliminates the need for the user to manually convert control quantities, allowing for precise and efficient flight control and improving the aircraft's control efficiency.

[0168] In some embodiments, the mapping relationship of the controls of the movable platform changes as the display view of the first image changes. This embodiment changes the mapping relationship of the controls of the movable platform by changing the display view of the first image, eliminating the need for manual conversion of control values ​​by the user. This allows the user to still control the movement of the movable platform using the previous control methods after changing the display view of the first image, improving the accuracy of user control and increasing the control efficiency of the movable platform.

[0169] For example, referring to Figure 2, the aircraft is controlled as follows: tilting the remote control stick forward moves the aircraft forward; tilting the stick backward moves the aircraft backward; tilting the stick to the left makes the aircraft fly to the left; and tilting the stick to the right makes the aircraft fly to the right. As shown in Figure 2, the aircraft includes a first power unit 11, a second power unit 12, a third power unit 13, and a fourth power unit 14. Before switching the display view of the first image, the aircraft's nose direction is the same as the shooting direction of the main camera 15. At this time, the mapping relationship of the aircraft's controls is: tilting the remote control stick forward controls the aircraft to fly forward; tilting the remote control stick backward controls the aircraft to fly backward; tilting the remote control stick to the left controls the aircraft to fly to the left; and tilting the remote control stick to the right controls the aircraft to fly to the right.

[0170] After switching the display view of the first image, assuming the display view of the first image is to the left of the aircraft's nose, the display view of the first image (to the left of the aircraft) can be defined as the forward direction of the aircraft. The mapping relationship of the aircraft's controls also changes accordingly: tilting the remote control's joystick forward controls the aircraft to fly in the redefined forward direction (to the left of the aircraft's nose); tilting the remote control's joystick backward controls the aircraft to fly in the opposite direction of the redefined forward direction (to the right of the aircraft's nose); tilting the remote control's joystick to the left controls the aircraft to fly in the left direction of the redefined flight direction (to the rear of the aircraft's nose); tilting the remote control's joystick to the right controls the aircraft to fly in the right direction of the redefined flight direction (to the right of the aircraft's nose). Therefore, after changing the mapping relationship of the aircraft's controls, the user can still control the aircraft's flight in the same way (tilting the joystick forward on the remote control moves the aircraft forward, tilting the joystick backward moves the aircraft backward, tilting the joystick to the left makes the aircraft fly to the left, and tilting the joystick to the right makes the aircraft fly to the right) from the direction of the viewpoint. The user does not need to manually convert the control values, which makes it easier for the user to control the aircraft accurately and efficiently, thus improving the control efficiency of the aircraft.

[0171] It should be noted that, unless otherwise specified, the specific implementation process not mentioned in the control method of the mobile platform provided in this embodiment can be referred to the corresponding process in the aforementioned control method embodiment of the mobile platform, and will not be repeated here.

[0172] Please refer to Figure 7, which is a schematic flowchart illustrating the steps of another control method for a mobile platform provided in an embodiment of this application. This control method is applied to a control device.

[0173] As shown in Figure 7, the control method of the mobile platform includes steps S211 to S212.

[0174] Step S211: Switch the display view direction of the currently displayed first image. The first image is obtained from the first view image captured by the image sensor of the movable platform. The display view direction of the first image is variable and is achieved by acquiring the first image from different positions in the first view image.

[0175] Step S212: Always use the direction of the display view of the currently displayed first image after switching as a reference to control the movement of the movable platform.

[0176] This embodiment switches the display view direction of the first image currently displayed by the control device of the movable platform by obtaining the first image from different positions in the first-view image. The direction of the display view of the first image currently displayed by the control device of the movable platform after switching is always used as the reference benchmark for controlling the movement of the movable platform. In this way, the user can control the movement of the movable platform using the direction of the viewed view as a reference benchmark, making the control of the movable platform more intuitive, improving the convenience of control, facilitating the accuracy of user movement control, enriching the control methods of the movable platform, providing a safer, more efficient, and convenient operation method and experience, and improving the control efficiency of the movable platform.

[0177] The difference between this embodiment and the embodiment shown in Figure 1 is that, in the embodiment shown in Figure 1, the movable platform has a fixed orientation (e.g., the nose direction of an aircraft, which can be user-defined or defined by the direction of the main camera sensor). In this embodiment, the movable platform may not have a fixed orientation (e.g., the nose direction of an aircraft). The movable platform in this embodiment may not have an orientation concept (e.g., an aircraft does not have a real nose concept). By switching the direction of the display view of the currently displayed first image, the movement reference of the movable platform is defined for the next period of time (the period between switching from the current view to the next view). In this embodiment, the switching of the direction of the display view of the currently displayed first image is achieved by obtaining the first image at different positions in the first view (greater than the display view of the first image). In this embodiment, the direction of the display view of the first image can be switched, and the control device or the movable platform always defines the movement reference of the movable platform with the direction of the switched display view of the first image. After the direction of the display view of the currently displayed first image changes, the movement reference of the movable platform also changes accordingly. In addition, for any specific implementation methods or embodiments not mentioned in this application, please refer to the relevant description of the embodiments shown in Figure 1 above.

[0178] It should be noted that, unless otherwise specified, the specific implementation process not mentioned in the control method of the mobile platform provided in this embodiment can be referred to the corresponding process in the aforementioned control method embodiment of the mobile platform, and will not be repeated here.

[0179] Please refer to Figure 8, which is a schematic flowchart illustrating the steps of another control method for a mobile platform provided in an embodiment of this application. This control method is applied to a mobile platform.

[0180] As shown in Figure 8, the control method of the mobile platform includes steps S221 to S222.

[0181] Step S221: Obtain control commands.

[0182] Step S222: According to the control command, the movable platform is controlled to move with the direction of the display view of the first image currently displayed after the control device of the movable platform is switched as the reference. The first image is obtained from the first view image collected by the image sensor of the movable platform. The direction of the display view of the first image is variable and is achieved by obtaining the first image from different positions in the first view image.

[0183] This embodiment switches the display view direction of the first image currently displayed by the control device of the movable platform by obtaining the first image from different positions in the first-view image. The direction of the display view of the first image currently displayed by the control device of the movable platform after switching is always used as the reference benchmark for controlling the movement of the movable platform. In this way, the user can control the movement of the movable platform using the direction of the viewed view as a reference benchmark, making the control of the movable platform more intuitive, improving the convenience of control, facilitating the accuracy of user movement control, enriching the control methods of the movable platform, providing a safer, more efficient, and convenient operation method and experience, and improving the control efficiency of the movable platform.

[0184] The difference between this embodiment and the embodiments shown in Figure 1 or Figure 6 is that, in the embodiments shown in Figure 1 or Figure 6, the movable platform has a fixed orientation (e.g., the nose direction of an aircraft, which can be user-defined or defined by the direction of the main camera sensor). In this embodiment, the movable platform may not have a fixed orientation (e.g., the nose direction of an aircraft). The movable platform in this embodiment may not have the concept of orientation (e.g., an aircraft does not have a real nose). By switching the direction of the display view of the currently displayed first image, the movement reference of the movable platform is defined for the next period of time (the period between switching from the current view to the next view). In this embodiment, the switching of the direction of the display view of the currently displayed first image is achieved by obtaining the first image at different positions in the first view (greater than the display view of the first image). In this embodiment, the direction of the display view of the first image can be switched, and the control device or the movable platform always defines the movement reference of the movable platform with the direction of the switched display view of the first image. After the direction of the display view of the currently displayed first image changes, the movement reference of the movable platform also changes accordingly. In addition, for any specific implementation methods or unmentioned embodiments in this application, please refer to the relevant descriptions of the embodiments shown in Figure 1 or Figure 6 above.

[0185] It should be noted that, unless otherwise specified, the specific implementation process not mentioned in the control method of the mobile platform provided in this embodiment can be referred to the corresponding process in the aforementioned control method embodiment of the mobile platform, and will not be repeated here.

[0186] Please refer to Figure 9, which is a schematic block diagram of the structure of a control device for a mobile platform provided in an embodiment of this application.

[0187] As shown in Figure 9, the control device 110 of the mobile platform includes a processor 111 and a memory 112. The processor 111 and the memory 112 can be connected via a bus 113, such as an I2C (Inter-integrated Circuit) bus. There can be one or more processors 111 and one or more memory 112.

[0188] Specifically, the processor 111 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0189] Specifically, the processor 111 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0190] The memory 112 stores computer program instructions, which, when invoked by the processor 111, cause the processor 111 to execute:

[0191] Switch the display view direction of the currently displayed first image, which is acquired by the image sensor of the movable platform. The orientation of the movable platform does not change with the change of the display view direction of the first image, and the display view direction of the first image is different from the orientation of the movable platform.

[0192] The movable platform is controlled to move using the direction of the display view of the first image as a reference.

[0193] In some embodiments, the memory 112 is used to store computer program instructions, which, when invoked by the processor 111, cause the processor 111 to execute:

[0194] Obtain control commands;

[0195] The movable platform is controlled to move according to the control command, with the direction of the display view of the first image currently displayed by the control device of the movable platform as a reference. The first image is acquired by the image sensor of the movable platform, and the orientation of the movable platform does not change with the direction of the display view of the first image, and the direction of the display view of the first image is different from the orientation of the movable platform.

[0196] In some embodiments, the memory 112 is used to store computer program instructions, which, when invoked by the processor 111, cause the processor 111 to execute:

[0197] Switch the display perspective of the currently displayed first image, which is obtained from an image sensor of the movable platform. The direction of the display perspective of the first image is variable and is achieved by acquiring the first image from different positions in the first image.

[0198] The movable platform is always controlled to move with reference to the direction of the display view of the currently displayed first image after switching.

[0199] In some embodiments, the memory 112 is used to store computer program instructions, which, when invoked by the processor 111, cause the processor 111 to execute:

[0200] Obtain control commands;

[0201] According to the control command, the movable platform is always moved with the direction of the display view of the first image currently displayed after the control device of the movable platform is switched as a reference. The first image is obtained from the first view image captured by the image sensor of the movable platform. The direction of the display view of the first image is variable and is achieved by obtaining the first image from different positions in the first view image.

[0202] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control device of the mobile platform described above can be referred to the corresponding process in the aforementioned control method embodiment of the mobile platform, and will not be repeated here.

[0203] Please refer to Figure 10, which is a schematic block diagram of the structure of a control device provided in an embodiment of this application.

[0204] As shown in Figure 10, the control device 100 includes a display 101, a memory 102, and a processor 103. The display 101, memory 102, and processor 103 can be connected via a bus.

[0205] The memory 102 is used to store computer programs;

[0206] The display 101 is used to display the first image;

[0207] The processor 103 is used to switch the direction of the display viewing angle of the first image currently displayed on the display 101. The first image is acquired by the image sensor of the movable platform, wherein the orientation of the movable platform does not change with the change of the direction of the display viewing angle of the first image and the direction of the display viewing angle of the first image is different from the orientation of the movable platform.

[0208] The processor 103 is also configured to control the movable platform to move with reference to the direction of the display view of the first image.

[0209] In some embodiments, the memory 102 is used to store computer programs;

[0210] The display 101 is used to display the first image;

[0211] The processor 103 is used to switch the display perspective direction of the first image currently displayed on the display 101. The first image is obtained from an image sensor of a mobile platform that captures a first perspective image. The display perspective direction of the first image is variable and is achieved by acquiring the first image from different positions in the first perspective image.

[0212] The processor 103 is also configured to control the movable platform to move with the direction of the display view of the switched first image as a reference.

[0213] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control device described above can be referred to the corresponding process in the aforementioned control method embodiment of the mobile platform, and will not be repeated here.

[0214] Please refer to Figure 11, which is a schematic block diagram of the structure of a movable platform provided in an embodiment of this application.

[0215] As shown in Figure 11, the mobile platform 200 includes a communication interface 201, a memory 202, and a processor 203. The communication interface 201, memory 202, and processor 203 can be connected via a bus.

[0216] The memory 202 is used to store computer programs;

[0217] The communication interface 201 is used to acquire control commands;

[0218] The processor 203 is configured to control the movable platform to move according to the control command, using the direction of the display view of the first image currently displayed by the control device of the movable platform as a reference. The first image is acquired by the image sensor of the movable platform, the orientation of the movable platform does not change with the direction of the display view of the first image, and the direction of the display view of the first image is different from the orientation of the movable platform.

[0219] In some embodiments, the memory 202 is used to store computer programs;

[0220] The communication interface 201 is used to acquire control commands;

[0221] The processor 203 is configured to control the movable platform to move according to the control command, always using the direction of the display view of the first image currently displayed after the control device of the movable platform is switched as a reference. The first image is obtained from an image of a first view acquired by the image sensor of the movable platform. The direction of the display view of the first image is variable and is achieved by acquiring the first image from different positions in the first view image.

[0222] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the mobile platform described above can be referred to the corresponding process in the aforementioned embodiments of the control method for the mobile platform, and will not be repeated here.

[0223] Please refer to Figure 12, which is a schematic block diagram of the structure of a control system for a mobile platform provided in an embodiment of this application.

[0224] As shown in Figure 12, the control system 300 of the mobile platform includes: a display 301, a communication interface 302, a memory 303, and a processor 304, wherein:

[0225] The memory 303 is used to store computer program instructions;

[0226] The display 301 is used to display the first image;

[0227] The processor 301 is used to switch the direction of the display viewing angle of the first image currently displayed by the display 301. The first image is acquired by the image sensor of the movable platform. The orientation of the movable platform does not change with the direction of the display viewing angle of the first image, and the direction of the display viewing angle of the first image is different from the orientation of the movable platform.

[0228] The communication interface 302 is used to transmit control commands;

[0229] The processor 301 is also configured to control the movable platform to move according to the control instructions, with the direction of the display view of the first image as a reference.

[0230] In some embodiments, the memory 303 is used to store computer program instructions;

[0231] The display 301 is used to display the first image;

[0232] The processor 304 is used to switch the display perspective of the first image currently displayed on the display 301. The first image is obtained from an image of a first perspective acquired by the image sensor of the movable platform. The direction of the display perspective of the first image is variable and the direction of the display perspective of the first image is achieved by acquiring the first image from different positions in the first perspective image.

[0233] The communication interface 302 is used to transmit control commands;

[0234] The processor 304 is also configured to control the movable platform to move according to the control instructions, always using the direction of the display view of the currently displayed first image after switching as a reference.

[0235] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control system of the mobile platform described above can be referred to the corresponding process in the aforementioned control method embodiment of the mobile platform, and will not be repeated here.

[0236] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement the steps of the control method for the mobile platform provided in the above embodiments.

[0237] The computer-readable storage medium can be an internal storage unit of the control device or mobile platform described in any of the foregoing embodiments, such as a hard disk or memory of the control device or mobile platform. The computer-readable storage medium can also be an external storage device of the control device or mobile platform, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the control device or mobile platform.

[0238] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0239] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0240] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a mobile platform, characterized in that, The method includes: Switch the display view direction of the currently displayed first image, which is acquired by the image sensor of the movable platform. The orientation of the movable platform does not change with the change of the display view direction of the first image, and the display view direction of the first image is different from the orientation of the movable platform. The movable platform is controlled to move using the direction of the display view of the first image as a reference.

2. A control method for a mobile platform, characterized in that, The method includes: Obtain control commands; The movable platform is controlled to move according to the control command, with the direction of the display view of the first image currently displayed by the control device of the movable platform as a reference. The first image is acquired by the image sensor of the movable platform, and the orientation of the movable platform does not change with the direction of the display view of the first image, and the direction of the display view of the first image is different from the orientation of the movable platform.

3. The control method according to claim 1 or 2, characterized in that, The first image is obtained from an image captured by the image sensor from a first perspective, wherein the first perspective is larger than the display perspective of the first image, and switching the direction of the display perspective of the first image includes: acquiring the first image from different positions in the image from the first perspective to switch the direction of the display perspective of the first image.

4. The control method according to claim 3, characterized in that, The image from the first perspective is acquired by a single image sensor, or the image from the first perspective is formed by stitching together images acquired by multiple image sensors.

5. The control method according to claim 1 or 2, characterized in that, The orientation of the image sensor is adjusted by a first posture adjustment device, and the direction of switching the display view of the first image includes: adjusting the orientation of the image sensor by the first posture adjustment device to switch the direction of the display view of the first image.

6. The control method according to claim 5, characterized in that, The image sensor is mounted on the movable platform via the first attitude adjustment device.

7. The control method according to claim 5, characterized in that, The image sensor has a built-in first attitude adjustment device, and the orientation of the image sensor is adjusted by adjusting the attitude of the photosensitive component of the image sensor through the first attitude adjustment device.

8. The control method according to any one of claims 3 to 7, characterized in that, The image from the first perspective includes a wide-angle image.

9. The control method according to claim 8, characterized in that, The wide-angle image includes a wide-angle image with a horizontal angle of at least 100 degrees.

10. The control method according to claim 8, characterized in that, The wide-angle image includes a wide-angle image with a vertical angle of at least 100 degrees.

11. The control method according to claim 8, characterized in that, The wide-angle image includes a wide-angle image with a horizontal angle of at least 100 degrees and a vertical angle of at least 100 degrees.

12. The control method according to any one of claims 3 to 7, characterized in that, The images from the first perspective include panoramic images.

13. The control method according to claim 12, characterized in that, The panoramic image includes a panoramic image with a horizontal range of at least 180 degrees.

14. The control method according to claim 13, characterized in that, The panoramic image includes a panoramic image with a horizontal range of at least 360 degrees.

15. The control method according to claim 12, characterized in that, The panoramic image includes a panoramic image with a vertical range of at least 180 degrees.

16. The control method according to claim 15, characterized in that, The panoramic image includes a panoramic image with a vertical range of at least 360 degrees.

17. The control method according to claim 12, characterized in that, The panoramic image includes a panoramic image with a horizontal degree of at least 180 degrees and a vertical degree of at least 180 degrees.

18. The control method according to claim 17, characterized in that, The panoramic image includes a panoramic image with a horizontal degree of at least 360 degrees and a vertical degree of at least 360 degrees.

19. The control method according to any one of claims 1 to 18, characterized in that, The image sensor includes a panoramic image sensor or a wide-angle image sensor.

20. The control method according to claim 19, characterized in that, The panoramic image sensor includes two image sensors.

21. The control method according to claim 20, characterized in that, The images acquired by the two image sensors can be stitched together to form an image with a first perspective, which is larger than the display perspective of the first image.

22. The control method according to claim 20, characterized in that, The optical axes of the two image sensors may be collinear or non-collinear.

23. The control method according to claim 20, characterized in that, The two image sensors are distributed vertically on the movable platform, or horizontally or front-to-back on the movable platform.

24. The control method according to any one of claims 1 to 23, characterized in that, The image sensor includes a capture sensor, which is used to capture images or videos.

25. The control method according to any one of claims 1 to 23, characterized in that, The image sensor includes a perception sensor for detecting obstacles in the environment surrounding the mobile platform.

26. The control method according to claim 25, characterized in that, The sensing sensors include visual sensors.

27. The control method according to claim 26, characterized in that, The vision sensor includes a monocular vision sensor and / or a binocular vision sensor.

28. The control method according to any one of claims 1 to 27, characterized in that, Controlling the movable platform with reference to the direction of the display view of the first image includes: controlling the movement direction of the movable platform with reference to the direction indicated by the display view of the first image.

29. The control method according to claim 28, characterized in that, The direction of movement includes the front, back, left, right, up, or down directions of the movable platform.

30. The control method according to any one of claims 1 to 27, characterized in that, Using the direction of the display view of the first image as a reference includes: defining the orientation with the movable platform as a reference point based on the direction indicated by the display view of the first image.

31. The control method according to claim 30, characterized in that, The orientation includes the front, back, left, right, up, or down directions of the movable platform.

32. The control method according to claim 31, characterized in that, Using the direction of the display view of the first image as a reference includes: defining the forward or backward direction of the movable platform in the direction indicated by the display view of the first image, defining the left or right direction of the movable platform in the left or right direction in the direction indicated by the display view of the first image, and / or defining the up or down direction of the movable platform in the direction indicated by the display view of the first image.

33. The control method according to any one of claims 1 to 32, characterized in that, The image sensor is disposed on at least one side of the movable platform.

34. The control method according to claim 33, characterized in that, The at least one side includes at least one of the front, rear, left, right, upper, and lower sides of the movable platform.

35. The control method according to any one of claims 1 to 34, characterized in that, The image sensor includes one or more image sensors.

36. The control method according to claim 35, characterized in that, The image sensor includes two image sensors.

37. The control method according to claim 36, characterized in that, The first image is obtained from an image from a first perspective acquired by the image sensor, and the image from the first perspective is formed by stitching together images acquired by the two image sensors.

38. The control method according to any one of claims 1 to 37, characterized in that, The method further includes: A second image from a second perspective is displayed on the control device of the movable platform.

39. The control method according to claim 38, characterized in that, The second image is used to display a specific target.

40. The control method according to claim 39, characterized in that, The specific target includes the target captured by the image sensor.

41. The control method according to claim 40, characterized in that, The specific target is selected from images acquired by the image sensor, or, if the image sensor is a first image sensor, the target is selected from images acquired by a second image sensor on the mobile platform.

42. The control method according to claim 39, characterized in that, The specific target includes users.

43. The control method according to claim 38, characterized in that, The second image is obtained from an image captured by the image sensor from a first perspective, where the first perspective is larger than the second perspective.

44. The control method according to claim 38, characterized in that, The image sensor is a first image sensor, and the image from the second perspective is acquired through the second image sensor of the movable platform.

45. The control method according to claim 44, characterized in that, The second image sensor includes a capturing sensor or a sensing sensor.

46. ​​The control method according to claim 45, characterized in that, The second image sensor is disposed on at least one side of the movable platform.

47. The control method according to claim 46, characterized in that, The at least one side includes at least one of the front, rear, left, right, upper, and lower sides of the movable platform.

48. The control method according to claim 44, characterized in that, The first image sensor includes a sensing sensor, and the second image sensor includes a capturing sensor.

49. The control method according to claim 38, characterized in that, The first image and the second image are displayed on the same interface.

50. The control method according to claim 49, characterized in that, The second image occupies a portion of the first image, or the first image occupies a portion of the second image.

51. The control method according to claim 50, characterized in that, The method further includes: The control device of the mobile platform receives user input; The control device of the mobile platform responds to the input by switching between a first display mode in which the second image occupies a portion of the first image and a second display mode in which the first image occupies a portion of the second image.

52. The control method according to claim 38, characterized in that, The first image and the second image are displayed on different interfaces.

53. The control method according to claim 52, characterized in that, The first image and the second image are displayed side by side, either vertically or horizontally.

54. The control method according to claim 38, characterized in that, The second perspective is adjustable.

55. The control method according to claim 54, characterized in that, The second perspective is adjusted based on the user's input instructions.

56. The control method according to claim 55, characterized in that, The user-input instructions include user information.

57. The control method according to claim 56, characterized in that, The user information includes the user's voice, gestures, posture, or movement parameters.

58. The control method according to claim 57, characterized in that, The movement parameters include the movement distance and / or the movement direction.

59. The control method according to claim 55, characterized in that, The second perspective is adjusted based on instructions input by the user through the control device of the mobile platform.

60. The control method according to claim 59, characterized in that, The instructions input through the control device of the movable platform include: posture adjusted by the control device or control instructions input through the physical controls of the control device.

61. The control method according to claim 60, characterized in that, The physical controls include a display interface, joystick, buttons, or dials.

62. The control method according to claim 54, characterized in that, The second perspective is automatically adjusted by the mobile platform or the control device of the mobile platform.

63. The control method according to claim 62, characterized in that, The second perspective is automatically adjusted by the mobile platform or its control device according to the position of a specific target.

64. The control method according to claim 63, characterized in that, The specific target is the follower target of the mobile platform.

65. The control method according to any one of claims 1 to 64, characterized in that, The display view of the first image is switched based on user input commands.

66. The control method according to claim 65, characterized in that, The user-input instructions include user information.

67. The control method according to claim 66, characterized in that, The user information includes the user's voice, gestures, posture, or movement parameters.

68. The control method according to claim 67, characterized in that, The movement parameters include the movement distance and / or the movement direction.

69. The control method according to claim 65, characterized in that, The direction of the display view of the first image is switched based on the instructions input by the user through the control device of the mobile platform.

70. The control method according to claim 69, characterized in that, The instructions input through the control device of the movable platform include postures adjusted by the control device or control instructions input through the physical controls of the control device.

71. The control method according to claim 70, characterized in that, The physical controls include a display interface, joystick, buttons, or dials.

72. The control method according to any one of claims 1 to 71, characterized in that, The direction of the display view of the first image is automatically switched by the control device of the movable platform in response to the satisfaction of preset conditions.

73. The control method according to claim 72, characterized in that, The preset conditions are associated with at least one of the following information: information related to the current image and information related to the mobile platform.

74. The control method according to claim 73, characterized in that, The relevant information of the current image includes at least one of the following: the current shooting scene, and the target object in the current image.

75. The control method according to claim 73, characterized in that, The relevant information of the mobile platform includes at least one of the following: the preset posture of the mobile platform and the preset motion state of the mobile platform.

76. The control method according to claim 75, characterized in that, The control command for automatically switching the display view of the first image is issued by the controller of the movable platform or the controller of the control device of the movable platform.

77. The control method according to any one of claims 1 to 76, characterized in that, The method further includes: The control device of the mobile platform displays an image from a first perspective, the first image being obtained from the image from the first perspective, the first perspective being larger than the display perspective of the first image.

78. The control method according to claim 77, characterized in that, The image from the first perspective is used by the user to select the shooting target of the mobile platform or to switch the direction of the display perspective of the first image.

79. The control method according to claim 78, characterized in that, A selection box is displayed in the image from the first perspective. The selection box is used by the user to select the shooting target of the mobile platform or to switch the direction of the display perspective of the first image.

80. The control method according to any one of claims 1 to 79, characterized in that, Controlling the movement of the movable platform with the direction of the display view of the first image as a reference includes: controlling the movement of the movable platform with the direction of the display view of the first image as a reference during the process of the movable platform following the shooting target.

81. The control method according to claim 80, characterized in that, The target being photographed is determined automatically by the mobile platform or by the user.

82. The control method according to any one of claims 1 to 81, characterized in that, Controlling the movement of the movable platform with the direction of the display view of the first image as a reference includes: controlling the movement of the movable platform with the direction of the display view of the first image as a reference via a first control device.

83. The control method according to claim 82, characterized in that, The image sensor includes a first image sensor and further includes: a second attitude adjustment device for adjusting the attitude of the movable platform via a second control device, the second attitude adjustment device being used to mount the second image sensor.

84. The control method according to claim 83, characterized in that, The second image sensor is used to capture images of a specific target.

85. The control method according to claim 82, characterized in that, The attitude of the second attitude adjustment device of the movable platform is automatically adjusted by the movable platform.

86. The control method according to claim 85, characterized in that, The attitude of the second attitude adjustment device of the movable platform is automatically adjusted by the movable platform according to the position of the target being followed by the movable platform.

87. The control method according to any one of claims 1 to 86, characterized in that, The first image is obtained by the mobile platform from an image captured by the image sensor from a first perspective, or the first image is obtained by the control device of the mobile platform from an image captured by the first perspective.

88. The control method according to any one of claims 1 to 87, characterized in that, The mapping relationship of the attitude control loop of the movable platform changes as the display view of the first image changes, and / or the mapping relationship of the controls of the movable platform changes as the display view of the first image changes.

89. A control method for a mobile platform, characterized in that, The method includes: The direction of the display view of the currently displayed first image is switched. The first image is obtained from an image sensor of the movable platform from a first perspective. The direction of the display view of the first image is variable and is achieved by obtaining the first image from different positions in the first perspective image. The movable platform is always controlled to move with reference to the direction of the display view of the currently displayed first image after switching.

90. A control method for a mobile platform, characterized in that, The method includes: Obtain control commands; According to the control command, the movable platform is always moved with the direction of the display view of the first image currently displayed after the control device of the movable platform is switched as a reference. The first image is obtained from the first view image captured by the image sensor of the movable platform. The direction of the display view of the first image is variable and is achieved by obtaining the first image from different positions in the first view image.

91. The control method according to claim 89 or 90, characterized in that, The image from the first perspective is acquired by a single image sensor, or the image from the first perspective is formed by stitching together images acquired by multiple image sensors.

92. The control method according to claim 89 or 90, characterized in that, The orientation of the image sensor is adjusted by a first posture adjustment device, and the direction of switching the display view of the first image includes: adjusting the orientation of the image sensor by the first posture adjustment device to switch the direction of the display view of the first image.

93. The control method according to claim 92, characterized in that, The image sensor is mounted on the movable platform via the first attitude adjustment device.

94. The control method according to claim 92, characterized in that, The image sensor has a built-in first attitude adjustment device, and the orientation of the image sensor is adjusted by adjusting the attitude of the photosensitive component of the image sensor through the first attitude adjustment device.

95. The control method according to any one of claims 89 to 94, characterized in that, The image from the first perspective includes a wide-angle image.

96. The control method according to claim 95, characterized in that, The wide-angle image includes a wide-angle image with a horizontal angle of at least 100 degrees.

97. The control method according to claim 95, characterized in that, The wide-angle image includes a wide-angle image with a vertical angle of at least 100 degrees.

98. The control method according to claim 95, characterized in that, The wide-angle image includes a wide-angle image with a horizontal angle of at least 100 degrees and a vertical angle of at least 100 degrees.

99. The control method according to any one of claims 89 to 94, characterized in that, The images from the first perspective include panoramic images.

100. The control method according to claim 99, characterized in that, The panoramic image includes a panoramic image with a horizontal range of at least 180 degrees.

101. The control method according to claim 100, characterized in that, The panoramic image includes a panoramic image with a horizontal range of at least 360 degrees.

102. The control method according to claim 99, characterized in that, The panoramic image includes a panoramic image with a vertical range of at least 180 degrees.

103. The control method according to claim 100, characterized in that, The panoramic image includes a panoramic image with a vertical range of at least 360 degrees.

104. The control method according to claim 99, characterized in that, The panoramic image includes a panoramic image with a horizontal degree of at least 180 degrees and a vertical degree of at least 180 degrees.

105. The control method according to claim 104, characterized in that, The panoramic image includes a panoramic image with a horizontal degree of at least 360 degrees and a vertical degree of at least 360 degrees.

106. The control method according to any one of claims 89 to 105, characterized in that, The image sensor includes a panoramic image sensor or a wide-angle image sensor.

107. The control method according to claim 106, characterized in that, The panoramic image sensor includes two image sensors.

108. The control method according to claim 107, characterized in that, The image from the first perspective is formed by stitching together images acquired by the two image sensors, and the first perspective is larger than the display perspective of the first image.

109. The control method according to claim 108, characterized in that, The optical axes of the two image sensors may be collinear or non-collinear.

110. The control method according to claim 109, characterized in that, The two image sensors are distributed vertically on the movable platform, or horizontally or front-to-back on the movable platform.

111. The control method according to any one of claims 89 to 110, characterized in that, The image sensor includes a capture sensor, which is used to capture images or videos.

112. The control method according to any one of claims 89 to 110, characterized in that, The image sensor includes a perception sensor for detecting obstacles in the environment surrounding the mobile platform.

113. The control method according to claim 112, characterized in that, The sensing sensors include visual sensors.

114. The control method according to claim 113, characterized in that, The vision sensor includes a monocular vision sensor and / or a binocular vision sensor.

115. The control method according to any one of claims 89 to 114, characterized in that, Controlling the movable platform with reference to the direction of the display view of the first image includes: controlling the movement direction of the movable platform with reference to the direction indicated by the display view of the first image.

116. The control method according to claim 115, characterized in that, The direction of movement includes the front, back, left, right, up, or down directions of the movable platform.

117. The control method according to any one of claims 89 to 114, characterized in that, Using the direction of the display view of the first image as a reference includes: defining the orientation with the movable platform as a reference point based on the direction indicated by the display view of the first image.

118. The control method according to claim 117, characterized in that, The orientation includes the front, back, left, right, up, or down directions of the movable platform.

119. The control method according to claim 118, characterized in that, Using the direction of the display view of the first image as a reference includes: defining the forward or backward direction of the movable platform in the direction indicated by the display view of the first image, defining the left or right direction of the movable platform in the left or right direction in the direction indicated by the display view of the first image, and / or defining the up or down direction of the movable platform in the direction indicated by the display view of the first image.

120. The control method according to any one of claims 89 to 119, characterized in that, The image sensor is disposed on at least one side of the movable platform.

121. The control method according to claim 120, characterized in that, The at least one side includes at least one of the front, rear, left, right, upper, and lower sides of the movable platform.

122. The control method according to any one of claims 89 to 121, characterized in that, The image sensor includes one or more image sensors.

123. The control method according to claim 122, characterized in that, The image sensor includes two image sensors.

124. The control method according to claim 123, characterized in that, The image from the first perspective is formed by stitching together images acquired by the two image sensors.

125. The control method according to any one of claims 89 to 124, characterized in that, The method further includes: A second image from a second perspective is displayed on the control device of the movable platform.

126. The control method according to claim 125, characterized in that, The second image is used to display a specific target.

127. The control method according to claim 126, characterized in that, The specific target includes the target captured by the image sensor.

128. The control method according to claim 127, characterized in that, The image sensor is a first image sensor, and the target being photographed is selected from images acquired by a second image sensor on the mobile platform.

129. The control method according to claim 126, characterized in that, The specific target includes users.

130. The control method according to claim 125, characterized in that, The first viewpoint is larger than the second viewpoint.

131. The control method according to claim 126, characterized in that, The specific target is selected from the image acquired by the image sensor, or the image sensor is a first image sensor and the image from the second perspective is acquired by a second image sensor of the mobile platform.

132. The control method according to claim 131, characterized in that, The second image sensor includes a capturing sensor or a sensing sensor.

133. The control method according to claim 132, characterized in that, The second image sensor is disposed on at least one side of the movable platform.

134. The control method according to claim 133, characterized in that, The at least one side includes at least one of the front, rear, left, right, upper, and lower sides of the movable platform.

135. The control method according to claim 131, characterized in that, The first image sensor includes a sensing sensor, and the second image sensor includes a capturing sensor.

136. The control method according to claim 125, characterized in that, The first image and the second image are displayed on the same interface.

137. The control method according to claim 136, characterized in that, The second image occupies a portion of the first image, or the first image occupies a portion of the second image.

138. The control method according to claim 137, characterized in that, The method further includes: The control device of the mobile platform receives user input; The control device of the mobile platform responds to the input by switching between a first display mode in which the second image occupies a portion of the first image and a second display mode in which the first image occupies a portion of the second image.

139. The control method according to claim 125, characterized in that, The first image and the second image are displayed on different interfaces.

140. The control method according to claim 139, characterized in that, The first image and the second image are displayed side by side, either vertically or horizontally.

141. The control method according to claim 125, characterized in that, The second perspective is adjustable.

142. The control method according to claim 141, characterized in that, The second perspective is adjusted based on the user's input instructions.

143. The control method according to claim 142, characterized in that, The user-input instructions include user information.

144. The control method according to claim 143, characterized in that, The user information includes the user's voice, gestures, posture, or movement parameters.

145. The control method according to claim 144, characterized in that, The movement parameters include the movement distance and / or the movement direction.

146. The control method according to claim 142, characterized in that, The second perspective is adjusted based on instructions input by the user through the control device of the mobile platform.

147. The control method according to claim 146, characterized in that, The instructions input through the control device of the movable platform include: posture adjusted by the control device or control instructions input through the physical controls of the control device.

148. The control method according to claim 147, characterized in that, The physical controls include a display interface, joystick, buttons, or dials.

149. The control method according to claim 141, characterized in that, The second perspective is automatically adjusted by the mobile platform or the control device of the mobile platform.

150. The control method according to claim 149, characterized in that, The second perspective is automatically adjusted by the mobile platform or its control device according to the position of a specific target.

151. The control method according to claim 150, characterized in that, The specific target is the follower target of the mobile platform.

152. The control method according to any one of claims 89 to 151, characterized in that, The display view of the first image is switched based on user input commands.

153. The control method according to claim 152, characterized in that, The user-input instructions include user information.

154. The control method according to claim 153, characterized in that, The user information includes the user's voice, gestures, posture, or movement parameters.

155. The control method according to claim 154, characterized in that, The movement parameters include the movement distance and / or the movement direction.

156. The control method according to claim 152, characterized in that, The direction of the display view of the first image is switched based on the instructions input by the user through the control device of the mobile platform.

157. The control method according to claim 156, characterized in that, The instructions input through the control device of the movable platform include postures adjusted by the control device or control instructions input through the physical controls of the control device.

158. The control method according to claim 157, characterized in that, The physical controls include a display interface, joystick, buttons, or dials.

159. The control method according to any one of claims 89 to 158, characterized in that, The direction of the display view of the first image is automatically switched by the control device of the movable platform in response to the satisfaction of preset conditions.

160. The control method according to claim 159, characterized in that, The preset conditions are associated with at least one of the following information: information related to the current image and information related to the mobile platform.

161. The control method according to claim 160, characterized in that, The relevant information of the current image includes at least one of the following: the current shooting scene, and the target object in the current image.

162. The control method according to claim 160, characterized in that, The relevant information of the mobile platform includes at least one of the following: the preset posture of the mobile platform and the preset motion state of the mobile platform.

163. The control method according to claim 162, characterized in that, The control command for automatically switching the display view of the first image is issued by the controller of the movable platform or the controller of the control device of the movable platform.

164. The control method according to any one of claims 89 to 163, characterized in that, The method further includes: The control device of the mobile platform displays an image from a first perspective, the first image being obtained from the image from the first perspective, the first perspective being larger than the display perspective of the first image.

165. The control method according to claim 164, characterized in that, The image from the first perspective is used by the user to select the shooting target of the mobile platform or to switch the direction of the display perspective of the first image.

166. The control method according to claim 165, characterized in that, A selection box is displayed in the image from the first perspective. The selection box is used by the user to select the shooting target of the mobile platform or to switch the direction of the display perspective of the first image.

167. The control method according to any one of claims 89 to 166, characterized in that, Controlling the movement of the movable platform with the direction of the display view of the first image as a reference includes: controlling the movement of the movable platform with the direction of the display view of the first image as a reference during the process of the movable platform following the shooting target.

168. The control method according to claim 167, characterized in that, The target being photographed is determined automatically by the mobile platform or by the user.

169. The control method according to any one of claims 89 to 168, characterized in that, Controlling the movement of the movable platform with the direction of the display view of the first image as a reference includes: controlling the movement of the movable platform with the direction of the display view of the first image as a reference via a first control device.

170. The control method according to claim 169, characterized in that, The image sensor includes a first image sensor and further includes: a second attitude adjustment device for adjusting the attitude of the movable platform via a second control device, the second attitude adjustment device being used to mount the second image sensor.

171. The control method according to claim 170, characterized in that, The second image sensor is used to capture images of a specific target.

172. The control method according to claim 169, characterized in that, The attitude of the second attitude adjustment device of the movable platform is automatically adjusted by the movable platform.

173. The control method according to claim 172, characterized in that, The attitude of the second attitude adjustment device of the movable platform is automatically adjusted by the movable platform according to the position of the target being followed by the movable platform.

174. The control method according to any one of claims 89 to 173, characterized in that, The first image is obtained by the mobile platform from an image captured by the image sensor from a first perspective, or the first image is obtained by the control device of the mobile platform from an image captured by the first perspective.

175. The control method according to any one of claims 89 to 174, characterized in that, The mapping relationship of the attitude control loop of the movable platform changes as the display view of the first image changes, and / or the mapping relationship of the controls of the movable platform changes as the display view of the first image changes.

176. A control device for a mobile platform, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Switch the display view direction of the currently displayed first image, which is acquired by the image sensor of the movable platform. The orientation of the movable platform does not change with the change of the display view direction of the first image, and the display view direction of the first image is different from the orientation of the movable platform. The movable platform is controlled to move using the direction of the display view of the first image as a reference.

177. A control device for a mobile platform, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Obtain control commands; The movable platform is controlled to move according to the control command, with the direction of the display view of the first image currently displayed by the control device of the movable platform as a reference. The first image is acquired by the image sensor of the movable platform, and the orientation of the movable platform does not change with the direction of the display view of the first image, and the direction of the display view of the first image is different from the orientation of the movable platform.

178. A control device, characterized in that, include: A display, a memory, and a processor, wherein the memory is used to store computer programs; The display is used to display the first image; The processor is used to switch the direction of the display viewing angle of the first image displayed on the display, wherein the first image is acquired by the image sensor of the movable platform, and the orientation of the movable platform does not change with the change of the direction of the display viewing angle of the first image, and the direction of the display viewing angle of the first image is different from the orientation of the movable platform. The processor is also configured to control the movable platform to move with reference to the direction of the display view of the first image.

179. A mobile platform, characterized in that, include: A communication interface, a memory, and a processor, wherein the memory is used to store computer programs; The communication interface is used to acquire control commands; The processor is configured to control the movable platform to move according to the control instructions, using the direction of the display view of the first image currently displayed by the control device of the movable platform as a reference, wherein the first image is acquired by the image sensor of the movable platform, the orientation of the movable platform does not change with the direction of the display view of the first image, and the direction of the display view of the first image is different from the orientation of the movable platform.

180. A control system for a mobile platform, characterized in that, Includes a display, communication interface, memory, and processor, among which: The memory is used to store computer program instructions; The display is used to display the first image; The processor is configured to switch the display viewing angle of the first image currently displayed on the display, wherein the first image is acquired by the image sensor of the movable platform, and the orientation of the movable platform does not change with the change of the display viewing angle of the first image, and the orientation of the display viewing angle of the first image is different from the orientation of the movable platform. The communication interface is used to transmit control commands; The processor is further configured to control the movable platform to move according to the control instructions, with the direction of the display view of the first image as a reference.

181. A control device for a mobile platform, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Switch the display perspective of the currently displayed first image, which is obtained from an image sensor of the movable platform. The direction of the display perspective of the first image is variable and is achieved by acquiring the first image from different positions in the first image. The movable platform is always controlled to move with reference to the direction of the display view of the currently displayed first image after switching.

182. A control device for a mobile platform, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Obtain control commands; According to the control command, the movable platform is always moved with the direction of the display view of the first image currently displayed after the control device of the movable platform is switched as a reference. The first image is obtained from the first view image captured by the image sensor of the movable platform. The direction of the display view of the first image is variable and is achieved by obtaining the first image from different positions in the first view image.

183. A control device, characterized in that, include: A display, a memory, and a processor, wherein the memory is used to store computer programs; The display is used to display the first image; The processor is configured to switch the display viewing angle of the first image currently displayed on the display, wherein the first image is obtained from a first-view image captured by an image sensor of a movable platform, and wherein the first image... The direction of the display viewpoint is variable, and the direction of the display viewpoint of the first image is achieved by obtaining the first image from different positions in the image of the first viewpoint; The processor is also configured to control the movement of the movable platform with the direction of the display view of the currently displayed first image after switching as a reference.

184. A mobile platform, characterized in that, include: A communication interface, a memory, and a processor, wherein the memory is used to store computer programs; The communication interface is used to acquire control commands; The processor is configured to control the movable platform to move according to the control instructions, always using the direction of the display view of the first image currently displayed after the control device of the movable platform is switched as a reference. The first image is obtained from an image of a first view acquired by the image sensor of the movable platform. The direction of the display view of the first image is variable and is achieved by acquiring the first image from different positions in the first view image.

185. A control system for a mobile platform, characterized in that, Includes a display, communication interface, memory, and processor, among which: The memory is used to store computer program instructions; The display is used to display the first image; The processor is configured to switch the display perspective of the first image currently displayed on the display, the first image being obtained from an image sensor of the movable platform at a first perspective, wherein the direction of the display perspective of the first image is variable and the direction of the display perspective of the first image is achieved by obtaining the first image from different positions in the image at the first perspective. The communication interface is used to transmit control commands; The processor is also configured to control the movable platform to move according to the control instructions, always using the direction of the display view of the currently displayed first image after the switch as a reference.

186. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the control method for the mobile platform as described in any one of claims 1-175.

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