Control method and apparatus for movable platform, and electronic device and storage medium

Abstract

A control method for a movable platform. The method comprises: controlling a movable platform to track a target object (S110); and in response to the target object being lost from a picture captured by a photographic apparatus of the movable platform and information related to the target object not meeting a preset condition, controlling the movable platform to increase a sensing range of the photographic apparatus (S120). The method can improve the efficiency and accuracy of controlling a movable platform after the loss of a target object, thereby ensuring the photographing effect.

Description

Control methods, devices, electronic equipment, and storage 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, electronic device and storage medium for a mobile platform. Background Technology

[0002] Currently, when a mobile platform locks onto a target object for shooting, it can use the location output from the positioning device carried by the target object to assist in locating the target object's position. However, sometimes the target object is lost from the footage captured by the mobile platform, resulting in the target object not appearing in the captured footage, which affects the shooting effect.

[0003] Summary of the Invention

[0004] Based on this, embodiments of this application provide a control method, apparatus, electronic device, and storage medium for a mobile platform, aiming to improve the control efficiency and accuracy of the mobile platform after the target object is lost.

[0005] In a first aspect, embodiments of this application provide a control method for a mobile platform, including:

[0006] The movable platform is controlled to lock the target object;

[0007] In response to the loss of the target object from the image captured by the camera device of the mobile platform and the fact that the information related to the target object does not meet the preset conditions, the mobile platform is controlled to increase the sensing range of the camera device.

[0008] The control method provided in the first aspect increases the sensing range of the shooting device when the target object is lost from the footage captured by the mobile platform and the information related to the target object does not meet the preset conditions. This enables the mobile platform to quickly retrieve the lost target object from the increased sensing range, thereby improving the control efficiency and accuracy of the mobile platform after the target object is lost and effectively ensuring the shooting effect.

[0009] Secondly, embodiments of this application provide a control method for a mobile platform, including:

[0010] The movable platform is controlled to lock the target object;

[0011] In response to the loss of the target object from the image captured by the camera device of the mobile platform, a target search mode for the mobile platform to search for the target object is determined from at least two search modes based on specific information. The at least two search modes include a first search mode and a second search mode, wherein the first search mode is different from the second search mode.

[0012] Control the mobile platform to perform corresponding actions according to the target search pattern.

[0013] The control method provided in the second aspect improves the accuracy of the mobile platform in executing the search mode after the target object is lost from the footage captured by the mobile platform. It combines specific information to select the appropriate search mode from multiple search modes to find the lost target object, instead of using the same search mode in all cases. This improves the control efficiency and accuracy of the mobile platform after the target object is lost, and effectively ensures the shooting effect.

[0014] Thirdly, 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 implement the control method as described in the first or second aspect.

[0015] Fourthly, embodiments of this application also provide an electronic device, the electronic 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 implement the control method as described in the first or second aspect.

[0016] Fourthly, 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 as described in the first or second aspect.

[0017] 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

[0018] 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.

[0019] Figure 1 is a schematic diagram of a tracking system for target tracking in an embodiment of this application;

[0020] Figure 2 is a schematic flowchart of the steps of a control method for a mobile platform provided in an embodiment of this application;

[0021] Figure 3 is a scene diagram of a target object locked by a mobile platform in an embodiment of this application.

[0022] Figure 4 is a schematic diagram of a scenario in which a mobile platform searches for a target object according to an embodiment of this application;

[0023] Figure 5 is a schematic diagram of a scenario in which a mobile platform bypasses obstacles according to an embodiment of this application;

[0024] Figure 6 is a schematic diagram of another scenario in which a mobile platform searches for a target object in an embodiment of this application;

[0025] Figure 7 is a schematic flowchart of another control method for a mobile platform provided in an embodiment of this application;

[0026] Figure 8 is a schematic block diagram of the structure of a control device for a mobile platform provided in an embodiment of this application;

[0027] Figure 9 is a schematic block diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0028] 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.

[0029] 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 order described. 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.

[0030] 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.

[0031] Figure 1 illustrates a tracking system 100 for target tracking according to an embodiment. The tracking system 100 may include an imaging device 103, or a movable platform 101 carrying the imaging device 103, with or without a carrier 104. In some embodiments, the tracking system 100 may optionally include a control device 102, such as a remote terminal. The tracking system 100 may be configured to track one or more target objects 201.

[0032] In some embodiments, the mobile platform 101 may be an unmanned aerial vehicle (UAV) such as described elsewhere herein. The imaging device 103 may be configured to detect electromagnetic radiation (e.g., visible light, infrared light, and / or ultraviolet light) and generate image data based on the detected electromagnetic radiation. The image data generated by the imaging device 103 may include one or more images, which may be still images (e.g., photographs), moving images (e.g., videos), or suitable combinations thereof. The image data may be multicolor (e.g., RGB, CMYK, HSV) or monochrome (e.g., grayscale, black and white, sepia). The imaging device 103 may include a lens configured to direct light onto an image sensor. The imaging device 103 may be a camera or the capturing device 1031 described below. The camera may be a movie or video camera that captures moving image data (e.g., video). The camera may be a still camera that captures still images (e.g., photographs). The camera may switch between capturing moving image data and still images. Although some embodiments provided herein are described in the context of a camera, it should be understood that this disclosure can be applied to any suitable imaging device, and any description herein relating to a camera can also be applied to any suitable imaging device.

[0033] The camera described herein can also be applied to other types of imaging devices 103. The camera can be used to generate 2D images of 3D scenes (e.g., environment, one or more objects, etc.). The mobile platform 101 may include one or more types of sensors. Some examples of sensor types may include position sensors (e.g., Global Positioning System (GPS) sensors, mobile device transmitters that perform position triangulation), vision sensors (e.g., imaging devices capable of detecting visible, infrared, or ultraviolet light, such as cameras)), proximity or range sensors (e.g., ultrasonic sensors, lidar, time-of-flight or depth cameras), inertial sensors (e.g., accelerometers, gyroscopes, and / or gravity sensors, which may form an inertial measurement unit (IMU)), altitude sensors, attitude sensors (e.g., compasses), pressure sensors (e.g., barometers), temperature sensors, humidity sensors, vibration sensors, audio sensors (e.g., microphones), and / or field sensors (e.g., magnetometers, electromagnetic sensors, radio sensors).

[0034] Sensors can include one or more devices capable of emitting signals to the environment. For example, a sensor can include a transmitter along the electromagnetic spectrum (e.g., a visible light emitter, an ultraviolet light emitter, an infrared emitter). A sensor can include a laser or any other type of electromagnetic transmitter. A sensor can emit one or more vibrations, such as ultrasonic signals. A sensor can emit audible sounds (e.g., from a speaker). A sensor can emit wireless signals, such as radio signals or other types of signals.

[0035] In some embodiments, the imaging device 103 may be movably coupled to the movable platform 101 via a carrier 104. The imaging device 103 and / or the carrier 104 may be located outside the housing of the movable platform. The sensor may be translational relative to the movable platform. For example, the sensor may be movable relative to the movable platform along one, two, or three axes. The sensor may also be rotatable relative to the movable platform. For example, the pitch axis, yaw axis, and / or roll axis of the sensor and / or the movable platform. The sensor may be moved relative to the movable platform by means of the carrier. The carrier may include one or more gimbals that allow the carrier to move relative to the movable platform. For example, the carrier may include a first gimbal that allows the carrier to rotate relative to the movable platform about a first axis, a second gimbal that allows the carrier to rotate relative to the movable platform about a second axis, and / or a third gimbal that allows the carrier to rotate relative to the movable platform about a third axis. Any descriptions and / or features of the carrier as described elsewhere herein may apply.

[0036] The movable platform 101 and / or imaging device 103 can be controlled to track one or more target objects 201 (also referred to as targets). In some embodiments, target objects 201 include one or more, or two or more. Target objects can be stationary or moving targets. In some cases, a user can identify the target object from an image frame and can further specify whether the target object is a stationary or moving target. Alternatively, a user can provide any other type of indicator as to whether the target object is a stationary or moving target. Alternatively, no indicator may be provided, and the determination may be made automatically with the assistance of one or more processors, optionally without requiring user input as to whether the target object is a stationary or moving target.

[0037] Target objects can be classified as stationary or moving targets based on their state of motion. In some cases, a target object may be moving or stationary at any given point in time. When a target object is moving, it can be classified as a moving target. Conversely, when the same target object is stationary, it can be classified as a stationary target. Alternatively, a target object may be carried by a living person or animal, or by a mobile platform such as a vehicle. Stationary targets can remain substantially stationary within their environment. Examples of stationary targets may include, but are not limited to, landscape features (e.g., trees, vegetation, mountains, hills, rivers, streams, creeks, valleys, boulders, rocks, etc.) or man-made features (e.g., structures, buildings, roads, bridges, utility poles, fences, stationary vehicles, signs, lights, etc.).

[0038] Stationary targets can be large or small. Users can select stationary targets. Alternatively, one or more image recognition methods can be used to identify stationary targets. Optionally, a map of the stationary target can be drawn. The mobile platform can travel to the stationary target. A path (e.g., a flight path) can be planned for the mobile platform 101 to travel to the stationary target. Alternatively, the mobile platform can travel to the stationary target without path planning. In some cases, a stationary target may correspond to a selected portion of a structure or object. For example, a stationary target may correspond to a specific part of a skyscraper (e.g., the top floor). Mobile targets may be capable of movement within the environment. Mobile targets may be constantly in motion or may be in motion for a period of time. Mobile targets may move in a fairly stable direction or may change direction. Mobile targets may move in the air, on land, underground, in water or in water, and / or in space. Mobile targets can be living mobile targets (e.g., people, animals) or non-living mobile targets (e.g., moving vehicles, moving machinery, objects carried by the wind or water, objects carried by living targets). Mobile targets can include a single moving object or a group of moving objects. For example, a moving target can include a single person or a group of moving people. The moving target can be a large or small target. The user can select the moving target. The moving target can be identified. Optionally, a map of the moving target can be drawn.

[0039] The mobile platform 101 can travel to and / or visually track a moving target. A path (e.g., a flight path) can be planned for the mobile platform 101 to travel to the moving target. The path can be changed or updated as the moving target moves. Alternatively, the mobile platform 101 can travel to and / or visually track the moving target without path planning. The moving target can be any object configured to move in any suitable environment, such as in the air (e.g., a fixed-wing aircraft, a rotary-wing aircraft, or an aircraft that has neither fixed wings nor rotary wings), in water (e.g., a boat or submarine), on the ground (e.g., a motor vehicle such as a car, truck, bus, van, motorcycle; a movable structure or frame such as a stick, fishing rod; or a train), on the ground (e.g., a subway), in space (e.g., a spaceplane, satellite, or probe), or any combination of these environments.

[0040] The moving target is capable of free movement within its environment about six degrees of freedom (e.g., three translational and three rotational degrees of freedom). Alternatively, the movement of the moving target may be constrained relative to one or more degrees of freedom, such as by following a predetermined path, trajectory, or orientation. This movement can be actuated by any suitable actuation mechanism (e.g., an engine or motor). The actuation mechanism of the moving target can be powered by any suitable energy source, such as electrical, magnetic, solar, wind, gravitational, chemical, nuclear, or any suitable combination thereof. The moving target can be self-propelled via a propulsion system, as further described below. The propulsion system may optionally operate using an energy source, such as electrical, magnetic, solar, wind, gravitational, chemical, nuclear, or any suitable combination thereof.

[0041] In some cases, the moving target can be a vehicle, such as a remotely controlled vehicle. Suitable vehicles can include water vehicles, air vehicles, space vehicles, or ground vehicles. For example, an aircraft can be a fixed-wing aircraft (e.g., an airplane, a glider), a rotary-wing aircraft (e.g., a helicopter, a rotorcraft), an aircraft with both fixed wings and rotary wings, or an aircraft without either fixed wings or rotary wings (e.g., an airship, a hot air balloon, a balloon). The vehicle can be self-propelled, for example, by air, in water or in water, in space, or on or underground. Self-propelled vehicles can utilize propulsion systems, such as propulsion systems comprising one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof. In some cases, the propulsion system can be used to enable a mobile platform to take off from a surface, land on a surface, maintain its current position and / or orientation (e.g., hover), change orientation and / or change position.

[0042] The mobile platform 101 may be, for example, a drone. The tracking system 100 may optionally include a control device 102. In some embodiments, the control device 102 may include one or more processors configured to process images generated by the imaging device 103 to identify targets, estimate the state of one or more targets or groups of targets, and / or generate control signals for controlling the mobile platform and / or the carrier to track the targets. In some embodiments, the control device 102 may include a display configured to display one or more images acquired by the imaging device 103. The images may display tracking indicators (e.g., bounding boxes) for each identified target. The control device 102 may include a user interface (e.g., a touchscreen) for a user to specify or select one or more targets to track.

[0043] Furthermore, the target object 201 may carry a positioning device, or the positioning device may be a movable object that moves with the target object 201. Typically, the positioning device is very close to the target object 201, so the approximate location of the target object 201 can be determined based on the location of the positioning device. This positioning device may be, for example, a Global Positioning System (GPS) locator capable of obtaining its own location data. The mobile platform 101 and / or control device 102 can receive the location data from the positioning device, thereby determining the location of the target object 201. The positioning device may also be a control device used to control the mobile platform 101. In this case, the user can use the positioning device to control the mobile platform 101 to follow them.

[0044] In other embodiments, the mobile platform 101 may also include other control devices, through which the user controls the mobile platform 101 to follow a target object carrying a positioning device. The positioning device is smaller and more portable than the other control devices of the mobile platform 101, making it easier for the user to carry. For example, the positioning device can be a wearable device that can be worn on the user's body (e.g., on the shoulder, wrist, or head). The positioning device may or may not have a screen and has shortcut buttons. These shortcut buttons can be used to quickly activate the mobile platform 101 into specific modes, such as follow mode. These buttons can also be used to adjust the flight parameters of the mobile platform 101, such as flight altitude, follow distance, and follow direction. During the process of following the target object 201, the movable platform 101 can analyze the captured images to determine the current position of the target object 201. Furthermore, it can combine the position of the positioning device to obtain the current position of the target object 201. The movable platform 101 can use the position of the target object 201 obtained from image analysis and / or the position of the positioning device to guide its movement in order to follow the target object 201. Currently, during the process of locking onto and capturing images of the target object, the movable platform can use the position output by the positioning device carried by the target object to assist in locating the target object's position. However, sometimes the target object may be lost from the captured images, resulting in the target object not appearing in the captured images, thus affecting the shooting effect.

[0045] To address the aforementioned issues, this application provides a control method, apparatus, electronic device, and storage medium for a mobile platform. In cases where a target object is lost from the footage captured by the mobile platform, and information related to the target object does not meet preset conditions, the sensing range of the shooting device is increased. This allows the mobile platform to quickly retrieve the lost target object from the increased sensing range, improving the control efficiency and accuracy of the mobile platform after the target object is lost, and effectively ensuring the shooting effect.

[0046] The control method provided in this application embodiment can be executed by a mobile platform or by a control device of a mobile platform. Alternatively, some processes can be executed by the mobile platform and others by its control device. Any mobile platform in this application embodiment can include an aircraft, vehicle, ship, mobile robot (e.g., a sweeping robot), etc. Any control device in this application embodiment can include a remote controller, ground control platform, mobile phone, tablet computer, laptop computer, PC, or cloud server, etc. The aircraft can include unmanned aerial vehicles (UAVs) or manned aircraft, including fixed-wing aircraft, rotorcraft, or a combination of rotorcraft and fixed-wing aircraft. Rotorcraft can be, for example, a single-rotor aircraft, a dual-rotor aircraft, a quadcopter aircraft, a hexacopter aircraft, or an octocopter aircraft. According to the application industry, aircraft can be classified as agricultural aircraft, industrial aircraft, aerial photography aircraft, logistics 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.

[0047] Please refer to Figure 2, which is a schematic flowchart of the steps of a control method for a mobile platform provided in an embodiment of this application.

[0048] As shown in Figure 2, the control method of the mobile platform includes steps S110 to S120.

[0049] Step S110: Control the movable platform to lock the target object.

[0050] Step S120: In response to the loss of the target object from the image captured by the shooting device of the movable platform and the fact that the information related to the target object does not meet the preset conditions, control the movable platform to increase the sensing range of the shooting device.

[0051] This application embodiment increases the sensing range of the shooting device when the target object is lost from the image captured by the mobile platform and the information related to the target object does not meet preset conditions. This increases the search range for the target object, allowing the mobile platform to quickly retrieve the lost target object from the increased sensing range. This improves the control efficiency and accuracy of the mobile platform after the target object is lost, effectively ensuring the shooting effect. The control method provided in this application embodiment can be executed by the mobile platform or by the control device of the mobile platform, or a partial process can be executed by the mobile platform and a partial process by the control device of the mobile platform. For example, the control method provided in this application embodiment is executed by the control device of the mobile platform. For instance, the control device sends information related to the target object to the mobile platform to control the mobile platform to lock the target object. Then, in response to the target object being lost from the image captured by the shooting device of the mobile platform and the information related to the target object not meeting preset conditions, the control device controls the mobile platform to increase the sensing range of the shooting device. The information related to the target object may include: the target object's position, color, texture, shape, size, and / or other characteristics.

[0052] For example, the control method provided in this application embodiment is executed by a mobile platform. For instance, the mobile platform receives information related to the target object sent by the control device, controls the mobile platform to lock the target object based on the information related to the target object, and then controls the mobile platform to increase the sensing range of the shooting device in response to the target object being lost from the image captured by the shooting device of the mobile platform and the information related to the target object not meeting the preset conditions.

[0053] In some embodiments, the target object includes a following target or a surrounding target. After the movable platform locks onto the target object, it can be controlled to move to follow the target object, or move around the target object, or remain stationary while following the target object by rotating the orientation of the shooting device. In some embodiments, the movable platform can take pictures while locking onto the target object.

[0054] In some embodiments, the information related to the target object includes information about the positioning device carried by the target object or the type of the target object. The positioning device carried by the target object may include a GPS-based positioning device, a BeiDou satellite navigation system-based positioning device, or a Galileo satellite positioning system-based positioning device, etc.

[0055] In some embodiments, information related to the positioning device includes the positioning accuracy, communication transmission quality, and / or whether the positioning device is functioning correctly. The positioning accuracy is determined based on the accuracy of the positioning signal transmitted by the positioning device, or it is predicted based on the positioning accuracy of the positioning signal from the mobile platform. The communication transmission quality refers to the transmission quality of communication between the positioning device and the mobile platform. Whether the positioning device is functioning correctly can be determined by whether the positioning device starts up normally or whether the data collected by the positioning device is reliable.

[0056] In some embodiments, in response to the distance between the mobile platform and the positioning device being less than or equal to a preset distance, the positioning accuracy of the positioning device is predicted based on the positioning accuracy of the positioning signal of the mobile platform; in response to the distance between the mobile platform and the positioning device being greater than the preset distance, the positioning accuracy of the positioning device is determined based on the positioning accuracy of the positioning signal sent by the positioning device. The preset distance can be set by the user or automatically set by the electronic device.

[0057] It should be noted that the target object sometimes disappears from the captured image because it is obscured by obstacles between the mobile platform and the target object, causing it to suddenly disappear from the image captured by the mobile platform, or because the target object occupies a very small portion of the image, making it undetectable by the mobile platform. However, in the process of developing the solution of this application, it was discovered that in some special cases, the target object disappears from the captured image due to other reasons. For example, in application scenarios where the target object carries a positioning device, the mobile platform can obtain the position of the positioning device and thus determine the position of the target. This can assist in guiding the mobile platform to move and follow the target object. However, the positioning device's position may be affected by other factors. The positioning data itself contains positioning errors, and these errors vary depending on the situation. When the positioning error is small, the position of the positioning device can be accurately obtained, thus revealing the current location of the target object. This allows for quick determination of the target object's latest location after it has been lost from the frame, guiding the movable platform to adjust the orientation of the shooting device or the position of the movable platform to recover the lost target as much as possible. However, when the positioning error is large, estimating the target object's location based on the positioning device's position will have a significant deviation. Consequently, the position of the target object obtained based on the positioning device will also be quite inaccurate, hindering the rapid recovery of the lost target from the frame. For example, if the target object puts the positioning device in its pocket, or the antenna of the positioning device is not properly positioned, or there are obstructions around the positioning device or the target object, these factors can lead to a lower confidence level or fewer positioning signals obtained by the positioning device, resulting in inaccurate positioning data. For instance, when obstructed by surrounding obstacles, the positioning error of the positioning device can exceed 10 meters. This can cause significant deviations in how the mobile platform or control device identifies the target object's position based on the positioning device, leading to situations where the target object is not actually captured in the captured footage when the mobile platform tries to follow the target object with this inaccurate positioning data. Therefore, based on these discovered special circumstances, this application proposes a new design to avoid the target object being lost from the frame in these situations, thus affecting the shooting effect.

[0058] In some embodiments, the information related to the target object not meeting the preset conditions includes: the positioning accuracy of the positioning device is less than or equal to a first threshold (or, the positioning error of the positioning device is greater than a threshold, or, the positioning signal strength obtained by the positioning device is less than a threshold), the communication transmission quality of the positioning device is less than or equal to a second threshold, and / or the positioning device is not working properly. That is, in response to the target object being lost from the image captured by the shooting device of the mobile platform and the positioning accuracy of the positioning device is less than or equal to the first threshold, the communication transmission quality of the positioning device is less than or equal to the second threshold, and / or the positioning device is not working properly, the mobile platform is controlled to increase the sensing range of the shooting device. The positioning device not working properly includes: the positioning device not being activated, the positioning device being damaged, etc. These situations where the preset conditions are not met will all cause a certain deviation in the positioning data obtained by the positioning device, thereby affecting the mobile platform's ability to identify the current location of the target object, resulting in the problem that the target object is not present in the actual captured image. Therefore, for these situations where the preset conditions are not met, active intervention is required. For example, the sensing range of the shooting device of the mobile platform can be increased to observe a larger area, thereby enabling the lost target to be found in the captured image as soon as possible and avoiding the impact on the shooting effect.

[0059] For example, when the positioning accuracy of the positioning device is less than or equal to the first threshold, the positioning error of the position output by the positioning device is large, and it cannot accurately describe the position of the target object. Therefore, after the target object is lost, the position with a large positioning error cannot be used to efficiently and accurately retrieve the target object. To address this, in response to the target object being lost from the footage captured by the mobile platform and the positioning accuracy of the positioning device being less than or equal to the first threshold, the sensing range of the shooting device of the mobile platform is increased. This allows the mobile platform to quickly retrieve the lost target object from the increased sensing range, improving the control efficiency and accuracy of the mobile platform after the target object is lost, and effectively ensuring the shooting effect.

[0060] For example, as shown in Figure 3, the positioning accuracy of the positioning device carried by the target object 11 corresponds to the first positioning error range 12. At this time, the target object 11 is within the sensing range of the shooting device 1031 of the movable platform 101, and the movable platform 101 can lock the target object 11 for shooting. After a period of time, as shown in Figure A of Figure 4, the positioning error of the positioning device carried by the target object 11 changes from the smaller first positioning error range 12 to the larger second positioning error range 13, that is, the positioning accuracy of the positioning device carried by the target object 11 becomes lower. At this time, the positioning accuracy of the positioning device is less than or equal to the first threshold. At this time, due to the large positioning error, the target object 11 can no longer be observed within the sensing range of the shooting device 1031 of the movable platform. At this time, the target object 11 is lost from the image captured by the shooting device 1031. Therefore, it is difficult to accurately determine the precise position of the target object using the low-precision position output by the positioning device, and thus it is also impossible to efficiently and accurately assist the movable platform in quickly finding the lost target object in the image. Therefore, the sensing range of the shooting device 1031 is increased.

[0061] As shown in Figure B of Figure 4, by controlling the movable platform 101 to move away from the target object 11, the sensing range of the shooting device 1031 is increased (the distance between the movable platform 101 and the target object 11 in Figure A of Figure 4 is smaller than the distance between the movable platform 101 and the target object 11 in Figure B of Figure 4). At this time, the target object 11 is located within the increased sensing range of the shooting device 1031, so that the movable platform 101 can quickly find the lost target object 11 from the increased sensing range, thereby avoiding the target object 11 from being lost from the image captured by the movable platform 101 due to the low positioning accuracy of the positioning device, ensuring that the target object 11 is within the sensing range of the shooting device 1031, so as to ensure the shooting effect.

[0062] For example, if the communication transmission quality of the positioning device is less than or equal to the second threshold, the mobile platform cannot reliably obtain the location transmitted by the positioning device. Thus, after the target object is lost, the mobile platform cannot efficiently and accurately retrieve the lost target object from the image because it cannot reliably obtain the location transmitted by the positioning device. Therefore, in response to the target object being lost from the image captured by the mobile platform and the communication transmission quality of the positioning device being less than or equal to the second threshold, the sensing range of the shooting device of the mobile platform is increased so that the mobile platform can quickly retrieve the lost target object from the increased sensing range. This improves the control efficiency and accuracy of the mobile platform after the target object is lost, and effectively ensures the shooting effect.

[0063] For example, if the positioning device is not working properly and the target object is lost, the mobile platform cannot use the positioning device's location to find the lost target object, and the control efficiency and accuracy of the mobile platform after the target object is lost cannot be guaranteed. Therefore, in response to the target object being lost from the footage captured by the mobile platform and the target object not working properly, the sensing range of the mobile platform's shooting device is increased, so that the mobile platform can quickly find the lost target object by using the increased sensing range, thereby improving the control efficiency and accuracy of the mobile platform after the target object is lost and effectively ensuring the shooting effect.

[0064] In some embodiments, the type of the target object is related to whether the target object is a moving target or the moving speed of the target object. Correspondingly, information related to the target object that does not meet preset conditions includes: the target object type is a first type, that is, in response to the target object being lost from the image captured by the mobile platform and the target object type being a first type, the sensing range of the mobile platform's shooting device is increased, wherein the moving speed of the first type of target object is greater than or equal to a third threshold, and the moving speed of the second type of target object is less than the third threshold. Wherein, if the moving speed of the target object is greater than or equal to the third threshold, it can be determined that the target object is in a high-speed moving state; if the moving speed of the target object is less than the third threshold, it can be determined that the target object is in a low-speed moving state. This embodiment, by increasing the sensing range of the mobile platform's shooting device when the lost target object is moving at a high speed, can better find target objects with high moving speeds, thereby improving the efficiency and accuracy of finding target objects.

[0065] In some embodiments, the increase in the sensing range of the imaging device is related to the positioning accuracy of the positioning device carried by the target object. Further, the increase in the sensing range of the imaging device is negatively correlated with the positioning accuracy of the positioning device carried by the target object. Specifically, the lower the positioning accuracy of the positioning device carried by the target object, the greater the increase in the sensing range of the imaging device; conversely, the higher the positioning accuracy of the positioning device carried by the target object, the smaller the increase in the sensing range of the imaging device. In this embodiment, the increase in the sensing range of the imaging device is related to the positioning accuracy of the positioning device carried by the target object, ensuring that the increased sensing range can meet the requirements for retrieving a lost target object under the current positioning accuracy. This improves the control efficiency and accuracy of the movable platform after the target object is lost, effectively guaranteeing the imaging effect.

[0066] In some embodiments, controlling the movable platform to increase the sensing range of the shooting device may include controlling the position of the movable platform away from the positioning device carried by the target object, thereby increasing the sensing range of the shooting device on the movable platform. The greater the distance between the movable platform and the target object, the larger the sensing range of the shooting device; conversely, the closer the distance, the smaller the sensing range. Since the target object carries a positioning device, the position of the positioning device can approximate the position of the target object. Therefore, controlling the movable platform to move away from the positioning device carried by the target object is equivalent to controlling the movable platform to move away from the target object. This embodiment increases the sensing range of the shooting device by controlling the position of the movable platform away from the positioning device carried by the target object, ensuring that the increase in the sensing range of the shooting device is not limited by the hardware conditions of the shooting device itself, thus improving the flexibility of adjusting the sensing range of the shooting device.

[0067] In some embodiments, the position of the movable platform away from the positioning device carried by the target object includes: a horizontal position and / or a vertical position of the movable platform away from the positioning device carried by the target object. For example, as shown in FIG4, the movable platform 101 is controlled to move away from the target object 11 from the position in Figure A of FIG4 along a general line connecting to the target object 11. Externally, the movable platform 101 appears to move upward and to the left, thus moving away from the target object 11, until the movable platform 101 reaches the position in Figure B of FIG4, so that the movable platform 101 moves away from the target object 11 (carrying the positioning device), thereby increasing the sensing range of the imaging device 1031 of the movable platform 101. Of course, it is also possible to only control the movable platform 101 to increase its height from the position in Figure A of FIG4, for example, moving upward, or to move horizontally away from the target object 11, for example, moving to the left, so that the movable platform 101 moves away from the target object 11 (carrying the positioning device).

[0068] In some embodiments, the distance of the movable platform from the positioning device is related to the positioning accuracy of the positioning device. Further, the distance of the movable platform from the positioning device is negatively correlated with the positioning accuracy of the positioning device. Specifically, the higher the positioning accuracy of the positioning device, the closer the movable platform is to the positioning device; conversely, the lower the positioning accuracy of the positioning device, the farther the movable platform is from the positioning device. In this embodiment, the distance of the movable platform from the positioning device is related to the positioning accuracy of the positioning device. This ensures that the increased sensing range after the movable platform moves away from the positioning device can meet the requirements for recovering lost target objects under the current positioning accuracy, improving the control efficiency and accuracy of the movable platform after the target object is lost, and effectively guaranteeing the shooting effect.

[0069] In some embodiments, controlling the movable platform to increase the sensing range of the shooting device may include controlling the movable platform to increase the field of view of the shooting device, thereby increasing the sensing range of the shooting device on the movable platform. Specifically, a larger field of view of the shooting device on the movable platform results in a larger sensing range, and a smaller field of view results in a smaller sensing range. This embodiment increases the sensing range of the shooting device simply by increasing its field of view, without changing the position of the movable platform, thus improving the efficiency and convenience of adjusting the sensing range of the shooting device.

[0070] In some embodiments, controlling the movable platform to increase the field of view of the shooting device may include: controlling the movable platform to decrease the focal length of the shooting device to increase the field of view of the shooting device, thereby increasing the sensing range of the shooting device on the movable platform. Further, when the current focal length of the shooting device is greater than the minimum focal length of the shooting device, the movable platform is controlled to decrease the focal length of the shooting device. The smaller the focal length of the shooting device, the larger the sensing range of the shooting device; conversely, the larger the focal length of the shooting device, the smaller the sensing range of the shooting device. This embodiment increases the sensing range of the shooting device by decreasing the focal length of the shooting device without changing the position of the movable platform, thus improving the efficiency and convenience of adjusting the sensing range of the shooting device.

[0071] In some embodiments, the reduction in the focal length of the imaging device is related to the positioning accuracy of the positioning device carried by the target object. Further, the reduction in the focal length of the imaging device is negatively correlated with the positioning accuracy of the positioning device carried by the target object. Specifically, the higher the positioning accuracy of the positioning device carried by the target object, the smaller the reduction in the focal length of the imaging device; conversely, the lower the positioning accuracy of the positioning device carried by the target object, the larger the reduction in the focal length of the imaging device. In this embodiment, the reduction in the focal length of the imaging device is related to the positioning accuracy of the positioning device, ensuring that the increased sensing range after reducing the focal length of the imaging device can meet the requirements for retrieving a lost target object under the current positioning accuracy. This improves the control efficiency and accuracy of the movable platform after the target object is lost, effectively guaranteeing the imaging effect.

[0072] In some embodiments, the control method further includes: responding to the situation where the target object has not reappeared in the image captured by the movable platform after the focal length of the shooting device has decreased to its minimum focal length, controlling the movable platform to move away from the positioning device carried by the target object. This embodiment, by controlling the movable platform to move away from the positioning device carried by the target object even when the target object has not reappeared in the image captured by the movable platform after the focal length of the shooting device has decreased to its minimum focal length, further increases the search range for the target object, facilitating the rapid retrieval of the lost target object. This improves the control efficiency and accuracy of the movable platform after the target object is lost, effectively ensuring the shooting effect.

[0073] In some embodiments, controlling the movable platform to increase the field of view of the shooting device may include switching the shooting device used to shoot the target object from a first shooting device to a second shooting device, wherein the field of view of the second shooting device is larger than that of the first shooting device. Both the first and second shooting devices are fixed-focus shooting devices, or at least one of the first and second shooting devices is a zoom shooting device; for example, either the first or the second shooting device is a zoom shooting device. This embodiment increases the sensing range of the shooting device by switching the shooting device used to shoot the target object without changing the position of the movable platform, thus improving the efficiency and convenience of adjusting the sensing range of the shooting device.

[0074] In some embodiments, in response to the target object not reappearing in the frame captured by the movable platform after switching the shooting device for shooting the target object from the first shooting device to the second shooting device, the movable platform is controlled to increase the sensing range of the second shooting device. This embodiment, by controlling the movable platform to increase the sensing range of the second shooting device when the target object has not reappeared in the frame captured by the movable platform after switching the shooting device for shooting the target object, further expands the search range for the target object, facilitating the rapid retrieval of the lost target object. This improves the control efficiency and accuracy of the movable platform after the target object is lost, effectively ensuring the shooting effect.

[0075] In some embodiments, controlling the movable platform to increase the sensing range of the second imaging device may include: controlling the movable platform to decrease the focal length of the second imaging device to increase the field of view of the second imaging device, thereby increasing the sensing range of the second imaging device. This embodiment increases the sensing range of the second imaging device simply by decreasing the focal length, without needing to change the position of the movable platform, thus improving the efficiency and convenience of adjusting the sensing range of the imaging device.

[0076] In some embodiments, the increase in the field of view of the second imaging device is determined based on the positioning accuracy of the positioning device carried by the target object and the difference between the field of view of the first imaging device and the field of view of the second imaging device. For example, based on the positioning accuracy of the positioning device carried by the target object, a desired increase in the field of view is determined, and the absolute value of the difference between the field of view of the first imaging device and the field of view of the second imaging device is subtracted from this desired increase to obtain the increase in the field of view of the second imaging device.

[0077] In some embodiments, controlling the movable platform to increase the sensing range of the second imaging device may include: controlling the movable platform to move further away from the positioning device carried by the target object, thereby increasing the sensing range of the second imaging device. This embodiment increases the sensing range of the second imaging device by controlling the movable platform to move further away from the positioning device carried by the target object, ensuring that the increase in the sensing range of the second imaging device is not limited by the hardware conditions of the second imaging device itself, thus improving the flexibility of adjusting the sensing range of the second imaging device.

[0078] In some embodiments, the distance at which the movable platform moves away from the positioning device again is determined based on the positioning accuracy of the positioning device and the difference between the field of view of the first imaging device and the field of view of the second imaging device. For example, based on the positioning accuracy of the positioning device, an expected distance at which the movable platform moves away from the positioning device is determined; based on the difference between the field of view of the first imaging device and the field of view of the second imaging device, a distance change is determined; and the expected distance is subtracted from the distance change to obtain the distance at which the movable platform moves away from the positioning device again.

[0079] In some embodiments, controlling a movable platform to increase the sensing range of a shooting device includes: determining a target strategy for increasing the sensing range of the shooting device based on information related to the target object; and controlling the movable platform to increase the sensing range of the shooting device according to the target strategy. This embodiment uses a corresponding strategy based on information related to the target object to control the movable platform to increase the sensing range of the shooting device, ensuring that the increased sensing range meets the requirements for recovering a lost target object. This improves the control efficiency and accuracy of the movable platform after the target object is lost, effectively guaranteeing the shooting effect.

[0080] In some embodiments, the information related to the target object includes information about the positioning device carried by the target object or the type of the target object. The information about the positioning device carried by the target object includes the positioning accuracy and / or the communication transmission quality of the positioning device. Accordingly, different positioning accuracies of the positioning device correspond to different target strategies, different communication transmission qualities of the positioning device, or different types of target objects correspond to different target strategies.

[0081] In some embodiments, the target strategy includes at least two of the following: controlling the position of the movable platform away from the positioning device; controlling the movable platform to reduce the focal length of the shooting device; and switching the shooting device used to shoot the target object from a first shooting device to a second shooting device, wherein the field of view of the second shooting device is greater than that of the first shooting device.

[0082] In some embodiments, after step S110, the method further includes: in response to the target object being lost from the image captured by the shooting device of the mobile platform and information related to the target object meeting preset conditions, maintaining the current sensing range of the shooting device unchanged. By maintaining the current sensing range of the shooting device unchanged, this embodiment ensures that after the lost target object is recovered, the set sensing range can be maintained for shooting, guaranteeing the shooting effect. For example, if the positioning accuracy of the positioning device, the communication transmission quality, or the type of the target object all meet preset conditions, it can be determined that the loss of the target object was not caused by these conditions, but may be due to the target object itself being obstructed by an obstacle between the mobile platform and the target object. In this case, one can wait for the target object to reappear in the image, or use the positioning data with high positioning accuracy of the positioning device to obtain the latest position of the target object, or predict the latest position of the target object based on the movement parameters (e.g., movement speed and / or movement direction) before the target object was lost from the image, and then adjust the orientation of the shooting device of the mobile platform based on this latest position to assist in quickly recovering the lost target in the image.

[0083] In some embodiments, after step S110, the method further includes: adjusting the shooting trajectory and / or shooting orientation of the mobile platform in response to the target object being lost from the image captured by the shooting device of the mobile platform and the information related to the target object meeting preset conditions. This embodiment, by adjusting the shooting trajectory and / or shooting orientation of the mobile platform, can quickly and accurately locate the lost target object, improving the efficiency and accuracy of target object retrieval. If the information related to the target object meets the preset conditions, it indicates that the target object was not lost from the image because the information related to the target object did not meet the conditions; therefore, other methods can be tried to quickly retrieve the lost target. Taking Figure 5 as an example, the target object is lost from the footage captured by the mobile platform because there is an obstacle 30, such as a tree, between the mobile platform 101 and the target object 40. Increasing the sensing range of the mobile platform's camera does not quickly recover the lost target. Therefore, other methods can be tried, such as changing the following direction of the mobile platform 101 (e.g., switching from left-hand following to right-hand following), or changing the current movement trajectory of the mobile platform (e.g., switching from a normal left-hand following trajectory to a detour trajectory 21 to bypass the obstacle 30 between the mobile platform 101 and the target object 40), thereby achieving the goal of recovering the lost target more quickly. The existence of obstacles between the mobile platform and the target object can be identified by analyzing the footage captured by the mobile platform, or by using other obstacle detection sensors on the mobile platform, such as visual perception sensors, lidar, or time-of-flight (TOF) sensors.

[0084] In some embodiments, after step S110, the method further includes: responding to the loss of the target object from the image captured by the shooting device of the movable platform and the information related to the target object meeting preset conditions, maintaining the current sensing range of the shooting device unchanged and adjusting the shooting trajectory and / or shooting orientation of the movable platform. This embodiment, by maintaining the current sensing range of the shooting device unchanged and adjusting the shooting trajectory and / or shooting orientation of the movable platform, quickly and accurately locates the lost target object, and ensures that the set sensing range is maintained for shooting after the lost target object is found. This not only improves the efficiency and accuracy of finding the target object but also guarantees the shooting effect.

[0085] In some embodiments, adjusting the shooting trajectory of the movable platform may include adjusting the attitude and / or position of the movable platform. Adjusting the shooting orientation of the movable platform may include adjusting the attitude and / or position of the movable platform.

[0086] In some embodiments, keeping the current sensing range of the shooting device constant may include keeping the size of the current sensing range of the shooting device constant. This can be further categorized as keeping the distance between the movable platform and the predicted current position of the target object constant, and / or keeping the field of view of the shooting device constant. The current position of the target object is predicted using motion parameters obtained when or before the target object is lost from the footage captured by the movable platform, and / or the current position of the target object is predicted using the position output by a positioning device carried by the target object.

[0087] In some embodiments, information related to the target object that meets preset conditions includes: the positioning accuracy of the positioning device carried by the target object is greater than a first threshold, the communication transmission quality of the positioning device carried by the target object is greater than a second threshold, and / or the speed of the target object is less than a third threshold. For example, in response to the target object being lost from the image captured by the camera device of the mobile platform and the positioning accuracy of the positioning device carried by the target object being greater than the first threshold, the communication transmission quality of the positioning device being greater than the second threshold, and / or the speed of the target object being less than the third threshold, the current sensing range of the camera device remains unchanged.

[0088] In some embodiments, the control method further includes: predicting the current position of the target object; and adjusting the orientation of the shooting device according to the current position of the target object. Adjusting the orientation of the shooting device may include: adjusting the orientation of the movable platform, and / or adjusting the orientation of the attitude adjustment mechanism for mounting the shooting device. The current position of the target object is predicted by motion parameters of the target object when it is lost from the footage captured by the movable platform or before it is lost, and / or the current position of the target object is predicted by the position output by a positioning device carried by the target object. These motion parameters include motion speed and / or motion direction. This embodiment adjusts the orientation of the shooting device by predicting the current position of the target object, thereby enabling the rapid and accurate retrieval of lost target objects, improving the efficiency and accuracy of target object retrieval.

[0089] It is understood that the steps of predicting the current position of the target object and adjusting the orientation of the shooting device based on the current position of the target object can be performed at any time after the target object is lost from the image captured by the shooting device of the mobile platform. This application embodiment does not specifically limit this. For example, adjusting the orientation of the shooting device and adjusting the sensing range of the shooting device can be performed simultaneously. For example, as shown in FIG3, the mobile platform 101 locks onto the target object 11 and performs follow-up shooting. During the process of the mobile platform 101 locking onto the target object 11 and performing follow-up shooting, the target object 11 moves to the position shown in Figure A in FIG6. At this time, the target object 11 is lost from the image captured by the shooting device 1031. Then, based on the moving speed and / or moving direction of the target object 11 before it is lost, the current position of the target object can be predicted. Based on the current position of the target object, the shooting device can be followed for a period of time while adjusting the orientation of the shooting device in order to find the lost target object 11.

[0090] In scenarios where the target object 11 carries a positioning device, the target object 11 can be identified using the location of the positioning device. If the target object 11 is lost, it can be re-identified and matched using the location of the positioning device. However, the positioning device has positioning errors. If the target object 11 is lost and the positioning error of the positioning device is small (e.g., the positioning device was not put into a pocket by the target object 11, the antenna of the positioning device is pointing upwards, and there are no obstacles such as buildings or trees obstructing the positioning device), the movable platform 101 is controlled to maintain a set following distance and orientation with the predicted current position of the target object 11 for tracking and shooting. Furthermore, based on the target object 11's moving speed and / or moving direction before it was lost, The current position of the target object 11 is predicted. Based on the current position of the target object 11, the orientation of the shooting device 1031 is adjusted for a period of time to find the lost target object 11. As shown in Figure B of Figure 6, after adjusting the orientation of the shooting device 1031, the size of the sensing range of the shooting device 1031 remains unchanged, but the direction changes. At this time, the target object 11 is within the sensing range of the shooting device 1031, so the lost target object 11 is found. The movable platform 101 continues to follow the target object 11. The distance and orientation between the movable platform 101 and the target object 11 in Figure A of Figure 6 are the same as those between the movable platform 101 and the target object 11 in Figure B of Figure 6.

[0091] If the target object 11 is lost and the positioning error of the positioning device is large (e.g., the positioning device is placed in the pocket by the target object 11, the antenna of the positioning device is not pointing upwards, or there are obstacles such as buildings or trees around the positioning device), the loss of the target object 11 from the captured image is most likely not due to the target object 11 being obscured by obstacles, but due to the large positioning error of the positioning device. Therefore, the following distance between the movable platform 101 and the predicted current position of the target object 11 can be increased to increase the sensing range of the shooting device 1031. As shown in Figure B of Figure 4, the target object 11 is within the increased sensing range of the shooting device 1031, so that the target object 11 will not be lost due to the large positioning error of the positioning device, ensuring that the target object 11 is within the sensing range of the shooting device 1031. Furthermore, the distance between the movable platform 101 and the target object 11 in Figure A of Figure 4 is smaller than the distance between the movable platform 101 and the target object 11 in Figure B of Figure 4.

[0092] It is understood that the steps of predicting the current position of the target object and adjusting the orientation of the shooting device based on the current position of the target object can be performed after increasing the sensing range of the shooting device, or during the process of increasing the sensing range of the shooting device, or simultaneously with increasing the sensing range of the shooting device. This application embodiment does not specifically limit this. For example, as shown in Figure A of FIG4, when the target object 11 is lost and the positioning error of the positioning device is large, the following distance between the movable platform 101 and the predicted current position of the target object 11 is increased to increase the sensing range of the shooting device 1031. While increasing the following distance between the movable platform 101 and the predicted current position of the target object 11, the current position of the target object is predicted and the orientation of the shooting device is adjusted based on the current position of the target object until the lost target object 11 is found.

[0093] In some embodiments, the control method further includes: re-identifying the target object during the adjustment of the orientation of the shooting device. The re-identification of the target object can be based on a preset feature model, which is generated using a trained deep learning neural network. The feature model of the target object includes various feature information of the target object, such as color, texture, shape, size, and / or other characteristics. The deep learning neural network extracts the features of the target object to generate the feature model. This embodiment improves the accuracy of finding lost target objects by re-identifying the target object during the adjustment of the orientation of the shooting device.

[0094] In some embodiments, after step S120, the method further includes: in response to the target object reappearing in the image captured by the mobile platform, adjusting the sensing range of the shooting device of the mobile platform back to the initial sensing range before the increase. The initial sensing range is the sensing range set by the mobile platform or its control device, or the sensing range set by the user. This embodiment, by restoring the sensing range of the shooting device to the initial sensing range before the increase after the target object is retrieved, allows the shooting device to continue capturing images of the target object within the initial sensing range, thereby effectively ensuring the shooting effect of the target object.

[0095] In some embodiments, adjusting the sensing range of the shooting device of the mobile platform to the initial sensing range before the increase may include: controlling the position of the mobile platform closer to the positioning device carried by the target object to adjust the sensing range of the shooting device to the initial sensing range before the increase; or, controlling the mobile platform to reduce the field of view of the shooting device to adjust the sensing range of the shooting device to the initial sensing range before the increase.

[0096] For example, before or when the target object is lost, the distance between the mobile platform and the positioning device carried by the target object is always the initial distance. After increasing the sensing range of the shooting device, the distance between the mobile platform and the positioning device carried by the target object is greater than the initial distance. Therefore, after the target object is found, the position of the mobile platform can be controlled to move closer to the positioning device carried by the target object, reducing the distance between the mobile platform and the positioning device carried by the target object to the initial distance, so as to adjust the sensing range of the shooting device to the initial sensing range before the increase.

[0097] In some embodiments, controlling the movable platform to reduce the field of view of the shooting device includes: controlling the movable platform to increase the focal length of the shooting device to adjust the sensing range of the shooting device to the initial sensing range before the increase; or, switching the shooting device used to shoot the target object from a second shooting device to a first shooting device to adjust the sensing range of the shooting device to the initial sensing range before the increase, wherein the field of view of the second shooting device is greater than the field of view of the first shooting device.

[0098] For example, before or when the target object is lost, the focal length of the shooting device is a first focal length. By reducing the focal length of the shooting device to increase its sensing range, the focal length becomes a second focal length, which is shorter than the first focal length. Therefore, after the target object is recovered, the movable platform can be controlled to increase the focal length of the shooting device to adjust its sensing range back to the initial sensing range before the increase. As another example, before or when the target object is lost, the movable platform uses a first shooting device to photograph the target object. After the target object is lost, a second shooting device is switched to photograph it to increase the sensing range. Therefore, after the target object is recovered, the shooting device used to photograph the target object is switched back from the second shooting device to the first shooting device to adjust its sensing range back to the initial sensing range before the increase.

[0099] Currently, when a mobile platform is locking onto a target object for shooting, the target object sometimes disappears from the frame, resulting in the target object not appearing in the shot and affecting the shooting effect. In related technologies, the height of the mobile platform is directly raised after the target object is lost in the frame in order to quickly find the target object. However, this simple and crude method may not be suitable for all situations, and therefore may affect the accuracy and efficiency of the mobile platform's control after the target object is lost.

[0100] For this purpose, please refer to Figure 7, which is a schematic flowchart of the steps of another control method for a mobile platform provided in an embodiment of this application.

[0101] As shown in Figure 7, the control method for the mobile platform includes steps S210 to S230.

[0102] Step S210: Control the movable platform to lock the target object.

[0103] Step S220: In response to the loss of the target object from the image captured by the camera device of the mobile platform, based on specific information, determine the target search mode for the mobile platform to search for the target object from at least two search modes, the at least two search modes including a first search mode and a second search mode, the first search mode being different from the second search mode.

[0104] Step S230: Control the movable platform to perform the corresponding actions according to the target search mode.

[0105] This application embodiment improves the accuracy of the mobile platform in executing the search mode after the target object is lost from the image captured by the mobile platform. It can select a suitable search mode from at least two search modes by combining specific information to find the lost target object, instead of using the same search mode in all cases. This improves the control efficiency and accuracy of the mobile platform after the target object is lost.

[0106] The control method provided in this application embodiment can be executed by a mobile platform, or by a control device of the mobile platform, or a combination of processes can be executed by the mobile platform and a portion by its control device. For example, if the control method is executed by the control device of the mobile platform, the control device might send information related to a target object to the mobile platform to lock onto the target object. Then, in response to the target object being lost from the image captured by the mobile platform's camera and the information related to the target object not meeting preset conditions, the control device might control the mobile platform to increase the sensing range of the camera. The information related to the target object may include: the target object's position, color, texture, shape, size, and / or other characteristics.

[0107] In some embodiments, the sensing range of the shooting device in the first search mode is different from that in the second search mode. Because the sensing range of the shooting device differs in different search modes, after a target object is lost from the footage captured by the mobile platform, a search mode with a suitable sensing range can be selected from at least two search modes based on specific information to locate the lost target object, thereby more effectively improving the efficiency and accuracy of locating the lost target object.

[0108] In some embodiments, the sensing range of the shooting device in the first search mode changes compared to the sensing range of the shooting device before the target object is lost in the frame, while the sensing range of the shooting device in the second search mode remains unchanged compared to the sensing range of the shooting device before the target object is lost in the frame. This embodiment, after the target object is lost from the frame captured by the mobile platform, can combine specific information to select either a search mode that requires changing the sensing range or a search mode that does not change the sensing range from at least two search modes to find the lost target object, ensuring that the selected search mode meets the relevant requirements for finding the lost target object, thereby improving the efficiency and accuracy of finding the lost target object.

[0109] In some embodiments, the size of the sensing range of the shooting device in the first searching mode changes compared to the size of the sensing range of the shooting device before the target object is lost in the frame, while the size of the sensing range of the shooting device in the second searching mode remains unchanged compared to the size of the sensing range of the shooting device before the target object is lost in the frame. For example, the sensing range of the shooting device in the first searching mode is larger than the sensing range of the shooting device before the target object is lost in the frame, while the sensing range of the shooting device in the second searching mode is the same as the size of the sensing range of the shooting device before the target object is lost in the frame.

[0110] In some embodiments, the change in the sensing range of the shooting device is achieved by adjusting the distance between the movable platform and the target object. The greater the distance between the movable platform and the target object, the larger the sensing range of the shooting device; conversely, the closer the distance, the smaller the sensing range. For example, in a first searching mode, the distance between the movable platform and the target object is greater than the distance between the movable platform and the target object before the target object disappeared from the frame; that is, the sensing range of the shooting device in the first searching mode is greater than the sensing range of the shooting device before the target object disappeared from the frame. As another example, in a second searching mode, the distance between the movable platform and the target object remains unchanged compared to the distance between the movable platform and the target object before the target object disappeared from the frame; that is, the sensing range of the shooting device in the second searching mode is the same as the sensing range of the shooting device before the target object disappeared from the frame.

[0111] In some embodiments, the change in the sensing range of the shooting device is achieved by adjusting the distance between the movable platform and the target object, including: the change in the sensing range of the shooting device is achieved by adjusting the distance between the movable platform and the predicted current position of the target object. Wherein, the current position of the target object is predicted using motion parameters obtained when or before the target object is lost from the image captured by the movable platform and / or the current position of the target object is predicted using the position output by a positioning device carried by the target object.

[0112] In some embodiments, the change in the sensing range of the shooting device is achieved by adjusting the focal length of the shooting device. A smaller focal length results in a larger sensing range, and a larger focal length results in a smaller sensing range. For example, the focal length of the shooting device in the first search mode is smaller than the focal length of the shooting device before the target object disappeared from the frame; that is, the sensing range of the shooting device in the first search mode is larger than the sensing range of the shooting device before the target object disappeared from the frame. As another example, the focal length of the shooting device in the second search mode remains unchanged compared to the focal length of the shooting device before the target object disappeared from the frame; that is, the sensing range of the shooting device in the second search mode is the same as the sensing range of the shooting device before the target object disappeared from the frame.

[0113] In some embodiments, the sensing range of the shooting device in the first search mode is greater than the sensing range of the shooting device in the second search mode. This embodiment, after a target object is lost from the footage captured by the mobile platform, can combine specific information to select either a search mode with a larger sensing range or a search mode with a smaller sensing range from at least two search modes to locate the lost target object. This ensures that the selected search mode meets the relevant requirements for locating the lost target object, improving the efficiency and accuracy of locating the lost target object.

[0114] For example, in response to the positioning accuracy of the positioning device carried by the lost target object being less than or equal to a first threshold, a first search mode is selected as the target search mode for the mobile platform to search for the target object. Because the positioning accuracy of the positioning device is less than or equal to the first threshold, the positioning error of the position output by the positioning device is relatively large. Therefore, the positioning device cannot accurately describe the position of the target object. Consequently, using a position with a large positioning error after the target object is lost cannot efficiently and accurately retrieve the target object. Therefore, a first search mode with a larger sensing range is selected to search for the lost target object, thereby improving the efficiency and accuracy of the target object search, and thus improving the control efficiency and accuracy of the mobile platform after the target object is lost.

[0115] For example, in response to the positioning accuracy of the positioning device carried by the lost target object being greater than a first threshold, a second search mode is selected as the target search mode for the mobile platform to find the target object. Because the positioning accuracy of the positioning device is greater than the first threshold, the positioning error of the position output by the positioning device is small. Therefore, the positioning device can accurately describe the location of the target object. Thus, using the position with the smaller positioning error after the target object is lost can efficiently and accurately retrieve the target object. Therefore, selecting the second search mode with a smaller sensing range is sufficient to find the lost target object, ensuring both efficiency and accuracy in finding the target object while maintaining the shooting effect.

[0116] In some embodiments, the sensing range of the shooting device in the first searching mode is greater than the sensing range of the shooting device in the second searching mode, including: the distance between the movable platform and the positioning device carried by the target object in the first searching mode is greater than the distance between the movable platform and the positioning device carried by the target object in the second searching mode, and / or, the field of view of the shooting device in the first searching mode is greater than the field of view of the shooting device in the second searching mode.

[0117] In some embodiments, the distance between the mobile platform and the positioning device carried by the target object in the first search mode is greater than the distance between the mobile platform and the positioning device carried by the target object in the second search mode, including: the horizontal distance between the mobile platform and the positioning device in the first search mode is greater than the horizontal distance between the mobile platform and the positioning device in the second search mode, and / or, the vertical distance between the mobile platform and the positioning device in the first search mode is greater than the vertical distance between the mobile platform and the positioning device in the second search mode.

[0118] In some embodiments, the field of view of the shooting device in the first search mode being greater than the field of view of the shooting device in the second search mode includes any of the following: the focal length of the shooting device in the first search mode is less than the focal length of the shooting device in the second search mode; the movable platform uses the same shooting device to shoot the target object in both the first and second search modes, and the focal length of the same shooting device in the first search mode is less than the focal length of the same shooting device in the second search mode; the movable platform uses a first shooting device to shoot the target object in the first search mode and a second shooting device to shoot the target object in the second search mode, and the field of view of the first shooting device is greater than the field of view of the second shooting device.

[0119] In some embodiments, the shooting method of the mobile platform in the first search mode differs from that in the second search mode. Because the mobile platform uses different shooting methods in different search modes, by combining specific information to select a suitable shooting mode from at least two search modes after the target object is lost from the captured image, the lost target object can be located and photographed. This improves the control efficiency and accuracy of the mobile platform after the target object is lost, while also effectively ensuring the shooting effect.

[0120] In some embodiments, the shooting method of the movable platform in the first search mode is different from the shooting method of the movable platform before the target object is lost in the frame, while the shooting method of the movable platform in the second search mode remains unchanged compared to the shooting method of the movable platform before the target object is lost in the frame. The change in the shooting method of the movable platform is achieved by adjusting the shooting orientation and / or the shooting trajectory of the movable platform. In this embodiment, after the target object is lost from the frame captured by the movable platform, it can combine specific information to select either a search mode that requires a change in shooting method or a search mode that does not require a change in shooting method from at least two search modes to find the lost target object. This ensures that the selected search mode not only meets the requirements for finding the lost target object but also meets the shooting requirements, improving the control efficiency and accuracy of the movable platform after the target object is lost while effectively guaranteeing the shooting effect.

[0121] For example, in response to an obstacle between the mobile platform and the target object, a first search mode is selected as the target search mode for the mobile platform to find the lost target object. Because of the obstacle, if the shooting method used before the target object disappeared from the frame is continued, the lost target object cannot be found quickly and accurately, potentially resulting in a prolonged period of target object loss. Therefore, a first search mode that allows for changes in shooting method (e.g., changing the mobile platform's tracking trajectory or tracking direction) is selected to find the lost target object, improving the efficiency and accuracy of target object retrieval, thereby enhancing the control efficiency and accuracy of the mobile platform after the target object is lost.

[0122] For example, in response to the absence of obstacles between the mobile platform and the target object, the second search mode is selected as the target search mode for the mobile platform to find the lost target object. Since there are no obstacles between the mobile platform and the target object, changing the shooting method before the target object disappeared from the frame would affect the shooting effect. Therefore, the second search mode, which does not change the shooting method, is selected to find the lost target object, so that the target object can be found quickly and accurately while keeping the shooting method of the mobile platform unchanged, thus ensuring the shooting effect.

[0123] In some embodiments, the shooting trajectory pattern of the movable platform in the first search mode is a detour trajectory, and the shooting trajectory pattern of the movable platform in the second search mode is a follow trajectory. For example, when the movable platform is following a target object, an obstacle appears between the movable platform and the target object, and the obstacle blocks the target object, causing the target object to be lost from the frame captured by the movable platform. At this time, the first search mode, which can change the shooting method, is selected to find the lost target object. For example, the movable platform is controlled to detour around the obstacle, going around from behind the obstacle to in front of the obstacle, in order to find the target again. Therefore, the shooting trajectory pattern of the movable platform is a detour trajectory.

[0124] For example, if the target object is lost from the frame captured by the mobile platform while it is following the target object, and there are no obstacles between the mobile platform and the target object, the second search mode without changing the shooting method can be selected to find the lost target object. For example, the mobile platform can be controlled to continue following the target object along the direction of movement before it was lost in order to find the target again. Therefore, the shooting trajectory pattern of the mobile platform is a following trajectory.

[0125] In some embodiments, the specific information includes information related to the currently captured content. This embodiment, by combining information related to the currently captured content with information obtained from footage captured by a mobile platform after the target object is lost, can select a suitable search mode from at least two search modes, making the selected search mode more closely match the currently captured content, thereby improving the efficiency and accuracy of using the search mode to find the lost target object.

[0126] In some embodiments, information related to the currently captured content includes information related to the currently captured target object and / or information related to the currently captured environment. This embodiment, by combining information related to the currently captured target object and / or information related to the currently captured environment with at least two search modes after the target object is lost from the footage captured by the mobile platform, can select a suitable search mode from at least two search modes. This makes the selected search mode more closely match the information related to the target object and / or the information related to the currently captured environment, thereby improving the efficiency and accuracy of using the search mode to find the lost target object.

[0127] In some embodiments, information related to the currently captured target object includes: information related to the positioning device carried by the target object. This information includes the positioning accuracy of the positioning device, the communication transmission quality of the positioning device, and / or whether the positioning device is functioning normally. The positioning accuracy of the positioning device is determined based on the positioning accuracy of the positioning signal transmitted by the positioning device, or predicted based on the positioning accuracy of the positioning signal from the mobile platform. This embodiment, by combining the relevant information of the positioning device carried by the target object with the image captured by the mobile platform, can select a suitable search mode from at least two search modes after the target object is lost from the image captured by the mobile platform. This makes the selected search mode more closely match the relevant information of the positioning device, thereby improving the efficiency and accuracy of using the search mode to find the lost target object.

[0128] In some embodiments, determining a target search mode for a mobile platform to find a target object from at least two search modes includes: selecting a first search mode in response to the positioning accuracy of the positioning device carried by the target object being a first positioning accuracy, and selecting a second search mode in response to the positioning accuracy of the positioning device carried by the target object being a second positioning accuracy, wherein the first positioning accuracy is less than the second positioning accuracy. Because the positioning accuracy of the positioning device carried by the target object is low, the positioning error of the position output by the positioning device is large, thus failing to accurately describe the position of the target object. Therefore, using a position with a large positioning error after the target object is lost cannot efficiently and accurately retrieve it. To address this, this embodiment selects a first search mode with a larger sensing range to find the lost target object when the positioning accuracy of the positioning device carried by the target object is low, thereby improving the efficiency and accuracy of finding the target object. Conversely, when the positioning accuracy of the positioning device carried by the target object is high, a second search mode with a smaller sensing range is selected to find the lost target object, ensuring both efficiency and accuracy in finding the target object while maintaining the shooting effect.

[0129] In some embodiments, determining a target search mode for a mobile platform to search for a target object from at least two search modes includes: selecting a first search mode in response to a first communication transmission quality of the positioning device, and selecting a second search mode in response to a second communication transmission quality of the positioning device, wherein the first communication transmission quality is weaker than the second communication transmission quality. Because the communication transmission quality of the positioning device carried by the target object is weak, the mobile platform cannot effectively and reliably obtain the location transmitted by the positioning device. Therefore, after the target object is lost, the mobile platform cannot efficiently and accurately retrieve the target object because the location transmitted by the positioning device cannot be effectively and reliably obtained. To address this, this embodiment selects a first search mode with a larger sensing range to search for the lost target object when the communication transmission quality of the positioning device carried by the target object is weak, thereby improving the efficiency and accuracy of the search. Conversely, when the communication transmission quality of the positioning device carried by the target object is strong, a second search mode with a smaller sensing range is selected to search for the lost target object, ensuring both efficiency and accuracy in locating the target object while maintaining the shooting effect.

[0130] In some embodiments, determining a target search mode for a mobile platform to search for a target object from at least two search modes includes: selecting a first search mode in response to a malfunction of the positioning device, and selecting a second search mode in response to a malfunction of the positioning device. Since the positioning device carried by the target object is not functioning properly, if the target object is lost, the mobile platform cannot use the location of the positioning device to retrieve the lost target object, resulting in low efficiency and accuracy in searching for the target object. Therefore, in the case of a malfunction of the positioning device carried by the target object, selecting the first search mode with a larger sensing range to search for the lost target object improves the efficiency and accuracy of the search. Conversely, in the case of a malfunction of the positioning device carried by the target object, selecting the second search mode with a smaller sensing range ensures both efficiency and accuracy in searching for the target object while maintaining the shooting effect.

[0131] In some embodiments, information related to the currently captured target object includes: the type of the target object. This embodiment, by combining the target object's type with the image captured by the mobile platform after the target object is lost, can select a suitable search mode from at least two search modes, ensuring the selected search mode matches the target object's type, thereby improving the efficiency and accuracy of using the search mode to find the lost target object.

[0132] In some embodiments, the type of the target object is related to whether the target object is a moving target or the moving speed of the target object. For example, the target object includes a first type or a second type. The moving speed of the first type of target object is greater than that of the second type of target object. Determining a target search mode for the mobile platform to search for the target object from at least two search modes includes: selecting a first search mode in response to the target object being of the first type, and selecting a second search mode in response to the target object being of the second type. Since high-speed moving target objects have a larger movement range, if the original sensing range is maintained after a high-speed moving target object is lost, it will take a long time to find the target object. Therefore, this embodiment improves the efficiency and accuracy of finding the target object by selecting a first search mode with a larger sensing range when the target object is of the first type (the target object is moving at high speed), and selecting a second search mode with a smaller sensing range when the target object is of the second type (the target object is moving at low speed). This ensures both the efficiency and accuracy of finding the target object while maintaining the shooting effect.

[0133] In some embodiments, information related to the currently captured environment includes obstacle information in the currently captured environment. This embodiment, by combining obstacle information from the currently captured environment with the loss of a target object from the footage captured by the mobile platform, can select a suitable search mode from at least two search modes, making the selected search mode more suitable for the currently captured environment, thus improving the efficiency and accuracy of using the search mode to find the lost target object.

[0134] In some embodiments, obstacle information in the currently captured environment includes whether there is an obstacle between the mobile platform and the target object. The presence of an obstacle between the mobile platform and the target object is determined by recognizing footage captured by the mobile platform or by an obstacle detection sensor on the mobile platform. Determining a target search mode for the mobile platform to search for the target object from at least two search modes includes: selecting a first search mode in response to the existence of an obstacle between the mobile platform and the target object, and selecting a second search mode in response to the absence of an obstacle between the mobile platform and the target object. Because there are obstacles between the mobile platform and the target object, if the shooting method is continued in the same way as before the target object was lost in the frame, it is impossible to quickly and accurately find the lost target object, and the target object may be lost for a long time. Therefore, this embodiment selects a first search mode that can change the shooting method and / or has a larger sensing range to find the lost target object when there are obstacles between the mobile platform and the target object, so as to improve the efficiency and accuracy of finding the target object, thereby improving the control efficiency and accuracy of the mobile platform after the target object is lost. When there are no obstacles between the mobile platform and the target object, a second search mode that does not change the shooting method and / or has a smaller sensing range is selected to find the lost target object, so as to be able to quickly and accurately find the target object while keeping the shooting method of the mobile platform unchanged, thus ensuring the shooting effect.

[0135] In some embodiments, the control method further includes: predicting the current position of the target object; and adjusting the orientation of the shooting device according to the current position of the target object. Adjusting the orientation of the shooting device may include: adjusting the orientation of the movable platform, and / or adjusting the orientation of the attitude adjustment mechanism for mounting the shooting device. The current position of the target object is predicted by motion parameters of the target object when it is lost from the footage captured by the movable platform or before it is lost, and / or the current position of the target object is predicted by the position output by a positioning device carried by the target object. These motion parameters include motion speed and / or motion direction. This embodiment adjusts the orientation of the shooting device by predicting the current position of the target object, thereby enabling the rapid and accurate retrieval of lost target objects, improving the efficiency and accuracy of target object retrieval.

[0136] It is understood that the steps of predicting the current position of the target object and adjusting the orientation of the shooting device based on the current position of the target object can be performed at any time after the target object is lost from the image captured by the shooting device of the movable platform. This application embodiment does not specifically limit this. For example, the steps of predicting the current position of the target object and adjusting the orientation of the shooting device based on the current position of the target object can be performed before or after step S230, or during the execution of step S230, or simultaneously with the execution of step S230.

[0137] In some embodiments, the control method further includes: re-identifying the target object during the adjustment of the orientation of the shooting device. The re-identification of the target object can be based on a preset feature model, which is generated using a trained deep learning neural network. The feature model of the target object includes various feature information of the target object, such as color, texture, shape, size, and / or other characteristics. The deep learning neural network extracts the features of the target object to generate the feature model. This embodiment improves the accuracy of finding lost target objects by re-identifying the target object during the adjustment of the orientation of the shooting device.

[0138] In some embodiments, the target finding mode is a first finding mode. After step S230, the method further includes: in response to the target object reappearing in the image captured by the mobile platform, restoring the sensing range of the shooting device of the mobile platform to the initial sensing range. The initial sensing range is the sensing range set by the mobile platform or its control device, or the sensing range set by the user. This embodiment, by restoring the sensing range of the shooting device to the initial sensing range after the target object is found, enables the shooting device to continue capturing images of the target object according to the initial sensing range, thereby effectively ensuring the shooting effect of the target object.

[0139] In some embodiments, restoring the sensing range of the shooting device of the mobile platform to the initial sensing range may include: controlling the position of the mobile platform closer to the positioning device carried by the target object to adjust the sensing range of the shooting device to the previous initial sensing range; or, controlling the mobile platform to reduce the field of view of the shooting device to adjust the sensing range of the shooting device to the previous initial sensing range.

[0140] For example, before or when the target object is lost, the distance between the mobile platform and the positioning device carried by the target object is always the initial distance. When searching for the target object according to the first search mode, the sensing range of the shooting device is increased, and the distance between the mobile platform and the positioning device carried by the target object is greater than the initial distance. Therefore, after the target object is found, the position of the mobile platform can be controlled to move closer to the positioning device carried by the target object, and the distance between the mobile platform and the positioning device can be reduced to the initial distance, so as to adjust the sensing range of the shooting device to the initial sensing range before the increase.

[0141] In some embodiments, controlling the movable platform to reduce the field of view of the shooting device includes controlling the movable platform to increase the focal length of the shooting device to adjust the sensing range of the shooting device back to the previous initial sensing range. For example, before or when the target object is lost, the focal length of the shooting device is a first focal length. When searching for the target object according to a first search mode, by reducing the focal length of the shooting device to increase the sensing range of the shooting device, the focal length of the shooting device becomes a second focal length, which is smaller than the first focal length. Therefore, after the target object is found, the movable platform can be controlled to increase the focal length of the shooting device to adjust the sensing range of the shooting device back to the initial sensing range before the increase.

[0142] 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.

[0143] Please refer to Figure 8, which is a schematic block diagram of the structure of a control device for a mobile platform provided in an embodiment of this application.

[0144] As shown in Figure 8, 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.

[0145] Specifically, the processor 111 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0146] 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.

[0147] The memory 112 stores computer program instructions, which, when invoked by the processor 111, cause the processor 111 to execute:

[0148] The movable platform is controlled to lock the target object;

[0149] In response to the loss of the target object from the image captured by the camera device of the mobile platform and the fact that the information related to the target object does not meet the preset conditions, the mobile platform is controlled to increase the sensing range of the camera device.

[0150] 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:

[0151] The movable platform is controlled to lock the target object;

[0152] In response to the loss of the target object from the image captured by the camera device of the mobile platform, a target search mode for the mobile platform to search for the target object is determined from at least two search modes based on specific information. The at least two search modes include a first search mode and a second search mode, wherein the first search mode is different from the second search mode.

[0153] Control the mobile platform to perform corresponding actions according to the target search pattern.

[0154] 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.

[0155] Please refer to Figure 9, which is a schematic block diagram of the structure of an electronic device provided in an embodiment of this application.

[0156] As shown in Figure 9, the electronic device 120 includes a processor 121 and a memory 122, which are connected via a bus 123, such as an I2C (Inter-integrated Circuit) bus. There may be one or more processors 121 and one or more memory units 122.

[0157] Specifically, the processor 121 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0158] Specifically, the processor 121 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0159] The memory 122 is used to store computer program instructions, which, when invoked by the processor 121, cause the processor 121 to execute:

[0160] Control the movable platform to lock the target object;

[0161] In response to the loss of the target object from the image captured by the camera device of the mobile platform and the fact that the information related to the target object does not meet the preset conditions, the mobile platform is controlled to increase the sensing range of the camera device.

[0162] In some embodiments, the memory 122 is used to store computer program instructions, which, when invoked by the processor 121, cause the processor 121 to execute:

[0163] Control the movable platform to lock the target object;

[0164] In response to the loss of the target object from the image captured by the camera device of the mobile platform, a target search mode for the mobile platform to search for the target object is determined from at least two search modes based on specific information. The at least two search modes include a first search mode and a second search mode, wherein the first search mode is different from the second search mode.

[0165] Control the mobile platform to perform corresponding actions according to the target search pattern.

[0166] In some embodiments, the electronic device 120 includes a mobile platform or a control device for a mobile platform.

[0167] 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 electronic 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.

[0168] 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.

[0169] The computer-readable storage medium can be an internal storage unit of the control terminal or unmanned aerial vehicle described in any of the foregoing embodiments, such as the hard disk or memory of the control terminal or unmanned aerial vehicle. The computer-readable storage medium can also be an external storage device of the control terminal or unmanned aerial vehicle, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the control terminal or unmanned aerial vehicle.

[0170] 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.

[0171] 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.

[0172] 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, include: The movable platform is controlled to lock the target object; In response to the loss of the target object from the image captured by the camera device of the mobile platform and the fact that the information related to the target object does not meet the preset conditions, the mobile platform is controlled to increase the sensing range of the camera device.

2. The control method according to claim 1, characterized in that, The control of the movable platform to increase the sensing range of the shooting device includes: The position of the movable platform is controlled to move away from the positioning device carried by the target object, so as to increase the sensing range of the shooting device.

3. The control method according to claim 2, characterized in that, The position of the movable platform away from the positioning device carried by the target object includes: the horizontal position and / or vertical position of the movable platform away from the positioning device.

4. The control method according to claim 2, characterized in that, The distance of the movable platform from the positioning device is related to the positioning accuracy of the positioning device.

5. The control method according to claim 4, characterized in that, The distance of the movable platform from the positioning device is negatively correlated with the positioning accuracy of the positioning device.

6. The control method according to any one of claims 1-5, characterized in that, The control of the movable platform to increase the sensing range of the shooting device includes: The movable platform is controlled to increase the field of view of the shooting device, thereby increasing the sensing range of the shooting device.

7. The control method according to claim 6, characterized in that, The control of the movable platform to increase the field of view of the shooting device includes: The movable platform is controlled to reduce the focal length of the shooting device in order to increase the field of view of the shooting device.

8. The control method according to claim 7, characterized in that, The control of the movable platform to reduce the focal length of the shooting device includes: If the current focal length of the shooting device is greater than the minimum focal length of the shooting device, the movable platform is controlled to reduce the focal length of the shooting device.

9. The control method according to claim 7, characterized in that, The reduction in the focal length of the shooting device is related to the positioning accuracy of the positioning device carried by the target object.

10. The control method according to claim 9, characterized in that, The reduction in the focal length of the shooting device is negatively correlated with the positioning accuracy of the positioning device.

11. The control method according to claim 7, characterized in that, The method further includes: In response to the target object not reappearing in the frame after the focal length of the shooting device is reduced to the minimum focal length, the movable platform is controlled to move away from the position of the positioning device carried by the target object.

12. The control method according to claim 6, characterized in that, The control of the movable platform to increase the field of view of the shooting device includes: The shooting device used to photograph the target object is switched from a first shooting device to a second shooting device, wherein the field of view of the second shooting device is greater than that of the first shooting device.

13. The control method according to claim 12, characterized in that, Both the first and second shooting devices are fixed-focus shooting devices.

14. The control method according to claim 12, characterized in that, The first shooting device is a zoom shooting device, or the second shooting device is a zoom shooting device.

15. The control method according to claim 12, characterized in that, The method further includes: In response to the target object not reappearing in the frame after the shooting device for shooting the target object is switched from the first shooting device to the second shooting device, the movable platform is controlled to increase the sensing range of the second shooting device.

16. The control method according to claim 15, characterized in that, The control of the movable platform to increase the sensing range of the second shooting device includes: The movable platform is controlled to reduce the focal length of the second shooting device in order to increase the field of view of the second shooting device.

17. The control method according to claim 16, characterized in that, The increase in the field of view of the second shooting device is determined based on the positioning accuracy of the positioning device carried by the target object and the difference between the field of view of the first shooting device and the field of view of the second shooting device.

18. The control method according to claim 15, characterized in that, The control of the movable platform to increase the sensing range of the second shooting device includes: The movable platform is controlled to move further away from the positioning device carried by the target object, thereby increasing the sensing range of the second shooting device.

19. The control method according to claim 18, characterized in that, The distance at which the movable platform moves away from the positioning device again is determined based on the positioning accuracy of the positioning device and the difference between the field of view of the first shooting device and the field of view of the second shooting device.

20. The control method according to any one of claims 1-19, characterized in that, The increase in the sensing range of the shooting device is related to the positioning accuracy of the positioning device carried by the target object.

21. The control method according to claim 20, characterized in that, The increase in the sensing range of the shooting device is negatively correlated with the positioning accuracy of the positioning device.

22. The control method according to any one of claims 1-21, characterized in that, The information related to the target object includes: information about the positioning device carried by the target object or the type of the target object.

23. The control method according to claim 22, characterized in that, The relevant information of the positioning device includes the positioning accuracy of the positioning device, the communication transmission quality of the positioning device, and / or whether the positioning device is working properly.

24. The control method according to claim 23, characterized in that, The information related to the target object does not meet the preset conditions, including: the positioning accuracy of the positioning device is less than or equal to a first threshold, the communication transmission quality of the positioning device is less than or equal to a second threshold, and / or the positioning device is not working properly.

25. The control method according to claim 22, characterized in that, The type of the target object is related to whether the target object is a moving target or the moving speed of the target object.

26. The control method according to claim 25, characterized in that, The information related to the target object does not meet the preset conditions, including: the target object is of type 1, and the moving speed of the target object of type 1 is greater than or equal to a third threshold.

27. The control method according to any one of claims 1-26, characterized in that, The control of the movable platform to increase the sensing range of the shooting device includes: Based on the information related to the target object, a target strategy for increasing the sensing range of the shooting device is determined; According to the target strategy, the movable platform is controlled to increase the sensing range of the shooting device.

28. The control method according to claim 27, characterized in that, The information related to the target object includes: information about the positioning device carried by the target object or the type of the target object.

29. The control method according to claim 28, characterized in that, The target strategy corresponds to different positioning accuracies of the positioning device, different communication transmission quality of the positioning device, or different types of target objects.

30. The control method according to any one of claims 27 to 29, characterized in that, The target strategy includes at least two of the following: Control the position of the movable platform away from the positioning device; Control the movable platform to reduce the focal length of the shooting device; The shooting device used to photograph the target object is switched from a first shooting device to a second shooting device, wherein the field of view of the second shooting device is greater than that of the first shooting device.

31. The control method according to any one of claims 1-30, characterized in that, The method further includes: In response to the loss of the target object from the image captured by the camera device of the mobile platform and the information related to the target object meeting a preset condition, at least one of the following is performed: Keep the current sensing range of the imaging device unchanged; Adjust the shooting trajectory of the movable platform; Adjust the shooting position of the movable platform.

32. The control method according to claim 31, characterized in that, The information related to the target object meets preset conditions, including: the positioning accuracy of the positioning device carried by the target object is greater than a first threshold and / or the communication transmission quality of the positioning device carried by the target object is greater than a second threshold.

33. The control method according to claim 31, characterized in that, The information related to the target object meets preset conditions, including: the target object's moving speed is less than a third threshold.

34. The control method according to any one of claims 1-33, characterized in that, The method further includes: Predict the current position of the target object; Adjust the orientation of the shooting device according to the current position of the target object.

35. The control method according to claim 34, characterized in that, The current position of the target object is predicted by the movement parameters of the target object when it is lost from the image or before it is lost.

36. The control method according to claim 35, characterized in that, The movement parameters include movement speed and / or movement direction.

37. The control method according to claim 34, characterized in that, The current position of the target object is predicted by the position output by the positioning device carried by the target object.

38. The control method according to any one of claims 34 to 37, characterized in that, The method further includes: During the process of adjusting the orientation of the shooting device, the target object is re-identified.

39. The control method according to claim 34, characterized in that, Adjusting the orientation of the shooting device includes: Adjust the orientation of the movable platform, and / or adjust the orientation of the posture adjustment mechanism for mounting the shooting device.

40. The control method according to any one of claims 1-31, characterized in that, After controlling the movable platform to increase the sensing range of the shooting device, the method further includes: In response to the target object reappearing in the footage captured by the mobile platform, the sensing range of the mobile platform's shooting device is adjusted back to the initial sensing range before the increase.

41. The control method according to claim 40, characterized in that, The initial sensing range is the sensing range set by the mobile platform or the control device of the mobile platform, or the sensing range set by the user.

42. The control method according to claim 40, characterized in that, Adjusting the sensing range of the shooting device on the mobile platform back to its initial sensing range before the increase includes: The movable platform is controlled to move closer to the positioning device carried by the target object, so as to adjust the sensing range of the shooting device to the initial sensing range before it was increased; or, The movable platform is controlled to reduce the field of view of the shooting device, so as to adjust the sensing range of the shooting device to the initial sensing range before it was increased.

43. The control method according to claim 42, characterized in that, The control of the movable platform to reduce the field of view of the shooting device includes: Control the movable platform to increase the focal length of the shooting device, so as to adjust the sensing range of the shooting device back to the initial sensing range before the increase; or, The shooting device used to photograph the target object is switched from the second shooting device to the first shooting device, so as to adjust the sensing range of the shooting device to the initial sensing range before the increase, and the field of view of the second shooting device is greater than the field of view of the first shooting device.

44. The control method according to any one of claims 1-43, characterized in that, The target object includes a follower target or a surrounding target.

45. The control method according to any one of claims 1-44, characterized in that, The method is executed by the control device of the mobile platform, wherein controlling the mobile platform to lock the target object includes: Send information related to the target object to the mobile platform to control the mobile platform to lock the target object; Alternatively, the method is executed by the mobile platform, wherein controlling the mobile platform to lock the target object includes: Receive information related to the target object and control the movable platform to lock the target object.

46. ​​A control method for a mobile platform, characterized in that, include: The movable platform is controlled to lock the target object; In response to the loss of the target object from the image captured by the camera device of the mobile platform, a target search mode for the mobile platform to search for the target object is determined from at least two search modes based on specific information. The at least two search modes include a first search mode and a second search mode, wherein the first search mode is different from the second search mode. Control the mobile platform to perform corresponding actions according to the target search pattern.

47. The control method according to claim 46, characterized in that, The sensing range of the shooting device in the first searching mode is different from the sensing range of the shooting device in the second searching mode.

48. The control method according to claim 47, characterized in that, The sensing range of the shooting device in the first searching mode is different from the sensing range of the shooting device before the target object is lost in the frame, while the sensing range of the shooting device in the second searching mode is not different from the sensing range of the shooting device before the target object is lost in the frame.

49. The control method according to claim 47, characterized in that, The change in the sensing range of the shooting device is achieved by adjusting the distance between the movable platform and the target object. The greater the distance between the movable platform and the target object, the larger the sensing range of the shooting device; the closer the distance between the movable platform and the target object, the smaller the sensing range of the shooting device.

50. The control method according to claim 47, characterized in that, The change in the sensing range of the shooting device is achieved by adjusting the focal length of the shooting device. The smaller the focal length of the shooting device, the larger the sensing range of the shooting device, and the larger the focal length of the shooting device, the smaller the sensing range of the shooting device.

51. The control method according to claim 47, characterized in that, The sensing range of the shooting device in the first searching mode is greater than the sensing range of the shooting device in the second searching mode.

52. The control method according to claim 51, characterized in that, The sensing range of the shooting device in the first searching mode is greater than the sensing range of the shooting device in the second searching mode, including: the distance between the mobile platform and the positioning device carried by the target object in the first searching mode is greater than the distance between the mobile platform and the positioning device in the second searching mode, and / or, the field of view of the shooting device in the first searching mode is greater than the field of view of the shooting device in the second searching mode.

53. The control method according to claim 52, characterized in that, The distance between the mobile platform and the positioning device carried by the target object in the first search mode is greater than the distance between the mobile platform and the positioning device in the second search mode, including: the horizontal distance between the mobile platform and the positioning device in the first search mode is greater than the horizontal distance between the mobile platform and the positioning device in the second search mode, and / or the vertical distance between the mobile platform and the positioning device in the first search mode is greater than the vertical distance between the mobile platform and the positioning device in the second search mode.

54. The control method according to claim 52, characterized in that, The field of view of the shooting device in the first search mode is greater than the field of view of the shooting device in the second search mode, including: the focal length of the shooting device in the first search mode is less than the focal length of the shooting device in the second search mode.

55. The control method according to claim 52, characterized in that, The field of view of the shooting device in the first search mode is greater than that in the second search mode, including: the movable platform using the same shooting device to shoot the target object in both the first and second search modes, wherein the focal length of the same shooting device in the first search mode is less than that in the second search mode; or, the movable platform using a first shooting device to shoot the target object in the first search mode and a second shooting device to shoot the target object in the second search mode, wherein the field of view of the first shooting device is greater than that of the second shooting device.

56. The control method according to any one of claims 46-55, characterized in that, The shooting method of the mobile platform in the first search mode is different from the shooting method of the mobile platform in the second search mode.

57. The control method according to claim 56, characterized in that, The shooting method of the mobile platform in the first search mode is different from the shooting method of the mobile platform before the target object is lost in the frame, while the shooting method of the mobile platform in the second search mode is not different from the shooting method of the mobile platform before the target object is lost in the frame.

58. The control method according to claim 56, characterized in that, The change in the shooting method of the mobile platform is achieved by adjusting the shooting position and / or the shooting trajectory of the mobile platform.

59. The control method according to claim 58, characterized in that, The shooting trajectory pattern of the mobile platform in the first search mode is a detour trajectory, and the shooting trajectory pattern of the mobile platform in the second search mode is a follow trajectory.

60. The control method according to any one of claims 46-59, characterized in that, The specific information includes information related to the content currently being filmed.

61. The control method according to claim 60, characterized in that, The information related to the currently captured content includes: information related to the target object being captured and / or information related to the current shooting environment.

62. The control method according to claim 61, characterized in that, The information related to the target object being photographed includes: information about the positioning device carried by the target object or the type of the target object.

63. The control method according to claim 62, characterized in that, The relevant information of the positioning device includes the positioning accuracy of the positioning device, the communication transmission quality of the positioning device, and / or whether the positioning device is working properly.

64. The control method according to claim 63, characterized in that, The positioning accuracy of the positioning device is determined based on the positioning accuracy of the positioning signal sent by the positioning device, or predicted based on the positioning accuracy of the positioning signal of the mobile platform.

65. The control method according to claim 63, characterized in that, Determining the target search pattern for the mobile platform to search for the target object from at least two search patterns includes: In response to the positioning accuracy of the positioning device being a first positioning accuracy, the first search mode is selected; in response to the positioning accuracy of the positioning device being a second positioning accuracy, the second search mode is selected, wherein the first positioning accuracy is less than the second positioning accuracy.

66. The control method according to claim 63, characterized in that, Determining the target search pattern for the mobile platform to search for the target object from at least two search patterns includes: In response to the positioning device having a first communication transmission quality, the first search mode is selected; in response to the positioning device having a second communication transmission quality, the second search mode is selected, wherein the first communication transmission quality is weaker than the second communication transmission quality.

67. The control method according to claim 63, characterized in that, Determining the target search pattern for the mobile platform to search for the target object from at least two search patterns includes: In response to the positioning device malfunctioning, the first search mode is selected; in response to the positioning device malfunctioning, the second search mode is selected.

68. The control method according to claim 62, characterized in that, The type of the target object is related to whether the target object is a moving target or the moving speed of the target object.

69. The control method according to claim 68, characterized in that, Determining the target search pattern for the mobile platform to search for the target object from at least two search patterns includes: In response to the target object being of a first type, the first search mode is selected; in response to the target object being of a second type, the second search mode is selected, wherein the movement speed of the target object of the first type is greater than the movement speed of the target object of the second type.

70. The control method according to claim 61, characterized in that, The information related to the current shooting environment includes: obstacle information in the current shooting environment.

71. The control method according to claim 70, characterized in that, The obstacle information in the current shooting environment includes: whether there are obstacles between the mobile platform and the target object.

72. The control method according to claim 71, characterized in that, Determining the target search pattern for the mobile platform to search for the target object from at least two search patterns includes: In response to the presence of an obstacle between the mobile platform and the target object, the first search mode is selected; in response to the absence of an obstacle between the mobile platform and the target object, the second search mode is selected; and / or, Whether there is an obstacle between the mobile platform and the target object is determined by recognizing the footage captured by the mobile platform or by recognizing the obstacle detection sensor of the mobile platform.

73. The control method according to any one of claims 46-72, characterized in that, The method further includes: Predict the current position of the target object; Adjust the orientation of the shooting device according to the current position of the target object.

74. The control method according to claim 73, characterized in that, The current position of the target object is predicted by the movement parameters of the target object when it is lost from the image or before it is lost.

75. The control method according to claim 74, characterized in that, The movement parameters include movement speed and / or movement direction.

76. The control method according to claim 73, characterized in that, The current position of the target object is predicted by the position output by the positioning device carried by the target object.

77. The control method according to claim 73, characterized in that, The method further includes: During the process of adjusting the orientation of the shooting device, the target object is re-identified.

78. The control method according to claim 73, characterized in that, Adjusting the orientation of the shooting device includes: Adjust the orientation of the movable platform, and / or adjust the orientation of the attitude adjustment mechanism for mounting the shooting device.

79. The control method according to any one of claims 46-78, characterized in that, The target search mode is the first search mode. After controlling the mobile platform to perform the corresponding action according to the target search mode, the method further includes: In response to the target object reappearing in the footage captured by the mobile platform, the sensing range of the mobile platform's shooting device is restored to the initial sensing range.

80. The control method according to claim 79, characterized in that, The initial sensing range is the sensing range set by the mobile platform or the control device of the mobile platform, or the sensing range set by the user.

81. The control method according to claim 79, characterized in that, Restoring the sensing range of the shooting device on the mobile platform to its initial sensing range includes: Control the movable platform to move closer to the positioning device, so as to adjust the sensing range of the shooting device to the previous initial sensing range; or, The movable platform is controlled to reduce the field of view of the shooting device, so as to adjust the sensing range of the shooting device to the previous initial sensing range.

82. The control method according to any one of claims 46-81, characterized in that, The target object includes a follower target or a surrounding target.

83. The control method according to any one of claims 46-82, characterized in that, The method is executed by the control device of the mobile platform, wherein controlling the mobile platform to lock the target object includes: Send information related to the target object to the mobile platform to control the mobile platform to lock the target object; Alternatively, the method is executed by the mobile platform, wherein controlling the mobile platform to lock the target object includes: Receive information related to the target object and control the movable platform to lock the target object.

84. 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: The movable platform is controlled to lock the target object; In response to the loss of the target object from the image captured by the camera device of the mobile platform and the fact that the information related to the target object does not meet the preset conditions, the mobile platform is controlled to increase the sensing range of the camera device.

85. 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: The movable platform is controlled to lock the target object; In response to the loss of the target object from the image captured by the camera device of the mobile platform, a target search mode for the mobile platform to search for the target object is determined from at least two search modes based on specific information. The at least two search modes include a first search mode and a second search mode, wherein the first search mode is different from the second search mode. Control the mobile platform to perform corresponding actions according to the target search pattern.

86. An electronic device, characterized in that, include: 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: Control the movable platform to lock the target object; In response to the loss of the target object from the image captured by the camera device of the mobile platform and the fact that the information related to the target object does not meet the preset conditions, the mobile platform is controlled to increase the sensing range of the camera device.

87. An electronic device, characterized in that, include: 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: Control the movable platform to lock the target object; In response to the loss of the target object from the image captured by the camera device of the mobile platform, a target search mode for the mobile platform to search for the target object is determined from at least two search modes based on specific information. The at least two search modes include a first search mode and a second search mode, wherein the first search mode is different from the second search mode. Control the mobile platform to perform corresponding actions according to the target search pattern.

88. The electronic device according to claim 86 or 87, characterized in that, The electronic device includes the mobile platform or the control device for the mobile platform.

89. 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 1-83.

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