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

Abstract

A control method for a movable platform, comprising: in response to a received target selection instruction, determining a specific target as a target object that a movable platform follows, the position of the specific target relative to the position of a positioning apparatus satisfying a first preset condition, wherein the target selection instruction is triggered on the basis of a first input of a user, and the first input is independent of the display position of the specific target in an image captured by a photography apparatus of the movable platform (S110); and in response to a received follow-starting instruction, controlling the movable platform to start to follow the target object, wherein the follow-starting instruction is triggered on the basis of a second input of the user (S120). The selection efficiency and accuracy of a target can be improved. Further provided are a control apparatus, a device, a movable platform, and a storage medium.

Description

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

[0002] Mobile platforms (such as aircraft) can be used to follow targets, for example, when an aircraft follows a target to take pictures. In this process, the user needs to select the target the aircraft is following. In related technologies, the efficiency and accuracy of the methods for selecting targets for mobile platforms are relatively low, which affects the control efficiency and shooting efficiency of the mobile platform. Summary of the Invention

[0003] Based on this, this application provides a control method, control device, equipment, mobile platform, and storage medium for a mobile platform, which can improve the efficiency and accuracy of target selection, thereby enhancing the control efficiency and shooting efficiency of the mobile platform.

[0004] In a first aspect, embodiments of this application provide a control method for a mobile platform, including:

[0005] In response to a received target selection instruction, a specific target whose position matches a first preset condition is identified as the target object to be followed by the mobile platform. The target selection instruction is triggered based on a first input from the user, which is independent of the display position of the specific target in the image captured by the camera on the mobile platform.

[0006] In response to a received start follow command, the movable platform is controlled to begin following the target object, wherein the start follow command is triggered based on a second input from the user.

[0007] Secondly, embodiments of this application provide a control method for a mobile platform, including:

[0008] In response to a received target selection instruction, the system automatically selects a specific target from multiple candidate targets whose current location matches the location of the positioning device under a first preset condition as the target object of the mobile platform. The target selection instruction is triggered based on a first input from the user.

[0009] In response to a received start follow command, the movable platform is controlled to begin following the target object, wherein the start follow command is triggered based on a second input from the user.

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

[0011] Before the mobile platform begins to follow the target object, a prompt message is output. The prompt message is used to indicate relevant information about the target object that matches the position of the positioning device based on the position selection of the positioning device and the position of the positioning device according to a first preset condition.

[0012] Control the movable platform to begin following the target object.

[0013] Fourthly, embodiments of this application provide a control method for a mobile platform, including:

[0014] Multiple candidate targets of the mobile platform are displayed on the display interface. Among the multiple candidate targets, there are specific targets and non-specific targets. The specific targets are targets whose positions meet the first preset conditions with respect to the positioning device. The display method of the specific targets on the display interface is different from that of the non-specific targets.

[0015] Select the target object to be followed by the mobile platform from the plurality of candidate targets, and control the mobile platform to start following the target object.

[0016] Fifthly, embodiments of this application provide a control device for a mobile platform, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0017] In response to a received target selection instruction, a specific target whose position matches a first preset condition is identified as the target object to be followed by the mobile platform. The target selection instruction is triggered based on a first input from the user, which is independent of the display position of the specific target in the image captured by the camera on the mobile platform.

[0018] In response to a received start follow command, the movable platform is controlled to begin following the target object, wherein the start follow command is triggered based on a second input from the user.

[0019] Sixthly, embodiments of this application provide a control device, including: a user interface, a memory, and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0020] The user interface is used to: receive target selection instructions;

[0021] The processor is configured to: in response to a target selection instruction received by the user interface, determine a specific target whose position matches a first preset condition as the target object to be followed by the mobile platform, wherein the target selection instruction is triggered based on a first input from the user, and the first input is independent of the display position of the specific target in the image captured by the camera device of the mobile platform;

[0022] The user interface is also used to: receive a start follow command;

[0023] The processor is further configured to: control the mobile platform to begin following the target object in response to a start follow instruction received from the user interface, wherein the start follow instruction is triggered based on a second input from the user.

[0024] In a seventh aspect, embodiments of this application provide a portable platform, including: a receiver, a memory, and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0025] The receiver is used to: receive a target selection instruction;

[0026] The processor is configured to: in response to a target selection instruction received by the receiver, determine a specific target whose position matches a first preset condition as the target object to be followed by the mobile platform, wherein the target selection instruction is triggered based on a first input from the user, and the first input is independent of the display position of the specific target in the image captured by the camera device of the mobile platform;

[0027] The receiver is also used to: receive a start follow command;

[0028] The processor is further configured to: control the mobile platform to begin following the target object in response to a start follow command received by the receiver, wherein the start follow command is triggered based on a second input from the user.

[0029] Eighthly, embodiments of this application provide a control device for a mobile platform, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0030] In response to a received target selection instruction, the system automatically selects a specific target from multiple candidate targets whose current location matches the location of the positioning device under a first preset condition as the target object of the mobile platform. The target selection instruction is triggered based on a first input from the user.

[0031] In response to a received start follow command, the movable platform is controlled to begin following the target object, wherein the start follow command is triggered based on a second input from the user.

[0032] Ninthly, embodiments of this application provide a control device, including: a user interface, a memory, and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0033] The user interface is used to: receive target selection instructions;

[0034] The processor is configured to: in response to a received target selection instruction, automatically select a specific target whose current location and the location of the positioning device meet a first preset condition from a plurality of candidate targets as the target object of the mobile platform, wherein the target selection instruction is triggered based on a first input from the user;

[0035] The user interface is also used to: receive a start follow command;

[0036] The processor is further configured to: control the movable platform to begin following the target object in response to a received start follow instruction, wherein the start follow instruction is triggered based on a second input from the user.

[0037] In a tenth aspect, embodiments of this application provide a portable platform, including: a receiver, a memory, and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0038] The receiver is used to: receive a target selection instruction;

[0039] The processor is configured to: automatically select a specific target whose current location matches the location of the positioning device from a plurality of candidate targets as the target object of the mobile platform, wherein the target selection instruction is triggered based on the user's first input;

[0040] The receiver is also used to: receive a start follow command;

[0041] The processor is further configured to: control the movable platform to begin following the target object in response to a received start follow instruction, wherein the start follow instruction is triggered based on a second input from the user.

[0042] Eleventhly, embodiments of this application provide a control device for a mobile platform, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0043] Before the mobile platform begins to follow the target object, a prompt message is output. The prompt message is used to indicate relevant information about the target object that is selected based on the location of the positioning device and whose location matches the first preset condition.

[0044] Control the movable platform to begin following the target object.

[0045] In a twelfth aspect, embodiments of this application provide a control device, including: a user interface, a memory, and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0046] The user interface is used to: output prompt information before the mobile platform starts following the target object, the prompt information being used to prompt relevant information about the target object whose position matches a first preset condition based on the position selection of the positioning device;

[0047] The processor is used to: control the mobile platform to begin following the target object.

[0048] In a thirteenth aspect, embodiments of this application provide a portable platform, including: a user interface / transmitter, a memory, and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0049] The user interface / the transmitter is used to: output prompt information before the mobile platform starts following the target object, the prompt information being used to prompt relevant information about the target object that is selected based on the location of the positioning device and whose location matches a first preset condition;

[0050] The processor is used to: control the mobile platform to begin following the target object.

[0051] In a fourteenth aspect, embodiments of this application provide a control device for a mobile platform, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0052] Multiple candidate targets of the mobile platform are displayed on the display interface via a display device. Among the multiple candidate targets, there are specific targets and non-specific targets. The specific targets are targets whose positions meet the first preset conditions with respect to the positioning device. The specific targets are displayed in a different way than the non-specific targets on the display interface.

[0053] Select the target object that the mobile platform follows from the plurality of candidate targets, and control the mobile platform to follow the target object.

[0054] In a fifteenth aspect, embodiments of this application provide a control device, including: a display device, a memory, and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0055] The display device is used to: display a plurality of candidate targets of the movable platform on a display interface, wherein the plurality of candidate targets include specific targets and non-specific targets, the specific targets are targets whose positions with the positioning device meet a first preset condition, and the display method of the specific targets on the display interface is different from the display method of the non-specific targets;

[0056] The processor is configured to: select the target object to be followed by the mobile platform from the plurality of candidate targets, and control the mobile platform to follow the target object.

[0057] In a sixteenth aspect, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the aforementioned method.

[0058] In the embodiments of this application, when controlling a mobile platform to follow a target object, the target object of the mobile platform can be determined efficiently and accurately based on the position of the positioning device, thereby improving the control efficiency or shooting efficiency of the mobile platform.

[0059] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0060] 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.

[0061] Figure 1 is a flowchart illustrating a control method for a mobile platform provided in an embodiment of this application;

[0062] Figures 2 to 4 are schematic diagrams of a mobile platform system in some embodiments of this application;

[0063] Figure 5 is a schematic diagram of the footage captured by the mobile platform;

[0064] Figure 6 is a flowchart illustrating a control method for a mobile platform according to another embodiment of this application;

[0065] Figure 7 is a flowchart illustrating a control method for a mobile platform according to another embodiment of this application;

[0066] Figures 8a to 8f are schematic diagrams of the instruction information output in some embodiments of this application;

[0067] Figure 9 is a flowchart illustrating a control method for a mobile platform according to another embodiment of this application;

[0068] Figure 10 is a schematic diagram of a control device for a mobile platform according to an embodiment of this application;

[0069] Figure 11 is a schematic diagram of a control device provided in an embodiment of this application;

[0070] Figure 12 is a schematic diagram of a control device provided in another embodiment of this application;

[0071] Figure 13 is a schematic diagram of a mobile platform provided in an embodiment of this application;

[0072] Figure 14 is a schematic diagram of a mobile platform provided in another embodiment of this application. Detailed Implementation

[0073] 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.

[0074] 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.

[0075] 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.

[0076] Mobile platforms (such as aircraft) can be used to follow targets, for example, when an aircraft follows a target to take pictures. In this process, the user needs to select the target the aircraft is following. In related technologies, the user can click a physical button to quickly select a target located in the center of the frame as the target the aircraft is following. However, if the target the user wants to select is not in the center of the frame, this method will result in low efficiency and accuracy in target selection, which will in turn affect the control efficiency and shooting efficiency of the mobile platform.

[0077] Based on this, this application provides a control method for a mobile platform. Please refer to Figure 1, which is a flowchart illustrating a control method for a mobile platform provided in this application. The control method is used to determine processes such as the target object that the mobile platform follows.

[0078] As shown in Figure 1, the control method for a mobile platform according to an embodiment of this application includes steps S110 to S120. This control method for a mobile platform can improve the efficiency and accuracy of target selection.

[0079] The control method for this mobile platform can be applied to mobile platform systems. Figures 2 to 4 show schematic diagrams of mobile platform systems provided in some embodiments of this application.

[0080] In some embodiments, as shown in FIG2, the mobile platform system may include a mobile platform and a control device for the mobile platform, the mobile platform being able to communicate with the control device. In some embodiments, the control device includes a positioning device. For example, when the positioning device is disposed on the control device, the positioning device may be connected to the processor of the control device via a wired connection, or the positioning device may be integrated with the processor of the control device on one or more circuit boards and connected based on the circuit boards. However, this is not limited to these embodiments; for example, the positioning device may also wirelessly communicate with the processor of the control device. In this case, the positioning device can act as a control device for the mobile platform to control the mobile platform to perform operations such as takeoff, landing, and entering intelligent functions (e.g., follow, orbit, etc.).

[0081] The positioning device may include a satellite positioning system, which may include, but is not limited to, the Global Positioning System (GPS) and the BeiDou Navigation Satellite System. A control device equipped with the positioning device may be carried by the target object, or the positioning device may be a movable object that moves with the target object, thereby determining the target object's position based on the positioning device's position. For example, the control device can acquire the position of the positioning device, determine the target object that the movable platform should follow based on the positioning device's position, transmit the target object's information to the movable platform, and the movable platform should follow the target object based on this information. Alternatively, the control device can transmit the positioning device's position to the movable platform, and the movable platform should determine the target object to follow based on the positioning device's position and begin following the target object.

[0082] In other embodiments, as shown in Figure 3, the mobile platform system may include a mobile platform and a positioning device. The positioning device is capable of communicating with the mobile platform, for example, wirelessly. The positioning device may be carried by the target object, or it may be a mobile positioning device that moves with the target object, thereby determining the target object's position based on the positioning device's location. The mobile platform can acquire the positioning device's location, determine the target object to follow based on the positioning device's location, and begin following the target object.

[0083] In some other embodiments, as shown in Figure 4, the mobile platform system includes a mobile platform, a positioning device, and a control device for the mobile platform. The positioning device can communicate with the mobile platform and / or the control device. For example, the positioning device can communicate wirelessly with the mobile platform, and / or the positioning device can communicate wirelessly or via wired communication with the control device. For example, when the positioning device is independent of the control device, it can communicate via wired and / or wirelessly with the control device. The positioning device can be carried by the target object, or it can be a mobile positioning device that moves with the target object, thereby determining the target object's position based on the positioning device's position. It should be noted that the control device can also be carried by the target object, or it can be not carried by the target object. For example, if the target object is a target user, it can be carried by a user other than the target user. Alternatively, it can be located on the mobile platform or at a location outside the mobile platform and the target object, such as at a server center. The mobile platform and / or the control device can obtain the position of the positioning device and determine the target object that the mobile platform is following based on the position of the positioning device. Optionally, the positioning device can also serve as a control device for the mobile platform. In this case, dual control can be achieved, meaning the mobile platform can be controlled by two control devices. The positioning device (i.e., one control device) can be carried by the target object, while the other control device can be carried by a user other than the target object. For example, the control device carried by the target object can be a portable mini-remote control, which may not have a display device. The control device carried by the user other than the target object can be a more functional remote control, which may have a display device. The user can observe the images captured by the mobile platform through the controller with the display device and trigger target selection commands using controls (such as physical or virtual buttons) on the remote control with the display device. The portable mini-remote control can be a wearable remote control, including but not limited to head-mounted or wrist-worn remote controls.

[0084] The mobile platform can be either a manned or unmanned platform. It can be a land-based mobile platform, such as a land robot or a car; it can also be a water-based or underwater mobile platform; and it can be an air-based mobile platform, such as an aircraft, including multi-rotor aircraft, fixed-wing aircraft, and helicopters. The mobile platform can also be an amphibious mobile platform, such as a flying car. The implementation of this application will be explained below using an aircraft as an example.

[0085] In some embodiments, the aircraft includes a fuselage, a power system, and a camera. The fuselage may include a nose. In some embodiments, the aircraft also includes an arm connected to the fuselage, which is used to mount the power system; in other embodiments, the power system may be directly mounted on the fuselage. The power system provides flight propulsion for the aircraft and may include a drive unit (e.g., a motor) and a propeller mounted on and driven by the drive unit. The power system can drive the fuselage to rotate about one or more rotation axes. For example, these rotation axes may include a roll axis, a yaw axis, and a pitch axis. When the power system drives the fuselage to rotate about the yaw axis, the yaw direction of the fuselage nose changes, meaning the yaw rotation of the fuselage can be controlled by controlling the power system. It should be understood that the motor can be a DC motor or an AC motor. Additionally, the motor can be a brushless motor or a brushed motor. The camera is directly mounted on or mounted on the fuselage via a gimbal for capturing images and / or videos.

[0086] Optionally, the capturing device can be a physical capturing device. The capturing device can 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 capturing device may include a charge-coupled device (CCD) sensor or a complementary metal-oxide-semiconductor (CMOS) sensor that generates an electrical signal in response to the wavelength of light. The obtained electrical signal can be processed to generate image data. The image data generated by the capturing device 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 capturing device may include a lens configured to direct light onto an image sensor. Optionally, the capturing device can be a camera. 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 capture both moving image data and still images. 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 of a camera herein can be applied to any suitable imaging device, and any description of a camera herein can also be applied to other types of imaging devices. A camera can be used to generate 2D images of a 3D scene (e.g., environment, one or more objects, etc.). For example, the camera can be a monocular camera or a stereoscopic camera. The image generated by the camera can represent a projection of the 3D scene onto a 2D image plane. Therefore, each point in the 2D image corresponds to a 3D spatial coordinate in the scene. The camera may include optical elements (e.g., lenses, mirrors, filters, etc.). The camera can capture color images, grayscale images, infrared images, etc. When the camera is configured to capture infrared images, it can be a thermal imaging device. Optionally, a portable platform may carry multiple imaging devices, or an imaging device with multiple lenses and / or image sensors. The imaging devices carried on the portable platform can be able to capture multiple images substantially simultaneously, which can help create 3D scenes, 3D virtual environments, 3D maps, or 3D models. For example, a right image and a left image can be captured and used for stereo mapping. Depth maps can be calculated from calibrated binocular images. Any number of images (e.g., 2 or more, 3 or more, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more) can be captured simultaneously to aid in the creation of 3D scenes / virtual environments / models, and / or for depth mapping. Images can be oriented in essentially the same direction or in slightly different directions.In some cases, data from other sensors (such as ultrasound data, LiDAR data, data from any other sensors described elsewhere herein, or data from external devices) can help create 2D or 3D images or maps. The capturing device can capture images or sequences of images at a specific image resolution. In some embodiments, the image resolution can be defined by the number of pixels in the image. In some embodiments, the image resolution can be greater than or equal to about 352×420 pixels, 480×320 pixels, 720×480 pixels, 1280×720 pixels, 1440×1080 pixels, 1920×1080 pixels, 2048×1080 pixels, 3840×2160 pixels, 4096×2160 pixels, 7680×4320 pixels, or 15360×8640 pixels. In some embodiments, the camera can be a 4K camera or a camera with a higher resolution. The capturing device can capture sequences of images at a specific capture rate. In some embodiments, image sequences can be captured at standard video frame rates such as approximately 24p, 25p, 30p, 48p, 50p, 60p, 72p, 90p, 100p, 120p, 300p, 50i, or 60i. In some embodiments, image sequences can be captured at a rate less than or equal to approximately one image per 0.0001 seconds, 0.0002 seconds, 0.0005 seconds, 0.001 seconds, 0.002 seconds, 0.005 seconds, 0.01 seconds, 0.02 seconds, 0.05 seconds, 0.1 seconds, 0.2 seconds, 0.5 seconds, 1 second, 2 seconds, 5 seconds, or 10 seconds. In some embodiments, the capture rate can be varied based on user input and / or external conditions (e.g., rain, snow, wind, subtle surface texture of the environment). The capturing device can have adjustable parameters. Under the same external conditions (e.g., position, lighting), the capturing device can capture different images with different parameters. Adjustable parameters may include exposure (e.g., exposure time, shutter speed, aperture, film speed), gain, gamma, region of interest, binning / subsampling, pixel clock, offset, trigger, ISO, etc. Exposure-related parameters control the amount of light reaching the image sensor in the shooting device. For example, shutter speed controls the amount of time light takes to reach the image sensor, and aperture controls the amount of light reaching the image sensor within a given time. Gain-related parameters control the amplification of the signal from the optical sensor. ISO controls the camera's sensitivity to available light. The control of exposure and gain parameters can be considered uniformly and is referred to herein as EXPO. In some alternative embodiments, the shooting device may extend beyond the scope of a physical shooting device. For example, the shooting device may include any technology capable of capturing and / or generating image or video frames. In some embodiments, the shooting device may refer to an algorithm capable of processing images obtained from another physical device.

[0087] The shooting device is directly mounted on a movable platform or mounted on the body of a movable platform via a gimbal. The gimbal may include a first gimbal stage, a second gimbal stage, and / or a third gimbal stage. The first gimbal stage allows the shooting device to rotate relative to the movable object about a first axis, the second gimbal stage allows the shooting device to rotate relative to the movable object about a second axis, and the third gimbal stage allows the shooting device to rotate relative to the movable object about a third axis. Any descriptions and / or characteristics of the shooting device described elsewhere herein may be applied.

[0088] The control device can be a mobile phone, tablet, computer, or other terminal device; it can also be a remote control; it can be a portable wearable device (such as a head-mounted wearable device (e.g., glasses) or a wrist-worn wearable device (e.g., a watch, bracelet); or it can be a server. When the control device is a server, the mobile platform system includes a positioning device independent of the server. The wearable device includes a head-mounted display device, which can include a virtual reality (VR) display device or a first-person view (FPV) display device.

[0089] The control device may include output devices such as a display device, for example, capable of outputting images captured by a mobile platform. For instance, the control device can receive images transmitted from an aircraft and display them via a display device. The display device can be integrated into the control device (in this case, the control device and the display device are integrated together). In other alternative embodiments, the display device can be external, meaning the control device and the display device are separate, and the control device and the display device can establish a communication connection. This communication connection allows the control device to display images captured by the mobile platform using an external display device. This communication connection can be wired or wireless, such as via WiFi, Bluetooth, or high-frequency wireless signals. The display device of the control device can be a touchscreen display with touch functionality.

[0090] The control device may include an input device that can detect user control operations. The control device can then generate control commands for the aircraft based on these detected user operations. For example, the control device can generate a yaw control command based on the user's detected yaw control operation, and send the yaw control command to the aircraft. This input device may be a physical control such as a touchscreen display, joystick, button, or dial, used to receive user input.

[0091] For example, the control device includes a remote controller, which is equipped with an input device and a communication device. The communication device may be a wireless communication device, which can use proprietary or public communication methods. The wireless communication device may include at least one of a high-frequency radio transceiver, a Wi-Fi module, and a Bluetooth module. The input device is used to generate corresponding control commands in response to user input, thereby enabling the remote controller to control the aircraft to adjust its flight attitude and / or flight speed through these control commands. The input device includes at least one of buttons, a joystick, a dial, and a touchscreen display. Users can generate control commands by using buttons, joysticks, or dials, or by inputting onto the touchscreen display; this is not limited to these methods.

[0092] For example, positioning devices include, but are not limited to, at least one of the following: GPS positioning devices, RTK (Real-Time Kinematic) positioning devices / inertial navigation positioning devices, and ultra-wideband (UWB) positioning devices.

[0093] Optionally, the positioning device may include an input device, which can detect user control operations on the positioning device and generate control commands for the aircraft based on the detected user control operations. For example, the positioning device can generate yaw control commands based on user yaw control operations detected by the input device, and the positioning device can send the yaw control commands to the aircraft. Optionally, the positioning device may include an output device such as a display device, for example, displaying images captured by a movable platform so that the user can perform control operations through the input device.

[0094] Specifically, the mobile platform system includes one or more processors, which work individually or together to execute the steps of the control method for the mobile platform.

[0095] In some implementations, a control method for a mobile platform can be applied to the mobile platform, and one or more processors of the mobile platform can execute the steps of the control method. For example, referring to Figures 2 to 4, the mobile platform can acquire the position of a positioning device and determine the target object to be followed based on the position of the positioning device, thereby enabling it to follow the target object.

[0096] In some embodiments, the control method for the mobile platform can be applied to a control device for the mobile platform, where one or more processors of the control device execute the steps of the control method. For example, referring to Figure 2 or Figure 4, the control device can acquire the position of a positioning device and determine a target object that the mobile platform can follow based on the position of the positioning device; the mobile platform can acquire information about the target object from the control device and follow the target object based on the information about the target object.

[0097] In some implementations, the control method for the mobile platform can be applied to a positioning device, where one or more processors of the positioning device execute the steps of the control method for the mobile platform. For example, referring to Figures 2 to 4, the positioning device can determine the target object that the mobile platform is following based on its own position; the mobile platform can obtain information about the target object from the positioning device and follow the target object based on the information about the target object.

[0098] In some embodiments, the control method for a mobile platform can be applied to the mobile platform and its control device. Some steps of the control method are executed by the mobile platform, and some steps are executed by the control device. For example, the mobile platform includes one or more processors, and the control device includes one or more processors, wherein some steps of the control method are executed by the one or more processors of the mobile platform, and some steps are executed by the one or more processors of the control device. For instance, the mobile platform can determine one or more candidate targets, transmit the information of the candidate targets to the control device, and the control device selects a target object from the one or more candidate targets based on a preset selection strategy. The mobile platform can obtain information about the target object from the control device and follow the target object based on the target object's information.

[0099] A mobile platform and / or imaging device can be controlled to track one or more candidate target objects. The target object can be a stationary or moving target. In some cases, the user can identify the target object from images captured by the mobile platform and can also specify whether the target object is stationary or moving. Alternatively, the user can provide any other type of indicator regarding whether the target object is stationary or moving. Alternatively, no indicator may be provided, and optionally, the determination can be made automatically by means of one or more processors without requiring user input on whether the target object is stationary or moving. The target object can be classified as a stationary or moving target based on its motion state. In some cases, at any given point in time, the target object can be moving or stationary. When the 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, the target object can be carried by a living subject such as a person or animal or a mobile platform such as a vehicle.

[0100] A stationary target can remain substantially still within its 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, poles, fences, stationary vehicles, signs, lights, etc.). Stationary targets can be large or small. The user can select a stationary target. Alternatively, one or more image recognition methods can be used to identify stationary targets. Optionally, stationary targets can be mapped. A mobile platform can travel to a stationary target. Paths (e.g., flight paths) for the mobile platform to travel to a stationary target can be planned. Alternatively, the mobile platform can travel to a stationary target without needing 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 section (e.g., the top floor) of a skyscraper.

[0101] A moving target can be mobile within its environment. It can be constantly in motion or partially in motion. It can move in a relatively stable direction or change direction. It can move in the air, on land, underground, on or in water, and / or in space. It can be a living moving target (e.g., a person, animal) or a non-living moving target (e.g., a moving vehicle, moving machinery, an object blown by the wind or carried by water, or an object carried by a living target). A moving target 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. It can be a large or small target. A user can select a moving target. Moving targets can be identified. Optionally, moving targets can be mapped. A mobile platform can travel to the moving target and / or visually track the moving target. The path (e.g., a flight path) of the mobile platform to the moving target can be planned. The path can be changed or updated as the moving target moves. Alternatively, the mobile platform can travel to and / or visually track the moving target without needing to plan a path.

[0102] A moving target can be any object configured to move in any of the following suitable environments: in the air (e.g., a fixed-wing aircraft, a rotary-wing aircraft, or an aircraft that has neither a fixed wing nor a rotary wing), in water (e.g., a ship or submarine), on the ground (e.g., a motor vehicle such as a car, truck, bus, van, or motorcycle; a movable structure or frame such as a stick or fishing rod; or a train), underground (e.g., a subway), in space (e.g., a spacecraft, satellite, or probe), or any combination of these environments.

[0103] The moving target can move freely within its environment with respect to six degrees of freedom (e.g., three translational degrees of freedom and three rotational degrees of freedom). Alternatively, the movement of the moving target can be restricted with respect to one or more degrees of freedom, for example, by following a predetermined path, track, 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 energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy, or any suitable combination thereof. As further described below, the moving target can be self-propelled via a propulsion system. The propulsion system can optionally be powered by an energy source, such as electrical energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy, or any suitable combination thereof.

[0104] In some instances, the moving target can be a vehicle, such as a remotely controlled vehicle. Suitable vehicles can include underwater vehicles, aircraft, 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 and rotary wings, or an aircraft without fixed and rotary wings (e.g., an airship, a hot air balloon). The vehicle can be self-propelled, for example, by air, on or in water, in space, or on or below the ground. Self-propelled vehicles can utilize propulsion systems, such as propulsion systems comprising one or more engines, motors, wheels, shafts, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof. In some instances, propulsion systems 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.

[0105] The target object can be a mobile platform of the same type as the mobile platform, or it can be a mobile platform of a different type. For example, in some embodiments, both the mobile platform and the target object can be aircraft. The mobile platform and the target object can be the same type of aircraft or different types of aircraft. Different types of aircraft can have different shapes, morphological factors, functions, or other characteristics. The target object and the mobile platform can move in three-dimensional space relative to one or more background objects. As used herein, a background object can refer to an object that is substantially fixed in a certain location. A background object can be immobile, such as a stationary object. Examples of background objects can include geographical features (e.g., mountains), landmarks (e.g., bridges), buildings (e.g., skyscrapers, stadiums, etc.), or any fixed structure. Additionally, a background object can include an object that is stationary in a certain location at a first time instance but moves at a second time instance. Some or a portion of the background objects can be movable (e.g., a stadium with a retractable roof, a movable bridge that rises to allow water vehicles to pass, etc.).

[0106] As shown in Figure 1, the control method of the mobile platform in this application embodiment includes steps S110 to S120.

[0107] Step S110: In response to the received target selection instruction, a specific target whose position matches the first preset condition is identified as the target object to be followed by the mobile platform. The target selection instruction is triggered based on the user's first input, which is unrelated to the display position of the specific target in the image captured by the camera device of the mobile platform.

[0108] Step S120: In response to the received start follow command, control the movable platform to start following the target object, wherein the start follow command is triggered based on a second input from the user.

[0109] For ease of explanation, the footage captured by the camera on the mobile platform can be referred to as footage captured by the mobile platform.

[0110] The control device can display footage captured by the mobile platform. For example, the control device can display footage captured by the mobile platform using the aforementioned display device, as shown in Figure 5. The footage includes multiple candidate targets, such as multiple vehicles or multiple people. In related technologies, users can manually select or click on the targets they want the mobile platform to follow. However, if the user cannot quickly identify the target they want to follow from the footage, the target cannot be quickly and accurately determined. For example, if the footage shows many vehicles or many people, the user needs to manually identify which target is the user's desired target from the many candidate targets displayed on the screen and then select that target. This operation method is very time-consuming, inconvenient, and unintelligent. Alternatively, after the mobile platform or control device automatically identifies multiple candidate targets, it displays the corresponding indication information for these candidate targets on the display device of the control device for the user to select. For example, the aforementioned touch screen can be used to display the indication information corresponding to each of these candidate targets on the screen. The indication information can be some icons that can be selected by the user, such as "+" or "√" icons. The user can select the target at the corresponding position by clicking on the position of the icon. The user needs to select the target to follow on the interface. This method is often inefficient for targets that move quickly. The target may have moved before the user has selected it, which leads to low target selection efficiency.

[0111] This application embodiment addresses the scenario where the user intends to select a target related to the location of the positioning device. The user triggers a target selection command to select a target whose location meets a first preset condition (e.g., closest) as the follow target. This eliminates the need for the user to manually identify the desired target from a list of many candidate targets displayed on the screen, improving the efficiency, convenience, and intelligence of target selection. This method enhances the efficiency and accuracy of target selection, thereby improving the control or shooting efficiency of the mobile platform. The target selection command can directly instruct the system to automatically select a target whose location meets the first preset condition (e.g., closest) as the follow target. Optionally, the target selection command can be a preset command (e.g., a preset gesture, a preset posture, or a command input to a preset button). By triggering the target selection command, a target whose location meets the first preset condition (e.g., closest) as the follow target of the mobile platform can be quickly selected.

[0112] Using the embodiments of this application, users can identify the target they wish to follow from multiple candidate targets in the footage captured by the mobile platform without spending a lot of time. For example, the embodiments of this application do not limit the display position of a specific target in the footage captured by the mobile platform. For instance, the specific target can be in any position in the frame. Even if the specific target is not in a specified position in the frame, or the specific target does not have specified visual features, the specific target can be identified as the target object to be followed by the mobile platform upon receiving the target selection instruction.

[0113] Furthermore, in this application, the user needs to trigger a first input to instruct the movable platform or control device to select a specific target whose position matches the first preset condition as the target object, and trigger a second input to instruct the movable platform or control device to start following the target object. Through the user's two active input actions, the movable platform can be controlled to follow the target object more reliably, better match the user's true control intention, avoid the movable platform from mistakenly selecting a target object or mistakenly executing the start-follow operation, and improve the accuracy and safety of the control of the movable platform.

[0114] Optionally, the first input is independent of the display position of the specific target in the image captured by the shooting device on the mobile platform, including: the first input is independent of the display position of the target selected by the user in the displayed image (such as by box selection or point selection). The first input may not be entered at the display position of the target in the image, but at other positions in the image, or on other controls outside the display device. For example, the first input may be entered at a specified position in the image (e.g., a virtual button is set at a specified position in the image, and the user triggers the first input by clicking the virtual button, where the specified position is not the display position of the target in the image), or in other display areas outside the image on the interface (e.g., a virtual button is set in the operation bar or function menu bar of the interface, and the user triggers the first input by clicking the virtual button, where the specified position is not the display position of the target in the image), or through physical buttons, joysticks, dials, or other physical controls.

[0115] As shown in Figure 6, another embodiment of the control method for a mobile platform in this application includes steps S210 to S220.

[0116] Step S210: In response to the received target selection instruction, automatically select a specific target whose current location and the location of the positioning device meet the first preset condition from multiple candidate targets as the target object of the movable platform. The target selection instruction is triggered based on the user's first input.

[0117] Step S220: In response to the received start follow command, control the movable platform to start following the target object, wherein the start follow command is triggered based on a second input from the user.

[0118] When there are multiple candidate targets, as shown in Figure 5, the image captured by the mobile platform includes multiple candidate targets, such as multiple vehicles and multiple people. In response to a received target selection command, the system can automatically select a specific target whose current location matches the location of the positioning device, meeting a first preset condition, as the target object for the mobile platform. Specifically, the system automatically selects a specific target from the multiple candidate targets whose location matches the location of the positioning device, meeting the first preset condition, as the target the mobile platform follows. If the target whose location matches the first preset condition changes, the system automatically selects the target currently meeting the first preset condition from the multiple candidate targets as the target the mobile platform follows. For example, in response to the user's first target selection command, the system automatically selects the target whose current location matches the first preset condition from the multiple candidate targets as the target object locked by the mobile platform; and in response to the user's second target selection command, where the current location of the target object determined by the first target selection command no longer meets the first preset condition, the system automatically selects another target whose current location meets the first preset condition as the new target object.

[0119] This application embodiment addresses the situation where the user expects to select a target that is related to the location of the positioning device. The user triggers an automatic selection from multiple candidate targets that meets preset conditions (e.g., the closest) to the location of the positioning device as the selected follow target by means of a target selection command. This method can improve the efficiency and accuracy of target selection, thereby improving the control efficiency or shooting efficiency of the mobile platform.

[0120] Users can identify the target they wish to follow from multiple candidate targets without spending time. For example, in this embodiment, the display position of a specific target in the image captured by the mobile platform is not limited; the specific target can be anywhere in the image. Even if the specific target is not in a specified position in the image, or the specific target does not have specified visual features, upon receiving a target selection instruction, the specific target can be selected from multiple candidate targets and determined as the target object to be followed by the mobile platform.

[0121] The mobile platform selects a target object based on the user's first input, and triggers the mobile platform to follow the target object based on the user's second input. The user can determine the timing of the first and second inputs according to the actual situation, so that the selection and following of the target object can better meet the user's expectations.

[0122] In some implementations, multiple candidate targets are identified based on data collected by detection sensors on a mobile platform. For example, the detection sensors include image sensors, laser sensors, and millimeter-wave sensors; wherein the image sensors include imaging sensors (e.g., imaging devices) and / or visual perception sensors, the laser sensors include TOF (Time of Flight) sensors and / or and / or lidar, and the millimeter-wave sensors include millimeter-wave radar.

[0123] In some implementations, multiple candidate targets are identified based on visual recognition algorithms. For example, visual recognition algorithms can identify one or more types of objects, such as people, vehicles, animals, plants, etc. For instance, data collected by a camera on a mobile platform can yield images captured by the mobile platform, and candidate targets can be identified within these images using visual recognition algorithms.

[0124] Optionally, multiple candidate targets are identified by the mobile platform. For example, multiple candidate targets are identified based on data collected by the mobile platform's detection sensors. For instance, the mobile platform can transmit information about the identified candidate targets, such as their positions within images captured by the mobile platform, to a control device.

[0125] Optionally, multiple candidate targets can be identified by the control device of the mobile platform. For example, the control device can acquire footage captured by the mobile platform and identify candidate targets based on a visual recognition algorithm.

[0126] The target object followed by the mobile platform is selected from multiple candidate targets, for example, the target object is determined from multiple identified candidate targets.

[0127] In some implementations, the target object is determined from a plurality of candidate targets based on the position of the positioning device. For example, a target object whose position matches the position of the positioning device is selected based on the position of the positioning device. For example, in response to a received target selection instruction, a specific target whose position matches the position of the positioning device is determined as the target object to be followed by the mobile platform, or in response to a received target selection instruction, a specific target whose current position matches the position of the positioning device is automatically selected from a plurality of candidate targets as the target object of the mobile platform.

[0128] For example, the target object carries the positioning device, or the positioning device is a movable positioning device that moves with the target object. Thus, the position of the target object can be determined based on the position of the positioning device, and the target object can be selected from multiple candidate targets based on the position of the positioning device.

[0129] For example, the location of the positioning device meets the first preset condition, including: the distance between the target object and the location of the positioning device is within a preset range. For example, the distance between the target object and the location of the positioning device is less than or equal to five meters, or the distance between the target object and the location of the positioning device is less than the distance between the other candidate targets and the location of the positioning device.

[0130] For example, if there is a target within a preset distance range from the location of the positioning device, then that target is the specific target. For instance, the candidate target with the smallest distance from the location of the positioning device can be identified as the target object.

[0131] For example, if there are at least two targets within a preset distance from the positioning device, then the target that satisfies the first preset selection strategy is selected from the at least two targets as the specific target.

[0132] Optionally, the first preset selection strategy includes: the target's movement parameters are consistent with the movement parameters of the positioning device. The movement parameters of the positioning device may include at least one of the following: movement direction and movement speed. The target object carries the positioning device or the positioning device moves along with the target object. The real-time position of the positioning device can be sent to the mobile platform or control device. At the same time, the mobile platform or control device can use image recognition to detect the movement parameters of the target in the image. By comparing the movement parameters of the target detected based on the image with the movement parameters obtained through the positioning device, the target whose movement parameters are consistent with the movement parameters of the positioning device is selected as the specific target. This can more accurately identify the target object that actually carries the positioning device, and can accurately determine the target object when the positioning device's position is incorrect or when there are multiple candidate targets near the positioning device's position, thereby improving tracking efficiency and accuracy.

[0133] In some implementations, after determining a specific target whose position matches a first preset condition as the target object to be followed by the mobile platform in response to a received target selection instruction, and before controlling the mobile platform to start following the target object in response to a received start follow instruction, the method further includes: outputting prompt information, the prompt information being used to prompt information related to the target object selected based on the position of the positioning device.

[0134] Before the mobile platform begins following the target, it outputs a prompt message to provide information related to the target identified by the positioning device. This allows the mobile platform to output prompts related to the accuracy of target identification in advance or in a timely manner before it starts following the target object. This makes it easier for users to know in advance whether the target object currently being followed by the mobile platform is the target they expect, thereby improving the accuracy of target selection. It avoids the tedious operation of having to stop following and reselect the target only after starting the follow, which would require the user to discover that the selected target is not the target they expect. This improves the control efficiency or shooting efficiency of the mobile platform.

[0135] Figure 7 shows a control method for a mobile platform provided in another embodiment of this application. The control method includes steps S310 to S320.

[0136] Step S310: Before the mobile platform starts following the target object, output a prompt message. The prompt message is used to indicate the relevant information of the target object that is selected based on the position of the positioning device and whose position meets the first preset condition.

[0137] Step S320: Control the movable platform to start following the target object.

[0138] The control method of this application embodiment outputs prompt information before the mobile platform starts following the target, providing information related to the target identified based on the location of the positioning device. This allows the mobile platform to output prompt information related to the accuracy of target identification in advance or in a timely manner before it starts following the target object. This makes it easier for the user to know in advance whether the target object currently being followed by the mobile platform is the desired target, thereby improving the accuracy of target selection. It avoids the tedious operation of having to stop following and reselect the target only after starting to follow the target, which is not the user's desired target. This improves the control efficiency or shooting efficiency of the mobile platform.

[0139] In some implementations, controlling the mobile platform to start following the target object includes: in response to a second preset condition being met, controlling the mobile platform to start following the target object.

[0140] For example, the second preset condition being met includes receiving a user-inputted start-follow command. For instance, in response to the received start-follow command, the mobile platform can be controlled to begin following the target object, wherein the start-follow command is triggered based on the user's second input.

[0141] For example, the second preset condition is met if no user input is received indicating to reselect the target object within a preset time period for outputting the prompt message. This preset time period may be a fixed value or adjustable by the user. If the user determines that the target object is their desired target, they can choose not to input anything and wait for the mobile platform to automatically begin following the target object, or for the control terminal to automatically control the mobile platform to begin following the target object.

[0142] It should be noted that positioning devices may sometimes have positioning errors. There may be a discrepancy between the position of the positioning device and the actual position of the target object carrying the positioning device, which may result in the target being determined based on the position of the positioning device not being the target object carrying the positioning device.

[0143] In related technologies, after the mobile platform is triggered to start following the target object, it will default to following the target closest to the positioning device. However, there may be cases where the wrong target is identified based on the position of the positioning device. For example, if there are multiple candidate targets in the picture that are close to the positioning device, the user will only suddenly realize that the target being followed by the mobile platform is wrong after the mobile platform has been following the wrong target for a period of time. This will result in a high error rate in the target selection of the mobile platform, which will lead to low accuracy in target selection and thus affect the control efficiency and shooting efficiency of the mobile platform.

[0144] In this embodiment, a prompt message is output before the mobile platform starts following the target object. If the user confirms that the target identified by the positioning device is the desired target, the mobile platform is triggered to start following the target object. For example, if the user confirms that the target identified by the positioning device is the desired target and makes a second input, the start follow command triggered by the second input controls the mobile platform to start following the target object.

[0145] In some implementations, outputting prompt information includes: responding to a received target selection instruction by outputting prompt information, wherein the target selection instruction is generated based on a first user input. For example, in response to a received target selection instruction, a specific target whose position matches a first preset condition with the location of the positioning device may be identified as the target object to be followed by the mobile platform; or in response to a received target selection instruction, a specific target whose current position matches a first preset condition with the location of the positioning device may be automatically selected from multiple candidate targets as the target object of the mobile platform.

[0146] In other implementations, the target object may not be limited to being selected based on the location of the positioning device in response to a target selection command. For example, when the location of the positioning device is obtained, a target object that meets a first preset condition based on the location of the positioning device may be automatically selected, and a prompt message may be output.

[0147] In some implementations, outputting prompt information includes: displaying prompt information, broadcasting prompt information, or indicating prompt information via indicator lights.

[0148] In some implementations, outputting prompt information includes: outputting prompt information through a control device of the mobile platform, or outputting prompt information through the mobile platform itself.

[0149] For example, the prompt information can be displayed on the display device of the control device, or broadcast through the speaker or headphones of the control device and / or the mobile platform, or indicated by the indicator light of the control device and / or the mobile platform. Displaying the prompt information through the display device of the control device can mean displaying the prompt information on the screen displayed on the display device.

[0150] In some implementations, the relevant information about the target object includes descriptive information about the target object. For example, the descriptive information about the target object includes, but is not limited to, at least one of the following: the type of the target object, the size of the target object, the distance between the target object and the positioning device, and the visual characteristics of the target object. The type of the target object can indicate at least one of the following: the target object is a stationary target or a moving target; the target object is a person, vehicle, animal, plant, etc.; the visual characteristics of the target object can indicate information such as the color and posture of the target object. Users can determine whether the target object is their desired target based on the descriptive information.

[0151] In some implementations, the relevant information about the target object includes its position information within the frame captured by the camera on the mobile platform. For example, a first preset identifier (such as a plus sign, a square, a circle, etc.) may be displayed at the location of the target object in the frame, or a first preset identifier (such as an arrow pointing to the target object) may be displayed around the location of the target object in the frame. The user can determine whether the target object is their desired target based on its position information in the frame.

[0152] In some embodiments, before determining a specific target whose position matches a first preset condition as the target object to be followed by the mobile platform in response to a received target selection instruction, the method further includes: displaying first indication information for indicating the position of the positioning device on a control device of the mobile platform. Displaying the first indication information for indicating the position of the positioning device on the control device includes: displaying the first indication information for indicating the position of the positioning device in a screen displayed on the control device.

[0153] For example, as shown in Figures 8a to 8c, first indication information for indicating the position of the positioning device is displayed on the control device of the movable platform.

[0154] As shown in Figure 8a, the location of the positioning device indicated by the first indication information is the same as the location of the target object carrying the positioning device. This indicates that the location of the positioning device is relatively accurate, and the user can determine the target object determined based on the location of the positioning device as the desired target. In this case, the display position of the first indication information of the positioning device's location on the screen is consistent with the display position of the target object selected by the system.

[0155] As shown in Figure 8b, there is a significant deviation between the position of the positioning device indicated by the first instruction information and the position of the target that the user expects to follow (such as the target to the left of the first instruction information). The user can promptly determine whether the target object determined based on the position of the positioning device is the expected target based on the first prompt information. For example, if the target object determined based on the position of the positioning device is the target to the right of the first instruction information, it can be determined that the target object is not the expected target, and the user can adjust the target object in time. If the target object determined based on the position of the positioning device is the target to the left of the first instruction information, it can be determined that the target object is the expected target, and the user can trigger the movable platform to start following the target object through the second input.

[0156] Optionally, the display position of the first indication information is related to the display position of the target object selected based on the position of the positioning device in the image captured by the camera on the mobile platform. For example, as shown in Figure 8c, if there is a deviation between the position of the positioning device and the position of the target object selected based on the position of the positioning device, the display position of the first indication information can be adjusted to the display position of the target object in the image. The user can determine the position of the target object based on the display position of the first indication information, and determine whether the target object determined based on the position of the positioning device is the desired target. As shown in Figure 8c, if the target object determined based on the position of the positioning device is not the desired target, the user can adjust the target object in a timely manner. Of course, when the positioning error of the positioning device is small, the target object selected based on the position of the positioning device will be more accurate. For example, when the positioning error of the positioning device is small, the display position of the first indication information in the image will be closer to the target on the left. In this case, the display position of the first indication information will be displayed at the display position of the target on the left in the image.

[0157] In some implementations, before determining a specific target whose position matches a first preset condition as the target object to be followed by the mobile platform in response to a received target selection instruction, the method further includes: displaying indication information of multiple candidate targets on the control device of the mobile platform.

[0158] For example, in response to a received target selection instruction, before determining a specific target whose position matches the first preset condition as the target object to be followed by the mobile platform, the method further includes: displaying second indication information corresponding to multiple candidate targets respectively. As shown in Figure 8d, displaying the second indication information corresponding to multiple candidate targets before determining the target object allows the user to determine multiple candidate targets based on the second indication information. The user can understand the information of multiple candidate targets in advance and can also identify the target that the mobile platform is expected to follow in advance, so as to quickly determine whether the target object is the expected target when outputting prompt information before the mobile platform starts following the target object.

[0159] For example, the display method of targets other than the target object among multiple candidate targets is different from that of the target object. Optionally, as shown in Figure 8e, the display method of the first indication information is different from that of the second indication information. This allows users to intuitively distinguish the location of the positioning device and / or the first indication information corresponding to the target object and the second indication information corresponding to the candidate targets. For example, a circular icon is displayed as the first indication information at the location of the target object, and a plus sign icon is displayed as the second indication information at the locations of other candidate targets; for example, the area where the target object is located in the image is flashed, and the areas where other candidate targets are located in the image are highlighted. Through this differentiated display method, it can be emphasized which target in the image the system has selected based on the location of the positioning device, making it easier for users to know which target in the image has been selected based on the location of the positioning device, thereby helping users confirm whether the target selected by the system is their expected target, avoiding target selection errors, and thus improving the accuracy of target selection.

[0160] In some implementations, as shown in FIG8d, before determining the target object, second indication information corresponding to multiple candidate targets can be displayed, such as displaying a plus sign at the location of the candidate target; in response to the received target selection instruction, a specific target whose position matches the first preset condition with the positioning device is determined as the target object to be followed by the mobile platform, and as shown in FIG8e, the first indication information corresponding to the target object is displayed, such as displaying a circular mark at the location of the target object. At the same time, the display of the second indication information corresponding to the target object can be canceled so that the user can clearly view the target object.

[0161] In some implementations, referring to Figure 8e, before the mobile platform begins following the target object, multiple candidate targets are identified, and a specific target whose position matches a first preset condition is selected; first indication information corresponding to the specific target is displayed, and second indication information corresponding to the other candidate targets besides the specific target can also be displayed; so that the user can quickly determine whether the specific target is the target that the mobile platform is expected to follow. If the user determines that the specific target is the expected target, a first input can be made to trigger a target selection command, thereby identifying the specific target as the target object that the mobile platform is expected to follow; then, in response to the received start-follow command, the mobile platform can be controlled to start following the target object.

[0162] In some implementations, outputting prompt information includes: automatically outputting prompt information. Referring to Figure 8a, before the mobile platform begins following a target object, multiple candidate targets are identified, and a specific target whose position matches a first preset condition is selected from the candidate targets as the target object to be followed by the mobile platform. A first indication message corresponding to the specific target is automatically displayed. This allows the user to quickly determine whether the specific target is the target the mobile platform is expected to follow. If the user determines that the specific target is the expected target, a second input can be made to trigger a start-follow command, thereby controlling the mobile platform to begin following the target object.

[0163] Optionally, referring to Figure 8e, in response to the received target selection instruction, before determining a specific target whose position matches the first preset condition as the target object to be followed by the mobile platform, second indication information corresponding to the remaining candidate targets other than the target object can also be displayed among the multiple candidate targets; so that the user can identify whether the remaining candidate targets include the expected target; for example, if the remaining candidate targets include the expected target, the expected target among the remaining candidate targets can be switched to the target to be followed by the mobile platform.

[0164] Figure 9 shows a control method for a mobile platform provided in another embodiment of this application. The control method includes steps S410 to S420.

[0165] Step S410: Display multiple candidate targets of the mobile platform on the display interface. Among the multiple candidate targets, there are specific targets and non-specific targets. Specific targets are targets whose positions meet the first preset conditions with respect to the positioning device. The display method of specific targets on the display interface is different from that of non-specific targets.

[0166] Step S420: Select the target object that the mobile platform can follow from multiple candidate targets, and control the mobile platform to follow the target object.

[0167] In related technologies, the interface of the control device of the mobile platform displays indication information of multiple candidate targets, and each candidate target is displayed in the same way. The user can select one of the multiple candidate targets as the follow target of the mobile platform. This same display method is not conducive to highlighting the differences between the candidate targets, resulting in less reference information provided to the user, which will affect the efficiency and accuracy of target selection.

[0168] The display interface can be the display interface of the control device of the mobile platform, which can be the display interface of the aforementioned display device. Displaying multiple candidate targets of the mobile platform on the display interface can be achieved by displaying indication information corresponding to each of these candidate targets on the screen displayed on the display interface. The indication information can be identifiers that can be selected by the user, such as "+" or "√" signs. The user can select the target at the corresponding location by clicking on the identifier. In this embodiment, the indication information corresponding to multiple candidate targets is displayed on the control device of the mobile platform. The display method of the target object identified by the positioning device differs from that of other targets, which highlights the differences between each candidate target, thus providing the user with more multi-dimensional reference information and improving the efficiency and accuracy of target selection. For example, as shown in Figure 8e, a circular identifier is displayed at the location of a specific target as the first indication information, and a plus sign is displayed at the location of a non-specific target as the second indication information; however, this is not limited to this, for example, the area where the specific target is located can be flashed, and the area where the non-specific target is located can be highlighted.

[0169] In some implementations, selecting a target object to be followed by a mobile platform from a plurality of candidate targets includes: in response to a received target selection instruction, identifying a specific target from the plurality of candidate targets as the target object to be followed by the mobile platform, the target selection instruction being triggered based on a first input from the user.

[0170] Users can use the display interface to promptly determine whether a specific target, determined by the positioning device's location, is the target they wish the mobile platform to follow. If the target is desired, a first input can trigger a target selection command, designating the target as the mobile platform's target. A second input can also trigger the mobile platform to begin following the target. If the target is not desired, users can promptly input a target switching command to switch targets. After switching targets, a second input can trigger the mobile platform to begin following the target.

[0171] In some implementations, the user's initial input is based on their own information. Exemplarily, this information includes the user's voice, posture, gestures, or movement parameters. For example, movement parameters include the direction of movement and / or the distance of movement. For instance, the mobile platform or its control device can pre-define a mapping relationship between voice, gestures, posture, or movement parameters and commands. When the mobile platform or control device detects the voice, gesture, posture, or movement parameters corresponding to a target selection command, it can trigger the target selection command. For example, the user can trigger the initial input by inputting a pre-defined voice (e.g., "select target"), a pre-defined gesture (e.g., a V-sign or outstretched hand), a pre-defined posture (e.g., extending an arm, opening both hands), or moving a pre-defined distance in a pre-defined direction, thereby instructing the mobile platform or control device to automatically select the target to follow based on the location of the positioning device.

[0172] In some implementations, the user's initial input is provided via a control device of the mobile platform. For example, input via the control device of the mobile platform may include posture adjusted by the control device or control commands input via physical controls of the control device.

[0173] For example, the control device is equipped with an attitude sensor, which can be used to obtain the attitude that the control device is adjusting.

[0174] For example, the physical controls of the control device include a first type of physical control or a second type of physical control. The first type of physical control is used to detect the user's first input to the virtual control, and the second type of physical control is used to detect the user's first input by moving the second type of physical control. Optionally, the first type of physical control includes a display interface, and the second type of physical control includes a joystick, a physical button, or a dial. For example, the user triggers the first input by moving the joystick, by clicking a preset physical button, by rotating a dial, or by the user triggering the first input by a virtual button displayed at a specified location on the screen or in the display interface, to instruct the movable platform or control device to automatically select the following target of the movable platform based on the position of the positioning device. The joystick can be a multi-dimensional button.

[0175] In some implementations, the user's second input is input through the user's own information. Exemplarily, the user's own information includes the user's voice, posture, gestures, or movement parameters. For example, movement parameters include the direction of movement and / or the distance of movement. For example, the mobile platform or its control device can preset a mapping relationship between voice, gestures, posture, or movement parameters and commands. When the mobile platform or control device detects the voice, gesture, posture, or movement parameters corresponding to the start-follow command, it can trigger the start-follow command. For example, the user can trigger the second input by inputting preset voice (e.g., "start follow"), preset gestures (e.g., "OK" gesture), preset postures (e.g., remaining still), or moving a preset distance in a preset direction, thereby instructing the mobile platform to begin following the target object.

[0176] In some implementations, the user's second input is input via a control device of the mobile platform. For example, input via the control device of the mobile platform includes posture adjusted by the control device or control commands input via physical controls of the control device.

[0177] For example, the control device is equipped with an attitude sensor, which can be used to obtain the attitude that the control device is adjusting.

[0178] For example, the physical controls of the control device include a first type of physical control or a second type of physical control. The first type of physical control is used to detect a second input from the user to a virtual control, while the second type of physical control is used to detect the user's second input by moving the second type of physical control. Optionally, the first type of physical control includes a display interface, and the second type of physical control includes a joystick, a physical button, or a dial. For example, the user triggers the second input by moving the joystick, by clicking a preset physical button, by rotating a dial, or by using a "start" virtual button displayed on the screen to trigger the second input, instructing the movable platform to begin following the target object.

[0179] Optionally, the first and second input methods can be the same, allowing users to quickly perform both inputs. Alternatively, the first and second input methods can be different, or they can be for different physical controls. For example, the first input might be for a physical button, and the second for a joystick; or the first input might be for a physical button, and the second for another physical button. This allows users to accurately perform both inputs. For instance, it can prevent the movable platform from incorrectly triggering to start following the target object by repeating the first input method before confirming that the current target object is the desired target.

[0180] Optionally, the control device includes a control device carried by the target object. This control device includes a positioning device, or the positioning device can be a movable object that moves with the target object, thus determining the target object's position based on the positioning device's location. In this case, the positioning device can serve as a control device for the mobile platform. Besides providing its own position information to the mobile platform or other control devices on the platform, the positioning device can also possess control capabilities. The target object can control some operations of the mobile platform through controls (including physical or virtual controls) on the positioning device, such as takeoff, landing, or performing specific intelligent functions (e.g., orbiting, following). As shown in Figure 2, the control device is carried by the target object. The user of the control device can trigger a target selection command by making a first input on the control device to identify the target object carrying the control device as the target object the mobile platform will follow. The control device can also display prompts corresponding to the target object so that the user can confirm whether the target object is the desired object to follow. The user can also trigger a start-follow command by making a second input on the control device to control the mobile platform to begin following the target object.

[0181] Optionally, the control device includes other control devices on the mobile platform, specifically those not carried by the target object. As shown in Figure 4, the positioning device is carried by the target object, and the control device is a control device set up independently of the positioning device. For example, the control device can be a server, a control device on the mobile platform (such as an aircraft), or a control device located outside the mobile platform and the target object. For example, the mobile platform could be a drone or an unmanned vehicle. The control device is operated by the user to control the drone or unmanned vehicle, and can control the drone or unmanned vehicle to follow the target object (the location of the target object may be independent of the user's location).

[0182] In some implementations, selecting a target object for the mobile platform to follow from a plurality of candidate targets may include: in response to a received target switching command, determining a non-specific target from the plurality of candidate targets as the target object for the mobile platform to follow, wherein the target switching command is triggered based on a third user input. For example, if the target desired by the user is not a specific target whose position with the positioning device meets the first preset condition, the user can input a target switching command to switch the specific target selected by default to another target.

[0183] For example, if a user can determine through the display interface whether a specific target is the desired target, they can provide a third input to trigger a target switching command, identifying a non-specific target from multiple candidate targets as the target object to be followed by the mobile platform. They can also provide a second input to trigger the mobile platform to begin following the target object, thereby improving the accuracy of target object selection.

[0184] For example, in response to a received target switching instruction, determining a non-specific target from a plurality of candidate targets as the target object to be followed by the mobile platform includes: in response to the received target switching instruction, selecting a non-specific target from a plurality of candidate targets as the target object to be followed by the mobile platform according to a specified order and / or direction. For example, the specified order and / or direction is related to the direction indicated by the third input. For example, referring to Figure 8c, in response to a received target switching instruction, if the direction indicated by the third input is left (e.g., the joystick is deflected to the left or a left-facing physical control is pressed), the first non-specific target to the left of the specific target can be selected as the target object to be followed by the mobile platform.

[0185] For example, in response to a received target switching instruction, determining a non-specific target from a plurality of candidate targets as the target object to be followed by the mobile platform includes: in response to a received target switching instruction, selecting a non-specific target of the same type as the specific target (such as a person) as the target object to be followed by the mobile platform.

[0186] In some implementations, before controlling the mobile platform to begin following the target object, the method further includes: in response to a received target switching instruction, switching the target object from a target determined based on the location of the positioning device to another target indicated by the target switching instruction, the target switching instruction being triggered based on a third user input.

[0187] For example, after a specific target whose position matches the first preset condition is identified as the target object to be followed by the mobile platform, and before the mobile platform begins following the target object, the user can still switch to another target as the target object via a third input. For instance, if the user finds that the specific target is not the desired target, they can switch to another target (such as a non-specific target) as the target object via a third input. As shown in Figure 8c, if the target object determined based on the position of the positioning device is not the desired target, the user can promptly adjust the target object to the desired target.

[0188] For example, in response to a received target switching instruction, switching a target object from a target determined based on the location of the positioning device to another target indicated by the target switching instruction includes: in response to the target switching instruction, switching the target object from a target determined based on the location of the positioning device to another target indicated by the target switching instruction in a specified order and / or direction. For example, in response to a received target switching instruction, selecting a non-specific target from a plurality of candidate targets as the target object to be followed by the mobile platform in a specified order and / or direction.

[0189] In some implementations, the user's third input is provided through their own information. For example, this information may include the user's voice, posture, gestures, or movement parameters. Movement parameters may include the direction and / or distance of movement. For instance, the mobile platform or its control device may pre-define a mapping relationship between voice, gestures, posture, or movement parameters and commands. When the mobile platform or control device detects the voice, gesture, posture, or movement parameters corresponding to a target switching command, it can trigger the target switching command. The user's voice, posture, gesture, or movement parameters may indicate the direction and number of switches, facilitating switching to the desired target.

[0190] In some implementations, the user's third input is input via a control device of the mobile platform. For example, input via the control device of the mobile platform includes posture adjusted by the control device or control commands input via physical controls of the control device.

[0191] For example, the control device is equipped with an attitude sensor, which can acquire the attitude adjusted by the control device. This adjusted attitude can indicate the direction and number of switches, facilitating the switch to the desired target.

[0192] For example, the physical controls of the control device include either a first type of physical control or a second type of physical control. The first type of physical control is used to detect a third input from the user to the virtual control, while the second type of physical control is used to detect the user's third input by moving the second type of physical control. Optionally, the first type of physical control includes a display interface, and the second type of physical control includes a joystick, physical buttons, or a dial. The instructions input to the physical controls can indicate the direction and number of switches to facilitate switching to the desired target.

[0193] In some implementations, the first and third inputs are input in different ways, or the first and third inputs are input to different physical controls. Users can accurately perform the first and third inputs. For example, this can prevent erroneous target switching caused by performing the third input when the current target object is determined to be the target the movable platform is expected to follow. Examples of first and third inputs being input to different physical controls include: the first input being input to a physical button and the third input being input to a joystick, or the first input being input to a physical button and the third input being input to another physical button.

[0194] In some implementations, the method further includes: in response to the failure to obtain location information of the positioning device or the obtained location information of the positioning device not meeting the conditions, selecting other targets as target objects from a plurality of identified candidate targets.

[0195] For example, other targets selected from the identified multiple candidate targets are selected according to a second preset selection strategy.

[0196] For example, selecting a target object for a mobile platform to follow from multiple candidate targets includes: in response to obtaining location information from a positioning device, selecting a specific target from multiple candidate targets as the target object for the mobile platform to follow. It may also include, in response to not obtaining location information from a positioning device or obtaining location information from a positioning device that does not meet the conditions, selecting a target that conforms to a second preset selection strategy from multiple candidate targets as the target object.

[0197] For example, in response to the failure to obtain the location information of the positioning device or the obtained location information of the positioning device not meeting the conditions, such as the location information of the positioning device being incomplete or the delay being greater than or equal to the delay threshold, or the mobile platform or control device being unable to obtain the location information of the positioning device, multiple candidate targets of the mobile platform are all determined as non-specific targets, and a target that conforms to the second preset selection strategy is selected from the non-specific targets as the target object.

[0198] Optionally, the second preset selection strategy is related to the position and / or range of the target in the frame captured by the camera on the mobile platform, or the distance between the target and the mobile platform. For example, the second preset selection strategy includes: being located in the center of the frame, having the largest size or proportion, or being closest to the mobile platform. For example, selecting a target located in the center of the frame as the target object, selecting a target with the largest size or proportion as the target object, or selecting a target closest to the mobile platform as the target object. Even when the position information of the positioning device is not obtained or the obtained position information does not meet the conditions, the target object to be followed by the mobile platform can be determined based on the second preset selection strategy, and the mobile platform can be automatically controlled to follow the target object or controlled to start following the target object in response to a received start-follow command.

[0199] Optionally, the non-specific targets include targets that conform to the second preset selection strategy. These non-specific targets are displayed differently in the display interface than other non-specific targets. This highlights the differences between the candidate targets, providing users with more multi-dimensional reference information and improving the efficiency and accuracy of target selection. For example, users can quickly and accurately identify targets that conform to the second preset selection strategy from multiple candidate targets to determine if the target conforming to the second preset selection strategy is the desired target. If the target is the desired target, the mobile platform can be triggered to follow the target object. If the target is not the desired target, the user can also switch target objects in a timely manner.

[0200] In some implementations, outputting prompt information includes: outputting prompt information in response to obtaining the location information of the positioning device. Before the mobile platform begins following a target, the prompt information is output to indicate information related to the target identified based on the location of the positioning device. This allows for the early or timely output of prompt information related to the accuracy of target identification, enabling the user to know in advance whether the currently determined target being followed by the mobile platform is the desired target, thereby improving the accuracy of target selection and ultimately enhancing the control or shooting efficiency of the mobile platform.

[0201] In some embodiments, in response to the lack of location information from the positioning device or the obtained location information not meeting the conditions, other targets are selected as target objects from a plurality of identified candidate targets. Optionally, third indication information corresponding to the other targets and indication information corresponding to the targets other than the other targets among the plurality of candidate targets are displayed on the control device of the mobile platform. Displaying the third indication information corresponding to the other targets and the indication information corresponding to the targets other than the other targets among the plurality of candidate targets on the control device of the mobile platform may include: displaying the third indication information corresponding to the other targets and the indication information corresponding to the targets other than the other targets among the plurality of candidate targets on a screen displayed on the control device of the mobile platform.

[0202] For example, in response to the failure to obtain the location information of the positioning device or the obtained location information of the positioning device not meeting the conditions, a target that conforms to the second preset selection strategy is selected from the identified multiple candidate targets as the target object, and third indication information corresponding to the target that conforms to the second preset selection strategy and indication information corresponding to the targets other than the target that conforms to the second preset selection strategy among the multiple candidate targets are displayed.

[0203] For example, the third indication information is displayed differently from the indication information for targets other than those other than the second preset selection strategy. For instance, the third indication information for targets that conform to the second preset selection strategy is displayed differently from the indication information for targets that do not conform to the second preset selection strategy. This highlights the differences between the candidate targets, providing users with more multi-dimensional reference information and thus improving the efficiency and accuracy of target selection. For example, users can quickly and accurately identify targets that conform to the second preset selection strategy among multiple candidate targets to determine whether the target conforming to the second preset selection strategy is the desired target. If the target is the desired target, a first input can be made to trigger a target selection command, identifying the target as the target object to be followed by the mobile platform; or, if the target is the desired target, a second input can be made to trigger the mobile platform to start following the target. Users can also switch target objects promptly if the target is not the desired target.

[0204] For example, the third indication information is displayed differently from the indication information used to indicate that the target object's position matches the first preset condition. For instance, as shown in Figure 8f, the first display mode is used for target objects (such as specific targets) selected based on the location of the positioning device and matching the first preset condition; the second display mode is used for non-specific targets matching the second preset selection strategy (such as those located in the center of the screen); and the third display mode is used for non-specific targets not matching the second preset selection strategy. This highlights the differences between the various candidate targets, providing users with more multi-dimensional reference information and improving the efficiency and accuracy of target selection. For example, a user can trigger a target switching command by making a third input to identify a non-specific target among multiple candidate targets as the target object that the mobile platform can follow. For example, the first display mode displays a circular icon, while the second and third display modes both display a plus sign icon, but with different colors. Of course, this is not limited to this; for example, the first, second, and third display modes all display a plus sign icon, but with different colors.

[0205] In some implementations, controlling the movable platform to begin following the target object includes: controlling the movable platform to begin moving in accordance with the movement of the target object. For example, the target object is a moving target; when the movable platform moves in accordance with the movement of the target object, it can move in the direction of movement of the target object and can also maintain the distance between the platform and the target object within a corresponding distance range.

[0206] In some implementations, controlling the movable platform to begin following the target object includes: controlling the movable platform to remain stationary and controlling the movable platform to adjust the posture of the shooting device to maintain the target object at a designated position in the frame captured by the shooting device. For example, the designated position includes the center of the frame, but it is not limited to this and can be determined based on the frame composition. This allows for the tracking and shooting of the target object.

[0207] For example, controlling a movable platform to adjust the posture of a shooting device to maintain a target object in a specified position within the frame captured by the shooting device includes: controlling the movable platform to adjust the posture of a posture-adjustable mechanism for mounting the shooting device to maintain the target object in a specified position within the frame captured by the shooting device, and / or controlling the movable platform to adjust its own posture to maintain the target object in a specified position within the frame captured by the shooting device. For example, the shooting device is directly mounted on the movable platform, and the movable platform is controlled to adjust its own posture to maintain the target object in a specified position within the frame captured by the shooting device; or the shooting device is mounted on the body of the movable platform via a gimbal, and the posture of the shooting device can be adjusted by controlling the gimbal, while the posture of the movable platform itself can also be adjusted to adjust the posture of the shooting device.

[0208] In some implementations, controlling the mobile platform to begin following the target object includes: obtaining the position of the target object based on a visual recognition algorithm and / or the position of a positioning device, in order to control the mobile platform to follow the target object.

[0209] For example, during the process of a mobile platform following a target object, the position of the positioning device is acquired in real time, and the platform follows the target object based on the position of the positioning device. For instance, the movement parameters of the target object can be determined based on the position of the positioning device, and the platform can move or adjust the posture of the shooting device to keep the target object in a specified position within the frame captured by the shooting device based on the movement parameters of the target object.

[0210] For example, during the process of a mobile platform following a target object, it acquires real-time footage captured by a camera and determines the target object's position within the footage using a visual recognition algorithm. For instance, the target object's position in the actual environment can be determined based on its position in the footage, and the platform can then follow the target object based on that position. Alternatively, the target object's movement parameters can be determined based on changes in its position within the footage, allowing the platform to move or adjust the camera's posture to maintain the target object in a designated position within the camera's frame. Generally, the target object's position determined by a visual recognition algorithm can achieve centimeter-level accuracy, offering higher positioning precision. Therefore, using a visual recognition algorithm to determine the target object's position is preferable for controlling the mobile platform's following method. Furthermore, if the target object is lost from the frame, the positioning device can guide the mobile platform to adjust its own posture or the gimbal's posture to quickly retrieve the lost target.

[0211] For example, if the target object is not identified in the footage captured by the camera based on the visual recognition algorithm, the system can switch to obtaining the target object's position based on the location of the positioning device, thereby controlling the movable platform to follow the target object. Even when the target object is occluded, causing visual positioning to fail, the system can still follow the target object based on the location of the positioning device.

[0212] The specific principles and implementation methods of the control methods for the mobile platform provided in the foregoing embodiments of this application are similar. For some parts not mentioned in the embodiments, please refer to the relevant descriptions of other embodiments, which will not be repeated here.

[0213] Please refer to FIG10 in conjunction with the above embodiments. FIG10 is a schematic block diagram of a control device 60 for a mobile platform provided in an embodiment of this application. The control device 60 for a mobile platform includes a memory 61 and a processor 62. The memory 61 is used to store a computer program; the processor 62 is used to execute the computer program and, when executing the computer program, implement the steps of the control method for the mobile platform in the aforementioned embodiments.

[0214] In some implementations, the processor 62 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0215] In response to the received target selection instruction, a specific target whose position matches the first preset condition is identified as the target object to be followed by the mobile platform. The target selection instruction is triggered based on the user's first input, which is independent of the display position of the specific target in the image captured by the camera device of the mobile platform.

[0216] In response to a received start follow command, the movable platform is controlled to begin following the target object, wherein the start follow command is triggered based on a second input from the user.

[0217] In some implementations, the processor 62 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0218] In response to the received target selection command, the system automatically selects a specific target whose current location matches the location of the positioning device from multiple candidate targets as the target object of the mobile platform. The target selection command is triggered based on the user's first input.

[0219] In response to a received start follow command, the movable platform is controlled to begin following the target object, wherein the start follow command is triggered based on a second input from the user.

[0220] In some implementations, the processor 62 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0221] Before the mobile platform begins to follow the target object, a prompt message is output. The prompt message is used to indicate the relevant information of the target object that is selected based on the location of the positioning device and whose location of the positioning device meets the first preset condition.

[0222] Control the movable platform to start following the target object.

[0223] In some implementations, the processor 62 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0224] Multiple candidate targets of the mobile platform are displayed on the display interface through the display device. Among the multiple candidate targets, there are specific targets and non-specific targets. Specific targets are targets whose positions meet the first preset conditions with respect to the positioning device. The display method of specific targets on the display interface is different from that of non-specific targets.

[0225] Select the target object that the mobile platform can follow from multiple candidate targets, and control the mobile platform to follow the target object.

[0226] The specific principles and implementation methods of the device provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0227] Please refer to FIG11 in conjunction with the above embodiments. FIG11 is a schematic block diagram of the control device 70 provided in the embodiments of this application. The control device 70 includes a user interface 701, a memory 71, and a processor 72. The memory 71 is used to store computer programs; the processor 72 is used to execute the computer programs and, when executing the computer programs, implement the steps of the control method of the mobile platform in the aforementioned embodiments.

[0228] In some embodiments, the user interface 701 is configured to: receive a target selection instruction; the processor 71 is configured to: in response to the target selection instruction received by the user interface, determine a specific target whose position matches a first preset condition as the target object to be followed by the mobile platform, wherein the target selection instruction is triggered based on a first input from the user, and the first input is independent of the display position of the specific target in the image captured by the camera of the mobile platform; the user interface 701 is further configured to: receive a start-follow instruction; the processor 71 is further configured to: in response to the start-follow instruction received by the user interface, control the mobile platform to start following the target object, wherein the start-follow instruction is triggered based on a second input from the user.

[0229] In some implementations, the user interface 701 is configured to: receive a target selection instruction; the processor 71 is configured to: in response to the received target selection instruction, automatically select a specific target whose current location and the location of the positioning device meet a first preset condition from a plurality of candidate targets as the target object of the mobile platform, wherein the target selection instruction is triggered based on a first input from the user; the user interface 701 is further configured to: receive a start follow instruction; the processor 71 is further configured to: in response to the received start follow instruction, control the mobile platform to start following the target object, wherein the start follow instruction is triggered based on a second input from the user.

[0230] In some implementations, the user interface 701 is used to: output a prompt message before the mobile platform starts following the target object, the prompt message being used to prompt relevant information about the target object selected based on the location of the positioning device and whose location meets a first preset condition; the processor 71 is used to: control the mobile platform to start following the target object.

[0231] The specific principles and implementation methods of the control device provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0232] Please refer to FIG12 in conjunction with the above embodiments. FIG12 is a schematic block diagram of the control device 80 provided in the embodiments of this application. The control device 80 includes a display device 801, a memory 81, and a processor 82. The memory 81 is used to store computer programs; the processor 82 is used to execute the computer programs and, when executing the computer programs, implement the steps of the control method for the movable platform of the aforementioned embodiments. Optionally, the display device 801 may be fixedly mounted on the main body of the control device 80, or may be detachably connected to the main body of the control device 80.

[0233] In some embodiments, the display device 801 is used to: display a plurality of candidate targets of the mobile platform on a display interface, wherein the plurality of candidate targets include specific targets and non-specific targets, the specific targets being targets whose positions with the positioning device meet a first preset condition, and the specific targets being displayed in a different manner than the non-specific targets in the display interface; the processor 81 is used to: select a target object to be followed by the mobile platform from the plurality of candidate targets, and control the mobile platform to follow the target object.

[0234] The specific principles and implementation methods of the control device provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0235] Please refer to Figure 13 in conjunction with the above embodiments. Figure 13 is a schematic block diagram of a movable platform 90 provided in an embodiment of this application. The movable platform 90 includes a receiver 901, a memory 91, and a processor 92. The memory 91 is used to store a computer program; the processor 92 is used to execute the computer program and, when executing the computer program, implement the steps of the control method of the movable platform in the aforementioned embodiments.

[0236] In some implementations, receiver 901 is configured to: receive a target selection instruction; processor 92 is configured to: automatically select a specific target whose current location matches the location of the positioning device as a target object of the mobile platform from a plurality of candidate targets, wherein the target selection instruction is triggered based on a first input from the user; receiver 901 is further configured to: receive a start follow instruction; processor 92 is further configured to: control the mobile platform to start following the target object in response to the received start follow instruction, wherein the start follow instruction is triggered based on a second input from the user.

[0237] The specific principles and implementation methods of the mobile platform provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0238] Please refer to FIG14 in conjunction with the above embodiments. FIG14 is a schematic block diagram of a portable platform 100 provided in this application embodiment. The portable platform 100 includes a user interface / transmitter 101, a memory 110, and a processor 120. The memory 110 is used to store computer programs; the processor 120 is used to execute the computer programs and, when executing the computer programs, implement the steps of the control method of the portable platform in the aforementioned embodiments.

[0239] In some implementations, the user interface / transmitter 101 is used to: output a prompt message before the mobile platform begins to follow the target object, the prompt message being used to prompt relevant information about the target object selected based on the location of the positioning device and whose location meets a first preset condition; the processor 120 is used to: control the mobile platform to begin following the target object.

[0240] The specific principles and implementation methods of the mobile platform provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0241] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to implement the method provided in the above embodiments.

[0242] The computer-readable storage medium may be an internal storage unit of the device, apparatus, or portable platform described in any of the foregoing embodiments, such as a hard disk or memory of the device, apparatus, or portable platform. The computer-readable storage medium may also be an external storage device of the device, apparatus, or portable platform, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the device, apparatus, or portable platform.

[0243] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application.

[0244] It should also be understood that the term “and / or” as used in this application and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0245] 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 method of controlling a movable platform, characterized by, include: In response to a received target selection instruction, a specific target whose position matches a first preset condition is identified as the target object to be followed by the mobile platform. The target selection instruction is triggered based on a first input from the user, which is independent of the display position of the specific target in the image captured by the camera on the mobile platform. In response to a received start follow command, the movable platform is controlled to begin following the target object, wherein the start follow command is triggered based on a second input from the user.

2. A control method of a movable platform, characterized by, include: In response to a received target selection instruction, the system automatically selects a specific target from multiple candidate targets whose current location matches the location of the positioning device under a first preset condition as the target object of the mobile platform. The target selection instruction is triggered based on a first input from the user. In response to a received start follow command, the movable platform is controlled to begin following the target object, wherein the start follow command is triggered based on a second input from the user.

3. A method of controlling a movable platform, characterized by, include: Before the mobile platform begins to follow the target object, a prompt message is output. The prompt message is used to indicate relevant information about the target object that matches the position of the positioning device based on the position selection of the positioning device and the position of the positioning device according to a first preset condition. Control the movable platform to begin following the target object.

4. A method of controlling a movable platform, characterized by, include: Multiple candidate targets of the mobile platform are displayed on the display interface. Among the multiple candidate targets, there are specific targets and non-specific targets. The specific targets are targets whose positions meet the first preset conditions with respect to the positioning device. The display method of the specific targets on the display interface is different from that of the non-specific targets. Select the target object to be followed by the mobile platform from the plurality of candidate targets, and control the mobile platform to start following the target object.

5. The control method according to claim 1 or 2, characterized by, The user's first input is based on the user's own information.

6. The control method according to claim 5, characterized by The user's own information includes the user's voice, posture, gestures, or movement parameters.

7. The control method according to claim 6, characterized by The movement parameters include the direction of movement and / or the distance of movement.

8. The control method according to claim 1 or 2, characterized by, The user's first input is input through the control device of the mobile platform.

9. The control method according to claim 8, characterized by, The input via the control device of the movable platform includes the posture adjusted by the control device or the control commands input via the physical controls of the control device.

10. The control method according to claim 9, characterized by, The physical control includes a first type of physical control or a second type of physical control. The first type of physical control is used to detect the user's first input to the virtual control, and the second type of physical control is used to detect the user's first input by moving the second type of physical control.

11. The control method according to claim 10, characterized by, The first type of physical control includes a display interface, while the second type of physical control includes a joystick, physical buttons, or a dial.

12. The control method according to claim 8, characterized by, The control device includes the control device carried by the target object or other control devices of the mobile platform, wherein the control device carried by the target object includes the positioning device.

13. The control method according to claim 1 or 2, characterized by, The user's second input is entered through the user's own information.

14. The control method according to claim 13, characterized by, The user's own information includes the user's voice, posture, gestures, or movement parameters.

15. The control method according to claim 14, characterized by, The movement parameters include the direction of movement and / or the distance of movement.

16. The control method according to claim 1 or 2, characterized by, The user's second input is input through the control device of the mobile platform.

17. The control method according to claim 16, characterized by, The input via the control device of the movable platform includes the posture adjusted by the control device or the control commands input via the physical controls of the control device.

18. The control method according to claim 17, characterized by, The physical control includes a first type of physical control or a second type of physical control. The first type of physical control is used to detect a second input from the user to the virtual control, and the second type of physical control is used to detect the user's second input by moving the second type of physical control.

19. The control method according to claim 18, characterized by, The first type of physical control includes a display interface, while the second type of physical control includes a joystick, physical buttons, or a dial.

20. The control method according to claim 16, wherein The control device includes the control device carried by the target object or other control devices of the mobile platform, wherein the control device carried by the target object includes the positioning device.

21. The control method according to claim 1 or 2, characterized by, After determining a specific target whose position matches a first preset condition as the target object to be followed by the mobile platform in response to a received target selection command, and before controlling the mobile platform to start following the target object in response to a received start-follow command, the method further includes: Output prompt information, which is used to provide information related to the target object selected based on the location of the positioning device.

22. The control method according to claim 3 or 21, characterized by, The relevant information of the target object includes the description information of the target object, or the location information of the target object in the image captured by the shooting device of the mobile platform.

23. The control method according to any one of claims 1-22, characterized by, The positioning device is carried by a target object whose position matches a first preset condition, or the positioning device is a movable positioning device that moves with the target object.

24. The control method according to any one of claims 1-22, characterized by, The condition that the position of the positioning device meets the first preset condition includes: the position of the positioning device is within a preset range.

25. The control method according to claim 24, wherein If there exists a target within a preset distance range from the location of the positioning device, then that target is the specific target.

26. The control method according to claim 24, wherein If there are at least two targets within a preset distance range from the positioning device, then a target that satisfies the first preset selection strategy is selected from the at least two targets as the specific target.

27. The control method according to claim 26, wherein The first preset selection strategy includes: the movement parameters of the target are consistent with the movement parameters of the positioning device.

28. The control method according to any one of claims 1-27, characterized by, The target object is determined from a plurality of identified candidate targets.

29. The control method according to claim 28, wherein The multiple candidate targets were identified based on a visual recognition algorithm.

30. The control method according to claim 28, wherein The plurality of candidate targets are identified by the mobile platform, or by the control device of the mobile platform.

31. The control method according to claim 28, wherein The multiple candidate targets were identified based on data collected by the detection sensors of the mobile platform.

32. The control method according to claim 31, wherein The detection sensor includes an image sensor, a laser sensor, or a millimeter-wave sensor.

33. The control method according to claim 28, wherein The indication information of the multiple candidate targets is displayed on the control device of the mobile platform.

34. The control method according to claim 33, wherein The display method of targets other than the target object among the multiple candidate targets is different from that of the target object.

35. The control method of any one of claims 1-34, wherein, The control of the mobile platform to begin following the target object includes: Control the movable platform to begin moving in accordance with the movement of the target object; or... The movable platform is controlled to remain stationary, and the posture of the shooting device is adjusted to keep the target object in a specified position within the frame captured by the shooting device.

36. The control method according to claim 35, wherein The designated location includes the center of the screen.

37. The control method according to claim 35, wherein The control of the movable platform to adjust the posture of the shooting device to maintain the target object in a specified position within the frame captured by the shooting device includes: The movable platform is controlled to adjust the posture of the posture-adjustable mechanism used to mount the shooting device to maintain the target object in a specified position in the frame captured by the shooting device, and / or the movable platform is controlled to adjust its own posture to maintain the target object in a specified position in the frame captured by the shooting device.

38. The control method according to claim 3 or 21, characterized by, The output prompt information includes: displaying the prompt information, broadcasting the prompt information, or indicating the prompt information via an indicator light.

39. The control method according to claim 3 or 21, characterized by, The output prompt information includes: outputting the prompt information through the control device of the mobile platform, or outputting the prompt information through the mobile platform.

40. The control method of any one of claims 1-2, or 5-39, wherein, Before determining a specific target whose position matches the first preset condition as the target object to be followed by the mobile platform in response to the received target selection instruction, the method further includes: displaying first indication information for indicating the position of the positioning device on the control device of the mobile platform.

41. The control method according to claim 40, wherein The display position of the first indication information is related to the display position of the target object in the image captured by the camera device on the mobile platform, which is selected based on the position of the positioning device.

42. The control method of claim 40, wherein Before determining a specific target whose position matches the first preset condition as the target object to be followed by the mobile platform in response to the received target selection instruction, the method further includes: displaying second indication information corresponding to multiple candidate targets respectively.

43. The control method according to claim 42, wherein The first indication information is displayed in a different way than the second indication information.

44. The control method of any one of claims 1-43, wherein, Before controlling the movable platform to begin following the target object, the method further includes: In response to a received target switching command, the target object is switched from a target determined based on the location of the positioning device to another target indicated by the target switching command, which is triggered based on a third user input.

45. The control method of claim 44, wherein, The user's third input is entered through the user's own information.

46. The control method of claim 45, wherein The user information includes the user's voice, posture, gestures, or movement parameters.

47. The control method of claim 44, wherein The user's third input is input through the control device of the mobile platform.

48. The control method of claim 47, wherein, The instructions input through the control device of the movable platform include postures adjusted by the control device or control instructions input through the physical controls of the control device.

49. The control method of claim 48, wherein The physical control includes a first type of physical control or a second type of physical control. The first type of physical control is used to detect a third input from the user to the virtual control, and the second type of physical control is used to detect the user's third input by moving the second type of physical control.

50. The control method of claim 49, wherein The first type of physical control includes a display interface, while the second type of physical control includes a joystick, physical buttons, or a dial.

51. The control method of claim 47, wherein The control device includes the control device carried by the target object or other control devices of the mobile platform, wherein the control device carried by the target object includes the positioning device.

52. The control method of claim 44, wherein The step of switching the target object from a target determined based on the location of the positioning device to another target indicated by the target switching command in response to a received target switching command includes: In response to the target switching command, the target object is switched from the target determined based on the position of the positioning device to another target indicated by the target switching command in a specified order and / or direction.

53. The control method according to claim 3, wherein The output prompt information includes: In response to the received target selection instruction, the prompt information is output, the target selection instruction being generated based on the user's first input.

54. The control method of claim 53, wherein The user's first input is based on the user's own information.

55. The control method of claim 53, wherein The user's first input is input through the control device of the mobile platform.

56. The control method of claim 3, wherein The output prompt information includes: The prompt message will be output automatically.

57. The control method of claim 3, wherein The control of the mobile platform to begin following the target object includes: In response to the fulfillment of the second preset condition, the movable platform is controlled to begin following the target object.

58. The control method of claim 57, wherein, The second preset condition is met, including: receiving a user input to start following, or not receiving a user input to reselect the target object within a preset time period during which the prompt information is output.

59. The control method of claim 3, wherein The output prompt information includes: in response to obtaining the location information of the positioning device, outputting the prompt information; The method further includes: in response to not obtaining the location information of the positioning device or the obtained location information of the positioning device not meeting the conditions, selecting other targets from a plurality of identified candidate targets as the target object.

60. The control method of claim 59, wherein The other selected targets are selected according to a second preset selection strategy.

61. The control method of claim 60, wherein The second preset selection strategy is related to the position and / or range of the target in the image captured by the shooting device of the mobile platform, or the distance between the target and the mobile platform.

62. The control method of claim 61, wherein The second preset selection strategy includes: selecting the target located in the center of the screen as the target object, selecting the target with the largest size or the largest proportion as the target object, or selecting the target closest to the movable platform as the target object.

63. The control method of claim 59, wherein The control device of the mobile platform displays the third indication information corresponding to the other targets and the indication information corresponding to the targets other than the other targets among the multiple candidate targets.

64. The control method of claim 63, wherein The third instruction information is displayed differently from the prompt information.

65. The control method of claim 63, wherein, The third indication information is displayed differently from the indication information corresponding to targets other than the other targets.

66. The control method of any one of claims 1-65, wherein, The control of the mobile platform to begin following the target object includes: The position of the target object is obtained based on a visual recognition algorithm and / or the position of the positioning device, so as to control the mobile platform to follow the target object.

67. The control method of claim 4, wherein The multiple candidate targets were identified based on a visual recognition algorithm.

68. The control method of claim 67, wherein The plurality of candidate targets are identified by the mobile platform, or by the control device of the mobile platform.

69. The control method of any one of claims 4, 67-68, wherein, The target object is determined from the plurality of candidate targets based on the position of the positioning device.

70. The control method of any one of claims 4, 67-68, wherein, The non-specific targets include targets that conform to the second preset selection strategy. The non-specific targets that conform to the second preset selection strategy are displayed in the display interface in a different way than other non-specific targets.

71. The control method of claim 70, wherein The second preset selection strategy is related to the position and / or range of the target in the image captured by the shooting device of the mobile platform, or the distance between the target and the mobile platform.

72. The control method of claim 71, wherein The second preset selection strategy includes: located in the center of the screen, the largest in size or proportion, or closest to the movable platform.

73. The control method of any one of claims 4, 67-68, wherein, The step of selecting the target object to be followed by the mobile platform from the plurality of candidate targets includes: In response to a received target selection instruction, the specific target among the plurality of candidate targets is determined as the target object to be followed by the mobile platform, the target selection instruction being triggered based on a first user input; and / or, In response to a received target switching instruction, a non-specific target among the plurality of candidate targets is determined as the target object to be followed by the mobile platform, wherein the target switching instruction is triggered based on a third user input.

74. The control method of claim 73, wherein The first input and the third input are input in different ways, or the first input and the third input are input to different physical controls.

75. The control method of claim 74, wherein The first input and the third input are input to different physical controls, including: the first input is input to a physical button and the third input is input to a joystick, or the first input is input to a physical button and the third input is input to another physical button.

76. The control method of claim 75, wherein The step of determining a non-specific target among the plurality of candidate targets as the target object to be followed by the mobile platform in response to the received target switching instruction includes: selecting a non-specific target from the plurality of candidate targets as the target object to be followed by the mobile platform in a specified order and / or direction in response to the received target switching instruction.

77. The control method of claim 76, wherein, The specified order and / or direction are related to the direction indicated by the third input.

78. The control method of any one of claims 4, 67-68, wherein, The step of selecting the target object to be followed by the mobile platform from the plurality of candidate targets includes: In response to obtaining the location information of the positioning device, the specific target is selected from the plurality of candidate targets and determined as the target object to be followed by the mobile platform; In response to the failure to obtain the location information of the positioning device or the obtained location information of the positioning device not meeting the conditions, a target that conforms to the second preset selection strategy is selected from the plurality of candidate targets as the target object.

79. The control method of claim 78, wherein, The second preset selection strategy is related to the position and / or range of the target in the image captured by the shooting device of the mobile platform, or the distance between the target and the mobile platform.

80. The control method of claim 79, wherein, The second preset selection strategy includes: located in the center of the screen, the largest in size or proportion, or closest to the movable platform.

81. A control device for a moveable platform, comprising: include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: In response to a received target selection instruction, a specific target whose position matches a first preset condition is identified as the target object to be followed by the mobile platform. The target selection instruction is triggered based on a first input from the user, which is independent of the display position of the specific target in the image captured by the camera on the mobile platform. In response to a received start follow command, the movable platform is controlled to begin following the target object, wherein the start follow command is triggered based on a second input from the user.

82. A control device, characterized by include: A user interface, a memory, and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The user interface is used to: receive target selection instructions; The processor is configured to: in response to a target selection instruction received by the user interface, determine a specific target whose position matches a first preset condition as the target object to be followed by the mobile platform, wherein the target selection instruction is triggered based on a first input from the user, and the first input is independent of the display position of the specific target in the image captured by the camera device of the mobile platform; The user interface is also used to: receive a start follow command; The processor is further configured to: control the mobile platform to begin following the target object in response to a start follow instruction received from the user interface, wherein the start follow instruction is triggered based on a second input from the user.

83. A movable platform, characterized by include: A receiver, a memory, and a processor, wherein the memory is used to store computer programs; The processor is used to invoke the computer program; The receiver is used to: receive a target selection instruction; The processor is configured to: in response to a target selection instruction received by the receiver, determine a specific target whose position matches a first preset condition as the target object to be followed by the mobile platform, wherein the target selection instruction is triggered based on a first input from the user, and the first input is independent of the display position of the specific target in the image captured by the camera device of the mobile platform; The receiver is also used to: receive a start follow command; The processor is further configured to: control the mobile platform to begin following the target object in response to a start follow command received by the receiver, wherein the start follow command is triggered based on a second input from the user.

84. A control device for a moveable platform, comprising: include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: In response to a received target selection instruction, the system automatically selects a specific target from multiple candidate targets whose current location matches the location of the positioning device under a first preset condition as the target object of the mobile platform. The target selection instruction is triggered based on the user's first input. In response to a received start follow command, the movable platform is controlled to begin following the target object, wherein the start follow command is triggered based on a second input from the user.

85. A control device, characterized by include: A user interface, a memory, and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The user interface is used to: receive target selection instructions; The processor is configured to: in response to a received target selection instruction, automatically select a specific target whose current location and the location of the positioning device meet a first preset condition from a plurality of candidate targets as the target object of the mobile platform, wherein the target selection instruction is triggered based on a first input from the user; The user interface is also used to: receive a start follow command; The processor is further configured to: control the movable platform to begin following the target object in response to a received start follow instruction, wherein the start follow instruction is triggered based on a second input from the user.

86. A movable platform, comprising: include: A receiver, a memory, and a processor, wherein the memory is used to store computer programs; The processor is used to invoke the computer program; The receiver is used to: receive a target selection instruction; The processor is configured to: automatically select a specific target whose current location matches the location of the positioning device from a plurality of candidate targets as the target object of the mobile platform, wherein the target selection instruction is triggered based on the user's first input; The receiver is also used to: receive a start follow command; The processor is further configured to: control the movable platform to begin following the target object in response to a received start follow instruction, wherein the start follow instruction is triggered based on a second input from the user.

87. A control device for a moveable platform, comprising: include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Before the mobile platform begins to follow the target object, a prompt message is output. The prompt message is used to indicate relevant information about the target object that is selected based on the location of the positioning device and whose location matches the first preset condition. Control the movable platform to begin following the target object.

88. A control device, characterized by include: A user interface, a memory, and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The user interface is used to: output prompt information before the mobile platform starts following the target object, the prompt information being used to prompt relevant information about the target object whose position matches a first preset condition based on the position selection of the positioning device; The processor is used to: control the mobile platform to begin following the target object.

89. A movable platform, comprising: include: User interface / transmitter, memory, and processor, wherein the memory is used to store computer programs; The processor is used to invoke the computer program; The user interface / the transmitter is used to: output prompt information before the mobile platform starts following the target object, the prompt information being used to prompt relevant information about the target object that is selected based on the location of the positioning device and whose location matches a first preset condition; The processor is used to: control the mobile platform to begin following the target object.

90. A control device for a moveable platform, comprising: include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Multiple candidate targets of the mobile platform are displayed on the display interface via a display device. Among the multiple candidate targets, there are specific targets and non-specific targets. The specific targets are targets whose positions meet the first preset conditions with respect to the positioning device. The specific targets are displayed in a different way than the non-specific targets on the display interface. Select the target object that the mobile platform follows from the plurality of candidate targets, and control the mobile platform to follow the target object.

91. A control device, comprising: include: A display device, a memory, and a processor, wherein the memory is used to store computer programs; The processor is used to invoke the computer program; The display device is used to: display a plurality of candidate targets of the movable platform on a display interface, wherein the plurality of candidate targets include specific targets and non-specific targets, the specific targets are targets whose positions with the positioning device meet a first preset condition, and the display method of the specific targets on the display interface is different from the display method of the non-specific targets; The processor is configured to: select the target object to be followed by the mobile platform from the plurality of candidate targets, and control the mobile platform to follow the target object.

92. A computer-readable storage medium, comprising: The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the method of any one of claims 1-80.

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