Movable platform and control method and apparatus therefor, control device, and storage medium

Abstract

A movable platform and a control method and apparatus therefor, a control device, and a storage medium. The method comprises: acquiring control parameters inputted by a user, the control parameters comprising a moving distance of a movable platform and a roll angle set corresponding to an attitude adjustable mechanism of the movable platform, wherein the roll angle set comprises an initial roll angle and a final roll angle, or the control parameters comprising a moving speed of a movable platform and a roll angle set corresponding to an attitude adjustable mechanism, wherein the moving speed is used for determining a moving distance of the movable platform (S101); and on the basis of the control parameters, controlling the movable platform to move according to the moving distance, and controlling the attitude adjustable mechanism to rotate according to a rotation interval indicated by the initial roll angle and the final roll angle, wherein the movable platform comprises an aircraft, the moving distance comprises a flight distance, and the moving speed comprises a flight speed (S102).

Description

Mobile platform and its control method, device, control equipment, and storage medium Technical Field

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

[0002] Currently, the roll angle attitude design of gimbals in mobile platform products such as aircraft is typically used for stabilization. Taking aircraft as an example, during flight, the roll angle of the gimbal is generally adjusted automatically and cannot be manually adjusted by the user. Existing technologies do not support designing visual effects based on the roll angle of the gimbal. Summary of the Invention

[0003] Based on this, this application provides a mobile platform and its control method, device, control equipment, and storage medium to expand the design of screen effects based on the roll angle of the attitude-adjustable mechanism, enrich the control methods of the roll angle of the attitude-adjustable mechanism, enhance the cool effect of the screen, and improve the user experience.

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

[0005] The system acquires user-input control parameters; the control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism of the movable platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the movable platform.

[0006] The movable platform is controlled to move according to the moving distance according to the control parameters, and the attitude adjustable mechanism is controlled to rotate according to the rotation range indicated by the initial roll angle and the final roll angle. The movable platform includes an aircraft, the moving distance includes the flight distance, and the moving speed includes the flight speed.

[0007] Secondly, this application also provides a control method for a mobile platform, including:

[0008] The system acquires user-input control parameters; the control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism of the movable platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the movable platform.

[0009] The control parameters are used to control the movable platform to move according to the moving distance and to control the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle.

[0010] Thirdly, this application also provides a control device for a mobile platform, comprising: at least one processor and at least one memory including a computer program, wherein at least one of the processors is configured to enable the control device to execute the computer program and, when executing the computer program, implement the above-described control method for the mobile platform.

[0011] Fourthly, this application also provides a mobile platform, comprising: at least one processor, at least one memory including a computer program, and a communication device, wherein the communication device is used to enable communication between the mobile platform and a control device, and at least one of the processors is configured to enable the mobile platform to execute the computer program and, when executing the computer program, to implement the control method of the mobile platform as described above.

[0012] Fifthly, this application also provides a control device, comprising: at least one processor, at least one memory including a computer program, and a communication device, wherein the communication device is used to enable communication between a mobile platform and the control device, and at least one of the processors is configured to enable the control device to execute the computer program and, when executing the computer program, implement the control method of the mobile platform as described above.

[0013] Sixthly, this application also provides a control system for a mobile platform, comprising: at least one processor, at least one memory including a computer program, a user interface, and a communication device, wherein the user interface is used to acquire control parameters input by a user; the control parameters include the moving distance of the mobile platform and a roll angle group corresponding to the attitude adjustable mechanism of the mobile platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the mobile platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the mobile platform; the communication device is used to transmit the control parameters; the processor is used to control the mobile platform to move according to the moving distance and to control the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle.

[0014] In a seventh aspect, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the control method for the mobile platform as described above.

[0015] The movable platform and its control method, device, control equipment, control system, and storage medium disclosed in this application allow users to input the moving distance of the movable platform, the initial roll angle and the final roll angle corresponding to the rotation of the adjustable attitude mechanism of the movable platform, or the moving speed of the movable platform, and the initial roll angle and the final roll angle corresponding to the adjustable attitude mechanism. The moving speed is used to determine the moving distance. The movable platform is controlled to move according to the moving distance, and the adjustable attitude mechanism is controlled to rotate within the rotation range indicated by the initial roll angle and the final roll angle. The roll angle of the adjustable attitude mechanism is no longer limited to automatic adjustment but can be manually adjusted by the user. This enriches the control methods for the roll angle of the adjustable attitude mechanism, expands the design of visual effects based on the roll angle of the adjustable attitude mechanism, and makes the roll angle rotation of the adjustable attitude mechanism more flexible and varied, enhancing the visual effects and thus improving the user experience.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] 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.

[0018] Figure 1 is a schematic flowchart of the steps of a control method for a mobile platform provided in an embodiment of this application;

[0019] Figure 2 is a schematic block diagram of a mobile platform provided in an embodiment of this application;

[0020] Figure 3 is a schematic diagram of a display interface for displaying mode settings of a mobile platform according to an embodiment of this application;

[0021] Figure 4 is a schematic diagram of a display interface for displaying control parameter settings provided in an embodiment of this application;

[0022] Figure 5 is a schematic diagram of a user inputting a movement distance according to an embodiment of this application;

[0023] Figure 6 is a schematic diagram of another user input movement distance provided in an embodiment of this application;

[0024] Figure 7 is a schematic diagram of another user input movement distance provided in an embodiment of this application;

[0025] Figure 8 is a schematic diagram of a user input movement speed provided in an embodiment of this application;

[0026] Figure 9 is a schematic diagram of a user input roll angle group provided in an embodiment of this application;

[0027] Figure 10 is a schematic diagram of a preview effect acquisition method provided in an embodiment of this application;

[0028] Figure 11 is a schematic diagram of a user input shooting focal length provided in an embodiment of this application;

[0029] Figure 12 is a schematic diagram of selecting a target object based on the viewfinder screen according to an embodiment of this application;

[0030] Figure 13 is a schematic flowchart of another control method for a mobile platform provided in an embodiment of this application;

[0031] Figure 14 is a schematic block diagram of a control device provided in an embodiment of this application;

[0032] Figure 15 is a schematic block diagram of a movable platform provided in an embodiment of this application;

[0033] Figure 16 is a schematic block diagram of a control device provided in an embodiment of this application;

[0034] Figure 17 is a schematic block diagram of a control system for a mobile platform provided in an embodiment of this application. Detailed Implementation

[0035] 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.

[0036] 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.

[0037] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0038] It should also be understood that the term "and / or" as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0039] In related technologies, the roll angle attitude design of gimbals for mobile platform products such as aircraft is typically used for stabilization. Taking aircraft as an example, during flight, the gimbal roll angle is generally adjusted automatically and cannot be manually adjusted by the user. Therefore, related technologies do not support designing visual effects based on the gimbal roll angle.

[0040] Based on this, embodiments of this application provide a portable platform and its control method, apparatus, control device, and storage medium, used to expand the design of visual effects based on the roll angle of the gimbal, enrich the control methods of the gimbal's roll angle, enhance the cool effects of the visuals, and improve the user experience. Some embodiments of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0041] Please refer to Figure 1, which is a schematic flowchart of a control method for a mobile platform provided in an embodiment of this application. This control method for a mobile platform can be applied to a mobile platform, a control device for a mobile platform, or a system composed of a mobile platform and a control device. Some steps are executed by the control device, and some steps are executed by the mobile platform; this application does not limit the scope of the method. The mobile platform can be a manned platform or an unmanned platform. The mobile platform 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; it can also 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. A camera device can be installed on the mobile platform, and the camera device can be supported on the fuselage of the mobile platform through an attitude-adjustable mechanism (such as a gimbal or a robotic arm). The gimbal can be a single-axis gimbal, such as one that can only rotate relative to the roll axis, or it can be a two-axis or three-axis gimbal. For example, the gimbal may include a first gimbal stage, a second gimbal stage, and a third gimbal stage. The first gimbal stage allows the shooting device to rotate relative to a movable object about a first axis, the second gimbal stage allows the shooting device to rotate relative to a movable object about a second axis, and the third gimbal stage allows the shooting device to rotate relative to a movable object about a third axis. The first, second, and third axes can be pitch, roll, and yaw axes, respectively. Any descriptions and / or characteristics of the shooting device described elsewhere in this document may be applied.

[0042] The mobile platform may include a communication device for communicating with the control equipment of the mobile platform. The communication device may include a transmitter and a receiver, which may be integrated together or separately. The communication device may use public or private communication methods to establish communication with the control equipment. The communication device may use wired or wireless methods to establish communication with the control equipment.

[0043] Optionally, the mobile platform may be equipped with sensors, including but not limited to position sensors, camera sensors, and environmental perception sensors. Furthermore, the mobile platform may also include sensors capable of recognizing the user's own information. For example, these sensors may include image sensors (e.g., camera devices, vision sensors, such as visible light image sensors, infrared sensors, etc.), point cloud sensors (e.g., time-of-flight (TOF) sensors, lidar sensors, etc.), etc. These sensors can recognize the user's posture, gestures, and / or movement parameters. Additionally, the sensors may include sound pickup sensors, such as microphones, etc., which can recognize the user's voice.

[0044] 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, engine, etc.) 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 fuselage yaw rotation 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 the fuselage via an attitude-adjustable mechanism and is used to capture images, which may be pictures and / or videos.

[0045] 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, a bracelet)); or it can be a 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.

[0046] The control device may include output devices such as a display device, for example, capable of outputting images captured by the imaging device of the mobile platform. For instance, the control device can receive images transmitted from the aircraft and display them via the 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. Through this communication connection, the control device can display images captured by the mobile platform using the external display device. This communication connection can be a wired or wireless communication connection, such as a WiFi connection, Bluetooth connection, or high-frequency wireless signal connection. Optionally, the display device of the control device can be a touch screen with touch functionality.

[0047] The control device may include a user interface, which may include, for example, an input device. The input device can detect user control operations on the control device, and the control device can 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 yaw control operation detected by the input device, and can send the yaw control command to the aircraft. The input device may be, for example, a touchscreen display, joystick, buttons, dials, or other physical controls used to receive user input. The user interface may also include sensors that can collect and acquire information about the user. These sensors may include, for example, image sensors (e.g., imaging devices, vision sensors, such as visible light image sensors, infrared sensors, etc.), point cloud sensors (e.g., time-of-flight (TOF) sensors, lidar sensors, etc.), etc. These sensors can recognize the user's attitude, gestures, and / or movement parameters. Furthermore, the sensors may include audio sensors, such as microphones, which can recognize the user's voice.

[0048] For example, the control device includes a remote controller, which is equipped with an input device and a communication device. The communication device can be a wireless communication device, which can use private 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, so that the remote controller can use the control commands to adjust the flight parameters (such as flight speed, flight direction, or flight attitude) of the aircraft or control the aircraft to perform operations corresponding to a certain function mode. The function mode may be, for example, intelligent shooting or intelligent camera movement functions such as follow, orbit, soar, and fade-out. The input device includes at least one of buttons, joysticks, dials, and touch screens. Users can generate control commands by using buttons, joysticks, dials, or by inputting on the touch screen; there is no limitation on this.

[0049] Before introducing the control methods for mobile platforms, let's first introduce mobile platforms themselves.

[0050] As shown in Figure 2, the mobile platform 100 includes a power system 110, an attitude-adjustable mechanism 120, and a shooting device 130. The power system 110 provides power to the mobile platform 100, driving its movement. The attitude-adjustable mechanism 120 is a support device for mounting and fixing the shooting device 130. The attitude-adjustable mechanism 120 can rotate within a certain range in space, such as the yaw angle range of [-360, 360] degrees, the pitch angle range of [50, 140] degrees, and the roll angle range of [0, 360] degrees. The attitude-adjustable mechanism 120 can drive the shooting device 130 to rotate around one or more rotation axes to adjust the shooting angle of the shooting device 130. The shooting device 130 is used for image and video capture. The shooting device 130 includes, but is not limited to, cameras and webcams. The attitude-adjustable mechanism 120 can be, for example, a gimbal or a robotic arm; however, this embodiment is not limited to these. The following description uses a gimbal as an example to illustrate the attitude-adjustable mechanism 120.

[0051] In this embodiment, the roll angle of the gimbal can be manually set or adjusted by the user. The gimbal supports the shooting device 130 to rotate around a large roll angle, which can be the angle relative to the roll axis of the shooting device 130 itself or the angle relative to the roll axis of the gimbal. In this embodiment, thanks to the structural design, the roll angle limit angle of the gimbal is larger than that of a traditional gimbal. For example, the roll angle limit angle of a traditional gimbal is ±20 degrees, while the roll angle limit angle of the gimbal in this embodiment can be greater than or equal to 80 degrees. For example, the roll angle limit angle of the gimbal in this embodiment can support -40 degrees to +40 degrees. In some optional embodiments, the roll angle limit angle of the gimbal in this embodiment can be even larger, such as greater than or equal to 180 degrees, or even greater than or equal to 360 degrees. This application embodiment, with a larger limit angle for the roll angle of the gimbal, can expand the range of gimbal movement modes, thereby expanding the design of visual effects based on the roll angle of the gimbal, enriching the control methods of the gimbal roll angle, enhancing the cool effect of the visuals, and thus improving the user experience.

[0052] In this embodiment, the movable platform 100 is newly equipped with a roll angle rotation mode for the attitude-adjustable mechanism, such as a gimbal roll angle rotation mode. Users can operate the movable platform 100 to enter this gimbal roll angle rotation mode. For example, as shown in Figure 3, the control device display interface of the movable platform 100 displays mode settings, including an attitude-adjustable mechanism roll angle rotation mode setting. When the user selects this setting, the movable platform 100 enters the attitude-adjustable mechanism roll angle rotation mode. In this mode, the roll angle of the attitude-adjustable mechanism 120 can be manually adjusted by the user, allowing the user to control the roll angle rotation of the attitude-adjustable mechanism 120. Optionally, in addition to supporting the roll angle rotation mode of the attitude-adjustable mechanism, the movable platform 100 also supports conventional shooting modes, such as follow mode, surround mode, skyward mode, or distance mode. Users can select the roll angle rotation mode of the attitude-adjustable mechanism from multiple shooting modes to control the movable platform to enter that mode.

[0053] The control methods for mobile platforms will be described in detail below.

[0054] As shown in Figure 1, the control method of the mobile platform specifically includes steps S101 and S102.

[0055] S101. Obtain control parameters input by the user; the control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism of the movable platform, wherein the roll angle group includes the initial roll angle and the final roll angle; or, the control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the movable platform.

[0056] S102. Control the movable platform to move according to the moving distance according to the control parameters, and control the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle.

[0057] By implementing the embodiments of this application, the roll angle of the attitude-adjustable mechanism is no longer limited to automatic adjustment, but can be manually adjusted by the user. This enriches the control methods of the roll angle of the attitude-adjustable mechanism, expands the design of visual effects based on the roll angle of the attitude-adjustable mechanism, and makes the roll angle rotation of the attitude-adjustable mechanism more flexible and varied, enhancing the cool effect of the visuals and thus improving the user experience.

[0058] In applications where the mobile platform is an aircraft, the moving distance of the mobile platform includes the flight distance of the aircraft, and the moving speed of the mobile platform includes the flight speed of the aircraft.

[0059] In some implementations, the control method for the mobile platform described in this embodiment can be applied to the mobile platform, and one or more processors of the mobile platform are used to execute the steps of the control method. For example, the control device can obtain the user-inputted movement distance and / or movement speed, and the roll angle corresponding to the rotation of the attitude-adjustable mechanism through a user interface, and send the user-inputted movement distance and / or movement speed, and the roll angle corresponding to the rotation of the attitude-adjustable mechanism to the mobile platform through a communication device (e.g., a transceiver). The mobile platform can receive the user-inputted movement distance and / or movement speed, and the roll angle corresponding to the rotation of the attitude-adjustable mechanism through the communication device (e.g., a transceiver), and then control itself to perform corresponding operations based on these user-inputted control parameters.

[0060] In some implementations, the control method for a 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, the control device can obtain user-inputted movement distance and / or movement speed, and roll angle sets corresponding to the rotation of the attitude-adjustable mechanism, through a user interface, and generate corresponding control commands based on these control parameters. The control device then sends these control commands to the mobile platform, causing the mobile platform to execute the operation corresponding to the control command.

[0061] 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 one or more processors of the mobile platform, and some steps are executed by one or more processors of the control device. For instance, the control device can obtain user-inputted movement distance and / or movement speed, and roll angle sets corresponding to the rotation of the attitude-adjustable mechanism, through a user interface, and transmit these user-inputted movement distance and / or movement speed, and roll angle sets corresponding to the rotation of the attitude-adjustable mechanism, to the mobile platform via a communication device (e.g., a transceiver). The mobile platform can obtain these user-inputted movement distance and / or movement speed, and roll angle sets corresponding to the rotation of the attitude-adjustable mechanism, and thus control itself to perform corresponding operations based on these user-inputted control parameters.

[0062] In this application embodiment, three scenarios are included: Scenario 1: The control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude-adjustable mechanism of the movable platform. The moving speed can be calculated based on the moving distance. For example, the roll angle group of the attitude-adjustable mechanism can be input by the user or set to a preset value by default. The moving speed can be calculated using the following formula: Moving distance / Moving speed = Roll angle rotation angle of the attitude-adjustable mechanism / Roll angle rotation speed of the attitude-adjustable mechanism; Scenario 2: The control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude-adjustable mechanism. The moving distance can be calculated based on the moving speed. For example, the roll angle group of the attitude-adjustable mechanism can be input by the user or set to a preset value by default. The moving distance can be calculated using the above formula; Scenario 3: The control parameters include the moving distance, moving speed, and roll angle group corresponding to the attitude-adjustable mechanism of the movable platform. The roll angle group of the attitude-adjustable mechanism can be calculated based on the above formula.

[0063] In some embodiments, the user can adjust control parameters by inputting their own information. This user information includes, but is not limited to, the user's voice, posture, gestures, or movement parameters. Movement parameters include the user's direction of movement and / or the distance of movement, and this application embodiment is not limited to these. The movable platform or control device can obtain the user's information through sensors. For example, sensors may include image sensors (e.g., imaging devices, vision sensors, such as visible light image sensors, infrared sensors, etc.), point cloud sensors (e.g., time-of-flight (TOF) sensors, lidar sensors, etc.), etc. These sensors can recognize the user's posture, gestures, and / or movement parameters. Furthermore, sensors may also include sound pickup sensors, such as microphones, etc., which can recognize the user's voice.

[0064] For example, the user can input the moving distance of the mobile platform, the initial roll angle and the final roll angle corresponding to the rotation of the attitude-adjustable mechanism of the mobile platform, and obtain control parameters such as the moving distance of the mobile platform and the initial roll angle and the final roll angle corresponding to the rotation of the attitude-adjustable mechanism by receiving the user's voice.

[0065] For another example, the moving distance of the mobile platform is proportional to the moving distance of the user. The user moves a corresponding distance, and based on the user's moving distance, the moving distance of the mobile platform is mapped as one of the control parameters input by the user.

[0066] Users can input control parameters by adjusting their own information, without needing external devices such as mobile platform control equipment. This method of inputting control parameters is very convenient for users and can improve the convenience and flexibility of parameter settings.

[0067] In some embodiments, users can input control parameters via a control device on a portable platform. For example, they can input the corresponding control parameters via a remote control.

[0068] For example, a user can input control parameters by adjusting the posture of the control device. The posture of the control device includes, but is not limited to, the direction of movement and tilt angle of the control device; the embodiments of this application are not limited thereto.

[0069] For example, taking a wearable device as the control device, a mapping relationship between the tilt angle of the wearable device and the roll angle of the attitude adjustable mechanism is preset. When the user rotates the wearable device, the tilt angle at the beginning and end of the rotation is detected by sensors such as the IMU (Inertial Measurement Unit) installed in the wearable device. The initial roll angle and the final roll angle of the attitude adjustable mechanism are then mapped as the control parameters input by the user.

[0070] By inputting control parameters in this way, users only need to adjust the attitude of the control device without having to manually input them. This method is simple to operate, provides a good user experience, and improves the convenience and flexibility of parameter settings.

[0071] For example, users can input control parameters by operating the physical controls of the control device. The physical controls of the control device are not limited to one type; 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 includes, but is not limited to, the display interface of the control device, while the second type of physical control includes joysticks, physical buttons, or dials. This application embodiment is not limited to these.

[0072] The first type of physical control is used to detect user input for virtual controls. For example, as shown in Figure 4, the display interface shows virtual controls such as movement distance settings, movement speed settings, and roll angle group (including initial roll angle and final roll angle) settings, and the user inputs the corresponding control parameters based on the settings.

[0073] The second type of physical control is used to detect user input by moving the control itself. For example, the joystick movement distance of the control device is set to be proportional to the movement distance of the movable platform. The user moves the joystick, and the movement distance of the joystick is mapped to the movement distance of the movable platform, which is used as one of the control parameters input by the user.

[0074] The system offers a variety of ways for users to input control parameters, providing richer operation options and enhancing the convenience, diversity, and flexibility of parameter input. Users can choose according to their own habits and preferences, thus improving the user experience.

[0075] In some embodiments, the control parameters are input by setting control parameters, or by setting shooting templates, wherein different shooting modes correspond to different control parameters.

[0076] In other words, control parameters can be directly input by the user based on the control parameters themselves, or indirectly input by the user based on the shooting template. In the method of indirectly inputting control parameters through a shooting template, the user only needs to input the shooting template, and the control parameters corresponding to the shooting template are then determined as the user's input control parameters. The shooting template provides corresponding rotation effects. If the user is unsure what control parameters to input, they can input a shooting template that matches their expected rotation effect based on the different rotation effects corresponding to different shooting templates. This method is easy to operate, improves the convenience and flexibility of parameter settings, and makes it easy for users to get started.

[0077] For example, control parameters are input by entering their values, and the specific value of the control parameter obtained is the value of the control parameter entered by the user. For instance, taking the movement distance control parameter as an example, as shown in Figure 5, the display interface shows the movement distance parameter value setting item. If the user enters a movement distance value of 100 meters in the movement distance parameter value setting item, the specific parameter value of the movement distance obtained is 100 meters.

[0078] For example, control parameters are input via their indices. The user inputs an index, and based on a pre-set mapping between these indices and specific parameter values, the corresponding parameter value is determined. For instance, taking the distance control parameter as an example, suppose the pre-set distance indexes are 30 meters, 60 meters, 90 meters, and 120 meters, as shown in Figure 6. The distance index setting is displayed on the interface. If the user inputs index 2, the specific distance value obtained is 60 meters, which is the value mapped to index 2.

[0079] By setting control parameters, users can input control parameters and customize their specific values ​​to meet individual needs, improve user experience, and enhance the convenience and flexibility of parameter settings.

[0080] For example, the control parameters are selected by the user from multiple preset options, where different options correspond to different control parameters. That is, multiple options for control parameters are pre-set, and the user selects from these options, obtaining the user-input control parameters based on the user's selection. This method of inputting control parameters saves the user from having to input specific parameter values; the user only needs to select from them, making it easy for users to operate and improving the convenience and flexibility of parameter setting.

[0081] For example, different options correspond to different movement distances or movement speeds.

[0082] For example, taking the movement distance control parameter as an example, as shown in Figure 7, the display interface shows multiple options for movement distance, such as 50 meters, 60 meters, 70 meters, 80 meters, 90 meters, 100 meters, 110 meters, and 120 meters, each corresponding to a different movement distance. For instance, if the user selects the 60-meter option, the user-input movement distance will be 60 meters.

[0083] For example, taking the movement speed control parameter as an example, as shown in Figure 8, the display interface shows multiple options for movement speed, such as 5 m / s, 10 m / s, and 15 m / s, each corresponding to a different movement speed. For instance, if the user selects the 10 m / s option, the user-input movement speed will be 10 m / s.

[0084] For example, different options correspond to different roll angle groups.

[0085] For example, as shown in Figure 9, the display interface shows multiple roll angle group options: [-40, 40] degrees, [-180, 0] degrees, and [0, 360] degrees. Each option corresponds to a different roll angle group. For instance, if the user selects the [-180, 0] degree option, the user's input initial roll angle is -180 degrees and the ending roll angle is 0 degrees.

[0086] In some embodiments, different roll angle groups correspond to different initial roll angles and / or final roll angles. That is, different roll angle groups include the following cases: (1) different initial roll angles and the same final roll angle; (2) the same initial roll angle and different final roll angles; (3) different initial roll angles and different final roll angles.

[0087] Different initial roll angles and / or final roll angles correspond to different roll angle rotation ranges or the same roll angle rotation range.

[0088] For example, suppose one set of roll angles is [0, 180] degrees, where 0 degrees is the initial roll angle and 180 degrees is the final roll angle, and the corresponding roll angle rotation range is 180 degrees. Another set of roll angles is [0, 360] degrees, where 0 degrees is the initial roll angle and 360 degrees is the final roll angle, and the corresponding roll angle rotation range is 360 degrees. That is, the same initial roll angle but different final roll angles correspond to different roll angle rotation ranges.

[0089] For another example, suppose there is a set of roll angles [0, 180] degrees, where 0 degrees is the initial roll angle and 180 degrees is the final roll angle, and the corresponding roll angle rotation range is 180 degrees. Another set of roll angles is [-90, 90] degrees, where -90 degrees is the initial roll angle and 90 degrees is the final roll angle, and the corresponding roll angle rotation range is also 180 degrees. That is, different initial roll angles and final roll angles correspond to the same roll angle rotation range.

[0090] In some embodiments, different roll angle groups correspond to different roll angle rotation ranges. For example, taking three roll angle groups of [-40, 40] degrees, [-180, 0] degrees, and [0, 360] degrees as examples, they correspond to rotation ranges of 80 degrees, 180 degrees, and 360 degrees, respectively. The roll angle rotation ranges corresponding to each roll angle group are different.

[0091] In some embodiments, the roll angle rotation range corresponding to the roll angle group includes at least 80 degrees. That is, the roll angle rotation range corresponding to the roll angle group input by the user is 80 degrees or more, including 80 degrees. In other words, the roll angle rotation range will not be too small. If the roll angle rotation range is too small, the difference in rotation effect will be negligible, and designing the visual effect based on the roll angle of the attitude-adjustable mechanism would be meaningless. However, in the embodiments of this application, the roll angle of the attitude-adjustable mechanism supports a larger rotation angle range, thus enabling richer and cooler rotation effects.

[0092] For example, the roll angle rotation range corresponding to the roll angle group includes at least one 360-degree rotation range, wherein the initial roll angle and the final roll angle corresponding to at least one 360-degree rotation range are not unique. By setting the roll angle to rotate 360 ​​degrees, a spinning camera movement effect similar to a dizzying motion can be obtained, which can improve the shooting effect, provide users with richer camera movement methods, and enhance the richness of shooting.

[0093] For example, at least one 360-degree rotation range includes a rotation range of [0, 360] degrees, that is, the corresponding initial roll angle is 0 degrees and the ending roll angle is 360 degrees. It is understood that at least one 360-degree rotation range may also include rotation ranges corresponding to other different initial roll angles and ending roll angles, for example, at least one 360-degree rotation range includes a rotation range of [-180, 180] degrees, and the embodiments of this application are not limited thereto.

[0094] For example, the roll angle rotation range corresponding to the roll angle group includes at least one 180-degree rotation range. Similarly, the initial roll angle and the final roll angle corresponding to at least one 180-degree rotation range are not unique. By setting the roll angle to rotate 180 degrees, a large-angle rotating camera movement effect can be obtained, which can improve the shooting effect, provide users with richer camera movement methods, and enhance the richness of shooting.

[0095] For example, at least one 180-degree rotation range includes a rotation range of [-180, 0] degrees, that is, the corresponding initial roll angle is -180 degrees and the final roll angle is 0 degrees. It is understood that at least one 180-degree rotation range may also include rotation ranges corresponding to other different initial roll angles and final roll angles, for example, at least one 180-degree rotation range includes a rotation range of [-90, 90] degrees, and the embodiments of this application are not limited thereto.

[0096] For example, the roll angle rotation range corresponding to the roll angle group includes at least one 90-degree rotation range, and similarly, the initial roll angle and the final roll angle corresponding to at least one 90-degree rotation range are not unique.

[0097] For example, at least one 90-degree rotation range includes a rotation range of [-90, 0] degrees, that is, the corresponding initial roll angle is -90 degrees and the final roll angle is 0 degrees. It is understood that at least one 90-degree rotation range may also include rotation ranges corresponding to other different initial roll angles and final roll angles, for example, at least one 90-degree rotation range includes a rotation range of [0, 90] degrees, and the embodiments of this application are not limited thereto.

[0098] In practical applications, users can input roll angle groups corresponding to appropriate rotation ranges according to their needs. For example, when the user does not need a large range of roll angle rotation for the attitude-adjustable mechanism, they can input a roll angle group of [-90, 0] degrees, corresponding to a rotation range of 90 degrees; when the user needs a large range of roll angle rotation for the attitude-adjustable mechanism, they can input a roll angle group of [0, 360] degrees, corresponding to a rotation range of 360 degrees. It is understandable that different rotation ranges corresponding to the roll angle groups will result in different visual effects based on the roll angle design of the attitude-adjustable mechanism. Users inputting according to their needs enhances the richness of the visual effects, supports rotating camera movement shooting modes, and can support shooting modes with large-angle rotations.

[0099] In practical applications, one scenario is that, based on the control parameter input methods described above, the user inputs the moving distance of the movable platform, the initial roll angle and the final roll angle corresponding to the rotation of the movable platform's attitude adjustable mechanism. In other words, the moving distance of the movable platform is input by the user.

[0100] In another scenario, based on the control parameter input methods described above, the user inputs the moving speed of the movable platform, the initial roll angle corresponding to the rotation of the movable platform's attitude-adjustable mechanism, and the final roll angle. In this case, the moving distance of the movable platform can be calculated from the moving speed input by the user.

[0101] Another scenario involves the user inputting the moving distance, moving speed, initial roll angle, and final roll angle of the movable platform's attitude-adjustable mechanism, based on the control parameter input methods described above. In other words, the moving distance and moving speed of the movable platform are input by the user.

[0102] In some embodiments, obtaining user-inputted control parameters includes:

[0103] In response to the mobile platform meeting preset conditions, the system obtains the control parameters input by the user.

[0104] For example, the movable platform meets preset conditions, including: the height of the movable platform is greater than or equal to a first threshold, and / or the moving speed of the movable platform is less than or equal to a second threshold.

[0105] The specific values ​​of the first threshold and the second threshold can be flexibly set according to the actual situation, and no specific restrictions are imposed in this application.

[0106] In scenarios where the mobile platform is an aircraft, the moving speed of the mobile platform includes the flight speed of the aircraft, and the height of the mobile platform includes the flight altitude of the aircraft. A flight speed less than or equal to a second threshold ensures the safety of the aircraft's flight. For example, the above control parameters can be set when the aircraft is hovering. A flight altitude greater than or equal to a first threshold reduces the likelihood of the aircraft encountering obstacles, allowing the aircraft's attitude adjustment mechanism to rotate normally without obstruction, and enabling safer flight. Furthermore, high-altitude shooting enhances the video effects of rotating camera movements. For example, the above control parameters can be set when the aircraft is not on the ground, such as when the aircraft reaches a certain altitude.

[0107] Only when preset conditions are met can the aircraft enter the roll angle rotation mode of the attitude adjustable mechanism, allowing the user to execute operations to input control parameters and thus obtain these user-input control parameters. In other words, the user can only control the roll angle rotation of the aircraft's attitude adjustable mechanism under the premise of ensuring safety.

[0108] In some embodiments, the control method for the mobile platform further includes:

[0109] In response to the mobile platform not meeting the preset conditions, user input of control parameters is prohibited.

[0110] Taking the mobile platform as an example, if preset conditions are not met, the aircraft is prohibited from entering the roll angle rotation mode of the attitude adjustable mechanism. In this case, user input of control parameters is prohibited. That is, unless safety can be ensured, user control of the roll angle rotation of the aircraft's attitude adjustable mechanism is prohibited. For example, if the aircraft is detected to be at a high altitude or on the ground, user input of the aforementioned control parameters is prohibited. This prevents users from triggering the mobile platform to execute the roll angle rotation mode of the attitude adjustable mechanism under unsuitable or unsafe circumstances, thus improving the control safety of the mobile platform.

[0111] In some embodiments, before obtaining the control parameters input by the user, the method further includes:

[0112] Control the movable platform to move to the desired location;

[0113] Obtain user-inputted control parameters, including:

[0114] Obtain the control parameters input by the user when the movable platform is in the desired position.

[0115] Taking the mobile platform as an example, the desired position can be a location in the high altitude. First, the aircraft is controlled to fly to this desired position. Only when the aircraft is at this desired position can it enter the roll angle rotation mode of the attitude adjustable mechanism, allowing the user to execute operations to input control parameters, thereby obtaining these user-input control parameters. That is, only after reaching the desired position can the user control the roll angle rotation of the aircraft's gimbal, ensuring safety and reliability. For example, considering the aircraft's usage scenario, the roll angle rotation mode of the attitude adjustable mechanism provided in this application embodiment is more suitable when the aircraft flies to a certain altitude. Therefore, the aforementioned control parameters input by the user can be obtained when the mobile platform is at a preset altitude, thereby improving the control intelligence of the mobile platform.

[0116] In some embodiments, controlling the movable platform to move to a desired location includes:

[0117] The movable platform can be moved to the desired location based on user-input control commands, or it can move to the desired location automatically.

[0118] For example, the desired location is input by the user, who inputs control instructions containing the desired location information. Based on the user-input control instructions, the movable platform is controlled to move to the desired location.

[0119] For example, if the desired location is preset, the mobile platform can automatically move from its current location to the desired location based on the preset desired location.

[0120] After obtaining control parameters such as the travel distance, initial roll angle, and final roll angle, the movable platform is controlled to move according to the travel distance. For example, the movable platform is controlled to move from its current position until it reaches the obtained travel distance. Simultaneously, the attitude-adjustable mechanism is controlled to rotate within the rotation range indicated by the initial roll angle and the final roll angle. The movement of the movable platform and the rotation of the attitude-adjustable mechanism are performed simultaneously.

[0121] In some embodiments, controlling a movable platform to move according to a travel distance based on control parameters includes:

[0122] The movement of the movable platform is controlled based on the movement distance, movement speed, and movement direction; wherein, the movement speed is input by the user, and the movement distance is calculated based on the user-input movement speed, roll angle group, and roll angle rotation speed of the attitude adjustable mechanism; or, the movement distance is input by the user, and the movement speed is calculated based on the user-input movement distance, roll angle group, and roll angle rotation speed of the attitude adjustable mechanism; or, both the movement distance and movement speed are input by the user.

[0123] The movement direction of the mobile platform is either input by the user or preset. Movement directions include, but are not limited to, forward, backward, left, right, up, or down, and this application embodiment is not limited to these. For example, taking an aircraft as the mobile platform, the user can select the aircraft's flight direction from the forward and backward flight options displayed on the control device's display interface, or the mobile platform or control device can default to forward flight as the aircraft's flight direction during the aforementioned movement distance.

[0124] When the user inputs the moving distance of the movable platform, the initial roll angle and the final roll angle corresponding to the rotation of the attitude adjustable mechanism, the roll angle rotation speed of the attitude adjustable mechanism is a preset default value. Alternatively, the roll angle rotation speed of the attitude adjustable mechanism can also be input by the user. The moving speed of the movable platform can be calculated using the moving distance of the movable platform, the initial roll angle and the final roll angle corresponding to the rotation of the attitude adjustable mechanism, and the roll angle rotation speed of the attitude adjustable mechanism.

[0125] When the user inputs the moving speed of the movable platform, the initial roll angle and the final roll angle corresponding to the rotation of the attitude adjustable mechanism, the roll angle rotation speed of the attitude adjustable mechanism is a preset default value, or the roll angle rotation speed of the attitude adjustable mechanism can also be input by the user. The moving distance of the movable platform can be calculated by using the moving speed of the movable platform, the initial roll angle and the final roll angle corresponding to the rotation of the attitude adjustable mechanism, and the roll angle rotation speed of the attitude adjustable mechanism.

[0126] When the user inputs the moving distance, moving speed, and the initial roll angle and final roll angle corresponding to the rotation of the attitude-adjustable mechanism of the movable platform, the roll angle rotation speed of the attitude-adjustable mechanism can be calculated based on the moving distance, moving speed of the movable platform, and the initial roll angle and final roll angle corresponding to the rotation of the attitude-adjustable mechanism.

[0127] Based on the obtained moving distance, moving speed, and moving direction, the movable platform is controlled to move in the moving direction according to the obtained moving speed until the movable platform moves a distance equal to the obtained moving distance.

[0128] In some embodiments, controlling the attitude-adjustable mechanism to rotate within a rotation range indicated by an initial roll angle and a final roll angle includes:

[0129] The rotation of the attitude-adjustable mechanism is controlled based on the rotation range indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude-adjustable mechanism, and the roll angle rotation direction of the attitude-adjustable mechanism.

[0130] The roll angle rotation speed of the attitude-adjustable mechanism is either user-inputted or preset, or calculated based on the user-inputted moving platform's moving distance, moving speed, and roll angle. The roll angle rotation direction of the attitude-adjustable mechanism is user-inputted or preset. The roll angle rotation direction of the attitude-adjustable mechanism includes clockwise rotation or counterclockwise rotation.

[0131] The method of controlling the rotation of the attitude adjustable mechanism can be as follows: based on the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude adjustable mechanism and the roll angle rotation direction of the attitude adjustable mechanism, control the attitude adjustable mechanism to rotate within the rotation range indicated by the initial roll angle and the final roll angle according to the roll angle rotation direction of the attitude adjustable mechanism.

[0132] In some embodiments, during the rotation of the attitude-adjustable mechanism, the number of roll angle rotations of the attitude-adjustable mechanism includes one or more. The number of roll angle rotations of the attitude-adjustable mechanism is either user-inputted or preset.

[0133] For example, in the case where the roll angle rotation of the attitude-adjustable mechanism includes one rotation, controlling the rotation of the attitude-adjustable mechanism based on the rotation range indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude-adjustable mechanism, and the roll angle rotation direction of the attitude-adjustable mechanism includes:

[0134] The rotation of the attitude-adjustable mechanism is controlled based on the rotation range indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude-adjustable mechanism, and the roll angle rotation direction of the attitude-adjustable mechanism.

[0135] For example, assuming the rotation range of the initial roll angle and the final roll angle indication is -180 degrees to 0 degrees, the roll angle rotation speed of the attitude adjustable mechanism is 3 degrees / second, and the roll angle rotation direction of the attitude adjustable mechanism is clockwise, then the attitude adjustable mechanism is controlled to rotate clockwise within the rotation range of -180 degrees to 0 degrees based on the roll angle rotation speed of 3 degrees / second.

[0136] For example, when the roll angle rotation of the attitude-adjustable mechanism involves multiple rotations, controlling the rotation of the attitude-adjustable mechanism based on the rotation range indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude-adjustable mechanism, and the roll angle rotation direction of the attitude-adjustable mechanism includes:

[0137] The attitude adjustable mechanism is controlled to rotate for the first time based on the rotation range indicated by the initial roll angle and the final roll angle, the rotation speed of the roll angle of the attitude adjustable mechanism, and the rotation direction of the roll angle of the attitude adjustable mechanism. Then, the attitude adjustable mechanism is controlled to rotate for the second time based on the rotation range in the opposite direction of the final roll angle and the initial roll angle, the rotation speed of the roll angle of the attitude adjustable mechanism, and the rotation direction in the opposite direction to the rotation direction of the roll angle of the attitude adjustable mechanism.

[0138] For example, taking the rotation range of the initial roll angle and the final roll angle indication as -180 degrees to 0 degrees, the roll angle rotation speed of the attitude adjustable mechanism as 3 degrees / second, and the roll angle rotation direction of the attitude adjustable mechanism as clockwise rotation, after controlling the attitude adjustable mechanism to rotate clockwise within the rotation range of -180 degrees to 0 degrees based on the roll angle rotation speed of 3 degrees / second, continue to control the attitude adjustable mechanism to rotate counterclockwise within the rotation range of 0 degrees to -180 degrees based on the roll angle rotation speed of 3 degrees / second.

[0139] In some embodiments, before controlling the movable platform to move according to the moving distance based on the control parameters and controlling the gimbal to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the method further includes:

[0140] Detect the current roll angle of the attitude-adjustable mechanism;

[0141] If the current roll angle is inconsistent with the initial roll angle, the attitude adjustment mechanism is controlled to rotate to the initial roll angle.

[0142] To accurately control the attitude-adjustable mechanism to rotate within the rotation range indicated by the initial and final roll angles, the current roll angle of the attitude-adjustable mechanism is first detected. This can be achieved, for example, by detecting the current roll angle based on user-input control parameters, or automatically. The detected current roll angle is then compared with the user-input initial roll angle to determine if they match. If the angle difference between the current and initial roll angles is less than or equal to an angle threshold (e.g., less than 1 degree), the current roll angle is considered to match the initial roll angle. Conversely, if the angle difference is greater than a preset threshold, the current roll angle is considered to be inconsistent with the initial roll angle. The angle threshold can be flexibly set according to actual conditions, and this application does not impose specific limitations.

[0143] If the current roll angle of the attitude-adjustable mechanism matches the initial roll angle, the movable platform can be directly controlled to move according to the travel distance, and the attitude-adjustable mechanism can be controlled to rotate within the rotation range indicated by the initial roll angle and the final roll angle. If the current roll angle of the attitude-adjustable mechanism does not match the initial roll angle, the attitude-adjustable mechanism is first controlled to rotate to the initial roll angle, and then controlled to rotate within the rotation range indicated by the initial roll angle and the final roll angle, thus ensuring that the rotation of the attitude-adjustable mechanism matches the user's expectations.

[0144] In some embodiments, before controlling the movable platform to move according to the travel distance based on the control parameters and controlling the attitude-adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the method further includes:

[0145] The control device on the mobile platform displays a preview of the control parameters.

[0146] The preview effect includes, but is not limited to, preview images and preview videos. The preview effect can be a pre-shot image or video, or it can be an image or video that simulates the final rotation shooting effect by keeping the movable platform stationary and only rotating the adjustable mechanism.

[0147] For example, different control parameters result in different preview effects. For instance, different roll angle groups produce different preview video effects. By viewing the preview, users can anticipate the rotation effect in advance, providing more reference for parameter settings, improving the accuracy of parameter settings, and enhancing the user experience.

[0148] For example, the preview effect can be displayed after the user inputs control parameters. For instance, as shown in Figure 10, after the user inputs control parameters, a preview control is displayed on the control device's display interface. When the user clicks the preview control, a preview video corresponding to the control parameters is displayed. The user can choose whether to perform a preview operation according to their needs, enhancing user interactivity. Alternatively, the control device can automatically display the preview effect corresponding to the user's input control parameters after receiving them. Optionally, if the user is not satisfied with the preview effect after viewing it, they can re-enter new control parameters.

[0149] For example, the preview effect can be displayed before the user inputs the control parameters. For instance, before the user inputs the control parameters, based on the roll angle group's [-40, 40] degree option, [-180, 0] degree option, and [0, 360] degree option, a first preview video corresponding to the [-40, 40] degree roll angle group, a second preview video corresponding to the [-180, 0] degree roll angle group, and a third preview video corresponding to the [0, 360] degree roll angle group can be displayed respectively. The user can view the preview effect for each control parameter before inputting the control parameters, thus confirming their desired control parameters. By displaying the preview effect before the user inputs the control parameters, the time for setting parameters can be saved, more references can be displayed before the user sets the parameters, and the accuracy of the user's parameter settings can be improved.

[0150] For example, the preview effect is automatically displayed after the tilt angle rotation mode of the attitude-adjustable mechanism is triggered. That is, after the movable platform enters the tilt angle rotation mode of the attitude-adjustable mechanism, no manual operation is required from the user before the user sets the control parameters. The preview effect corresponding to the control parameters is automatically displayed, saving the user's operation process and improving the intelligence and convenience of the preview effect display.

[0151] In some embodiments, the control method for the mobile platform further includes:

[0152] While controlling the movable platform to move according to the moving distance based on the control parameters and controlling the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the camera device of the movable platform is controlled to take pictures.

[0153] For example, taking a mobile platform as an aircraft, during the flight of the aircraft and the rotation of the attitude adjustable mechanism within the rotation range indicated by the initial roll angle and the final roll angle, the camera device controlling the aircraft takes pictures.

[0154] Because the attitude-adjustable mechanism rotates according to the rotation range indicated by the user-set initial roll angle and final roll angle, the user can predict the approximate starting and ending angles of rotation in advance. Therefore, the user can anticipate the rotation method and effect in advance and predict the final shooting effect before shooting. This avoids situations where the user finds that the shooting effect is inconsistent with the expected camera movement after shooting and needs to reshoot, thus avoiding the problem of multiple repeated shooting, improving shooting efficiency, and realizing intelligent control of the roll angle of the attitude-adjustable mechanism based on the user's expectations. This achieves precise control of the roll angle rotation of the attitude-adjustable mechanism and improves the user experience.

[0155] In addition, users can directly set the movement distance or calculate the movement distance by setting the movement speed. This allows the movable platform to move from its current position according to the user's expected movement distance and shoot special camera movement effects during the movement, namely, the camera movement effect of the adjustable mechanism rotating the roll angle. This enhances the richness of the visual effects and makes the video cooler. It also allows for quick entry into the adjustable mechanism roll angle rotation mode from the current position of the movable platform, enhancing the convenience of triggering the intelligent shooting mode (shooting in the adjustable mechanism roll angle rotation mode), improving the triggering efficiency of the movable platform's intelligent shooting mode, and improving the user experience.

[0156] In some embodiments, the control parameters further include at least one shooting focal length. During the process of controlling the movable platform to move according to the control parameters along a moving distance and controlling the attitude-adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the shooting device controlling the movable platform performs shooting based on the shooting focal length.

[0157] The shooting focal length includes, but is not limited to, 1x, 3x, 6x, etc., and the embodiments of this application are not limited to these. For example, the shooting focal length can be user-inputted or preset.

[0158] For example, as shown in Figure 11, the display interface shows multiple shooting focal length options: 1x, 3x, and 6x, each corresponding to a different shooting focal length. For instance, if the user selects the 3x option, the user-input shooting focal length is 3x. During the process of controlling the movable platform to move according to the control parameters and controlling the attitude-adjustable mechanism to rotate within the rotation range indicated by the initial roll angle and the final roll angle, the shooting device controlling the movable platform performs shooting based on the 3x shooting focal length.

[0159] In different application scenarios, the shooting device of the mobile platform can shoot based on the corresponding appropriate shooting focal length, thereby improving the quality of the captured images or videos.

[0160] In some embodiments, before controlling the movable platform to move according to the travel distance based on the control parameters and controlling the attitude-adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the method further includes:

[0161] Identify the target object;

[0162] The movable platform is controlled to move according to the travel distance based on the control parameters, and the attitude-adjustable mechanism is controlled to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, including:

[0163] The movable platform is controlled to move according to the moving distance according to the control parameters, and the adjustable attitude mechanism is controlled to rotate according to the rotation range indicated by the initial roll angle and the final roll angle. During the movement of the movable platform, the shooting device of the movable platform is used to lock the target object.

[0164] For example, the target object is automatically selected by the mobile platform or the control device of the mobile platform, or the target object is selected by the user.

[0165] For example, if a person is in the viewfinder of the shooting device, the movable platform or its control device automatically selects the person as the target. While the movable platform moves according to the moving distance and the attitude-adjustable mechanism rotates according to the rotation range indicated by the initial roll angle and the final roll angle, the shooting device locks onto the person for shooting.

[0166] For example, the viewfinder of the shooting device is displayed on the control device's screen, as shown in Figure 12. The viewfinder includes multiple objects such as object A, object B, and object C. If the user clicks on object A, object A is set as the target object. During the movement of the movable platform according to the moving distance and the rotation of the attitude-adjustable mechanism according to the rotation range indicated by the initial roll angle and the final roll angle, the shooting device locks onto object A for shooting. The movable platform can change its own orientation or the orientation of the attitude-adjustable mechanism to lock onto the target object, ensuring that the target object is always in a designated position, such as the center, within the frame captured by the shooting device on the movable platform.

[0167] In some embodiments, after controlling the movable platform to move according to the moving distance based on the control parameters and controlling the attitude-adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the method further includes:

[0168] The mobile platform is automatically controlled to move to its previous position according to the moving distance.

[0169] In other words, after controlling the movable platform to move according to the moving distance and controlling the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the user does not need to manually operate to control the movable platform to return. The movable platform is automatically controlled to move to the position before moving according to the moving distance, saving the user's operation process, improving the intelligence and autonomy of the movable platform control, and improving the user experience.

[0170] In some embodiments, the control parameters include at least one of a first control parameter corresponding to the departure stroke and a second control parameter corresponding to the return stroke. During the departure stroke of the movable platform, the movable platform is controlled to move and the attitude-adjustable mechanism is controlled to rotate according to the first control parameter. Then, during the return stroke of the movable platform, the movable platform is controlled to move and the attitude-adjustable mechanism is controlled to rotate according to the second control parameter.

[0171] For example, the first control parameter may be the same as or different from the second control parameter. For instance, the first control parameter may include a first travel distance and a first roll angle group, and the second control parameter may include a second travel distance and a second roll angle group. The first travel distance and the second travel distance may be the same, and the first roll angle group and the second roll angle group may be the same.

[0172] In some embodiments, the control method for the mobile platform further includes:

[0173] Acquire a first video captured by the mobile platform controlled based on the first control parameter, and a second video captured by the mobile platform controlled based on the second control parameter, and associate and record the first video and the second video.

[0174] During the process of controlling the movement of the movable platform and the rotation of the attitude-adjustable mechanism according to the first control parameters, the camera on the movable platform is controlled to capture a first video. Similarly, during the process of controlling the movement of the movable platform and the rotation of the attitude-adjustable mechanism according to the second control parameters, the camera on the movable platform is controlled to capture a second video. This means that the second video is captured according to the user-input control parameters during the movable platform's return trip. The movable platform captures two videos in one round trip, and the first and second videos are linked and recorded, providing the user with more video material and further enhancing the user experience. Optionally, the rotation direction of the movable platform when controlling the rotation of the attitude-adjustable mechanism according to the first control parameters can be the same as or different from the rotation direction when controlling the rotation of the attitude-adjustable mechanism according to the second control parameters.

[0175] In some embodiments, as shown in FIG13, step S102 is followed by steps S103 and S104.

[0176] S103. A video captured by the shooting device of the movable platform during the process of the movable platform moving according to the moving distance and the attitude adjustable mechanism rotating according to the rotation range indicated by the initial roll angle and the final roll angle.

[0177] S104. Generate an automatically edited video based on the video captured by the shooting device.

[0178] For example, during the movement of the mobile platform and the rotation of the adjustable mechanism, a video can be captured by a shooting device. This video can be called the original video. After obtaining the original video, the mobile platform can automatically edit the original video to generate an edited video for users to share or process later. Alternatively, after obtaining the original video, the mobile platform can send the original video to the control device. After receiving the original video, the control device can automatically edit the original video to generate an edited video for users to share or process later.

[0179] For example, during the departure stroke, which controls the movement of the movable platform and the rotation of the gimbal according to the first control parameters, the camera on the movable platform is controlled to capture a first video, and an automatically edited video is generated based on the first video. Alternatively, during the return stroke, which controls the movement of the movable platform and the rotation of the attitude-adjustable mechanism according to the second control parameters, the camera on the movable platform is controlled to capture a second video, and an automatically edited video is generated based on the second video. Or, an automatically edited video is generated based on both the first and second videos.

[0180] For example, the automatically edited video is shorter than the video captured by the shooting device.

[0181] In practical applications, users may not need the entire video of the mobile platform. The length of the automatically edited video does not need to be the same as the length of the video captured by the shooting device. It can be shorter than the length of the video captured by the shooting device, providing users with only the useful video they need, saving video space, and automatically editing the video into a clip, improving video editing efficiency, saving users' video editing time, and improving the efficiency of quick sharing after video shooting.

[0182] For example, the automatically edited video is obtained based on specific information from the video captured by the shooting device. This specific information includes one or more of the following: motion information of the movable platform, shooting content type information, shooting content motion information, composition requirements, and rotation angle of the posture-adjustable mechanism. The motion information of the movable platform includes, but is not limited to, movement speed and direction; the shooting content type information includes, but is not limited to, people type and landscape type; the shooting content motion information includes, but is not limited to, push-in and pull-out shots; and the composition requirements include, but are not limited to, image balance and spatial layout. This application embodiment is not limited to these. It should be noted that the specific information is not limited to the types of information listed above, and this application does not impose specific limitations.

[0183] For example, assuming the video captured by the shooting device corresponds to a rotation angle of the attitude-adjustable mechanism of [-180, 0] degrees, an automatically edited video corresponding to the rotation angle of [-180, 0] degrees is generated based on the video captured by the shooting device.

[0184] Based on specific information from the video captured by the shooting device, an automatically edited video is generated. The resulting automatically edited video is highly likely to contain the visual effects expected by the user, rather than useless videos that the user does not need. This improves the convenience and intelligence of video editing and enhances the user experience.

[0185] Please refer to Figure 14, which is a schematic block diagram of a control device for a movable platform provided in an embodiment of this application.

[0186] As shown in Figure 14, the control device 200 of the mobile platform may include at least one processor 210 and at least one memory 220 including a computer program. The processor 210 and the memory 220 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.

[0187] Specifically, the processor 210 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0188] Specifically, the memory 220 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc. The memory 220 stores various computer programs for the processor 210 to execute.

[0189] In this embodiment, at least one processor 210 is configured to enable the control device 200 to execute a computer program and, when executing the computer program, to perform the following steps:

[0190] The system acquires user-input control parameters; the control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism of the movable platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the movable platform.

[0191] The movable platform is controlled to move according to the moving distance according to the control parameters, and the attitude adjustable mechanism is controlled to rotate according to the rotation range indicated by the initial roll angle and the final roll angle. The movable platform includes an aircraft, the moving distance includes the flight distance, and the moving speed includes the flight speed.

[0192] In some embodiments, at least one processor 210 is configured to enable the control device 200 to execute a computer program and, when executing the computer program, to perform the following steps:

[0193] The system acquires user-input control parameters; the control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism of the movable platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the movable platform.

[0194] The control parameters are used to control the movable platform to move according to the moving distance and to control the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle.

[0195] In some embodiments, the control parameters input by the user include the travel distance, the travel speed, and the roll angle group.

[0196] In some embodiments, the control parameters are input by adjusting the user's own information, or the control parameters are input through the control device of the mobile platform.

[0197] In some embodiments, the user's own information includes the user's voice, posture, gestures, or movement parameters.

[0198] In some embodiments, the movement parameters include the user's movement direction and / or the user's movement distance.

[0199] In some embodiments, the input via the control device of the movable platform includes input by adjusting the posture of the control device or input via the physical controls of the control device.

[0200] In some embodiments, the physical control includes a first type of physical control or a second type of physical control, wherein the first type of physical control is used to detect user input to the virtual control, and the second type of physical control is used to detect user input to move the second type of physical control.

[0201] In some embodiments, 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.

[0202] In some embodiments, the control parameters are input by setting control parameters, or by setting shooting templates, wherein different shooting modes correspond to different control parameters.

[0203] In some embodiments, the control parameters are input by inputting the values ​​or indices of the control parameters.

[0204] In some embodiments, the control parameters are selected by the user from a plurality of preset options, wherein different options correspond to different control parameters.

[0205] In some embodiments, different options correspond to different travel distances or travel speeds.

[0206] In some embodiments, different options correspond to different roll angle groups.

[0207] In some embodiments, different roll angle groups correspond to different initial roll angles and / or final roll angles.

[0208] In some embodiments, different initial roll angles and / or final roll angles correspond to different roll angle rotation ranges or the same roll angle rotation range.

[0209] In some embodiments, different roll angle groups correspond to different roll angle rotation ranges.

[0210] In some embodiments, when the processor 210 implements the control of the movable platform to move according to the control parameters and the moving distance, it is configured to:

[0211] The movable platform is controlled to move based on the moving distance, the moving speed, and the moving direction; wherein the moving speed is input by the user, and the moving distance is calculated based on the user-input moving speed, the roll angle group, and the roll angle rotation speed of the attitude adjustable mechanism; or, the moving distance is input by the user, and the moving speed is calculated based on the user-input moving distance, the roll angle group, and the roll angle rotation speed of the attitude adjustable mechanism; or, both the moving distance and the moving speed are input by the user.

[0212] In some embodiments, the direction of movement is input by the user or preset.

[0213] In some embodiments, the direction of movement includes forward, backward, left, right, up, or down.

[0214] In some embodiments, when the processor 210 controls the attitude-adjustable mechanism to rotate within the rotation range indicated by the initial roll angle and the final roll angle, it is configured to:

[0215] The attitude adjustable mechanism is controlled to rotate based on the rotation range indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude adjustable mechanism, and the roll angle rotation direction of the attitude adjustable mechanism.

[0216] In some embodiments, the roll angle rotation speed of the attitude adjustable mechanism is input by the user or preset, or the roll angle rotation speed of the attitude adjustable mechanism is calculated based on the user-input travel distance, travel speed, and roll angle set.

[0217] In some embodiments, the roll angle rotation direction of the attitude-adjustable mechanism is input by the user or preset.

[0218] In some embodiments, the roll angle rotation direction of the attitude-adjustable mechanism includes clockwise rotation or counterclockwise rotation.

[0219] In some embodiments, the roll angle rotation of the attitude-adjustable mechanism may be one or more times.

[0220] In some embodiments, the number of roll angle rotations of the attitude-adjustable mechanism includes one. When the processor 210 controls the rotation of the attitude-adjustable mechanism based on the rotation interval indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude-adjustable mechanism, and the roll angle rotation direction of the attitude-adjustable mechanism, it is configured to:

[0221] The attitude adjustable mechanism is controlled to rotate based on the rotation range indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude adjustable mechanism, and the roll angle rotation direction of the attitude adjustable mechanism.

[0222] In some embodiments, the roll angle rotation of the attitude-adjustable mechanism includes multiple rotations. When the processor 210 controls the rotation of the attitude-adjustable mechanism based on the rotation interval indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude-adjustable mechanism, and the roll angle rotation direction of the attitude-adjustable mechanism, it is configured to:

[0223] The attitude adjustable mechanism is controlled to rotate for the first time based on the rotation range indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude adjustable mechanism, and the roll angle rotation direction of the attitude adjustable mechanism. Then, the attitude adjustable mechanism is controlled to rotate for the second time based on the rotation range in the opposite direction indicated by the final roll angle and the initial roll angle, the roll angle rotation speed of the gimbal, and the direction opposite to the roll angle rotation direction of the gimbal.

[0224] In some embodiments, the number of roll angle rotations of the gimbal is input by the user or preset.

[0225] In some embodiments, before implementing the control of the movable platform to move according to the control parameters according to the moving distance and the control of the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the processor 210 is further configured to implement:

[0226] The control device of the mobile platform displays a preview of the control parameters.

[0227] In some embodiments, the preview effect is displayed after the user inputs the control parameters.

[0228] In some embodiments, the preview is displayed before the user inputs the control parameters.

[0229] In some embodiments, the preview effect is automatically displayed after the attitude-adjustable mechanism roll angle rotation mode is triggered.

[0230] In some embodiments, different control parameters correspond to different preview effects.

[0231] In some embodiments, the processor 210 is further configured to implement:

[0232] While controlling the movable platform to move according to the moving distance according to the control parameters and controlling the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the camera device of the movable platform is controlled to take pictures.

[0233] In some embodiments, the roll angle rotation range corresponding to the roll angle group includes at least 80 degrees.

[0234] In some embodiments, the roll angle rotation range corresponding to the roll angle group includes at least one 360-degree rotation range.

[0235] In some embodiments, the at least 360-degree rotation range includes a rotation range of [0, 360] degrees.

[0236] In some embodiments, the roll angle rotation range corresponding to the roll angle group includes at least one 180-degree rotation range.

[0237] In some embodiments, the at least 180-degree rotation range includes a rotation range of [-180, 0] degrees.

[0238] In some embodiments, the roll angle rotation range corresponding to the roll angle group includes at least one 90-degree rotation range.

[0239] In some embodiments, the at least 90-degree rotation range includes a rotation range of [-90, 0] degrees.

[0240] In some embodiments, before implementing the control of the movable platform to move according to the control parameters according to the moving distance and the control of the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the processor 210 is further configured to implement:

[0241] Detect the current roll angle of the attitude-adjustable mechanism;

[0242] If the current roll angle is inconsistent with the initial roll angle, then the attitude adjustable mechanism is controlled to rotate to the initial roll angle.

[0243] In some embodiments, when implementing the acquisition of user input control parameters, the processor 210 is configured to:

[0244] In response to the mobile platform meeting preset conditions, the control parameters input by the user are obtained.

[0245] In some embodiments, the processor 210 is further configured to implement:

[0246] In response to the mobile platform not meeting the preset conditions, the user is prohibited from inputting the control parameters.

[0247] In some embodiments, the mobile platform satisfies the preset conditions, including:

[0248] The height of the movable platform is greater than or equal to a first threshold, and / or the moving speed of the movable platform is less than or equal to a second threshold.

[0249] In some embodiments, the mobile platform includes an aircraft, the height of the mobile platform includes the flight altitude of the aircraft, and the moving speed of the mobile platform includes the flight speed of the aircraft.

[0250] In some embodiments, before implementing the acquisition of user input control parameters, the processor 210 is further configured to implement:

[0251] Control the movable platform to move to the desired location;

[0252] When implementing the acquisition of user-input control parameters, the processor 210 is used to:

[0253] The control parameters input by the user when the movable platform is located at the desired position are obtained.

[0254] In some embodiments, when implementing the control of the movable platform to move to the desired location, the processor 210 is configured to:

[0255] The movable platform can be moved to the desired location according to the control instructions input by the user, or the movable platform can be moved to the desired location automatically.

[0256] In some embodiments, before implementing the control of the movable platform to move according to the control parameters according to the moving distance and the control of the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the processor 210 is further configured to implement:

[0257] Identify the target object;

[0258] When the processor 210 implements the control of the movable platform to move according to the moving distance based on the control parameters and the control of the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, it is used to:

[0259] The movable platform is controlled to move according to the moving distance according to the control parameters, and the attitude adjustable mechanism is controlled to rotate according to the rotation range indicated by the initial roll angle and the final roll angle. During the movement of the movable platform, the shooting device of the movable platform is used to lock the target object.

[0260] In some embodiments, the target object is automatically selected by the mobile platform or the control device of the mobile platform, or the target object is selected by the user.

[0261] In some embodiments, the method is executed by a movable platform, and the processor 210, after implementing the control of the movable platform to move according to the control parameters according to the moving distance and the control of the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, is further configured to implement:

[0262] The movable platform is automatically controlled to move to the position it was in before moving the specified distance.

[0263] In some embodiments, the control parameters further include at least one shooting focal length.

[0264] In some embodiments, the control parameters include at least one of a first control parameter corresponding to the departure trip and a second control parameter corresponding to the return trip.

[0265] In some embodiments, the first control parameter may be the same as or different from the second control parameter.

[0266] In some embodiments, the processor 210 is further configured to implement:

[0267] Acquire a first video captured by the mobile platform controlled based on the first control parameter, and a second video captured by the mobile platform controlled based on the second control parameter, and associate and record the first video and the second video.

[0268] In some embodiments, after implementing the control of the movable platform to move according to the control parameters according to the moving distance and the control of the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the processor 210 is further configured to implement:

[0269] The video captured by the shooting device of the movable platform during the process of the movable platform moving according to the moving distance and the attitude adjustable mechanism rotating according to the rotation range indicated by the initial roll angle and the final roll angle;

[0270] An automatically edited video is generated based on the video captured by the shooting device.

[0271] In some embodiments, the duration of the automatically edited video is shorter than the duration of the video captured by the shooting device.

[0272] In some embodiments, the automatically edited video is obtained based on specific information from the video captured by the shooting device.

[0273] In some embodiments, the specific information includes one or more of the following: motion information of the movable platform, shooting content type information, shooting content motion information, composition requirements, and rotation angle of the posture-adjustable mechanism.

[0274] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant introductions in the foregoing method embodiments, and will not be repeated here.

[0275] Referring to Figure 15, a mobile platform provided in an embodiment of this application is shown. The mobile platform 150 includes at least one processor 1501, at least one memory 1502 including a computer program, and a communication device 1503. The mobile platform may also include a power system for driving the mobile platform to move. The communication device 1503 is used to communicate with a control device of the mobile platform to receive control commands or the aforementioned control parameters from the control device. At least one of the processors is configured to enable the mobile platform to execute the computer program and, when executing the computer program, implement the steps of the control method for the mobile platform provided in the embodiment of this application.

[0276] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant introductions in the foregoing method embodiments, and will not be repeated here.

[0277] Referring to Figure 16, an embodiment of this application provides a control device 160. The control device 160 includes at least one processor 1601, at least one memory 1602 including a computer program, and a communication device 1603. The communication device 1603 is used to communicate with a mobile platform to send control commands or the aforementioned control parameters to the mobile platform. The control device 160 may also include a user interface for obtaining the aforementioned control parameters input by a user. At least one of the processors is configured to enable the control device to at least execute the computer program and, when executing the computer program, implement the steps of the mobile platform control method provided in the embodiment of this application.

[0278] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant introductions in the foregoing method embodiments, and will not be repeated here.

[0279] Referring to Figure 17, an embodiment of this application provides a control system for a mobile platform. The control system 170 of the mobile platform includes at least one processor 1701, at least one memory 1702 including a computer program, a user interface 1703, and a communication device 1704. The communication device 1704 is used to realize communication between the control device and the mobile platform to transmit control commands or the aforementioned control parameters. The user interface 1703 is used to acquire control parameters input by the user. The control parameters include the moving distance of the mobile platform and a roll angle group corresponding to the attitude adjustable mechanism of the mobile platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the mobile platform and a roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the mobile platform. The communication device 1704 is used to transmit the control parameters. The processor 1701 is used to control the mobile platform to move according to the moving distance and to control the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle.

[0280] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant introductions in the foregoing method embodiments, and will not be repeated here.

[0281] The embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement the steps of the control method for the mobile platform provided in the embodiments of this application.

[0282] The computer-readable storage medium may be an internal storage unit of the control device, mobile platform, or control equipment described in the foregoing embodiments, such as a hard disk or memory of the control device, mobile platform, or control equipment. The computer-readable storage medium may also be an external storage device of the control device, mobile platform, or control equipment, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the control device, mobile platform, or control equipment.

[0283] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant introductions in the foregoing method embodiments, and will not be repeated here.

[0284] 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: The system acquires user-input control parameters; the control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism of the movable platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the movable platform. The movable platform is controlled to move according to the moving distance according to the control parameters, and the attitude adjustable mechanism is controlled to rotate according to the rotation range indicated by the initial roll angle and the final roll angle. The movable platform includes an aircraft, the moving distance includes the flight distance, and the moving speed includes the flight speed.

2. A control method of a movable platform, characterized by, include: The system acquires user-input control parameters; the control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism of the movable platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the movable platform. The control parameters are used to control the movable platform to move according to the moving distance and to control the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle.

3. The method of claim 2, wherein, The control parameters input by the user include the travel distance, the travel speed, and the roll angle group.

4. The method according to any one of claims 1 to 3, characterized in that, The control parameters are input by adjusting the user's own information, or the control parameters are input through the control device of the mobile platform.

5. The method of claim 4, wherein, The user's own information includes the user's voice, posture, gestures, or movement parameters.

6. The method of claim 5, wherein, The movement parameters include the user's movement direction and / or the user's movement distance.

7. The method of claim 4, wherein, The input via the control device of the movable platform includes input by adjusting the posture of the control device or input via the physical controls of the control device.

8. The method of claim 7, 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 user input to the virtual control, and the second type of physical control is used to detect user input to move the second type of physical control.

9. The method of claim 8, 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.

10. The method according to any one of claims 1 to 3, characterized in that, The control parameters are input by setting control parameters, or by setting shooting templates, wherein different shooting modes correspond to different control parameters.

11. The method of claim 10, wherein, The control parameters are input by means of inputting the values ​​or indices of the control parameters.

12. The method of claim 10, wherein, The control parameters are selected by the user from a number of preset options, with different options corresponding to different control parameters.

13. The method of claim 12, wherein, Different options correspond to different movement distances or movement speeds.

14. The method of claim 12, wherein, Different options correspond to different roll angle groups.

15. The method of claim 14, wherein, Different roll angle groups correspond to different initial roll angles and / or final roll angles.

16. The method of claim 15, wherein, Different initial roll angles and / or final roll angles correspond to different roll angle rotation ranges or the same roll angle rotation range.

17. The method of claim 14, wherein, Different roll angle groups correspond to different roll angle rotation ranges.

18. The method according to any one of claims 1 to 3, characterized in that, The step of controlling the movable platform to move according to the control parameters according to the moving distance includes: The movable platform is controlled to move based on the moving distance, the moving speed, and the moving direction; wherein the moving speed is input by the user, and the moving distance is calculated based on the user-input moving speed, the roll angle group, and the roll angle rotation speed of the gimbal; or, the moving distance is input by the user, and the moving speed is calculated based on the user-input moving distance, the roll angle group, and the roll angle rotation speed of the gimbal; or, both the moving distance and the moving speed are input by the user.

19. The method of claim 18, wherein, The direction of movement is either input by the user or preset.

20. The method of claim 18, wherein, The direction of movement includes forward, backward, left, right, up, or down.

21. The method according to any one of claims 1 to 3, characterized in that, The control of the attitude-adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle includes: The attitude adjustable mechanism is controlled to rotate based on the rotation range indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude adjustable mechanism, and the roll angle rotation direction of the attitude adjustable mechanism.

22. The method of claim 21, wherein, The roll angle rotation speed of the attitude adjustable mechanism is either input by the user or preset, or it is calculated based on the user-inputted travel distance, travel speed, and roll angle set.

23. The method of claim 21, wherein, The roll angle rotation direction of the attitude-adjustable mechanism is either user-inputted or preset.

24. The method of claim 21, wherein, The roll angle rotation direction of the attitude-adjustable mechanism includes clockwise rotation or counterclockwise rotation.

25. The method of claim 21, wherein, The roll angle rotation of the attitude-adjustable mechanism may be one or more times.

26. The method of claim 25, wherein, The number of roll angle rotations of the attitude-adjustable mechanism includes one. Controlling the rotation of the attitude-adjustable mechanism based on the rotation range indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude-adjustable mechanism, and the roll angle rotation direction of the attitude-adjustable mechanism includes: The attitude adjustable mechanism is controlled to rotate based on the rotation range indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude adjustable mechanism, and the roll angle rotation direction of the attitude adjustable mechanism.

27. The method of claim 25, wherein, The roll angle rotation of the attitude-adjustable mechanism includes multiple rotations. Controlling the rotation of the attitude-adjustable mechanism based on the rotation range indicated by the initial roll angle and the final roll angle, the roll angle rotation speed of the attitude-adjustable mechanism, and the roll angle rotation direction of the attitude-adjustable mechanism includes: The attitude adjustable mechanism is controlled to rotate for the first time based on the rotation range indicated by the initial roll angle and the final roll angle, the rotation speed of the roll angle of the attitude adjustable mechanism, and the rotation direction of the roll angle of the attitude adjustable mechanism. Then, the attitude adjustable mechanism is controlled to rotate for the second time based on the rotation range in the opposite direction indicated by the final roll angle and the initial roll angle, the rotation speed of the roll angle of the attitude adjustable mechanism, and the rotation direction in the opposite direction to the rotation direction of the roll angle of the attitude adjustable mechanism.

28. The method of claim 25, wherein, The roll angle rotation number of the attitude-adjustable mechanism is either user-inputted or preset.

29. The method according to any one of claims 1 to 3, characterized in that, Before controlling the movable platform to move according to the moving distance based on the control parameters and controlling the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the method further includes: The control device of the mobile platform displays a preview of the control parameters.

30. The method of claim 29, wherein, The preview effect is displayed after the user inputs the control parameters.

31. The method of claim 29, wherein, The preview effect is displayed before the user inputs the control parameters.

32. The method of claim 31, wherein, The preview effect is automatically displayed after the attitude adjustable mechanism roll angle rotation mode is triggered.

33. The method of claim 29, wherein, Different control parameters result in different preview effects.

34. The method of any one of claims 1 to 3, wherein, The method further includes: While controlling the movable platform to move according to the moving distance according to the control parameters and controlling the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the camera device of the movable platform is controlled to take pictures.

35. The method of any one of claims 1 to 3, wherein, The roll angle rotation range corresponding to the roll angle group includes at least 80 degrees.

36. The method of claim 35, wherein, The roll angle rotation range corresponding to the roll angle group includes at least one 360-degree rotation range.

37. The method of claim 36, wherein, The at least one 360-degree rotation range includes a rotation range of [0, 360] degrees.

38. The method of claim 35, wherein, The roll angle rotation range corresponding to the roll angle group includes at least one 180-degree rotation range.

39. The method of claim 38, wherein, The at least one 180-degree rotation range includes a rotation range of [-180, 0] degrees.

40. The method of claim 35, wherein, The roll angle rotation range corresponding to the roll angle group includes at least one 90-degree rotation range.

41. The method of claim 40, wherein, The at least one 90-degree rotation range includes a rotation range of [-90, 0] degrees.

42. The method of any one of claims 1 to 3, wherein, Before controlling the movable platform to move according to the moving distance based on the control parameters and controlling the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the method further includes: Detect the current roll angle of the attitude-adjustable mechanism; If the current roll angle is inconsistent with the initial roll angle, then control the attitude adjustable mechanism to rotate to the initial roll angle.

43. The method of any one of claims 1 to 3, wherein, The acquisition of user-input control parameters includes: In response to the mobile platform meeting preset conditions, the control parameters input by the user are obtained.

44. The method of claim 43, wherein, The method further includes: In response to the mobile platform not meeting the preset conditions, the user is prohibited from inputting the control parameters.

45. The method of claim 43, wherein, The mobile platform satisfies the preset conditions, including: The height of the movable platform is greater than or equal to a first threshold, and / or the moving speed of the movable platform is less than or equal to a second threshold.

46. The method of claim 45, wherein, The mobile platform includes an aircraft, the height of the mobile platform includes the flight altitude of the aircraft, and the moving speed of the mobile platform includes the flight speed of the aircraft.

47. The method of any one of claims 1 to 3, wherein, Before obtaining the control parameters input by the user, the method further includes: Control the movable platform to move to the desired location; The acquisition of user-input control parameters includes: The control parameters input by the user when the movable platform is located at the desired position are obtained.

48. The method of claim 47, wherein, The control of the movable platform to move to the desired location includes: The movable platform can be moved to the desired location according to the control instructions input by the user, or the movable platform can be moved to the desired location automatically.

49. The method of any one of claims 1 to 3, wherein, Before controlling the movable platform to move according to the moving distance based on the control parameters and controlling the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the method further includes: Identify the target object; The step of controlling the movable platform to move according to the moving distance based on the control parameters and controlling the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle includes: The movable platform is controlled to move according to the moving distance according to the control parameters, and the attitude adjustable mechanism is controlled to rotate according to the rotation range indicated by the initial roll angle and the final roll angle. During the movement of the movable platform, the shooting device of the movable platform is used to lock the target object.

50. The method of claim 49, wherein, The target object is automatically selected by the mobile platform or the control device of the mobile platform, or the target object is selected by the user.

51. The method of any one of claims 1 to 3, wherein, The method is executed by a movable platform. After controlling the movable platform to move according to the moving distance based on the control parameters and controlling the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the method further includes: The movable platform is automatically controlled to move to the position it was in before moving the specified distance.

52. The method of any one of claims 1 to 3, wherein, The control parameters also include at least one shooting focal length.

53. The method of any one of claims 1 to 3, wherein, The control parameters include at least one of a first control parameter corresponding to the departure trip and a second control parameter corresponding to the return trip.

54. The method of claim 53, wherein, The first control parameter may be the same as or different from the second control parameter.

55. The method of claim 53, wherein, The method further includes: Acquire a first video captured by the mobile platform controlled based on the first control parameter, and a second video captured by the mobile platform controlled based on the second control parameter, and associate and record the first video and the second video.

56. The method of any one of claims 1 to 3, wherein, After controlling the movable platform to move according to the moving distance based on the control parameters and controlling the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle, the method further includes: The video captured by the shooting device of the movable platform during the process of the movable platform moving according to the moving distance and the attitude adjustable mechanism rotating according to the rotation range indicated by the initial roll angle and the final roll angle; An automatically edited video is generated based on the video captured by the shooting device.

57. The method of claim 56, wherein, The duration of the automatically edited video is shorter than the duration of the video captured by the shooting device.

58. The method of claim 56, wherein, The automatically edited video is obtained based on specific information from the video captured by the shooting device.

59. The method of claim 58, wherein, The specific information includes one or more of the following: motion information of the movable platform, shooting content type information, shooting content motion information, composition requirements, and rotation angle of the posture-adjustable mechanism.

60. A control device for a moveable platform, comprising: include: At least one processor and at least one memory including a computer program, wherein at least one of the processors is configured to cause the control device to at least execute the computer program and, when executing the computer program, perform the following operations: The system acquires user-input control parameters; the control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism of the movable platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the movable platform. The control parameters are used to control the movable platform to move according to the moving distance and to control the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle.

61. A movable platform, characterized by include: The mobile platform includes at least one processor, at least one memory comprising a computer program, and a communication device, wherein at least one of the processors is configured to enable the mobile platform to execute at least the computer program and, when executing the computer program, to perform the following operations: The control parameters input by the user are obtained through the communication device; the control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism of the movable platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the movable platform; The control parameters are used to control the movable platform to move according to the moving distance and to control the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle.

62. A control device, characterized by include: The device includes at least one processor, at least one memory comprising a computer program, and a communication device, wherein at least one of the processors is configured to cause the control device to at least execute the computer program and, when executing the computer program, perform the following operations: The system acquires user-input control parameters; the control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism of the movable platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the movable platform. The communication device controls the movable platform to move according to the moving distance based on the control parameters, and controls the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle.

63. A control system for a moveable platform, the control system comprising: include: At least one processor, at least one memory including a computer program, a user interface, and a communication device, wherein, The user interface is used to acquire control parameters input by the user; the control parameters include the moving distance of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism of the movable platform, wherein the roll angle group includes an initial roll angle and a final roll angle; or, the control parameters include the moving speed of the movable platform and the roll angle group corresponding to the attitude adjustable mechanism, wherein the moving speed is used to determine the moving distance of the movable platform; The communication device is used to transmit the control parameters; The processor is configured to control the movable platform to move according to the moving distance based on the control parameters and to control the attitude adjustable mechanism to rotate according to the rotation range indicated by the initial roll angle and the final roll angle.

64. A storage medium for computer-readable use, characterized in that The storage medium stores a computer program that, when executed by a processor, causes the processor to implement the control method for the mobile platform as described in any one of claims 1 to 59.

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