Control methods, apparatus, aircraft, movable platform, control device and storage medium

Abstract

An aircraft control method, comprising: acquiring a contact-type input for a control on an aircraft, the contact-type input being used for setting relevant parameters of the aircraft during flight (S101); in response to the aircraft having been provided with a safety protection device, controlling the aircraft to respond to input settings of the relevant parameters (S102); and, in response to the aircraft not having been provided with the safety protection device, controlling the aircraft not to respond to the input settings of the relevant parameters (S103).

Description

Control methods, devices, aircraft, mobile platforms, control equipment, and storage media Technical Field

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

[0002] Propeller-equipped aircraft are widely used in various fields (such as aerial photography and modeling), but the rotation of the propellers can pose a danger not only to surrounding organisms, especially humans, but also to damage the propeller blades. Currently, the main solution is to install propeller protection devices on the aircraft to protect the propellers and prevent harm to surrounding organisms. In related technologies, physical buttons are installed on the aircraft's fuselage, allowing users to set the flight mode by pressing the button when near the aircraft, thus triggering the aircraft to execute that mode. This control method allows for convenient and intelligent flight control using physical buttons. However, while this control method poses a relatively low threat to surrounding organisms (such as humans) for aircraft equipped with propeller protection devices, it poses a significant threat to the safety of organisms around the aircraft for aircraft without such devices. Therefore, it cannot adequately guarantee the safety of surrounding organisms, resulting in a poor user experience and impacting the safe operation of the aircraft. Summary of the Invention

[0003] Based on this, embodiments of this application provide a control method, apparatus, aircraft, mobile platform, control device, and storage medium, aiming to improve the safety of using mobile platforms.

[0004] In a first aspect, embodiments of this application provide a method for controlling an aircraft, including:

[0005] Acquire contact input for controls on the aircraft, the contact input being used to set relevant parameters of the aircraft during flight;

[0006] In response to the fact that the aircraft has been equipped with safety protection devices, the aircraft is controlled to respond to the input settings of the relevant parameters;

[0007] In response to the aircraft not being equipped with the safety protection device, the aircraft is controlled not to respond to the input settings of the relevant parameters.

[0008] The control method provided in the first aspect allows the aircraft to perform different operations depending on whether a safety protection device is installed after receiving contact input to the controls on the aircraft. When a safety protection device is installed, the aircraft responds to the parameter settings of the contact input, while when a safety protection device is not installed, it does not respond to the parameter settings of the contact input. In this way, the safety of organisms around the aircraft can be guaranteed regardless of whether a safety protection device is installed, thus improving the safety of aircraft use.

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

[0010] In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control provided on the mobile platform. The control is used to set relevant parameters of the mobile platform during the movement process.

[0011] In response to the fact that the mobile platform is not equipped with the security protection device, the mobile platform is controlled to enter a second mode, in which the mobile platform is not controlled by the control.

[0012] The second aspect provides a control method that, when a safety protection device is installed on the mobile platform, makes the mobile platform controllable by parameter setting controls on the mobile platform; and when a safety protection device is not installed on the mobile platform, makes the mobile platform uncontrollable by parameter setting controls on the mobile platform. In this way, the safety of organisms around the mobile platform can be guaranteed regardless of whether a safety protection device is installed on the mobile platform, thus improving the safety of using the mobile platform.

[0013] Thirdly, embodiments of this application also provide a control device for an aircraft, the control device including a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0014] Acquire contact input for controls on the aircraft, the contact input being used to set flight parameters of the aircraft during flight;

[0015] In response to the fact that the aircraft has been equipped with the safety protection device, the aircraft is controlled to respond to the input settings of the relevant parameters;

[0016] In response to the aircraft not being equipped with the safety protection device, the aircraft is controlled not to respond to the input settings of the relevant parameters.

[0017] Fourthly, embodiments of this application also provide a control device for a mobile platform, the control device including a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0018] In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control provided on the mobile platform. The control is used to set relevant parameters of the mobile platform during the movement process.

[0019] In response to the fact that the mobile platform is not equipped with a safety protection device, the mobile platform is controlled to enter a second mode, in which the mobile platform is not controlled by the control.

[0020] Fifthly, embodiments of this application also provide an aircraft, the aircraft including a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0021] Acquire contact input for controls on the aircraft, the contact input being used to set flight parameters of the aircraft during flight;

[0022] In response to the fact that the aircraft has been equipped with the safety protection device, the aircraft is controlled to respond to the input settings of the relevant parameters;

[0023] In response to the aircraft not being equipped with the safety protection device, the aircraft is controlled not to respond to the input settings of the relevant parameters.

[0024] Sixthly, embodiments of this application also provide a portable platform, the portable platform comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0025] In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control provided on the mobile platform. The control is used to set relevant parameters of the mobile platform during the movement process.

[0026] In response to the fact that the mobile platform is not equipped with a safety protection device, the mobile platform is controlled to enter a second mode, in which the mobile platform is not controlled by the control.

[0027] In a seventh aspect, embodiments of this application also provide a control device, the control device including a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0028] Acquire contact input to controls on the aircraft, the contact input being used to set flight parameters of the aircraft during flight, wherein the control device establishes a communication connection with the aircraft;

[0029] In response to the fact that the aircraft has been equipped with the safety protection device, the aircraft is controlled to respond to the input settings of the relevant parameters;

[0030] In response to the aircraft not being equipped with the safety protection device, the aircraft is controlled not to respond to the input settings of the relevant parameters.

[0031] Eighthly, embodiments of this application also provide a control device, the control device including a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0032] In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control provided on the mobile platform. The control is used to set relevant parameters of the mobile platform during the movement process. The control device establishes a communication connection with the mobile platform.

[0033] In response to the fact that the mobile platform is not equipped with a safety protection device, the mobile platform is controlled to enter a second mode, in which the mobile platform is not controlled by the control.

[0034] In a ninth aspect, embodiments of this application also provide a control system for an aircraft, the system comprising the aircraft and control equipment as described in the fifth aspect, or the system comprising the control equipment and aircraft as described in the seventh aspect.

[0035] In a tenth aspect, embodiments of this application also provide a control system for an aircraft, the system comprising a mobile platform and control device as described in the sixth aspect, or the system comprising a control device and a mobile platform as described in the eighth aspect.

[0036] Eleventhly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to implement the control method described in the first or second aspect.

[0037] 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

[0038] 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.

[0039] Figure 1 is a schematic flowchart of the steps of a control method for an aircraft provided in an embodiment of this application;

[0040] Figure 2 is a schematic flowchart of another aircraft control method provided in an embodiment of this application;

[0041] Figure 3 is a schematic block diagram of the structure of a control device for an aircraft provided in an embodiment of this application;

[0042] Figure 4 is a schematic block diagram of the structure of a control device for a mobile platform provided in an embodiment of this application;

[0043] Figure 5 is a schematic block diagram of the structure of an aircraft provided in an embodiment of this application;

[0044] Figure 6 is a schematic block diagram of the structure of a mobile platform provided in an embodiment of this application;

[0045] Figure 7 is a schematic block diagram of the structure of a control device provided in an embodiment of this application;

[0046] Figure 8 is a schematic diagram of a control system for an aircraft provided in an embodiment of this application;

[0047] Figure 9 is a schematic diagram of a control system for a mobile platform provided in an embodiment of this application. Detailed Implementation

[0048] 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.

[0049] 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.

[0050] Currently, some drones can shoot close-up portraits at low altitudes, such as selfie drones and drones that can quickly create short videos with one click (e.g., shooting upwards, fading away, circling, spiraling, overhead shots, following, hovering, etc.). These drones can shoot at relatively close distances to living beings, such as people, and can quickly complete automatic camera movement and shooting after being turned on.

[0051] In some embodiments, the aircraft of this application can have a control-off mode. For example, the aircraft can be controlled by the user to perform some flight functions without being connected to a control device. For instance, controls are provided on the aircraft body, allowing the user to input relevant parameters to trigger takeoff / landing or control the aircraft to perform other flight operations, such as controlling the aircraft to execute one-click short videos (e.g., soaring, fading away, circling, spiraling, overhead shot, following, hovering, etc.). The controls can include physical controls and / or virtual controls. Physical controls include one or more of buttons, joysticks, or dials. Virtual controls can be, for example, virtual controls displayed on a screen, and can include buttons or sliders. User input to physical controls includes pressing, rotating, or flicking input. User input to virtual controls includes pressing or sliding input.

[0052] In some implementations, the aircraft supports palm takeoff and / or palm landing in off-control mode. This means the user places the aircraft on their palm and controls it via controls on the fuselage to perform palm takeoff. The aircraft can be controlled to return to home or land on the user's outstretched palm via voice, attitude, gestures, or movement parameters. Movement parameters can include, for example, the distance and / or direction of movement. For example, triggering the return-to-home action via attitude can include the user remaining still for a period of time. Similarly, triggering palm landing via attitude can include the user extending their palm to trigger the palm landing action.

[0053] In some embodiments, the aircraft of this application may also have a controlled mode. For example, the aircraft can be controlled by a user to perform certain flight functions when connected to a control device. The control device can be a remote controller with or without a screen, or it can be a terminal device such as a mobile phone. Users can input relevant parameters of the aircraft using controls on the control device, thereby triggering the aircraft to perform takeoff / landing, or controlling the aircraft to perform other flight operations, such as controlling the aircraft to perform one-click short videos (e.g., soaring, fading away, circling, spiraling, overhead shooting, following, hovering, etc.). The controls may include physical controls and / or virtual controls. Physical controls include one or more of buttons, joysticks, or dials. Virtual controls may be virtual controls displayed on a screen, and may include buttons or sliders. User input to physical controls includes pressing, rotating, or flicking input. User input to virtual controls includes pressing or sliding input. The aircraft and the control device can establish a communication connection via Bluetooth, Wi-Fi, cellular communication, or other communication methods.

[0054] The control device can be a mobile phone, tablet, computer, or other terminal device; it can also be a remote control; it can be a portable wearable device (such as a head-mounted wearable device (e.g., glasses) or a wrist-worn wearable device (e.g., a watch, bracelet); or it can be a server. When the control device is a server, the mobile platform system includes a positioning device independent of the server. The wearable device includes a head-mounted display device, which can include a virtual reality (VR) display device or a first-person view (FPV) display device.

[0055] The control device may include output devices such as a display device, for example, capable of outputting images captured by the aircraft. For instance, the control device can receive images transmitted by 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. This communication connection allows the control device to display images captured by the mobile platform using an external display device. This communication connection can be wired or wireless, such as via WiFi, Bluetooth, or high-frequency wireless signals. The display device of the control device can be a touchscreen display with touch functionality.

[0056] The control device may include an input device that can detect user control operations. The control device can then generate control commands for the aircraft based on these detected user operations. For example, the control device can generate a yaw control command based on the user's detected yaw control operation, and send the yaw control command to the aircraft. This input device may be a physical control such as a touchscreen display, joystick, button, or dial, used to receive user input.

[0057] 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 some embodiments, the power system may be directly mounted on the fuselage. In some embodiments, the power system may also be detached from the fuselage. The power system provides flight propulsion for the aircraft and may include a drive unit (e.g., a motor) and a propeller mounted on and driven by the drive unit. The power system can drive the fuselage to rotate about one or more rotation axes. For example, these rotation axes may include a roll axis, a yaw axis, and a pitch axis. When the power system drives the fuselage to rotate about the yaw axis, the yaw direction of the fuselage nose changes, meaning the 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 or mounted on the fuselage via an attitude adjustment device (including a gimbal or robotic arm) for capturing images and / or videos.

[0058] Because propeller-driven aircraft can pose a danger to surrounding organisms, especially humans, when the propellers rotate, and can also damage the propeller blades, propeller protection devices can be installed on the aircraft to protect the propellers and prevent harm to surrounding organisms. In this embodiment, for flexibility, the propeller protection device installed on the aircraft can be made detachable. When needed, the user can install the propeller protection device on the aircraft to achieve close-range, ground-level photography, improving the safety of the aircraft. When not needed, the propeller protection device can be removed from the aircraft to achieve long-distance photography, extending the flight time of the aircraft without the propeller protection device. This makes the use of the propeller protection device more flexible.

[0059] In some embodiments, the aircraft of this application has one or more sensors capable of detecting whether a propeller protection device is installed on the aircraft. These sensors include, but are not limited to, sensing sensors or installation detection sensors. Sensing sensors include, but are not limited to, image sensors or radar sensors. Image sensors include, but are not limited to, visible light sensors or infrared sensors. Installation detection sensors include, but are not limited to, magnetic induction sensors, near-field communication devices, infrared sensing devices, or tactile switches.

[0060] Propeller-equipped aircraft are widely used in various fields (such as aerial photography and modeling), but the rotation of the propellers can pose a danger not only to surrounding organisms, especially humans, but also to damage the propeller blades. Currently, the main solution is to install propeller protection devices on the aircraft to protect the propellers and prevent harm to surrounding organisms. In related technologies, physical buttons are installed on the aircraft's fuselage, allowing users to set the flight mode by pressing the button when near the aircraft, thus triggering the aircraft to execute that mode. This control method allows for convenient and intelligent flight control using physical buttons. However, while this control method poses a relatively low threat to surrounding organisms (such as humans) for aircraft equipped with propeller protection devices, it poses a significant threat to the safety of organisms around the aircraft for aircraft without such devices. Therefore, it cannot adequately guarantee the safety of surrounding organisms, resulting in a poor user experience and impacting the safe operation of the aircraft.

[0061] To address the aforementioned issues, this application provides a method for controlling an aircraft. This method, upon receiving contact input to controls on the aircraft, allows the aircraft to perform different operations depending on whether a safety protection device is installed. For example, if a safety protection device is installed, the aircraft responds to the parameter settings input via contact; otherwise, it does not respond to the parameter settings input via contact. This ensures the safety of organisms around the aircraft regardless of whether a safety protection device is installed, thus improving the aircraft's operational safety.

[0062] This application also provides a control method for a mobile platform. When a safety protection device is installed on the mobile platform, the mobile platform is controlled by a parameter setting control on the mobile platform. When the mobile platform is not equipped with a safety protection device, the mobile platform is not controlled by the parameter setting control on the mobile platform. In this way, the safety of organisms around the mobile platform can be guaranteed regardless of whether a safety protection device is installed on the mobile platform, thereby improving the safety of using the mobile platform.

[0063] Any mobile platform in the embodiments of this application may include aircraft, vehicles, ships, mobile robots (e.g., sweeping robots), etc. Aircraft may include unmanned aerial vehicles (UAVs) or manned aircraft, and may include fixed-wing aircraft, rotorcraft, or a combination of rotorcraft and fixed-wing aircraft. Rotorcraft may be, for example, single-rotor, dual-rotor, quadcopter, hexacopter, or octocopter. According to the application industry, aircraft can be classified as agricultural aircraft, industrial aircraft, aerial photography aircraft, logistics and transportation aircraft, etc. This application embodiment uses a mobile platform as an example of an aircraft; related embodiments can be extended to other types of mobile platforms besides aircraft.

[0064] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0065] Please refer to Figure 1, which is a schematic flowchart of the steps of a control method for an aircraft provided in an embodiment of this application.

[0066] As shown in Figure 1, the control method of the aircraft includes steps S101 to S103.

[0067] Step S101: Obtain contact input for controls on the aircraft. The contact input is used to set relevant parameters of the aircraft during flight.

[0068] Step S102: In response to the fact that the aircraft has been equipped with safety protection devices, control the aircraft to respond to the input settings of relevant parameters.

[0069] Step S103: In response to the aircraft not having a safety protection device installed, control the aircraft not to respond to the input settings of relevant parameters.

[0070] This embodiment allows the aircraft to perform different operations based on whether or not a safety protection device is installed after receiving contact input for controls on the aircraft. For example, if a safety protection device is installed, the aircraft will respond to the parameter settings input by contact; if no safety protection device is installed, the aircraft will not respond to the parameter settings input by contact. In this way, the safety of organisms around the aircraft can be guaranteed regardless of whether a safety protection device is installed, thus improving the safety of aircraft use. Furthermore, the different response measures executed based on whether or not a safety protection device is installed enhance the intelligence of aircraft control.

[0071] It should be noted that the aircraft control method provided in this application embodiment can be applied to an aircraft, a control device communicatively connected to the aircraft, or some steps can be applied to the control device while the remaining steps are applied to the aircraft. For example, the aircraft receives contact input from a user for controls on the aircraft. In response to the aircraft having a safety protection device installed, the aircraft responds to the input settings of relevant parameters; in response to the aircraft not having a safety protection device installed, the aircraft does not respond to the input settings of relevant parameters. Alternatively, the control device receives contact input from the aircraft for controls on the aircraft. In response to the aircraft having a safety protection device installed, the control device sends a first command to the aircraft. The aircraft executes the first command, causing the aircraft to respond to the input settings of relevant parameters. In response to the aircraft not having a safety protection device installed, the control device sends a second command to the aircraft. The aircraft executes the second command, causing the aircraft to not respond to the input settings of relevant parameters.

[0072] In some embodiments, controls on the aircraft include physical controls or virtual controls. For example, physical controls include one or more of buttons, joysticks, and dials, while virtual controls include virtual controls displayed on a screen. Contact input to controls on the aircraft includes contact input to physical controls and / or contact input to virtual controls. Contact input to controls on the aircraft can be user input, which can be input by the user using a finger or other mechanical mechanism, such as a robotic arm. For example, contact input to physical controls includes pressing, rotating, or flicking input, while contact input to virtual controls includes pressing or sliding input.

[0073] In some embodiments, when the aircraft is equipped with safety protection devices, the display screen on the aircraft is lit up; when the aircraft is not equipped with safety protection devices, the display screen is off. This embodiment ensures the safety of aircraft operation when the display screen is off and the virtual controls on the display screen are unusable, even without safety protection devices installed.

[0074] In some embodiments, the controls on the aircraft are located on the fuselage of the aircraft or on a frame extending from the fuselage. The frame includes arms or landing gear. This embodiment, by providing controls on the fuselage or frame of the aircraft, allows users to control relevant parameters of the aircraft during flight, such as takeoff, without the aid of external control equipment, thus improving the ease of use of the aircraft.

[0075] In some embodiments, the controls on the aircraft include a first control, which is used to set relevant parameters of the aircraft during flight and to control the aircraft to initiate the execution of the relevant parameters. For example, the control method includes: acquiring a first contact input to the first control on the aircraft, the first contact input being used to set relevant parameters of the aircraft during flight; responding to the installation of a safety protection device on the aircraft, controlling the aircraft to respond to the input setting of the relevant parameters; and controlling the aircraft to initiate the execution of the relevant parameters based on a received second contact input to the first control. The first contact input and the second contact input are different; for example, the first contact input includes a first press input, and the second contact input includes a second press input. The press duration of the control corresponding to the first press input is shorter than the press duration of the control corresponding to the second press input; that is, the first press input is a short press input, and the second press input is a long press input. This embodiment can complete the setting and execution of relevant parameters of the aircraft during flight using a single control, improving the hardware integration of the aircraft.

[0076] In some embodiments, the aircraft is equipped with a first control and a second control. The first control is used to set relevant parameters of the aircraft during flight, and the second control is used to control the aircraft to start executing the relevant parameters. For example, the control method includes: acquiring contact input to the first control on the aircraft, the contact input being used to set relevant parameters of the aircraft during flight; responding to the installation of a safety protection device on the aircraft, controlling the aircraft to respond to the input setting of the relevant parameters and, based on the received input operation to the second control, controlling the aircraft to start executing the relevant parameters. The first control and the second control can both be physical controls, or both can be virtual controls, or one control can be a physical control and the other a virtual control; for example, the first control is a virtual control and the second control is a physical control. This embodiment improves the ease of use of the aircraft by setting relevant parameters of the aircraft during flight with one control and starting the aircraft to execute the relevant parameters with another control.

[0077] In some embodiments, the relevant parameters of the aircraft during flight include one or more of the following: the aircraft's flight mode, the aircraft's flight parameters, or the aircraft's load parameters. For example, flight modes include follow mode, distance mode, orbit mode, skyward mode, spiral mode, hover mode, or overhead shooting mode, etc.; flight parameters include one or more of the following: the aircraft's motor speed, flight speed, flight direction, distance, and altitude; load parameters include one or more of the following: shooting parameters and gimbal parameters. Shooting parameters include focal length, ISO, shutter speed, and / or aperture; gimbal parameters include gimbal attitude angle.

[0078] For example, in Follow mode, the aircraft follows and films behind the target. In Distance mode, the aircraft flies along a distance trajectory, gradually moving away from the target at an upward angle, resulting in a wider field of view in the captured footage. In Orbit mode, the aircraft flies along a circular trajectory, circling the target while maintaining a constant altitude. In Ascent mode, the aircraft flies along an Ascent trajectory, ascending vertically at a relatively high speed. In Spiral mode, the aircraft flies along a Spiral trajectory, gradually increasing its altitude while circling the target, creating a spiral ascent effect. In Hover mode, the aircraft takes off and hovers at a set altitude. In Overhead mode, the aircraft adjusts the downward angle of its filming device to approximately -90° or -90° to film the target below.

[0079] In some embodiments, the aircraft includes multiple flight modes, and controls on the aircraft are used by a user to select a target flight mode from among the multiple flight modes. Specifically, the aircraft has a first control for the user to select the target flight mode from among the multiple flight modes. For example, by receiving a user's press operation on the first control, and in response to the aircraft having a safety protection device installed, the user selects the target flight mode from among the multiple flight modes.

[0080] For example, the aircraft may have a first control. This first control is used by the user to select a target flight mode from multiple flight modes and also to control the aircraft to initiate and execute the target flight mode. For instance, a short press operation by the user on the first control, in response to the aircraft having a safety protection device installed, allows the selection of the target flight mode from multiple flight modes; a long press operation by the user on the first control controls the aircraft to initiate and execute the target flight mode. Alternatively, the aircraft may have a first control and a second control. The first control is used by the user to select a target flight mode from multiple flight modes, and the second control controls the aircraft to initiate and execute the target flight mode. For instance, a touch operation by the user on the first control, in response to the aircraft having a safety protection device installed, allows the selection of the target flight mode from multiple flight modes; a input operation by the user on the second control controls the aircraft to initiate and execute the target flight mode.

[0081] In some embodiments, the safety protection device includes a propeller protection device, an arm protection device, and / or a landing gear protection device. The propeller protection device protects the aircraft's propeller and prevents it from harming surrounding organisms; the arm protection device protects the aircraft's arms and prevents them from harming surrounding organisms; and the landing gear protection device protects the aircraft's landing gear and prevents it from harming surrounding organisms.

[0082] In some embodiments, not responding to input settings for related parameters may include: outputting indication information to instruct the aircraft not to enable the related parameters for contact input settings via controls on the aircraft; and / or, instructing the aircraft to disable the function of enabling users to set related parameters for contact input settings via controls on the aircraft.

[0083] In some embodiments, outputting indication information may include: outputting indication information via the aircraft or a control device communicatively connected to the aircraft. Further, the indication information may be output via a physical device of the aircraft or the control device. This physical device may include one or more of a speaker, indicator light, or display screen.

[0084] In some embodiments, in response to the aircraft not being equipped with safety protection devices, the aircraft may disable the function of allowing users to set relevant parameters through contact input on the aircraft. In this case, the user cannot set the relevant parameters of the aircraft through contact input via controls on the aircraft.

[0085] For example, in response to the lack of safety protection devices installed on the aircraft, the aircraft will issue a voice prompt via speaker indicating that the handheld mode function is unavailable, or the control indicator light will be off, to indicate that the handheld mode function is unusable. As another example, in response to the lack of safety protection devices installed on the aircraft, the aircraft will disable the ability for users to set the handheld mode via contact input. In this case, users cannot set the handheld mode using contact input on the aircraft's controls; that is, users cannot select the target flight mode from multiple flight modes or control the aircraft to take off using contact input on the aircraft's controls. It should be noted that even when the aircraft lacks safety protection devices, users can still select the target flight mode from multiple flight modes and control the aircraft to take off using external control devices.

[0086] In some embodiments, the control method further includes determining whether the aircraft is equipped with a safety protection device. This step of determining whether the aircraft is equipped with a safety protection device can be performed before, after, or simultaneously with step S101. This embodiment does not specifically limit this step.

[0087] In some embodiments, determining whether an aircraft is equipped with a safety protection device may include: determining whether the aircraft is equipped with a safety protection device in response to a user's contact input to a control on the aircraft. This embodiment determines whether the aircraft is equipped with a safety protection device only when the user performs contact operation on the control, which can save processing resources.

[0088] In some embodiments, determining whether an aircraft is equipped with a safety protection device may include: in response to the aircraft being powered on, determining whether the aircraft is equipped with a safety protection device. The aircraft being powered on includes both the power-on phase and subsequent phases. For example, determining whether the aircraft is equipped with a safety protection device upon completion of power-on, or after the aircraft has been powered on.

[0089] In some embodiments, determining whether an aircraft is equipped with a safety protection device may include: determining whether the aircraft is equipped with a safety protection device in response to the aircraft being in a pre-takeoff state. This embodiment continuously determines whether the aircraft is equipped with a safety protection device at any stage from power-on to takeoff, ensuring the authenticity and reliability of the detection results.

[0090] In some embodiments, the control method further includes: in response to the aircraft being in a pre-takeoff state, performing the step of determining whether the aircraft is equipped with a safety protection device; and in response to the aircraft taking off, not performing the step of determining whether the aircraft is equipped with a safety protection device. This embodiment not only ensures the authenticity and reliability of the detection results but also saves processing resources.

[0091] It should be noted that if a user needs to replace or remove the safety protection device of the aircraft, the aircraft usually needs to land on the ground / on the palm of their hand to operate. In very rare cases, the aircraft needs to be hovering in the air to replace or remove the safety protection device. Therefore, after the aircraft takes off, it is no longer necessary to check whether the aircraft is equipped with a safety protection device, thus saving processing resources.

[0092] In some embodiments, determining whether an aircraft is equipped with a safety protection device may include: the aircraft detecting whether it is equipped with a safety protection device, or the aircraft receiving a detection result from its control equipment indicating whether it is equipped with a safety protection device. The detection result may include a first detection result indicating that the aircraft is equipped with a safety protection device, or a second detection result indicating that the aircraft is not equipped with a safety protection device. This embodiment allows the aircraft to detect whether it is equipped with a safety protection device, or it may allow the aircraft's control equipment to detect whether it is equipped with a safety protection device, thus improving the flexibility of the detection process.

[0093] In some embodiments, detecting whether an aircraft is equipped with a safety protection device may include detecting whether the aircraft is equipped with a safety protection device using one or more sensors on the aircraft. These sensors include sensing sensors or installation detection sensors; the sensing sensors acquire environmental awareness information, and the installation detection sensors detect the installation status of the safety protection device. This embodiment can accurately detect whether an aircraft is equipped with a safety protection device using the aircraft's sensors.

[0094] In some embodiments, detecting whether an aircraft is equipped with a safety protection device using one or more sensors on the aircraft may include: acquiring environmental perception data collected by the aircraft's perception sensors, and determining whether the aircraft is equipped with a safety protection device based on the environmental perception data. The perception sensors include image acquisition devices and / or radar devices. This embodiment can accurately detect whether an aircraft is equipped with a safety protection device using perception sensors without requiring additional components.

[0095] In some embodiments, acquiring environmental perception data collected by the aircraft's perception sensors, and determining whether the aircraft is equipped with a safety protection device based on the environmental perception data, may include: acquiring a target image collected by an image acquisition device, wherein the target image at least includes the portion of the installation area occupied by the safety protection device on the aircraft; and determining whether the aircraft is equipped with a safety protection device based on the target image. The installation area occupied by the safety protection device on the aircraft is the area required for installing the safety protection device on the aircraft, such as the location where a propeller guard device is installed.

[0096] In some embodiments, determining whether an aircraft is equipped with a safety protection device based on a target image may include: determining whether the area occupied by the installation in the target image is equipped with a safety protection device; if the area occupied by the installation in the target image is equipped with a safety protection device, it indicates that the aircraft is equipped with a safety protection device; if the area occupied by the installation in the target image is not equipped with a safety protection device, it indicates that the aircraft is not equipped with a safety protection device.

[0097] In some embodiments, determining whether an aircraft is equipped with a safety protection device based on a target image may include: acquiring a first recognition model of the safety protection device; and determining whether the aircraft is equipped with a safety protection device based on the first recognition model and the target image. The first recognition model is obtained by iteratively training a neural network model based on a first sample dataset. The first sample dataset includes multiple positive sample data and multiple negative sample data. The positive sample data includes a first sample image and a first classification label, and the first sample image contains a safety protection device. The negative sample data includes a second sample image and a second classification label, and the second sample image does not contain a safety protection device. Using the pre-trained first recognition model and the target image, it is possible to accurately determine whether the aircraft is equipped with a safety protection device.

[0098] In some embodiments, determining whether an aircraft is equipped with a safety protection device based on a first recognition model and a target image may include: inputting the target image into the first recognition model for recognition processing to obtain a classification label for the target image; determining that the aircraft is equipped with a safety protection device when the classification label is a first classification label; and determining that the aircraft is not equipped with a safety protection device when the classification label is a second classification label. The first classification label and the second classification label are different.

[0099] In some embodiments, acquiring a target image captured by an image acquisition device may include: acquiring an image captured by the image acquisition device when it is in a preset posture, and identifying that image as the target image. The image acquisition range of the image acquisition device in the preset posture partially or completely overlaps with the area occupied by the safety protection device installed on the aircraft. The image acquisition device may be mounted on a gimbal, through which the posture of the image acquisition device can be adjusted.

[0100] In some embodiments, acquiring a target image captured by an image acquisition device may include: acquiring multiple frames of images captured by the image acquisition device while it rotates within a preset rotation range; and stitching the multiple frames together to obtain the target image. Wherein, when the image acquisition device rotates within the preset rotation range, the image acquisition range of the image acquisition device partially or completely overlaps with the area occupied by the safety protection device installed on the aircraft. The image acquisition device may be mounted on a gimbal, which allows control of the image acquisition device's rotation within the preset rotation range. Controlling the rotation of the image acquisition device within the preset rotation range includes controlling the image acquisition device to rotate in the pitch, yaw, and / or translation directions.

[0101] In some embodiments, acquiring environmental perception data collected by the aircraft's perception sensors and determining whether the aircraft is equipped with a safety protection device based on the environmental perception data may include: acquiring point cloud data collected by a radar device and acquiring the position coordinates corresponding to the installation location of the safety protection device on the aircraft; acquiring target point cloud data matching the position coordinates from the point cloud data and acquiring a second recognition model of the safety protection device; and determining whether the aircraft is equipped with a safety protection device based on the target point cloud data and the second recognition model. This embodiment uses a radar device to determine whether the aircraft is equipped with a safety protection device in all weather conditions, unaffected by ambient light intensity, ensuring accurate judgment.

[0102] In some embodiments, determining whether an aircraft is equipped with a safety protection device based on target point cloud data and a second recognition model may include: inputting target point cloud data into the second recognition model for recognition processing to obtain a classification label for the target point cloud data; determining that the aircraft is equipped with a safety protection device when the classification label of the target point cloud data is a preset classification label; and determining that the aircraft is not equipped with a safety protection device when the classification label of the target point cloud data is not a preset classification label. The second recognition model is obtained by iteratively training a neural network model based on a second sample dataset. The second sample dataset includes multiple sample data sets, which include sample point cloud data matched with position coordinates and labeled classification labels.

[0103] In some embodiments, the sensors on the aircraft include installation detection sensors. Detecting whether the aircraft is equipped with a safety protection device using one or more sensors on the aircraft may include: acquiring installation detection information output by the installation detection sensors; and determining whether the aircraft is equipped with a safety protection device based on the installation detection information and preset conditions. The installation detection sensors include at least one of the following: a magnetic induction sensor, a near-field communication device, an infrared sensing device, and a tactile switch.

[0104] In some embodiments, the installation detection sensor includes a magnetic induction sensor, and the installation detection information includes the magnetic field strength collected by the magnetic induction sensor, with a preset condition including whether the magnetic field strength is greater than or equal to a preset magnetic field strength; the installation detection sensor includes a near-field communication device, and the installation detection information includes near-field communication information collected by the near-field communication device, with a preset condition including whether the identification code of the security protection device contained in the near-field communication information matches the device identifier of the near-field communication device; the installation detection sensor includes an infrared sensing device, and the installation detection information includes the level signal output by the infrared sensing device, with a preset condition including whether the level signal output by the infrared sensing device is a preset level signal; and / or, the installation detection sensor includes a tactile switch, and the installation detection information includes the operating state of the tactile switch, with a preset condition including whether the operating state of the tactile switch is in an on state.

[0105] In some embodiments, determining whether an aircraft is equipped with a safety protection device based on installation detection information and preset conditions may include: determining that the aircraft is equipped with a safety protection device in response to the installation detection information meeting the preset conditions; and determining that the aircraft is not equipped with a safety protection device in response to the installation detection information not meeting the preset conditions.

[0106] For example, if the magnetic field strength collected by the magnetic induction sensor is greater than or equal to the preset magnetic field strength, it is determined that the aircraft is equipped with a safety protection device; if the magnetic field strength collected by the magnetic induction sensor is less than the preset magnetic field strength, it is determined that the aircraft is not equipped with a safety protection device.

[0107] For example, if the identification code of the safety protection device contained in the near-field communication information collected by the near-field communication device matches the device identifier of the near-field communication device, it is determined that the aircraft is equipped with a safety protection device; if the identification code of the safety protection device contained in the near-field communication information collected by the near-field communication device does not match the device identifier of the near-field communication device, it is determined that the aircraft is not equipped with a safety protection device.

[0108] For example, if the infrared sensor outputs a preset level signal, it is determined that the aircraft is equipped with a safety protection device; if the infrared sensor outputs a level signal other than the preset level signal, it is determined that the aircraft is not equipped with a safety protection device. Similarly, if the tactile switch is in the "on" state, it is determined that the aircraft is equipped with a safety protection device; if the tactile switch is in the "off" state, it is determined that the aircraft is not equipped with a safety protection device.

[0109] In one embodiment, when the ambient light intensity of the aircraft's environment is greater than or equal to a preset light intensity threshold, an image acquisition device and / or a radar device can be used to determine whether the aircraft is equipped with a safety protection device. When the ambient light intensity of the aircraft's environment is less than the preset light intensity threshold, a radar device or a detection sensor can be used to determine whether the aircraft is equipped with a safety protection device. In scenarios with good ambient light, the target image acquired by the image acquisition device is more accurate. By comprehensively considering the detection results of the safety protection device installation by both the image acquisition device and the radar device, the accuracy of the safety protection device installation detection results can be improved. In scenarios with low ambient light, the image acquired by the image acquisition device is less accurate. Therefore, using a radar device or a detection sensor can accurately determine whether the aircraft is equipped with a safety protection device. The above-mentioned detection devices each have their own applicable conditions or scenarios. In specific applications, one of them can be adaptively selected or switched to detect whether the aircraft is equipped with a safety protection device, depending on the current scenario or environment.

[0110] Please refer to Figure 2, which is a schematic flowchart of the steps of a control method for a mobile platform provided in an embodiment of this application.

[0111] As shown in Figure 2, the control method of the mobile platform includes steps S201 to S202.

[0112] Step S201: In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control on the mobile platform. The control is used to set relevant parameters of the mobile platform during the movement process.

[0113] Step S202: In response to the fact that the mobile platform is not equipped with a safety protection device, the mobile platform is controlled to enter a second mode. In the second mode, the mobile platform is not controlled by the control.

[0114] This embodiment ensures the safety of surrounding organisms regardless of whether a safety protection device is installed on the mobile platform, thus improving the platform's operational safety. Furthermore, it enhances the platform's control intelligence by implementing different response measures based on whether or not a safety protection device is installed.

[0115] It should be noted that the control method for a mobile platform provided in this application can be applied to a mobile platform, a control device communicatively connected to the mobile platform, or some steps can be applied to the control device while the remaining steps are applied to the mobile platform. For example, in response to the mobile platform having a safety protection device installed, the mobile platform is controlled to be in a first mode; in response to the mobile platform not having a safety protection device installed, the mobile platform is controlled to be in a second mode. Alternatively, in response to the mobile platform having a safety protection device installed, the control device sends a first mode command to the mobile platform, and the mobile platform receives and executes the first mode command to put the mobile platform in the first mode; in response to the mobile platform not having a safety protection device installed, the control device sends a second mode command to the mobile platform, and the mobile platform receives and executes the second mode command to put the mobile platform in the second mode.

[0116] In some embodiments, the mobile platform includes an aircraft, and the safety protection devices include propeller protection devices, arm protection devices, and / or landing gear protection devices. The mobile platform includes a mobile vehicle, and the safety protection devices include wheel protection devices. The wheel protection devices are used to protect the wheels of the mobile vehicle and prevent the wheels from harming surrounding organisms. The mobile platform includes a sweeper, and the safety protection devices include wheel protection devices. The wheel protection devices are used to protect the sweeper's wheels and prevent the wheels from harming surrounding organisms.

[0117] In some embodiments, the controls on the portable platform include physical controls or virtual controls. For example, physical controls include one or more of buttons, joysticks, and dials, while virtual controls include virtual controls displayed on the screen. Exemplarily, when a security device is installed on the portable platform, the screen is lit; when no security device is installed, the screen is off. This embodiment ensures the safety of the portable platform when the screen is off and the virtual controls are unusable, even without a security device.

[0118] In some embodiments, the controls on the mobile platform are located on the fuselage of the mobile platform or on a frame extending from the fuselage of the mobile platform. The mobile platform includes an aircraft, and the frame of the aircraft includes arms or landing gear. This embodiment, by setting controls on the fuselage or frame of the mobile platform, allows users to control relevant parameters of the mobile platform during movement without the aid of external control equipment, thus improving the ease of use of the mobile platform.

[0119] In some embodiments, the control on the portable platform includes a first control, which is used to set relevant parameters of the portable platform during movement and to control the portable platform to start executing the relevant parameters. For example, the control of the portable platform by the control on the portable platform includes: setting relevant parameters of the portable platform during movement in response to receiving a first input operation on the first control; and controlling the portable platform to start executing the relevant parameters in response to receiving a second input operation on the first control. The first input operation and the second input operation are different. For example, the first input operation is a short press operation, and the second input operation is a long press operation. This embodiment can complete the setting and execution of relevant parameters of the portable platform during movement through a single control, improving the hardware integration of the portable platform.

[0120] In some embodiments, a first control and a second control are provided on the movable platform. The first control is used to set relevant parameters of the movable platform during movement, and the second control is used to control the movable platform to start executing the relevant parameters. For example, the control of the movable platform by the control provided on the movable platform includes: in response to receiving a first input operation on the first control, setting relevant parameters of the movable platform during movement; in a first mode, the control method further includes: in response to receiving a second input operation on the second control, controlling the movable platform to start executing the relevant parameters. The first input operation and the second input operation can be the same or different. For example, both the first input operation and the second input operation are short press operations, with the first input operation being a short press operation and the second input operation being a long press operation. This embodiment improves the ease of use of the movable platform by setting relevant parameters of the movable platform during movement through one control and starting the movable platform to execute the relevant parameters through another control.

[0121] In some embodiments, the relevant parameters of the mobile platform during movement include one or more of the following: the motion mode of the mobile platform, the motion parameters of the mobile platform, or the load parameters of the mobile platform. For example, the mobile platform includes an aircraft, whose motion modes include follow mode, distance mode, orbit mode, soaring mode, spiral mode, hovering mode, or overhead shooting mode, etc.; or, the mobile platform includes a mobile vehicle, whose motion modes include: traveling mode, transport mode, loading mode, unloading mode, etc.; or, the mobile platform includes a sweeping robot, whose motion modes include: sweeping mode, washing mode, mopping mode, self-cleaning mode, etc. The motion parameters include one or more of the following: the motor speed, moving speed, moving direction, distance, and altitude of the mobile platform. For example, the mobile platform includes an aircraft, and the aircraft's load parameters include one or more of the following: shooting parameters and gimbal parameters. Shooting parameters include focal length, ISO, shutter speed, and / or aperture; gimbal parameters include gimbal attitude angle. Alternatively, the mobile platform includes a mobile vehicle, and the mobile vehicle's load parameters include robotic arm parameters. Alternatively, the mobile platform may include a robot vacuum cleaner, whose load parameters include: mop parameters.

[0122] In some embodiments, the mobile platform includes multiple motion modes, and controls on the mobile platform are used by a user to select a target motion mode from the multiple motion modes. Specifically, the mobile platform is provided with a first control, which is used by the user to select the target motion mode from the multiple motion modes and also to control the mobile platform to initiate and execute the target motion mode. For example, upon receiving a first input operation from the user on the first control, in response to the mobile platform having a security protection device installed, the user selects the target motion mode from the multiple motion modes; upon receiving a second input operation from the user on the first control, the user controls the mobile platform to initiate and execute the target motion mode.

[0123] Alternatively, the mobile platform may have a first control and a second control. The first control allows the user to select a target motion mode from multiple motion modes, and the second control controls the mobile platform to start and execute the target motion mode. For example, the system may acquire a first input operation from the user on the first control, and in response to the installation of a security protection device on the mobile platform, select the target motion mode from multiple motion modes; then, it may acquire a user input operation on the second control and control the mobile platform to start and execute the target motion mode.

[0124] In some embodiments, in a first mode, the mobile platform is not controlled by a control device other than the mobile platform; in a second mode, the mobile platform is controlled by a control device communicatively connected to the mobile platform. In the first mode, this embodiment achieves mobile control without requiring the mobile platform to be connected to a control device other than the mobile platform, improving the ease of use of the mobile platform. In the second mode, the mobile platform is controlled by a control device, preventing the mobile platform from becoming uncontrollable due to the lack of safety protection devices, thus facilitating user control of the mobile platform.

[0125] In some embodiments, in a first mode, the mobile platform is also controlled by a control device communicatively connected to the mobile platform; in a second mode, the mobile platform is controlled by a control device communicatively connected to the mobile platform. In this embodiment, in the first mode, the mobile platform is controlled not only by the control device but also by an external control device. This allows the user to select the appropriate control method as needed, ensuring the safety of the mobile platform and facilitating user control. In the second mode, the mobile platform is controlled by the control device, preventing the mobile platform from becoming uncontrollable due to the lack of a safety protection device, and facilitating user control.

[0126] In some embodiments, the mobile platform includes an aircraft. In a first mode, the aircraft is capable of performing palm takeoff and / or palm landing modes. In a second mode, the aircraft is unable to perform palm takeoff and / or palm landing modes. The ability to perform palm takeoff and / or palm landing modes includes: the aircraft activating palm takeoff and / or palm landing modes; the inability to perform palm takeoff and / or palm landing modes includes: the aircraft deactivating palm takeoff and / or palm landing modes. In this embodiment, when the aircraft is equipped with safety protection devices, performing palm takeoff and / or palm landing modes prevents the aircraft's propellers from harming surrounding organisms, ensuring the aircraft's safe operation. When the aircraft is not equipped with safety protection devices, performing palm takeoff and / or palm landing modes is prohibited, thereby ensuring the aircraft's safe operation.

[0127] In some embodiments, in a first mode, the minimum distance between the mobile platform and the specific target is a first distance; in a second mode, the minimum distance between the mobile platform and the specific target is a second distance, wherein the first distance is less than the second distance. The specific target may include the closest living being in the environment where the mobile platform is located, such as the user of the mobile platform or a target being filmed by the mobile platform. In this embodiment, when the mobile platform is not equipped with a safety protection device, the minimum distance between the mobile platform and the specific target is greater to avoid the mobile platform causing harm to the specific target and to improve the safety of using the mobile platform.

[0128] In some embodiments, in a first mode, the control method further includes: outputting first indication information to instruct the aircraft to enable handheld mode; in a second mode, the control method further includes: outputting second indication information to instruct the aircraft not to enable handheld mode, wherein handheld mode includes handheld takeoff mode, handheld landing mode, and / or a mode for setting relevant parameters of the aircraft via controls on a movable platform. For example, the movable platform includes the aircraft, and the mode for setting relevant parameters of the aircraft via controls may include follow mode, distance mode, orbit mode, soaring mode, spiral mode, hovering mode, or overhead shooting mode, etc.

[0129] In some embodiments, the first and second indication information are output via the aircraft or a control device communicatively connected to the aircraft. Further, the first and second indication information are output via speakers, indicator lights, or displays on the aircraft or control device.

[0130] In some embodiments, the indicator light is illuminated to indicate that the aircraft is in handheld mode, and is de-illuminated to indicate that the aircraft is not in handheld mode. In other embodiments, there are multiple indicator lights, and the aircraft includes multiple flight modes. In a first mode, at least one of the multiple indicator lights is illuminated to indicate the target flight mode selected for the aircraft from the multiple flight modes. In a second mode, all of the multiple indicator lights are de-illuminated.

[0131] In some embodiments, the aircraft includes multiple flight modes. In a first mode, the first indication information is further used to indicate the target flight mode selected for the aircraft from the multiple flight modes. For example, indicator lights are illuminated with different colors to indicate different target flight modes selected for the aircraft from the multiple flight modes. For instance, a red indicator light corresponding to flight mode A indicates that the aircraft is in handheld mode, and also indicates that the target flight mode selected for the aircraft from the multiple flight modes is flight mode A. For example, indicator lights are illuminated with different patterns to indicate different target flight modes selected for the aircraft from the multiple flight modes. For instance, a ring-shaped pattern corresponding to flight mode B indicates that the aircraft is in handheld mode, and also indicates that the target flight mode selected for the aircraft from the multiple flight modes is flight mode B. For example, the aircraft includes multiple flight modes and multiple indicator lights, with one indicator light corresponding to one flight mode. Therefore, the flight mode corresponding to an illuminated indicator light is the target flight mode selected for the aircraft.

[0132] In some embodiments, the control method further includes determining whether the mobile platform is equipped with a safety protection device. This step of determining whether the mobile platform is equipped with a safety protection device can be performed before, after, or simultaneously with step S201 or step S202. This embodiment does not specifically limit this step.

[0133] In some embodiments, determining whether a mobile platform has a security protection device installed may include: determining whether the mobile platform has a security protection device installed in response to a user's contact input to a control on the mobile platform. This embodiment determines whether the mobile platform has a security protection device installed only when the user performs a contact operation on the control, which can save processing resources.

[0134] In some embodiments, determining whether a mobile platform is equipped with a security protection device may include: in response to the mobile platform being powered on, determining whether the mobile platform is equipped with a security protection device. The mobile platform being powered on includes both the power-on phase and subsequent phases. For example, determining whether the mobile platform is equipped with a security protection device when the mobile platform has completed power-on, or determining whether the mobile platform is equipped with a security protection device after the mobile platform has completed power-on.

[0135] In some embodiments, determining whether a mobile platform is equipped with a safety protection device may include: determining whether a safety protection device is installed on the mobile platform in response to the mobile platform being in a state where it has not started moving. This embodiment continuously determines whether a safety protection device is installed on the mobile platform at any stage from power-on until the mobile platform begins to move, ensuring the authenticity and reliability of the detection results.

[0136] In some embodiments, the mobile platform includes an aircraft, and the control method further includes: in response to the aircraft being in a pre-takeoff state, performing the step of determining whether the aircraft is equipped with a safety protection device; and in response to the aircraft taking off, not performing the step of determining whether the aircraft is equipped with a safety protection device. This embodiment not only ensures the authenticity and reliability of the detection results but also saves processing resources.

[0137] It should be noted that if a user needs to replace or remove the safety protection device of the aircraft, the aircraft usually needs to land on the ground / on the palm of their hand to operate. In very rare cases, the aircraft needs to be hovering in the air to replace or remove the safety protection device. Therefore, after the aircraft takes off, it is no longer necessary to check whether the aircraft is equipped with a safety protection device, thus saving processing resources.

[0138] In some embodiments, determining whether a mobile platform is equipped with a safety protection device may include: detecting whether the mobile platform is equipped with a safety protection device via the mobile platform itself, or receiving a detection result from the mobile platform's control device indicating whether the mobile platform is equipped with a safety protection device. The detection result may include a first detection result indicating that the mobile platform is equipped with a safety protection device or a second detection result indicating that the mobile platform is not equipped with a safety protection device. This embodiment allows the mobile platform to detect whether it is equipped with a safety protection device, or it may allow the mobile platform's control device to detect whether the mobile platform is equipped with a safety protection device, thus improving the flexibility of the detection process.

[0139] In some embodiments, detecting whether a safety protection device is installed on a mobile platform may include detecting whether the mobile platform has a safety protection device installed using one or more sensors on the mobile platform. These sensors include sensing sensors or installation detection sensors; the sensing sensors are used to acquire environmental perception information, and the installation detection sensors are used to detect the installation status of the safety protection device. This embodiment can accurately detect whether a safety protection device is installed on a mobile platform using its sensors.

[0140] In some embodiments, detecting whether a mobile platform is equipped with a safety protection device using one or more sensors on the mobile platform may include: acquiring environmental perception data collected by the sensing sensors of the mobile platform, and determining whether the mobile platform is equipped with a safety protection device based on the environmental perception data. The sensing sensors include image acquisition devices and / or radar devices. This embodiment can accurately detect whether a mobile platform is equipped with a safety protection device using sensing sensors without requiring additional components.

[0141] In some embodiments, acquiring environmental perception data collected by the sensing sensors of the mobile platform, and determining whether the mobile platform is equipped with a safety protection device based on the environmental perception data, may include: acquiring a target image collected by an image acquisition device, wherein the target image at least includes a portion of the installation area occupied by the safety protection device on the mobile platform; and determining whether the mobile platform is equipped with a safety protection device based on the target image. The installation area occupied by the safety protection device on the mobile platform is the area required for installing the safety protection device on the mobile platform, such as the location where a propeller protection device is installed.

[0142] In some embodiments, determining whether a mobile platform is equipped with a security protection device based on a target image may include: determining whether the installation-occupied area in the target image is equipped with a security protection device; if the installation-occupied area in the target image is equipped with a security protection device, it indicates that the mobile platform is equipped with a security protection device; if the installation-occupied area in the target image is not equipped with a security protection device, it indicates that the mobile platform is not equipped with a security protection device.

[0143] In some embodiments, determining whether a mobile platform is equipped with a security device based on a target image may include: acquiring a first recognition model of the security device; and determining whether the mobile platform is equipped with a security device based on the first recognition model and the target image. The first recognition model is obtained by iteratively training a neural network model based on a first sample dataset. The first sample dataset includes multiple positive sample data and multiple negative sample data. The positive sample data includes a first sample image and a first classification label, and the first sample image contains a security device. The negative sample data includes a second sample image and a second classification label, and the second sample image does not contain a security device. Using the pre-trained first recognition model and the target image, it is possible to accurately determine whether the mobile platform is equipped with a security device.

[0144] In some embodiments, determining whether a mobile platform is equipped with a security protection device based on a first recognition model and a target image may include: inputting the target image into the first recognition model for recognition processing to obtain a classification label for the target image; determining that the mobile platform is equipped with a security protection device when the classification label is a first classification label; and determining that the mobile platform is not equipped with a security protection device when the classification label is a second classification label. The first classification label and the second classification label are different.

[0145] In some embodiments, acquiring a target image captured by an image acquisition device may include: acquiring an image captured by the image acquisition device when it is in a preset posture, and identifying that image as the target image. The image acquisition range of the image acquisition device in the preset posture partially or completely overlaps with the area occupied by the security device installed on the movable platform. The image acquisition device may be mounted on a pan-tilt unit, which allows adjustment of the image acquisition device's posture.

[0146] In some embodiments, acquiring the target image captured by the image acquisition device may include: acquiring multiple frames of images captured when the image acquisition device rotates within a preset rotation range; and stitching the multiple frames of images together to obtain the target image. Wherein, when the image acquisition device rotates within the preset rotation range, the image acquisition range of the image acquisition device partially or completely overlaps with the installation area occupied by the safety protection device on the movable platform. The image acquisition device may be mounted on a gimbal, through which the gimbal can control the rotation of the image acquisition device within the preset rotation range, including controlling the rotation of the image acquisition device in the pitch, yaw, and / or translation directions.

[0147] In some embodiments, acquiring environmental perception data collected by the sensing sensors of the mobile platform, and determining whether the mobile platform is equipped with a safety protection device based on the environmental perception data, may include: acquiring point cloud data collected by a radar device and acquiring the position coordinates corresponding to the installation location of the safety protection device on the mobile platform; acquiring target point cloud data matching the position coordinates from the point cloud data, and acquiring a second recognition model of the safety protection device; and determining whether the mobile platform is equipped with a safety protection device based on the target point cloud data and the second recognition model. This embodiment uses a radar device to determine whether the mobile platform is equipped with a safety protection device in all weather conditions, unaffected by ambient light intensity, ensuring accurate judgment.

[0148] In some embodiments, determining whether a mobile platform is equipped with a security protection device based on target point cloud data and a second recognition model may include: inputting target point cloud data into the second recognition model for recognition processing to obtain classification labels for the target point cloud data; determining that the mobile platform is equipped with a security protection device when the classification labels for the target point cloud data are preset classification labels; and determining that the mobile platform is not equipped with a security protection device when the classification labels for the target point cloud data are not preset classification labels. The second recognition model is obtained by iteratively training a neural network model based on a second sample dataset. The second sample dataset includes multiple sample data sets, which include sample point cloud data matched with location coordinates and labeled classification labels.

[0149] In some embodiments, the sensors on the mobile platform include installation detection sensors. Detecting whether a safety protection device is installed on the mobile platform using one or more sensors may include: acquiring installation detection information output by the installation detection sensors; and determining whether a safety protection device is installed on the mobile platform based on the installation detection information and preset conditions. The installation detection sensors may include at least one of the following: a magnetic induction sensor, a near-field communication device, an infrared sensing device, or a tactile switch.

[0150] In some embodiments, the installation detection sensor includes a magnetic induction sensor, and the installation detection information includes the magnetic field strength collected by the magnetic induction sensor, with a preset condition including whether the magnetic field strength is greater than or equal to a preset magnetic field strength; the installation detection sensor includes a near-field communication device, and the installation detection information includes near-field communication information collected by the near-field communication device, with a preset condition including whether the identification code of the security protection device contained in the near-field communication information matches the device identifier of the near-field communication device; the installation detection sensor includes an infrared sensing device, and the installation detection information includes the level signal output by the infrared sensing device, with a preset condition including whether the level signal output by the infrared sensing device is a preset level signal; and / or, the installation detection sensor includes a tactile switch, and the installation detection information includes the operating state of the tactile switch, with a preset condition including whether the operating state of the tactile switch is in an on state.

[0151] In some embodiments, determining whether a mobile platform is equipped with a safety protection device based on installation detection information and preset conditions may include: determining that the mobile platform has installed a safety protection device in response to the installation detection information meeting the preset conditions; and determining that the mobile platform has not installed a safety protection device in response to the installation detection information not meeting the preset conditions.

[0152] For example, if the magnetic field strength collected by the magnetic induction sensor is greater than or equal to the preset magnetic field strength, it is determined that the mobile platform is equipped with a safety protection device; if the magnetic field strength collected by the magnetic induction sensor is less than the preset magnetic field strength, it is determined that the mobile platform is not equipped with a safety protection device.

[0153] For example, if the identification code of the security protection device contained in the near-field communication information collected by the near-field communication device matches the device identifier of the near-field communication device, it is determined that the mobile platform is equipped with a security protection device; if the identification code of the security protection device contained in the near-field communication information collected by the near-field communication device does not match the device identifier of the near-field communication device, it is determined that the mobile platform is not equipped with a security protection device.

[0154] For example, if the level signal output by the infrared sensor is a preset level signal, it is determined that the movable platform is equipped with a safety protection device; if the level signal output by the infrared sensor is not a preset level signal, it is determined that the movable platform is not equipped with a safety protection device. For example, if the tactile switch is in the "on" state, it is determined that the movable platform is equipped with a safety protection device; if the tactile switch is in the "off" state, it is determined that the movable platform is not equipped with a safety protection device.

[0155] In one embodiment, when the ambient light intensity of the mobile platform's environment is greater than or equal to a preset light intensity threshold, an image acquisition device and / or a radar device can be used to determine whether the mobile platform is equipped with a safety protection device. When the ambient light intensity of the mobile platform's environment is less than the preset light intensity threshold, a radar device or a detection sensor can be used to determine whether the mobile platform is equipped with a safety protection device. In scenarios with good ambient light, the target image acquired by the image acquisition device is more accurate. By comprehensively considering the detection results of the safety protection device installation by both the image acquisition device and the radar device, the accuracy of the safety protection device installation detection results can be improved. In scenarios with low ambient light, the image acquired by the image acquisition device is less accurate. Therefore, using a radar device or a detection sensor can accurately determine whether the mobile platform is equipped with a safety protection device. The above-mentioned detection devices each have their own applicable conditions or scenarios. In specific applications, one of them can be adaptively selected or switched to detect whether the mobile platform is equipped with a safety protection device, depending on the current scenario or environment.

[0156] Please refer to Figure 3, which is a schematic block diagram of the structure of a control device for an aircraft provided in an embodiment of this application.

[0157] As shown in Figure 3, the control device 110 of the aircraft includes a processor 111 and a memory 112. The processor 111 and the memory 112 can be connected via a bus 113, such as an I2C (Inter-integrated Circuit) bus. There can be one or more processors 111 and one or more memory 112.

[0158] Specifically, the processor 111 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0159] Specifically, the processor 111 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0160] The memory 112 stores computer program instructions, which, when invoked by the processor 111, cause the processor 111 to execute:

[0161] Acquire contact input for controls on the aircraft, the contact input being used to set flight parameters of the aircraft during flight;

[0162] In response to the fact that the aircraft has been equipped with the safety protection device, the aircraft is controlled to respond to the input settings of the relevant parameters;

[0163] In response to the aircraft not being equipped with the safety protection device, the aircraft is controlled not to respond to the input settings of the relevant parameters.

[0164] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control device of the aircraft described above can be referred to the corresponding process in the aforementioned control method embodiments of the aircraft, and will not be repeated here.

[0165] Please refer to Figure 4, which is a schematic block diagram of the structure of a control device for a mobile platform provided in an embodiment of this application.

[0166] As shown in Figure 4, the control device 120 of the mobile platform includes a processor 121 and a memory 122. The processor 121 and the memory 122 can be connected via a bus 123, such as an I2C (Inter-integrated Circuit) bus. There can be one or more processors 121 and one or more memory units 122.

[0167] Specifically, the processor 121 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0168] Specifically, the processor 121 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0169] The memory 122 is used to store computer program instructions, which, when invoked by the processor 121, cause the processor 121 to execute:

[0170] In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control provided on the mobile platform. The control is used to set relevant parameters of the mobile platform during the movement process.

[0171] In response to the fact that the mobile platform is not equipped with a safety protection device, the mobile platform is controlled to enter a second mode, in which the mobile platform is not controlled by the control.

[0172] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control device of the mobile platform described above can be referred to the corresponding process in the aforementioned control method embodiment of the mobile platform, and will not be repeated here.

[0173] Please refer to Figure 5, which is a schematic block diagram of the structure of an aircraft provided in an embodiment of this application.

[0174] As shown in Figure 5, the aircraft 100 includes a processor 101 and a memory 102, which can be connected via a bus 103, such as an I2C (Inter-integrated Circuit) bus. There can be one or more processors 101 and one or more memory units 102. Optionally, the aircraft 100 may also include a power system and a camera.

[0175] Specifically, the processor 101 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0176] Specifically, the processor 101 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0177] The memory 102 is used to store computer program instructions, which, when invoked by the processor 101, cause the processor 101 to execute:

[0178] Acquire contact input for controls on the aircraft, the contact input being used to set flight parameters of the aircraft during flight;

[0179] In response to the fact that the aircraft has been equipped with the safety protection device, the aircraft is controlled to respond to the input settings of the relevant parameters;

[0180] In response to the aircraft not being equipped with the safety protection device, the aircraft is controlled not to respond to the input settings of the relevant parameters.

[0181] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the aircraft described above can be referred to the corresponding process in the aforementioned aircraft control method embodiments, and will not be repeated here.

[0182] Please refer to Figure 6, which is a schematic block diagram of the structure of a movable platform provided in an embodiment of this application.

[0183] As shown in Figure 6, the mobile platform 200 includes a processor 201 and a memory 202, which are connected via a bus 203, such as an I2C (Inter-integrated Circuit) bus. There may be one or more processors 201 and one or more memory units 202. Optionally, the mobile platform 200 may also include a power system.

[0184] Specifically, the processor 201 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0185] Specifically, the processor 201 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0186] The memory 202 stores computer program instructions, which, when invoked by the processor 201, cause the processor 201 to execute:

[0187] In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control provided on the mobile platform. The control is used to set relevant parameters of the mobile platform during the movement process.

[0188] In response to the fact that the mobile platform is not equipped with a safety protection device, the mobile platform is controlled to enter a second mode, in which the mobile platform is not controlled by the control.

[0189] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the mobile platform described above can be referred to the corresponding process in the aforementioned embodiments of the control method for the mobile platform, and will not be repeated here.

[0190] Please refer to Figure 7, which is a schematic block diagram of the structure of a control device provided in an embodiment of this application.

[0191] As shown in Figure 7, the control device 300 includes a processor 301 and a memory 302, which can be connected via a bus 303, such as an I2C (Inter-integrated Circuit) bus. There can be one or more processors 301 and one or more memories 302. Optionally, the control device 300 may also include a communication device for data transmission with the aircraft or mobile platform.

[0192] Specifically, the processor 301 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0193] Specifically, the processor 301 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0194] The memory 302 stores computer program instructions, which, when invoked by the processor 301, cause the processor 301 to execute:

[0195] Acquire contact input to controls on the aircraft, the contact input being used to set flight parameters of the aircraft during flight, wherein the control device establishes a communication connection with the aircraft;

[0196] In response to the fact that the aircraft has been equipped with the safety protection device, the aircraft is controlled to respond to the input settings of the relevant parameters;

[0197] In response to the aircraft not being equipped with the safety protection device, the aircraft is controlled not to respond to the input settings of the relevant parameters.

[0198] In some embodiments, the memory 302 is used to store computer program instructions, which, when invoked by the processor 301, cause the processor 301 to execute:

[0199] In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control provided on the mobile platform. The control is used to set relevant parameters of the mobile platform during the movement process. The control device establishes a communication connection with the mobile platform.

[0200] In response to the fact that the mobile platform is not equipped with a safety protection device, the mobile platform is controlled to enter a second mode, in which the mobile platform is not controlled by the control.

[0201] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control device described above can be referred to the corresponding process in the aforementioned control method of the aircraft or control method of the mobile platform, and will not be repeated here.

[0202] Please refer to Figure 8, which is a schematic block diagram of the structure of a control system for an aircraft provided in an embodiment of this application.

[0203] As shown in Figure 8, the control system 400 of the aircraft includes an aircraft 401 and a control device 402. The aircraft 401 includes the aircraft 100 and the control device as shown in Figure 5, or the control system 400 of the aircraft includes the control device 300 and the aircraft as shown in Figure 7.

[0204] Please refer to Figure 9, which is a schematic block diagram of the structure of a control system for a mobile platform provided in an embodiment of this application.

[0205] As shown in Figure 9, the control system 500 of the mobile platform includes a mobile platform 501 and a control device 502. The mobile platform 501 includes the mobile platform 200 and the control device as shown in Figure 6, or the control system 500 of the mobile platform includes the control device 300 and the mobile platform as shown in Figure 7.

[0206] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control device described above can be referred to the corresponding process in the aforementioned control method of the aircraft or control method of the mobile platform, and will not be repeated here.

[0207] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and a processor executing the program instructions to implement the aircraft control method or mobile platform control method provided in the above embodiments.

[0208] The computer-readable storage medium can be an internal storage unit of the aircraft, mobile platform, or control device described in any of the foregoing embodiments, such as a hard disk or memory of the aircraft, mobile platform, or control device. The computer-readable storage medium can also be an external storage device of the aircraft, mobile platform, or control device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the aircraft, mobile platform, or control device.

[0209] 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.

[0210] 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.

[0211] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of an aircraft, characterized in that, The method includes: Acquire contact input for controls on the aircraft, the contact input being used to set relevant parameters of the aircraft during flight; In response to the fact that the aircraft has been equipped with safety protection devices, the aircraft is controlled to respond to the input settings of the relevant parameters; In response to the aircraft not being equipped with the safety protection device, the aircraft is controlled not to respond to the input settings of the relevant parameters.

2. The control method according to claim 1, characterized by, The input settings that do not respond to the relevant parameters include: Output indication information, the indication information being used to instruct the aircraft not to enable the relevant parameters set by the contact input; and / or, the indication information being used to instruct the aircraft to disable the function of allowing the user to set relevant parameters through the contact input.

3. The control method according to claim 2, characterized by, The output indication information includes: The instruction information is output by the aircraft or a control device that is communicatively connected to the aircraft.

4. The control method according to claim 3, characterized by, The output of the indication information via the aircraft or a control device communicatively connected to the aircraft includes: The instruction information is output through the physical devices of the aircraft or the control equipment.

5. The control method according to claim 4, characterized by The physical device includes one or more of a speaker, indicator light, or display screen.

6. The control method according to any one of claims 1 to 5, characterized by, The relevant parameters include one or more of the following: the flight mode of the aircraft, the flight parameters of the aircraft, or the load parameters of the aircraft.

7. The control method according to claim 6, characterized by The aircraft includes multiple flight modes, and the control is used by the user to select the target flight mode of the aircraft from the multiple flight modes.

8. The control method according to any one of claims 1 to 7, characterized by, The controls include physical controls or virtual controls.

9. The control method according to claim 8, characterized by, The physical controls include one or more of buttons, joysticks, or dials.

10. The control method according to claim 8, characterized by, The virtual control is a virtual control displayed on the screen.

11. The control method according to claim 10, characterized by, When the aircraft has the safety protection device installed, the display screen is lit; when the aircraft has not the safety protection device installed, the display screen is off.

12. The control method according to any one of claims 1-11, characterized by, The contact input includes contact input for physical controls and / or contact input for virtual controls.

13. The control method according to claim 12, characterized by, The contact input for physical controls includes: pressing, rotating, or tossing input.

14. The control method according to claim 12, characterized by, The contact input for virtual controls includes: pressing or sliding input.

15. The control method according to any one of claims 1-12, characterized by, The controls are located on the fuselage of the aircraft or on a frame extending from the fuselage of the aircraft.

16. The control method according to claim 15, characterized by The frame includes arms or legs.

17. The control method according to any one of claims 1-16, characterized by, The control includes a first control, and the step of obtaining contact input for the control on the aircraft includes: Acquiring contact input for the first control; the method further includes: In response to the fact that the aircraft has been equipped with the safety protection device, the aircraft is controlled to start executing the relevant parameters based on the received input operation for the second control.

18. The control method according to any one of claims 1-16, characterized by, The control includes a first control, and the step of obtaining contact input for the control on the aircraft includes: The method further includes: obtaining a first contact input to the first control; In response to the fact that the aircraft has been equipped with the safety protection device, the aircraft is controlled to start executing the relevant parameters based on the second contact input received for the first control.

19. The control method according to any one of claims 1-18, characterized by, The method further includes: Determine whether the aircraft is equipped with the aforementioned safety protection device.

20. The control method according to claim 19, wherein Determining whether the aircraft is equipped with the safety protection device includes: In response to user contact input to the control, determine whether the aircraft is equipped with the safety protection device.

21. The control method according to claim 19, wherein Determining whether the aircraft is equipped with the safety protection device includes: In response to the aircraft being powered on, determine whether the aircraft is equipped with the safety protection device.

22. The control method according to claim 19, wherein Determining whether the aircraft is equipped with the safety protection device includes: In response to the aircraft being in a non-takeoff state, determine whether the aircraft is equipped with the safety protection device.

23. The control method according to any one of claims 19-22, characterized by, Determining whether the aircraft is equipped with the safety protection device includes: The aircraft can detect whether it is equipped with the safety protection device, or the aircraft can receive detection results from its control equipment indicating whether it is equipped with the safety protection device.

24. The control method according to claim 23, characterized by, The step of detecting whether the aircraft is equipped with the safety protection device includes: The safety protection device is detected by one or more sensors on the aircraft.

25. The control method according to claim 24, wherein The sensor includes a sensing sensor or an installation detection sensor. The sensing sensor is used to acquire environmental sensing information, and the installation detection sensor is used to detect the installation status of the safety protection device.

26. The control method according to claim 25, wherein The sensor includes the sensing sensor; the step of detecting whether the aircraft is equipped with the safety protection device through one or more sensors on the aircraft includes: The system acquires environmental perception data collected by the aircraft's perception sensors and determines whether the aircraft is equipped with the safety protection device based on the environmental perception data.

27. The control method according to claim 26, wherein The sensing sensor includes an image acquisition device. Acquiring environmental perception data collected by the aircraft's sensing sensor and determining whether the aircraft is equipped with the safety protection device based on the environmental perception data includes: Acquire a target image captured by the image acquisition device, wherein the target image includes at least the area occupied by the safety protection device on the aircraft. Based on the target image, determine whether the aircraft is equipped with the safety protection device.

28. The control method according to claim 27, wherein The step of determining whether the aircraft is equipped with the safety protection device based on the target image includes: Obtain the first identification model of the security protection device; Based on the first recognition model and the target image, determine whether the aircraft is equipped with the safety protection device.

29. The control method according to claim 26, wherein The sensing sensor includes a radar device. Acquiring environmental perception data collected by the aircraft's sensing sensor and determining whether the aircraft is equipped with the safety protection device based on the environmental perception data includes: Acquire point cloud data collected by the radar device and obtain the position coordinates corresponding to the installation position of the safety protection device on the aircraft; Obtain target point cloud data that matches the location coordinates from the point cloud data, and obtain the second recognition model of the security protection device; Based on the target point cloud data and the second identification model, it is determined whether the aircraft is equipped with the safety protection device.

30. The control method according to claim 25, wherein The sensor includes the installation detection sensor; the detection of whether the aircraft is equipped with the safety protection device via one or more sensors on the aircraft includes: Obtain the installation detection information output by the installation detection sensor; Based on the installation and testing information and preset conditions, determine whether the aircraft is equipped with the safety protection device.

31. The control method according to claim 30, wherein The installation detection sensor includes at least one of the following: a magnetic induction sensor, a near-field communication device, an infrared sensing device, and a tactile switch.

32. The control method according to claim 31, wherein The installation detection sensor includes the magnetic induction sensor, the installation detection information includes the magnetic field strength collected by the magnetic induction sensor, and the preset condition includes whether the magnetic field strength is greater than or equal to a preset magnetic field strength. The installation detection sensor includes the near-field communication device, the installation detection information includes the near-field communication information collected by the near-field communication device, and the preset conditions include whether the identification code of the security protection device contained in the near-field communication information matches the device identifier of the near-field communication device; The installation detection sensor includes the infrared sensing device, the installation detection information includes the level signal output by the infrared sensing device, and the preset condition includes whether the level signal output by the infrared sensing device is a preset level signal. And / or, the installation detection sensor includes the tactile switch, the installation detection information includes the operating state of the tactile switch, and the preset condition includes whether the operating state of the tactile switch is in the on state.

33. The control method according to claim 30, wherein The step of determining whether the aircraft is equipped with the safety protection device based on the installation detection information and preset conditions includes: In response to the installation detection information meeting the preset conditions, it is determined that the aircraft has been installed with the safety protection device; In response to the installation detection information not meeting the preset conditions, it is determined that the aircraft has not installed the safety protection device.

34. The control method according to any one of claims 1-33, characterized by, The safety protection devices include propeller protection devices, boom protection devices, and / or, tripod protection devices.

35. A method of controlling a movable platform, the method comprising: The method includes: In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control provided on the mobile platform, which is used to set relevant parameters of the mobile platform during the movement process. In response to the fact that the mobile platform is not equipped with the security protection device, the mobile platform is controlled to enter a second mode, in which the mobile platform is not controlled by the control.

36. The control method according to claim 35, wherein The relevant parameters include one or more of the following: the motion mode of the mobile platform, the motion parameters of the mobile platform, or the load parameters of the mobile platform.

37. The control method according to claim 36, wherein The mobile platform includes multiple motion modes, and the control is used by the user to select a target motion mode for the mobile platform from the multiple motion modes.

38. The control method according to any one of claims 35-37, characterized by, The controls include physical controls or virtual controls.

39. The control method of claim 38, wherein The physical controls include one or more of buttons, joysticks, or dials.

40. The control method of claim 38, wherein The virtual control mentioned is a virtual control displayed on the screen.

41. The control method of claim 40, wherein When the safety protection device is installed on the mobile platform, the display screen is lit up; when the safety protection device is not installed on the mobile platform, the display screen is off.

42. The control method of any one of claims 35-41, wherein, The control is located on the body of the movable platform or on a frame extending from the body of the movable platform.

43. The control method according to claim 42, wherein The mobile platform includes an aircraft, and the frame includes arms or legs.

44. The control method of any one of claims 35-43, wherein, The control includes a first control, and the movable platform is controlled by the control disposed on the movable platform, including: In response to receiving a first input operation for the first control, the method sets relevant parameters of the movable platform during movement; in the first mode, the method further includes: In response to receiving a second input operation for the second control, the movable platform is controlled to start executing the relevant parameters.

45. The control method of any one of claims 35-43, wherein, The control includes a first control, and the movable platform is controlled by the control disposed on the movable platform, including: In response to receiving a first input operation for the first control, the method sets relevant parameters of the movable platform during movement; the method further includes: In response to receiving a second input operation for the first control, the movable platform is controlled to start executing the relevant parameters.

46. The control method of any one of claims 35-45, wherein, In the first mode, the mobile platform is not controlled by a control device other than the mobile platform. In the second mode, the mobile platform is controlled by a control device that is communicatively connected to the mobile platform.

47. The control method of any one of claims 35-45, wherein, In the first mode, the mobile platform is also controlled by a control device that is communicatively connected to the mobile platform; in the second mode, the mobile platform is controlled by a control device that is communicatively connected to the mobile platform.

48. The control method of any one of claims 35-47, wherein, The mobile platform includes an aircraft. In the first mode, the aircraft is capable of performing palm take-off and / or palm landing modes. In the second mode, the aircraft is not capable of performing palm take-off and / or palm landing modes.

49. The control method of claim 48, wherein The aircraft is capable of performing palm take-off and / or palm landing modes, including: the aircraft activating palm take-off and / or palm landing modes; the aircraft is unable to perform palm take-off and / or palm landing modes, including: the aircraft deactivating palm take-off and / or palm landing modes.

50. The control method of any one of claims 35-49, wherein, In the first mode, the minimum distance between the mobile platform and the specific target is a first distance; in the second mode, the minimum distance between the mobile platform and the specific target is a second distance, wherein the first distance is less than the second distance.

51. The control method of any one of claims 35-50, wherein, The mobile platform includes an aircraft, and in the first mode, the method further includes: Output first indication information to instruct the aircraft to activate handheld mode; In the second mode, the method further includes: Output a second instruction message to indicate that the aircraft does not enable the handheld mode, wherein the handheld mode includes a handheld take-off mode, a handheld landing mode, and / or a mode for setting relevant parameters of the aircraft through the control.

52. The control method of claim 51, wherein The first indication information and the second indication information are output by the aircraft or a control device that is communicatively connected to the aircraft.

53. The control method of claim 51, wherein The first and second indication information are output through a speaker, indicator light, or display screen.

54. The control method of claim 53, wherein When the indicator light is on, it indicates that the aircraft has enabled the handheld mode; when the indicator light is off, it indicates that the aircraft has not enabled the handheld mode.

55. The control method of claim 53, wherein The indicator lights include multiple lights, and the aircraft includes multiple flight modes. In the first mode, at least one of the multiple indicator lights is lit to indicate the target flight mode selected for the aircraft from the multiple flight modes. In the second mode, all of the multiple indicator lights are off.

56. The control method of claim 51, wherein The aircraft includes multiple flight modes, and in the first mode, the first indication information is further used to indicate a target flight mode selected for the aircraft from the multiple flight modes.

57. The control method of any one of claims 35-56, wherein, The method further includes: Determine whether the mobile platform is equipped with the aforementioned safety protection device.

58. The control method of claim 57, wherein Determining whether the mobile platform is equipped with the safety protection device includes: In response to the fact that the mobile platform has been powered on, determine whether the mobile platform is equipped with the security protection device.

59. The control method of claim 57, wherein Determining whether the mobile platform is equipped with the safety protection device includes: In response to user contact input to the control, determine whether the mobile platform is equipped with the security protection device.

60. The control method of claim 57, wherein Determining whether the mobile platform is equipped with the safety protection device includes: In response to the mobile platform being in a state of not starting to move, it is determined whether the mobile platform is equipped with the safety protection device.

61. The control method of any one of claims 57-60, wherein, Determining whether the mobile platform is equipped with the safety protection device includes: The mobile platform can detect whether it is equipped with the safety protection device, or the mobile platform can receive a detection result from its control device indicating whether it is equipped with the safety protection device.

62. The control method of claim 61, wherein The step of detecting whether the mobile platform is equipped with the security protection device includes: The safety protection device is detected by one or more sensors on the mobile platform.

63. The control method of claim 62, wherein The sensor includes a sensing sensor or an installation detection sensor. The sensing sensor is used to acquire environmental sensing information, and the installation detection sensor is used to detect the installation status of the safety protection device.

64. The control method of claim 63, wherein The sensor includes the sensing sensor; the step of detecting whether the mobile platform is equipped with the safety protection device through one or more sensors on the mobile platform includes: Acquire environmental perception data collected by the sensing sensors of the mobile platform; Based on the environmental perception data, determine whether the mobile platform is equipped with the safety protection device.

65. The control method of claim 64, wherein The sensing sensor includes an image acquisition device. Determining whether the mobile platform is equipped with the safety protection device based on the environmental sensing data includes: Acquire a target image captured by the image acquisition device, wherein the target image includes at least a portion of the area occupied by the safety protection device on the movable platform; Based on the target image, determine whether the mobile platform is equipped with the security protection device.

66. The control method of claim 65, wherein The step of determining whether the mobile platform is equipped with the security protection device based on the target image includes: Obtain the first identification model of the security protection device; Based on the first recognition model and the target image, determine whether the mobile platform is equipped with the security protection device.

67. The control method of claim 64, wherein The sensing sensor includes a radar device. Determining whether the mobile platform is equipped with the safety protection device based on the environmental sensing data includes: The point cloud data collected by the radar device and the position coordinates corresponding to the installation position of the safety protection device on the mobile platform are obtained. Obtain target point cloud data that matches the location coordinates from the point cloud data, and obtain the second recognition model of the security protection device; Based on the target point cloud data and the second recognition model, determine whether the mobile platform is equipped with the security protection device.

68. The control method of claim 63, wherein The sensor includes the installation detection sensor; the step of detecting whether the mobile platform is equipped with the safety protection device via one or more sensors on the mobile platform includes: Obtain the installation detection information output by the installation detection sensor; Based on the installation and testing information and preset conditions, determine whether the mobile platform is equipped with the safety protection device.

69. The control method of claim 68, wherein The installation detection sensor includes at least one of the following: a magnetic induction sensor, a near-field communication device, an infrared sensing device, and a tactile switch.

70. The control method of claim 69, wherein The installation detection sensor includes the magnetic induction sensor, the installation detection information includes the magnetic field strength collected by the magnetic induction sensor, and the preset condition includes whether the magnetic field strength is greater than or equal to a preset magnetic field strength. The installation detection sensor includes the near-field communication device, the installation detection information includes the near-field communication information collected by the near-field communication device, and the preset condition includes whether the magnetic field strength is greater than or equal to a preset magnetic field strength. The installation detection sensor includes the near-field communication device, the installation detection information includes near-field communication information collected by the near-field communication device, and the preset conditions include whether the identification code of the security protection device contained in the near-field communication information matches the device identifier of the near-field communication device; The installation detection sensor includes the infrared sensing device, the installation detection information includes the level signal output by the infrared sensing device, and the preset condition includes whether the level signal output by the infrared sensing device is a preset level signal. And / or, the installation detection sensor includes the tactile switch, the installation detection information includes the operating state of the tactile switch, and the preset condition includes whether the operating state of the tactile switch is in the on state.

71. The control method of claim 68, wherein The step of determining whether the mobile platform is equipped with the safety protection device based on the installation detection information and preset conditions includes: In response to the installation detection information meeting the preset conditions, it is determined that the mobile platform has installed the safety protection device; In response to the installation detection information not meeting the preset conditions, it is determined that the mobile platform has not installed the safety protection device.

72. The control method of any one of claims 35-71, wherein, The mobile platform includes an aircraft, and the safety protection devices include a propeller protection device, an arm protection device, and / or a landing gear protection device.

73. The control method of any one of claims 35-71, wherein, The mobile platform includes a mobile vehicle, and the safety protection device includes a wheel protection device.

74. The control method of any one of claims 35-71, wherein, The movable platform includes a sweeper, and the safety protection device includes a wheel protection device.

75. A control device for an aircraft, characterized in that The control device includes a memory and a processor, wherein the memory stores a computer program; and the processor executes the computer program and, when executing the computer program, performs the following steps: Acquire contact input for controls on the aircraft, the contact input being used to set flight parameters of the aircraft during flight; In response to the fact that the aircraft has been equipped with the safety protection device, the aircraft is controlled to respond to the input settings of the relevant parameters; In response to the aircraft not being equipped with the safety protection device, the aircraft is controlled not to respond to the input settings of the relevant parameters.

76. A control device for a moveable platform, characterized by The control device includes a memory and a processor, wherein the memory stores a computer program; and the processor executes the computer program and, when executing the computer program, performs the following steps: In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control provided on the mobile platform. The control is used to set relevant parameters of the mobile platform during the movement process. In response to the fact that the mobile platform is not equipped with a safety protection device, the mobile platform is controlled to enter a second mode, in which the mobile platform is not controlled by the control.

77. An aircraft, characterized by include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Acquire contact input for controls on the aircraft, the contact input being used to set flight parameters of the aircraft during flight; In response to the fact that the aircraft has been equipped with the safety protection device, the aircraft is controlled to respond to the input settings of the relevant parameters; In response to the aircraft not being equipped with the safety protection device, the aircraft is controlled not to respond to the input settings of the relevant parameters.

78. A movable platform, comprising: include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control provided on the mobile platform. The control is used to set relevant parameters of the mobile platform during the movement process. In response to the fact that the mobile platform is not equipped with a safety protection device, the mobile platform is controlled to enter a second mode, in which the mobile platform is not controlled by the control.

79. A control device, characterized by include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Acquire contact input to controls on the aircraft, the contact input being used to set flight parameters of the aircraft during flight, wherein the control device establishes a communication connection with the aircraft; In response to the fact that the aircraft has been equipped with the safety protection device, the aircraft is controlled to respond to the input settings of the relevant parameters; In response to the aircraft not being equipped with the safety protection device, the aircraft is controlled not to respond to the input settings of the relevant parameters.

80. A control device, characterized by include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: In response to the installation of a safety protection device on the mobile platform, the mobile platform is controlled to be in a first mode. In the first mode, the mobile platform is controlled by a control provided on the mobile platform. The control is used to set relevant parameters of the mobile platform during the movement process. The control device establishes a communication connection with the mobile platform. In response to the fact that the mobile platform is not equipped with a safety protection device, the mobile platform is controlled to enter a second mode, in which the mobile platform is not controlled by the control.

81. A control system for an aircraft, characterized by The system includes the aircraft and control equipment as described in claim 77, or the system includes the control equipment and aircraft as described in claim 79.

82. A control system for a moveable platform, characterized by The system includes the mobile platform and control device as described in claim 78, or the system includes the control device and mobile platform as described in claim 80.

83. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the control method as described in any one of claims 1-74.

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