Display method, control method, system and computer-readable storage medium

Abstract

A display method, a control method, a system and a computer-readable storage medium. The display method comprises: acquiring an image captured by a photographic apparatus mounted on a movable platform, wherein the image comprises a geographic feature; in a first display state, displaying, in an overlay manner, a virtual object a with a first visibility at a display position of the geographic feature in the image, wherein the virtual object a is used for identifying the geographic feature; in response to a display size of the virtual object a in the image having increased to meet a first preset condition, switching from the first display state to a second display state; and in the second display state, displaying, in an overlay manner, the virtual object a with a second visibility at the display position of the geographic feature in the image, wherein the second visibility is less than the first visibility and is greater than or equal to 0. Therefore, the interference caused by a virtual object a with corresponding content in a real-time picture is reduced, thereby achieving a dynamic balance between information delivery and visual interference.

Description

Display method, control method, system, and computer-readable storage medium Technical Field

[0001] This application relates to the field of image processing technology, and more specifically, to a display method, control method, system, and computer-readable storage medium. Background Technology

[0002] With the continuous advancement of mobile devices and image processing technologies, real-time image acquisition and augmented reality display have been widely applied in various fields. Images of the real environment are captured by shooting devices mounted on mobile platforms, and then, through image processing technology, virtual objects can be overlaid and displayed on the images, enhancing users' understanding and interaction with the real environment. Summary of the Invention

[0003] One of the purposes of this application is to provide a display method, control method, system, and computer-readable storage medium.

[0004] In a first aspect, embodiments of this application provide a display method, including:

[0005] Acquire images captured by a camera mounted on a mobile platform, the images including geographic features;

[0006] In the first display state, a virtual object a is overlaid at the display location of the geographic feature in the image with a first visibility, the virtual object a being used to identify the geographic feature; and

[0007] In response to the virtual object a increasing in display size in the image to meet a first preset condition, the display state is switched from the first display state to the second display state;

[0008] In the second display state, the virtual object a is overlaid at the display location of the geographic element in the image with a second visibility, the second visibility being less than the first visibility, and the second visibility being greater than or equal to 0.

[0009] Applying the method of the first aspect, when the display size of the virtual object 'a' used to annotate geographic features in the image increases to meet the first preset condition, it automatically switches from the first display state to the second display state. In the first display state, the virtual object 'a' is superimposed on the position corresponding to the geographic feature with a first visibility to enhance the image display. In the second display state, the virtual object 'a' is superimposed on the position corresponding to the geographic feature with a second visibility. The second visibility is less than the first visibility and is greater than or equal to 0. Therefore, compared with the first display state, the visibility of the virtual object 'a' is reduced to reduce the interference of the virtual object 'a' on the corresponding content in the real-time image, achieving a dynamic balance between information transmission and visual interference. The automated state switching greatly reduces user intervention and improves the user's operating experience.

[0010] Secondly, embodiments of this application provide a control method, including:

[0011] The mobile platform captures images using its onboard camera and sends the images to a control terminal; the images include geographic features.

[0012] The control terminal receives and displays the image. In the first display state, a virtual object a is overlaid at the display position of the geographic element in the image with a first visibility. The virtual object a is used to identify the geographic element.

[0013] In response to the virtual object a increasing in display size in the image to meet a first preset condition, the control terminal switches from the first display state to the second display state. In the second display state, the virtual object a is superimposed at the display position of the geographic element in the image with a second visibility, the second visibility being less than the first visibility and greater than or equal to 0.

[0014] Thirdly, embodiments of this application provide a display method, including:

[0015] During the movement of the mobile platform, images captured by the camera device mounted on the mobile platform are obtained;

[0016] A virtual object b is overlaid on the image, the virtual object b being used to identify a target in the image; and

[0017] In response to a triggering operation on the virtual object b, at least one task identifier associated with the virtual object b is displayed on the image, wherein the task identifier is used to associate a target task to be executed by the mobile platform for the target;

[0018] The virtual object b includes at least two different types of virtual objects b, the at least two different types of virtual objects b have different display styles in the image, and at least one of the task identifiers associated with each of the at least two different types of virtual objects b is different.

[0019] The third approach involves overlaying a virtual object b onto the image. Virtual object b identifies the target in the image. Upon triggering virtual object b, a task identifier associated with it is dynamically displayed on the image, allowing for intuitive retrieval of the task identifier. This task identifier is linked to the target task to be executed by the mobile platform, facilitating user understanding and intuitive operation. Integrating the image, virtual object, and task identifier display into a single interface significantly simplifies the operation process, reduces interface switching, and streamlines the task instruction issuance process. Furthermore, virtual objects can include multiple different types, distinguished by different display styles, and each type of virtual object b is associated with a different task identifier. This allows users to intuitively and conveniently trigger different target tasks for different targets identified by different types of virtual objects, making the process simpler, more targeted, and reducing the risk of misoperation.

[0020] Fourthly, embodiments of this application provide a control method, including:

[0021] The mobile platform captures images using its onboard camera during movement and sends the images to the control terminal.

[0022] The control terminal receives and displays the image, and overlays a virtual object b onto the image, the virtual object b being used to identify a target in the image; and

[0023] In response to a triggering operation on the virtual object b, the control terminal displays at least one task identifier associated with the virtual object b on the image, wherein the task identifier is used to associate a target task to be executed by the mobile platform for the target.

[0024] The virtual object b includes at least two different types of virtual objects b, the at least two different types of virtual objects b have different display styles in the image, and at least one of the task identifiers associated with each of the at least two different types of virtual objects b is different.

[0025] Fifthly, embodiments of this application provide a system comprising:

[0026] At least one processor;

[0027] At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processors, are configured to cause the control system to perform at least one of the methods described in the first aspect, the second aspect, the third aspect, or the fourth aspect.

[0028] In a sixth aspect, embodiments of this application provide a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the method described in any one of the first, second, third, or fourth aspects. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 is a schematic diagram of the interaction between a mobile platform and a control terminal according to an embodiment of this application;

[0031] Figure 2 is a flowchart illustrating a display method according to an embodiment of this application;

[0032] Figure 3 is a schematic diagram of a first display state provided in an embodiment of this application;

[0033] Figure 4 is a schematic diagram of a second display state provided in one embodiment of this application;

[0034] Figure 5 is a schematic diagram of determining the distance of a mobile platform relative to a geographic feature corresponding to a virtual object a, according to an embodiment of this application;

[0035] Figure 6 is a schematic diagram of display state switching provided in an embodiment of this application;

[0036] Figure 7 is a flowchart illustrating a control method provided in one embodiment of this application;

[0037] Figure 8 is a flowchart illustrating another display method provided in one embodiment of this application;

[0038] Figure 9 is an interactive schematic diagram of a dotted marker object provided in an embodiment of this application;

[0039] Figure 10 is an interactive schematic diagram of a line marker object provided in an embodiment of this application;

[0040] Figure 11 is an interactive schematic diagram of a planar marker object provided in an embodiment of this application;

[0041] Figure 12 is an interactive schematic diagram of a three-dimensional marker object provided in an embodiment of this application;

[0042] Figure 13 is a flowchart illustrating another control method provided in one embodiment of this application;

[0043] Figure 14 is a schematic diagram of the structure of a system provided in one embodiment of this application. Detailed Implementation

[0044] 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, and 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.

[0045] In related technologies, when a mobile platform is in operation, users at the control end can typically only see real-time footage captured by the camera device mounted on the mobile platform, but it is difficult to intuitively and quickly obtain the geographical information corresponding to the current real-time footage. This mainly involves the following two detailed issues: the difficulty in translating real-time footage into two-dimensional maps, creating a cognitive barrier for users to obtain geographical information; and in complex environmental scenarios, such as at night, in heavy fog, or when smoke from a fire obscures the view, the lack of sufficient real-time footage makes it difficult for users to determine geographical information, such as the location of the captured target and its surrounding environment.

[0046] Some technologies overlay virtual objects onto images captured in real-time on mobile platforms to annotate and display relevant geographic information in the environment, thereby assisting users in identifying the corresponding geographic information in the real-time scene. However, the virtual object overlay method in these technologies has a significant impact on the images captured in real-time on mobile platforms. The overlay of virtual objects can interfere with the real-time image, directly affecting the user's intuitive perception of the scene. Users often need to frequently adjust the display of virtual objects, making the process cumbersome.

[0047] Therefore, based on at least some of the related technical problems existing in the related technologies, the embodiments of this application provide a display method, control method, system and computer-readable storage medium, which can automatically adjust the display state according to actual needs, so as to reduce the interference of virtual object a on the corresponding content in the real-time screen and improve the user operation experience.

[0048] In this embodiment, a mobile platform can be equivalent to any electronic device capable of changing position in space. Optionally, a mobile platform can include autonomously movable device forms, such as aircraft or mobile robots. For example, an aircraft may have its own propulsion system that drives it to move autonomously. Optionally, a mobile platform can also include non-autonomously movable device forms, such as handheld platforms like cameras or gimbals. For example, a handheld platform can be moved by a person or an external object.

[0049] In this embodiment, the mobile platform may include at least one of aircraft, vehicles, ships, electric bicycles, and electric motorcycles, but is not limited to these. The mobile platform may be an unmanned mobile platform, a manned mobile platform, or a handheld mobile platform.

[0050] The implementation of this application will be explained below using a mobile platform as an example. For instance, the aircraft can include various styles or types. For example, the aircraft can include rotorcraft, fixed-wing aircraft, unmanned helicopters, or hybrid fixed-wing / rotorcraft, etc. Among them, rotorcraft can be single-rotor, dual-rotor, tri-rotor, quadcopter, hexacopter, octocopter, decacopter, or dodeccopter, etc. The aircraft can include, but is not limited to, manned aircraft, logistics aircraft, aerial photography aircraft, agricultural plant protection aircraft, and industry rescue aircraft. The above are merely illustrative examples, and the embodiments of this application do not specifically limit the type of aircraft. The aircraft include unmanned aerial vehicles (UAVs) and manned aircraft.

[0051] The system provided in this application includes, but is not limited to, at least one of the following: a controller for a display terminal that communicates with a mobile platform, a controller for a mobile platform, a controller for a control terminal of a mobile platform, a display terminal, a mobile platform, and a control terminal.

[0052] For example, the controller or the display itself can be configured to acquire and display images captured by a camera mounted on a mobile platform. Specifically, the controller or the display itself includes a display device, which can be touch-sensitive or non-touch-sensitive. The display device can be used to display an interactive interface, thereby displaying the image on the interactive interface. For example, the image can be in image format and / or video format. For example, the image can be a real-time captured scene or a scene that has already been captured. Optionally, virtual objects can be overlaid on the image displayed on the interactive interface. The virtual objects are used to identify targets in the image, helping users to intuitively and quickly obtain relevant information corresponding to the targets in the current scene. For example, targets can include target geographic features, target objects, target locations, etc., in the image. Optionally, the virtual objects can be rendered by either the controller or the display itself. The display includes at least one of the following: a remote control, head-mounted glasses, a tablet computer, or a mobile phone, but is not limited to these.

[0053] For example, the controller of the mobile platform or the mobile platform itself can be configured to acquire relevant operational information of the load carried by the mobile platform. Optionally, the load can be directly carried or carried on the body of the mobile platform via a gimbal. In this embodiment, the load is exemplified by a shooting device. Of course, in other embodiments, the load can also be other types of equipment such as radar devices or spraying devices, which will not be elaborated here. Optionally, the relevant operational information of the load may include images captured by the shooting device carried by the mobile platform. Optionally, the controller of the mobile platform or the mobile platform itself can also be configured to acquire and / or render the aforementioned virtual object, thereby displaying an image containing the virtual object on a display terminal.

[0054] For example, the controller or control terminal itself of the control end can be configured to communicate with the mobile platform and be used to control the mobile platform. For example, it can control the load carried by the mobile platform to perform operations. For example, it can control the imaging device carried by the mobile platform to capture images. The controller or control terminal itself of the control end can not only be configured to operate the mobile platform, but also to acquire images captured by the imaging device carried by the mobile platform in the current real environment. Optionally, the controller or control terminal of the control end includes a display device, which can be touch-sensitive or non-touch-sensitive. The display device can be used to display an interactive interface, and then display the images acquired from the mobile platform on the interactive interface. Optionally, the interactive interface can also be configured to overlay virtual objects on the images. The virtual objects can be used to identify targets in the images to help users intuitively and quickly obtain relevant information corresponding to the targets in the current screen. For example, the control end can include at least one of a motion-sensing control device, a wearable device, a remote control, a mobile phone, and a server, but is not limited thereto. For example, motion-sensing devices can capture a user's movements or gestures, while remote controls and mobile phones can provide simple directional and function controls. After the user's operation commands are transmitted to the controller or control terminal, the virtual object will react accordingly based on the user's interaction method and the environment, ensuring coordination with the real environment.

[0055] In some cases, the control terminal and the display terminal can be the same device. For example, the control terminal and the display terminal can be the same pair of glasses. For example, the control terminal and the display terminal can be the same remote control.

[0056] In some cases, the control unit and the display unit can be separate devices. For example, the control unit can be a remote control, and the display unit can be head-mounted glasses.

[0057] In this embodiment, the user interacts with at least one device, either the display or the control terminal, to issue input commands or other instructions. Alternatively, if the user has access to the mobile platform, such as a manned mobile platform, the user can also interact with the mobile platform to issue input commands or other instructions; this embodiment does not impose any limitations on this.

[0058] Optionally, the method provided in this application embodiment can be executed by any of the aforementioned devices alone, such as by the control terminal alone. Optionally, the method provided in this application embodiment can be executed by at least two devices simultaneously. For example, a mobile platform acquires an image captured by a camera mounted on the mobile platform in the current real environment, and renders a virtual object 'a'. Then, the mobile platform sends the image and virtual object 'a' to the control terminal, and the control terminal controls the display terminal to display the image superimposed with virtual object 'a'. This embodiment does not impose any limitations in this regard, and specific settings can be made according to the actual application scenario.

[0059] In some embodiments, please refer to Figures 1 and 2 together. Figure 1 shows a schematic diagram of the interaction between the mobile platform 10 and the control terminal 20. Figure 2 shows a flowchart of a display method, labeled as process 200, which may include steps S201 to S203.

[0060] It should be noted that this display method is illustrated by way of example with the control terminal as the execution subject. Specifically, the control terminal is equipped with a display device for displaying images. Some or all aspects of process 200 (or the flowchart of any other method embodiment described in this application, or variations and / or combinations thereof) can be executed by one or more processors or combinations thereof on a mobile platform, control terminal, display terminal, controller, any other system or device. Some or all aspects of process 200 (or the process of any other method embodiment of this application, or variations and / or combinations thereof) can be executed under the control of one or more computer / control systems configured with executable instructions, and can be collectively executed on one or more processors in the form of code (e.g., executable instructions, one or more computer programs, or one or more application programs) via hardware or a combination thereof. The code can be stored on a computer-readable storage medium, for example, in the form of a computer program containing multiple instructions executable by one or more processors. The computer-readable storage medium can be non-transitory. The order of the described operations is not intended to be limiting; any number of described operations can be combined in any order and / or in parallel to implement the process.

[0061] Specifically, the method may include:

[0062] In S201, images captured by a camera mounted on a mobile platform are acquired, including geographic features.

[0063] In this step, the control unit first acquires images of the current real-world environment from the camera device mounted on the mobile platform. These images contain various geographical features of the current real-world environment, which refer to various environment-related elements in the real world, as captured by the camera device on the mobile platform.

[0064] For example, geographic features may include at least one of the following: spatial location, surface objects, and transportation features.

[0065] Spatial location refers to the specific location of an object or labeled element in the current real-world environment. Spatial location includes longitude, latitude, altitude, etc. For example, spatial location can be the location of a target object such as a person, vehicle, ship, or airplane in the current real-world environment, or it can be at least one geographical location marked by the user.

[0066] Surface objects refer to physical objects or natural landscapes on the ground that can be identified and captured by imaging devices (such as cameras, LiDAR, or depth sensors). Surface objects include natural and / or man-made elements. Optionally, natural elements include, but are not limited to, mountains, hills, plains, canyons, lakes, rivers, oceans, swamps, forests, and grasslands, etc., which will not be elaborated further here. Optionally, man-made elements include, but are not limited to, residential and commercial buildings, industrial facilities, roads, bridges, tunnels, railway tracks, dams, reservoirs, landmarks, etc., which will not be elaborated further here.

[0067] Traffic elements refer to various elements related to a traffic system, including roads, intersections, traffic lights, traffic signs, road markings, lanes, etc., which will not be elaborated upon here. These elements typically play a crucial role in navigation, autonomous driving, or intelligent transportation systems. By identifying traffic elements, more intelligent route planning, traffic flow monitoring, or accident warning functions can be provided. Taking roads as an example, in images captured by a mobile platform, road identification and marking help determine the current road conditions, providing users with real-time, accurate information related to the current road, such as its location and surrounding environment.

[0068] For example, traffic elements include at least one of the following:

[0069] (1) Access routes for mobile platforms: This refers to any physically suitable path for mobile platforms to pass through. Such paths can be streets, sidewalks, dedicated lanes, etc.

[0070] (2) A passage that meets at least one of the preset conditions in length and width: This refers to a passage type defined according to certain preset length / width conditions. For example, some autonomous vehicles may only select roads or lanes that are wide enough or of suitable length to ensure the safety and feasibility of passage.

[0071] (3) Preset type channels: These channels refer to roads that meet specific functional requirements or category standards. For example, autonomous vehicles may prioritize main roads, highways, dedicated lanes, etc., because these channels have higher traffic capacity and less interference. Preset type channels are not limited to roads, but can also include channels in specific areas, such as narrow alleys, parking lot lanes, etc., or channels within a preset distance range of the mobile platform, etc., which can be defined according to specific application scenarios and target requirements.

[0072] In S202, in the first display state, a virtual object a is overlaid at the display location of a geographic feature in the image with a first visibility. The virtual object a is used to identify the geographic feature.

[0073] For example, in the first display state, the control terminal overlays a virtual object 'a' at the display location corresponding to the geographic feature in the image with high visibility, intuitively identifying the geographic feature. By clearly labeling geographic features, it helps users intuitively and quickly identify key information in the image, improving the accuracy of environmental perception and operation. For example, referring to Figure 3, assuming the geographic feature is a road, the control terminal can overlay a more conspicuous black virtual object 'a' at the display location corresponding to the road in the image to highlight the road.

[0074] In S203, in response to the virtual object a's display size in the image increasing to meet the first preset condition, the display state is switched from the first display state to the second display state; wherein, in the second display state, the virtual object a is displayed at the display position of the geographic element in the image with a second visibility, the second visibility being less than the first visibility, and the second visibility being greater than or equal to 0.

[0075] For example, when the display size of virtual object 'a' in the image increases to meet the first preset condition, it indicates that the user may need to observe the image more carefully, such as geographic features. The current display of virtual object 'a' would obstruct the user's view, thus affecting their observation. The control terminal can then automatically switch from the first display state to the second display state, dynamically responding to changes in the virtual object's size. This avoids obscuring important image information due to the virtual object's excessive size, ensuring overall image clarity and information balance. In the second display state, the second visibility of virtual object 'a' is less than its first visibility. Compared to the first display state, this reduces its interference with geographic features displayed in the image, weakens the obstruction effect of virtual object 'a' on the real image, and achieves a good balance between geographic information prompts and detailed image observation. Automated state switching significantly reduces user intervention and improves the user experience. For example, referring to Figure 4, when the display size of virtual object 'a' used to identify roads in the image increases to meet the first preset condition, the control terminal automatically reduces the visibility of virtual object 'a' from the first to the second visibility.

[0076] In some embodiments, before step S201, the control terminal also needs to obtain a virtual object a associated with the image. The virtual object a can be determined based on at least one of the following information: positioning information collected by the positioning module mounted on the mobile platform, map information pre-stored on the mobile platform, map information perceived in real time by the mobile platform, and shooting parameter information of the shooting device.

[0077] The location information collected by the positioning module provides the current geographic coordinates of the mobile platform, which can ensure that the virtual object 'a' can accurately correspond to the actual geographic location, so that it can be correctly superimposed on the corresponding geographic features in the image.

[0078] The map information pre-stored on the mobile platform can provide static geographic data and geographic feature layouts within a known area, such as roads, buildings, and landmarks. This can serve as a reference benchmark to help related devices match geographic features in the actual environment, thereby determining the initial location and identification content of virtual object a.

[0079] The map information perceived in real time by the mobile platform is obtained by using the sensors on the mobile platform to perceive the dynamic changes of the current environment in real time. It can also be used as a reference benchmark to help related devices match the geographical features in the actual environment, thereby determining the initial position and identification content of virtual object a.

[0080] The shooting parameters of the shooting device, such as focal length, angle of view, zoom factor, and exposure, determine the imaging method of the image. These parameters are used to calculate the display size, position, and proportion of the virtual object 'a' in the image, ensuring that the virtual object is visually consistent with the actual scene.

[0081] By combining at least one of the above parameters, the position and display effect of the virtual object 'a' on the image can be dynamically and accurately determined and adjusted, thereby achieving precise virtual-real fusion and a user-friendly interactive experience.

[0082] For example, virtual object 'a' can be generated by the mobile platform based on at least one of the above parameters. The control terminal can then receive virtual object 'a' sent by the mobile platform and determine its display state in the image based on its display size. Alternatively, virtual object 'a' can also be generated by the control terminal of the mobile platform based on at least one of the above parameters; this embodiment does not impose any limitations on this.

[0083] For example, the map information mentioned above includes at least one of the following geographic attribute information: the location information of the passage, the length of the passage, the width of the passage, the type of the passage, the direction of the passage, and the location information of other objects besides the passage. The location information of the passage specifies the specific location of the passage in the actual geographic space, such as the starting point, the ending point, and its range. The type of passage includes, but is not limited to, highways, urban roads, pedestrian paths, railway passages, etc., and can be specifically set according to the actual application scenario. The direction of the passage indicates the direction or orientation of the passage (e.g., north-south, east-west), reflecting the arrangement of the passage in space. Other objects besides the passage include, but are not limited to, buildings, bridges, green spaces, infrastructure, etc., which can be referred to in the relevant description of geographic elements above and will not be repeated here.

[0084] For example, in the image, the superposition of virtual object 'a' and real objects in the environment of the mobile platform satisfies the spatial occlusion relationship. The accurate occlusion relationship allows the virtual object to blend seamlessly with the real scene, enhancing the overall visual realism and naturalness. It can prevent the virtual object from unnaturally "floating" on top of real objects, reduce visual conflicts, improve the intuitiveness of interaction, and enable users to better understand the relative positions and depths of objects in the scene, which helps to improve the accuracy of applications such as navigation and positioning.

[0085] As described above, the map information pre-stored on the mobile platform includes the location, geometry, size, and height of various real objects in the environment. Using this information, a 3D layout of the real scene can be reconstructed or simulated, providing a basis for the relative positional relationships between virtual and real objects. Therefore, the spatial occlusion relationship can be determined based on the map information pre-stored on the mobile platform. For example, firstly, the current position and orientation of the mobile platform are determined by the positioning module. Then, a 3D model of the scene is constructed using the pre-stored map information. Based on the parameters of the shooting device, such as the viewing angle and focal length, the 3D model is projected onto the image plane, thereby obtaining the position and depth information of each real object in the image. Then, by comparing the depth values ​​of each object with the virtual object in the image plane, it is determined which real objects are in front of the virtual object, thus allowing the virtual object to be appropriately occluded or partially hidden when displayed in the image.

[0086] In some embodiments, to improve the completeness of map information and data processing efficiency, the map information pre-stored on the mobile platform is not directly obtained from the initial map information acquired by a third-party platform, but is obtained by processing the initial map information acquired from the third-party platform. This data processing includes supplementing the initial map information with missing geographic attribute information based on preset rules. The supplemented map information is more complete, providing a reliable data foundation for subsequent virtual-real fusion, spatial occlusion calculation, and the positioning and display of virtual objects.

[0087] Taking the missing channel width in the initial map information as an example, the preset rules include the mapping relationship between channel type and channel width. Different types of channels (such as highways, city roads, pedestrian paths, railway tunnels, etc.) usually have their own standard or average width, and the standard width value corresponding to each channel type can be preset. When a channel in the initial map information lacks width data, the corresponding width information can be automatically supplemented based on the channel type and the preset mapping relationship. For example, if a channel is identified as a city road, and city roads are usually 10 meters wide, this information will be automatically supplemented when the width data is missing. By supplementing detailed channel width information, the spatial occlusion relationship between virtual objects and real objects can be better calculated, achieving a natural display effect that conforms to the real physical laws and improving the user experience.

[0088] For example, the display size of virtual object 'a' in the image includes at least one of the following:

[0089] (1) The pixel ratio of virtual object a in the image refers to the ratio between the number of pixels occupied by virtual object a in the image and the total number of pixels in the entire image. It is suitable for situations where the resolution or image size varies, and uses a relative indicator to ensure the consistency of the display effect. For example, in multi-terminal adaptation, the relative size of virtual objects can be uniformly determined by the pixel ratio to ensure that virtual objects can be displayed according to the expected ratio no matter how large the image is.

[0090] (2) The number of pixels occupied by virtual object a in the image refers to the specific number of pixels occupied by virtual object a in the image, which can be an absolute value. It is suitable for occasions requiring precise quantitative control, such as in a fixed resolution system where it is necessary to ensure that the virtual object reaches a certain number of pixels so that the user can clearly observe it or trigger state changes. This indicator provides a clear numerical reference, which helps in accurate size judgment and state switching.

[0091] (3) The area ratio of virtual object a in the image refers to the ratio between the display area of ​​virtual object a and the area of ​​the entire image, reflecting the proportion of space occupied by the virtual object in the image. It is suitable for scenarios that focus on the overall layout and visual balance. The display effect can be dynamically adjusted by the area ratio to prevent virtual objects from being too large or too small and thus destroying the overall aesthetics of the image. It is especially helpful in maintaining visual harmony in complex interface designs.

[0092] (4) The area of ​​virtual object a in the image refers to the absolute display area of ​​virtual object a in the image (e.g., measured in square pixels). It is suitable for applications that require precise judgment based on actual size, such as setting a specific area threshold to trigger state switching or adjust transparency, to ensure that precise control can be made based on absolute area regardless of changes in image size.

[0093] The different measurement methods mentioned above each have their own focus. You can choose the appropriate measurement method according to your specific needs to achieve precise control over the display effect of virtual objects.

[0094] In some embodiments, as shown in Figure 5, the virtual object a may include annotation information to more intuitively identify geographic features. The illustration uses streets as geographic features and text as an example of annotation information, with the annotation information being designated as "First Channel" and "Second Channel," corresponding to the real names of two streets respectively. This helps users intuitively see the real geographic information of the streets in the captured real-time footage, facilitating subsequent user operations. For example, the real name of the street currently captured by the mobile platform can be shared, such as sharing the street where the target object is located as "First Channel," to facilitate subsequent reconnaissance and rescue operations. Furthermore, in nighttime environments where the captured real-time footage is relatively blurry, the annotation information can clearly identify the real geographic information of the street currently captured, assisting users in observing the surrounding environment of the mobile platform and facilitating subsequent user control of the mobile platform's navigation and operations. Of course, in other embodiments, geographic features may also be buildings, surface points, etc., and the annotation information will correspond to and identify their real geographic information, such as name and location. Optionally, the annotation information can take the form of one or more combinations of interactive forms such as text, patterns, icons, and voice, which will not be elaborated upon here, as long as the virtual object a can intuitively annotate or prompt the real geographic information of the geographic features.

[0095] In some embodiments of augmented reality, to ensure visual harmony between the virtual object 'a' and the real environment, dynamic adjustments are needed based on the imaging principles of the real world. For example, when the distance or height between the mobile platform and geographic features changes, the projected size of the geographic features in the image also changes. By associating the display size of the virtual object 'a' with these parameters, it can be ensured that the virtual object 'a' and the real geographic features maintain a visually consistent proportion. Furthermore, different viewing angles affect the projection effect of geographic elements in the image. Objects typically appear smaller at wide viewing angles and larger at narrow viewing angles. Associating the size of the virtual object 'a' with the viewing angle ensures that the virtual object 'a' blends naturally into the frame under different lens settings. Additionally, zooming changes the magnification of objects in the image. When the shooting device zooms, the virtual object 'a' should also adjust its size synchronously to match the magnified or reduced image effect, maintaining a proportional harmony between the virtual and the real.

[0096] Therefore, the display size of virtual object 'a' in the image is related to at least one of the following parameters: the distance of the movable platform relative to the geographic feature corresponding to virtual object 'a', the height of the movable platform relative to the geographic feature corresponding to virtual object 'a', the viewing angle of the shooting device, and the zoom level of the shooting device. By associating the display size of virtual object 'a' with at least one of the above parameters, a precise match between the virtual and real worlds can be achieved, providing users with a more natural and consistent visual experience.

[0097] For example, the distance between the mobile platform and the geographic feature corresponding to virtual object 'a' includes: statistical results of the distance values ​​corresponding to multiple geographic locations within the geographic feature corresponding to virtual object 'a'. These statistical results include, but are not limited to, average, median, minimum, maximum, or weighted values. To ensure that the statistical results accurately reflect the distance distribution between the mobile platform and different geographic locations, the geographic feature needs to be uniformly sampled to obtain the distance values ​​corresponding to the multiple geographic locations. For example, for the first channel shown in Figure 5, the distance between the mobile platform and the first channel is the average of the distance values ​​at locations A, B, and C. Similarly, for the second channel shown in Figure 5, the distance between the mobile platform and the second channel is the average of the distance values ​​at locations D, B, and E.

[0098] Optionally, the display size of virtual object 'a' in the image has a negative correlation with distance. Under the perspective projection model, the projection of distant objects on the imaging plane becomes smaller, while that of nearby objects becomes larger. Therefore, when the distance between the movable platform and the geographic feature corresponding to virtual object 'a' increases, the display size of virtual object 'a' in the image will decrease accordingly, and vice versa. Thus, the two exhibit a negative correlation.

[0099] For example, the display size of virtual object 'a' in an image is negatively correlated with its height. The higher the height, the greater the angle at which the camera views the geographic feature, resulting in a smaller proportion of the geographic feature in the field of view. Consequently, the display size of virtual object 'a' superimposed on that geographic feature shrinks. Therefore, as the height of the movable platform increases, the display size of virtual object 'a' in the image decreases, and vice versa; that is, the two exhibit a negative correlation.

[0100] For example, the display size of virtual object 'a' in the image is negatively correlated with the field of view of the shooting device. The larger the field of view, the wider the range of the environment that can be seen in the image, and correspondingly, the projection of a single object in the image will shrink. Therefore, when the field of view (FOV) of the shooting device increases, the display size of virtual object 'a' in the image will decrease, and vice versa; that is, the two are negatively correlated.

[0101] For example, the display size of virtual object 'a' in the image is positively correlated with the zoom level of the shooting device. Zooming in magnifies a portion of the image, so the originally smaller virtual object 'a' will enlarge accordingly, occupying a larger image area. Therefore, as the zoom level of the shooting device increases, the display size of virtual object 'a' in the image also increases, and vice versa; that is, the two are positively correlated.

[0102] In some embodiments, in the first display state, the visibility of virtual object a is greater than the visibility of the geographic feature corresponding to virtual object a. This can significantly highlight virtual object a, thereby guiding users to quickly locate and identify geographic features, achieving the effect of highlighting and clearly prompting.

[0103] For example, in the first display state, referring to Figure 3, a virtual object 'a' overlays the display location of the geographic feature, making the geographic feature invisible in the image. That is, by completely replacing the display of the actual geographic feature with the virtual object 'a', the user can ensure that they only focus on the optimized virtual object 'a' and are not distracted by the details of the actual geographic feature. Because the geographic feature is obscured, the user's attention will be focused on the virtual object 'a', thus capturing key information faster and more accurately.

[0104] In some embodiments, in the second display state, the visibility of virtual object a is less than the visibility of the geographic feature corresponding to virtual object a. This reduces the interference of the virtual object on the real image, allowing the user to observe the details of the actual geographic feature more clearly and ensuring that the geographic feature is not obscured by the overly prominent virtual object a. This provides a prompting function for the virtual object when necessary without affecting the user's acquisition of real environmental information.

[0105] For example, please refer to Figure 4. A second visibility of 0 includes: not displaying virtual object 'a' at the display location of geographic features in the image. In other words, the control terminal can completely eliminate the interference of virtual object 'a', and the user only sees the image of the real environment. This helps to prioritize the display of original image information in certain application scenarios, thereby ensuring the accurate identification and judgment of key geographic information, while reducing the risk of information confusion and visual interference.

[0106] For example, in the first display state, the first visibility is related to the first transparency. In the second display state, the second visibility is related to the second transparency. The second visibility being less than the first visibility includes displaying the virtual object 'a' at the location of the geographic feature in the image with a second transparency greater than the first transparency. That is, in the first display state, the virtual object 'a' is displayed with lower transparency (or higher opacity), thus giving it higher visibility and clearly identifying the corresponding geographic feature, serving as a clear indicator. In the second display state, the virtual object 'a' is displayed with higher transparency (or lower opacity), reducing its visibility and thus lessening interference with the actual display of the geographic feature, while still retaining some informational clues. This achieves a balance between highlighting the virtual object when needed to guide the user's attention to key information and reducing the impact of the virtual object without interfering with the original image display, thus balancing information prompts with the actual display of image information.

[0107] The transparency of virtual object 'a' (such as the first transparency and second transparency mentioned above) can be automatically set by the control terminal, or it can be determined based on user input commands. For example, in automatic setting mode, the control terminal can automatically calculate and adjust the transparency of virtual object 'a' based on conditions in the image (such as the display size of geographic features, ambient brightness, or other preset parameters) to achieve better display balance. In user input mode, users can issue input commands through touch interface, gestures, or voice commands to directly adjust the transparency of virtual object 'a', thereby meeting personalized display needs in different scenarios.

[0108] In some embodiments, when the display size of virtual object a in the image shrinks to a level that does not meet the first preset condition, it indicates that the user's interaction needs may have changed in reverse. The user's attention has shifted from the real content in the image to virtual object a and its associated information. For example, the user may be more concerned with the key information of the geographic features reflected by virtual object a, or the visual proportion of the geographic features themselves in the image may have decreased. The user may rely more on virtual object a for navigation or information acquisition rather than directly observing the geographic features themselves. In this case, the control terminal switches from the second display state to the first display state to enhance the visibility of virtual object a, making it easier for the user to perceive and interact with the virtual object in the current scene, thereby improving information acquisition efficiency and user experience.

[0109] In some embodiments, the display size of virtual object a in the image may continue to shrink even if the first preset condition is not met, until the display size of virtual object a in the image shrinks to meet the second preset condition. This reflects a change in the user's interaction needs, such as the user starting to focus more on the real content in the image, or the user being in a long-distance or high-altitude overhead view mode, indicating that the mobile platform is moving further away from geographical features, or the shooting device's field of view is continuously expanding, making it seem that the geographical features in the image are no longer clearly visible. The display size of virtual object a will continue to shrink, and the displayed virtual object a becomes invalid information, unable to provide valuable assistance in identifying geographical features. In this case, the user may focus more on the overall environment rather than the specific content of the geographical features, and highlighting virtual object a is no longer necessary. The control terminal can then switch from the first display state to the second display state, reducing or hiding the visibility of virtual object a to ensure that the user can more clearly view the real geographical features in the image, and also preventing the display of invalid virtual object a from obscuring the overall image, thus improving the visual experience.

[0110] Conversely, when the display size of virtual object 'a' in the image shrinks to meet the second preset condition, its display size stops shrinking and continues to increase until the second preset condition is no longer met. This reflects a reverse change in the user's interaction needs. For example, the user may want to refocus on virtual object 'a', or the mobile platform or camera device may change—for instance, the mobile platform may move closer to geographic features, or the camera device's viewing angle may narrow—increasing the visual importance of virtual object 'a'. In this case, the user may want virtual object 'a' to become clearly visible again for more intuitive identification of geographic features or to perform related operations. When virtual object 'a' increases to the point where the second preset condition is no longer met, remaining in the second display state may affect the accuracy of user identification and interaction. Therefore, the control terminal switches from the second display state back to the first display state to ensure increased visibility of virtual object 'a' in the image and that the user can obtain relevant information promptly.

[0111] In summary, when the display size of virtual object a in the image does not meet the first preset condition (e.g., the display size will not be too large) and does not meet the second preset condition (e.g., the display size will not be too small), it indicates that the display size of virtual object a is within a reasonable range and will not affect the user experience due to being too large or too small. Within this range, the user still needs to see virtual object a, so it should be kept clearly visible. Therefore, the control terminal maintains the first display state by default, that is, the virtual object a is displayed at the display position of the geographic feature in the image with the first visibility, so as to provide the user with reference or interaction.

[0112] Optionally, at least one of the first and second preset conditions mentioned above can be automatically set by the control terminal, or at least one of the first and second preset conditions mentioned above can be determined based on user input commands. For example, in automatic setting mode, the control terminal can intelligently adjust the first and second preset conditions according to various factors, such as including but not limited to: (1) environmental factors, adjusting the preset conditions according to light intensity and weather conditions to ensure that the visibility of virtual object a adapts to different environments. (2) the status of the movable platform, dynamically adjusting the preset conditions based on the speed, acceleration, or position of the movable platform to make virtual object a clearer or more concealed at critical moments. (3) the user's historical interaction data, combined with the user's past usage habits, such as whether the user prefers to zoom in or zoom out, adjusting the first and second preset conditions to match the user's preferences. (4) the parameters of the shooting device, dynamically adjusting the preset conditions based on information such as the camera's focal length, zoom factor, and viewing angle range to ensure that virtual object a switches display states within a suitable size range.

[0113] In user input mode, users can issue input commands through various interaction methods and directly set at least one of the first and second preset conditions, such as including but not limited to: (1) Touch interface, where users can drag a slider, click on an option, or input a value to adjust the preset conditions so that the size of the virtual object a changes to meet the user's needs. (2) Gesture operation, for example, users can use gesture scaling to define the thresholds of the first and second preset conditions to adjust when to switch the display state. (3) Voice command, where users can use voice commands, such as "make the virtual logo clearer" or "reduce the logo's proportion" to modify the first and second preset conditions so as to adjust the display effect according to actual needs.

[0114] In one possible implementation, the first preset condition may include a critical point indicating that the display size of the virtual object 'a' in the image is too large. For example, this critical point can be quantified by a first preset threshold to define when the display size of the virtual object 'a' in the image is considered "too large." The control terminal then switches from a first display state to a second display state in response to the display size of the virtual object 'a' in the image being greater than or equal to the first preset threshold; conversely, the control terminal switches from the second display state to the first display state in response to the display size of the virtual object 'a' in the image being less than the first preset threshold. This avoids the virtual object 'a' from interfering with the user's viewing of the actual content in the image when its display size is too large.

[0115] In one possible implementation, the second preset condition may include a critical point indicating that the display size of the virtual object a in the image is too small. For example, this critical point can be quantified by a second preset threshold to define when the display size of the virtual object a in the image is considered "too small". The control terminal then switches from the first display state to the second display state in response to the display size of the virtual object a in the image being less than or equal to the second preset threshold. Conversely, in response to the display size of the virtual object a in the image being greater than the second preset threshold, it switches from the second display state to the first display state.

[0116] For example, the first preset threshold is greater than the second preset threshold. Referring to Figure 6, when the display size of virtual object a in the image is less than or equal to the second preset threshold, a second display state is adopted to coordinate its visibility with that of geographic features, thereby optimizing the presentation of interface information. When the display size of virtual object a in the image is between the second and first preset thresholds, the first display state is adopted to display virtual object a with high visibility, making it clearly visible. When the display size of virtual object a in the image is greater than or equal to the first preset threshold, the second display state is adopted to reduce its visibility, thereby minimizing occlusion of real content. By using the first and second preset thresholds, the display method of virtual object a can be intelligently adjusted, ensuring that geographic features are effectively identified under different scaling conditions without affecting the user's focus on the image content, thus improving the interactive experience and information readability.

[0117] For example, the first preset threshold and the second preset threshold are determined based on the user's operation on the virtual control. For instance, the virtual control may include a slider control, and the user can set the first preset threshold and the second preset threshold according to their actual needs.

[0118] In one possible implementation, in the second display state, the second visibility of virtual object a is related to the display size of virtual object a in the image. That is, the second visibility of virtual object a can change accordingly as the display size of virtual object a in the image changes, presenting a dynamic correlation effect.

[0119] For example, when the display size of virtual object 'a' in the image is greater than or equal to a first preset threshold, virtual object 'a' is already displayed too large in the image, which may obstruct or interfere with the display of the real environment. Therefore, in response to the display size of virtual object 'a' in the image being greater than or equal to the first preset threshold, the second visibility of virtual object 'a' is negatively correlated with its display size in the image. That is, as the display size of virtual object 'a' further increases, its second visibility gradually decreases. The purpose of this is to reduce interference with real geographic elements in the image by decreasing its visibility when the display size of virtual object 'a' is too large, thus ensuring the visibility of real content and the balance of overall image information.

[0120] For example, in response to the display size of virtual object a in the image being less than or equal to a second preset threshold, the second visibility of virtual object a is positively correlated with the display size of virtual object a in the image. That is, as the display size of virtual object a further decreases, its second visibility gradually decreases in order to optimize the presentation of interface information.

[0121] In one possible implementation, in the first display state, the first visibility of virtual object a is related to the display size of virtual object a in the image. That is, the first visibility of virtual object a can change accordingly as the display size of virtual object a in the image changes, presenting a dynamic correlation effect.

[0122] For example, in response to the display size of virtual object a in the image being within a first preset range, where the maximum value in the first preset range is a first preset threshold and the minimum value in the first preset range is a value between the first preset threshold and a second preset threshold, such as an intermediate value or other values, the degree of enhancement of the visibility of virtual object a is negatively correlated with the display size of virtual object a in the image. When the display size of virtual object a increases within this range, the enhancement decreases; conversely, if the size is close to the lower limit of the range, the enhancement is higher. This is because a larger display size already ensures the visibility of virtual object a, so excessive enhancement is unnecessary. When the display size is slightly smaller, the enhancement can be appropriately increased to compensate for the recognition difficulties caused by insufficient display size, thereby ensuring that virtual object a is always sufficiently conspicuous.

[0123] For example, in response to the display size of virtual object a in the image falling within a second preset range, where the minimum value in the second preset range is a second preset threshold and the maximum value is a value between a first preset threshold and a second preset threshold, the degree of enhancement in the visibility of virtual object a is positively correlated with the display size of virtual object a in the image. That is, as the display size of virtual object a increases within this range, its enhancement also increases; if the size is very close to the second preset threshold, the enhancement is lower. This is because when the display size of virtual object a is within a small size range, the overall display may not attract sufficient attention from the user.

[0124] In some embodiments, if there are multiple geographic features in the current environment, there will be multiple virtual objects 'a', with different virtual objects 'a' corresponding to different geographic features. For example, if there are multiple channels in the current environment, there can be multiple virtual objects 'a', with a one-to-one correspondence between virtual objects 'a' and channels, enabling accurate identification without interfering with the overall view.

[0125] In one possible implementation, the control terminal can detect the display size of each virtual object a in the image among multiple virtual objects a, thereby enabling targeted switching of the display state of each virtual object a based on its display size in the image. For example, the aforementioned first and second preset conditions can be related to the display size of a single virtual object a in the image. The control terminal monitors the display size of multiple virtual objects a in the image in real time and, based on the relationship between the display size of a single virtual object a in the image and the preset conditions (such as the first and second preset conditions), targets and switches the display state of each virtual object a accordingly, thereby enabling the display or hiding of some virtual objects. The specific details are as follows:

[0126] In the first scenario, if at least one of the multiple virtual objects 'a' has increased in size to meet a first preset condition (e.g., the display size of a target virtual object 'a' is greater than or equal to a first preset threshold), indicating that the target virtual object 'a' is too prominent, the control unit switches the target virtual object 'a' from the first display state to the second display state to reduce its visual interference. This switching ensures that when an individual target virtual object 'a' is displayed too large, its visibility is reduced, thereby avoiding negative interference with the overall image and facilitating user identification of the geographic features corresponding to the target virtual object 'a'.

[0127] In the second scenario, if at least one of the multiple virtual objects a has its display size in the image reduced to a level that does not meet the first preset condition (e.g., the display size of a target virtual object a in the image has decreased from greater than or equal to the first preset threshold to less than the first preset threshold), indicating that the display size of the target virtual object a is no longer too large and the user may need clearer information prompts, then the control terminal will switch the target virtual object a from the second display state to the first display state. This can restore the significant identification function of the target virtual object a and help the user more accurately locate and identify the corresponding geographic features.

[0128] In the third case, in response to the fact that at least one of the multiple virtual objects a has its display size in the image reduced to meet the second preset condition, such as the display size of the target virtual object a in the image being less than or equal to the second preset threshold, the control terminal switches the target virtual object a from the first display state to the second display state, effectively avoiding the appearance of overly small virtual icons in the screen, preventing the interface content from being too cluttered, and also prompting the user that the geographical feature may not be the focus of attention at present.

[0129] In the fourth case, in response to the fact that at least one of the multiple virtual objects a has increased its display size in the image to the point that it no longer meets the second preset condition, such as the display size of the target virtual object a in the image increasing from less than or equal to the second preset threshold to greater than the second preset threshold, indicating that the target virtual object a has begun to recover to a more obvious state, the control terminal switches the target virtual object a from the second display state to the first display state, so that a clear visual identifier can be obtained in a timely manner, which is convenient for users to interact and obtain key information.

[0130] The above implementation method, by independently detecting and switching the state of each virtual object 'a', enables the personalized display or hiding of some virtual objects, thereby making the interface information hierarchy clearer and highlighting key points in complex environments. Based on the relationship between the real-time display size of each virtual object 'a' and a preset threshold, the display state can be automatically adjusted to ensure that each virtual object is presented in the most appropriate way regardless of changes in environment, user position, or viewing angle. This targeted state switching avoids virtual objects that are too large and obscure the real scene, while also preventing information loss from overly small objects, ensuring that users can quickly and accurately obtain the information they need in multi-object environments, thus improving the overall interactive experience.

[0131] In another possible implementation, the first and second preset conditions mentioned above can refer to the total display size of all virtual objects a in the image. The control terminal monitors the total display size of all virtual objects a in the image in real time and displays or hides them according to the relationship between the total display size of all virtual objects a in the image and the preset conditions (such as the first and second preset conditions). The specific details are as follows:

[0132] In the first case, in response to the total display size of all virtual objects a in the image increasing to meet the first preset condition, such as the total display size of all virtual objects a in the image being greater than or equal to the first preset threshold, indicating that all virtual objects are generally large and may cause significant occlusion of the image, the control terminal switches all virtual objects a from the first display state to the second display state. By reducing the display intensity of all virtual objects, their interference with the real content in the image is reduced, ensuring that users can observe the real environment more clearly.

[0133] In the second case, in response to the total display size of all virtual objects a in the image shrinking to a level that does not meet the first preset condition, such as the total display size of all virtual objects a in the image shrinking from greater than or equal to the first preset threshold to less than the first preset threshold, indicating that the virtual objects no longer significantly obstruct the image, the control terminal switches all virtual objects a from the second display state to the first display state to help users accurately identify and locate the corresponding geographic features.

[0134] In the third case, in response to the total display size of all virtual objects a in the image shrinking to meet the second preset condition, such as the total display size of all virtual objects a in the image being less than or equal to the second preset threshold, indicating that the virtual objects are very small and no longer the focus of the user, the control terminal switches all virtual objects a from the first display state to the second display state to prevent the interface from displaying content too cluttered.

[0135] In the fourth case, in response to the total display size of all virtual objects a in the image increasing to the point that it no longer meets the second preset condition, such as the total display size of all virtual objects a in the image increasing from less than or equal to the second preset threshold to greater than the second preset threshold, the control terminal switches all virtual objects a from the second display state to the first display state to improve their visibility.

[0136] The above implementation monitors the total display size of all virtual objects, allowing for adjustments to the display status based on the overall situation. This ensures that virtual objects are neither too prominent and obscure the background in various environments, nor too small to cause users to overlook important information. For virtual objects corresponding to multiple geographic features, centralized management is achieved through unified monitoring of the total display size, resulting in a more harmonious and unified visual effect for the interface.

[0137] In some embodiments, in response to a triggering operation on virtual object a, at least one task identifier associated with virtual object a is displayed on the image. The task identifier is used to associate a target task to be executed by the mobile platform for a geographic feature. Virtual object a includes at least two different types of virtual objects a, which have different display styles in the image, and at least one of the task identifiers associated with each of the at least two different types of virtual objects a is different. In this embodiment, after triggering virtual object a, virtual object a is used to identify geographic features, and task identifiers associated with geographic features are dynamically displayed on the image. This enables intuitive retrieval of task identifiers, and the task identifiers are associated with the target task to be executed by the mobile platform for the geographic feature. This facilitates user understanding and intuitive operation. Integrating the image, virtual object, and task identifier display into the same interface significantly simplifies the operation process, reduces the number of interface switching times, and also helps to simplify the task instruction issuance process. In addition, virtual objects can include multiple different types, which are distinguished by different display styles. Furthermore, the task identifiers associated with each type of virtual object are also different, which makes it easier for users to intuitively and conveniently trigger different target tasks for different geographical elements of different types of virtual object identifiers. This is simpler, more targeted, and can also reduce the risk of misoperation.

[0138] For example, virtual object 'a' includes recognition-type virtual objects and tagging-type virtual objects; recognition-type virtual objects are generated based on the recognition of objects in an image; tagging-type virtual objects are generated based on user tagging operations on the image. Recognition-type virtual objects include at least one of the following: living organisms, animals, stationary objects, and movable objects. Tagging-type virtual objects include at least one of the following: point-like tagging objects, line-like tagging objects, area-like tagging objects, and three-dimensional tagging objects.

[0139] For example, the control terminal can respond to a triggering operation on one of the task identifiers associated with the virtual object a, and control the mobile platform to perform a target task against a geographic feature.

[0140] For more information on the triggering process of virtual object 'a' and different types of virtual object 'a', please refer to the following description, which will not be repeated here.

[0141] Based on the same or similar inventive concept as the display method described above, please refer to Figures 1 and 7 together. Figure 1 shows a schematic diagram of the interaction between the movable platform and the control terminal, and Figure 7 shows a control method provided by an embodiment of this application. In Figure 7, it is labeled as process 700, which may include steps S701 to S703. Specifically, it includes:

[0142] In the S701, the mobile platform captures images using its onboard camera and sends the images to the control unit. The images include geographic features.

[0143] In S702, the control terminal receives and displays an image. In the first display state, a virtual object a is overlaid at the display position of the geographic feature in the image with a first visibility. The virtual object a is used to identify the geographic feature.

[0144] In S703, the control terminal responds to the increase in the display size of the virtual object a in the image to meet the first preset condition, and switches from the first display state to the second display state. In the second display state, the virtual object a is superimposed at the display position of the geographic feature in the image with a second visibility. The second visibility is less than the first visibility and the second visibility is greater than or equal to 0.

[0145] The above control method dynamically adjusts the display effect of virtual object a through the control terminal, achieving a dynamic balance between information transmission and visual interference. The automated state switching greatly reduces user intervention and improves the user's operating experience.

[0146] For more information on the above control methods, please refer to the relevant descriptions in the above display methods; they will not be repeated here.

[0147] In related technologies, when users need to understand the relevant tasks of a mobile platform or issue relevant task instructions, they usually need to navigate through multiple interfaces, which involves many steps and is not intuitive. The process of issuing task instructions is complex, resulting in low work efficiency. For example, users might use the camera device on the mobile platform to mark points on an image and control the mobile platform to move to the marked point to perform the corresponding task operation. In related technologies, this usually requires navigating through multiple different interfaces, which is also many steps and not intuitive, leading to low work efficiency.

[0148] Therefore, based on at least some of the related technical problems existing in the related technologies, the embodiments of this application provide a display method, control method, system and computer-readable storage medium, which can simplify the task instruction issuance process and improve the user operation experience.

[0149] The system provided in this application includes, but is not limited to, at least one of the following: a controller for a display terminal that communicates with a mobile platform, a controller for a mobile platform, a controller for a control terminal of a mobile platform, a display terminal, a mobile platform, and a control terminal.

[0150] The display method provided in this application embodiment can be executed by any of the aforementioned devices alone, such as by the control terminal alone. Optionally, the method provided in this application embodiment can be executed by at least two devices simultaneously. For example, a mobile platform can acquire an image captured by a camera mounted on the mobile platform in the current real environment, and render a virtual object b. Then, the image and the virtual object a are sent to the display terminal, and the display terminal displays the image superimposed with the virtual object b. This embodiment does not impose any limitations on this, and specific settings can be made according to the actual application scenario.

[0151] In some embodiments, please refer to Figures 1 and 8 together. Figure 1 shows a schematic diagram of the interaction between the mobile platform and the control terminal, and Figure 8 shows a flowchart of another display method, labeled as process 800. Process 800 may include steps S801 to S803. This display method is illustrated by way of example with the control terminal as the execution subject, and specifically includes:

[0152] In S801, images captured by the camera device mounted on the mobile platform are acquired during the movement of the mobile platform.

[0153] In S802, a virtual object b is overlaid on the image, and the virtual object b is used to identify the target in the image.

[0154] For example, the target may include at least one of the following: objects, geographic features, spatial locations, etc., in the real environment where the mobile platform is located. Optionally, the target may correspond to real features in the environment corresponding to the image. Optionally, the target may be determined by the user, for example, by the user clicking on a target point in the image. Optionally, the target may also be automatically determined by the mobile platform, for example, by the mobile platform automatically identifying geographic features in the current image.

[0155] Overlaying virtual objects (b) onto images to identify objects in the real environment in which the mobile platform is located can improve environmental understanding and enhance the interactive experience. For example, objects in the real environment in which the mobile platform is located may include, but are not limited to: (1) buildings, such as shops, offices, and residential buildings; used to identify important locations, such as shop names and floor information. (2) vehicles, such as cars, bicycles, buses, and boats, for navigation or other purposes, such as identifying shared bicycle parking spots or bus stop locations. (3) pedestrians, for example, to detect pedestrian locations; in intelligent assisted driving or safety monitoring, identifying pedestrian locations helps avoid collision risks. (4) obstacles, such as roadblocks, construction areas, and trash cans, which can be used for obstacle avoidance prompts, enabling the mobile platform to automatically adjust its route. (5) equipment and facilities, such as traffic lights, billboards, and surveillance cameras, for information labeling, such as traffic light status or advertising content recognition. This application will not elaborate further.

[0156] Overlaying virtual objects (b) onto images to identify geographic features can enhance users' understanding of the environment. Examples of geographic features include, but are not limited to: (1) Roads, such as main roads, sidewalks, and highways; overlaying virtual objects (b) can be used to display road names, speed limits, or driving directions. (2) Intersections, such as crossroads, T-junctions, and roundabouts, helping users quickly understand road structures. (3) Bridges / tunnels, such as cross-river bridges and underground tunnels, which can identify bridge names or tunnel access status. (4) Rivers / lakes, such as park lakes and urban waterways, which can be used to mark water locations and provide route planning references. (5) Green spaces / parks, providing information on outdoor recreation.

[0157] Spatial location can represent specific geographic coordinates or regions and can be organized and labeled in different ways. For example, spatial location includes, but is not limited to, a single spatial location, a trajectory composed of multiple spatial locations, a two-dimensional plane composed of multiple spatial locations, or a three-dimensional space composed of multiple spatial locations. Spatial locations can be custom-labeled based on user needs or automatically labeled by an automated program based on preset rules; this embodiment does not impose any limitations on this.

[0158] For example, users can mark specific spatial locations according to their needs. For instance, users can manually mark Points of Interest (POIs), such as waypoints and landing points for aircraft. Users can also mark relevant work areas, such as manually marking or defining no-fly zones, restricted flight zones, and / or work areas within the aircraft application. For example, users can mark buildings to control the aircraft for modeling and mapping. Finally, users can create personalized routes, such as marking inspection operation routes for the aircraft.

[0159] In S803, in response to a triggering operation on virtual object b, at least one task identifier associated with virtual object b is displayed on the image, wherein the task identifier is used to associate a target task to be executed by the mobile platform for the target; wherein virtual object b includes at least two different types of virtual objects b, the at least two different types of virtual objects b have different display styles in the image, and at least one of the task identifiers associated with each of the at least two different types of virtual objects b is different.

[0160] In this embodiment, a virtual object b is overlaid on the image to identify targets in the image. Virtual object b identifies the targets in the image. After virtual object b is triggered, a task identifier associated with it is dynamically displayed on the image, enabling intuitive retrieval of the task identifier. The task identifier is associated with the target task to be executed by the mobile platform for the target, facilitating user understanding and intuitive operation. Integrating the image, virtual object, and task identifier display into a single interface significantly simplifies the operation process, reduces the number of interface switching times, and also simplifies the task instruction issuance process. Furthermore, virtual objects can include multiple different types, distinguished by different display styles, and each type of virtual object b is associated with a different task identifier. This allows users to intuitively and conveniently trigger different target tasks for different targets identified by different types of virtual objects, making the process simpler, more targeted, and reducing the risk of misoperation.

[0161] In one possible implementation, the triggering operation for virtual object b can be manually triggered by the user. In manual triggering mode, the user performs the triggering operation by manipulating control controls, which can be divided into virtual controls and physical controls.

[0162] For example, a virtual control is an interactive element displayed on the screen, which the user can trigger by touching, clicking, or swiping. Virtual controls include, but are not limited to: ① Virtual object b; the user can directly click on virtual object b on the interface to trigger its corresponding operation, such as opening details, displaying a task identifier, or executing a specific task. ② In addition to directly clicking on virtual object b, the control terminal can provide additional virtual controls corresponding to virtual object b, such as buttons or menu items; the user can trigger virtual object b by clicking on the virtual control corresponding to virtual object b.

[0163] For example, physical controls refer to physical buttons or control devices on a device, which users can use to trigger virtual object b. These include, but are not limited to: ① a scroll wheel, where users can rotate the scroll wheel to trigger virtual object b. ② a joystick, where users can manipulate the joystick to trigger virtual object b. ③ physical button triggering, where virtual object b is triggered via physical buttons on the device, such as volume buttons on a mobile phone, a touchpad on smart glasses, or a mouse click.

[0164] In another possible implementation, the triggering operation for virtual object b can be automatically triggered by an automated program. Automatic triggering can determine when to trigger based on preset rules, environmental perception, intelligent algorithms, etc. For example, in AR navigation, when a user approaches a target location, such as a subway station, the control terminal automatically triggers virtual object b, which identifies the subway station, and displays relevant information about that station. Similarly, in AR return navigation, virtual object b, which identifies the return trajectory and / or return point, is automatically triggered and displayed. Furthermore, in an intelligent driving system, when the camera detects an obstacle ahead, the control terminal automatically triggers virtual object b, which identifies the obstacle, and displays a warning message.

[0165] The option to trigger manually or automatically makes the interaction more flexible and adaptable to different usage scenarios.

[0166] In some embodiments, when a virtual object b is overlaid on an image, at least one task identifier associated with the virtual object b can also be displayed synchronously in the image along with the virtual object b, without requiring further triggering of the virtual object b. The user does not need to click, swipe, or perform other triggering operations; the control terminal can directly display the task identifier in the image, allowing the user to obtain important information immediately and facilitating rapid triggering of target-specific tasks.

[0167] In some embodiments, different types of virtual objects b have different display styles, including at least one of the following: color, shape, pattern, texture, size, pose, transparency, and markers. By using color, shape, and other methods, different types of virtual objects b can be quickly distinguished, reducing the cognitive burden on users, allowing them to perceive information more intuitively, and improving interaction efficiency.

[0168] In some embodiments, virtual object b includes identification-type virtual objects and tag-type virtual objects. These two types of virtual objects differ in their generation methods, uses, and specific forms, and can adapt to the needs of different scenarios.

[0169] Recognition-based virtual objects are generated based on the identification of objects in an image. For example, computer vision techniques, such as object detection, object recognition, and deep learning algorithms, can automatically identify different targets in an image and overlay virtual objects (b) at the corresponding locations. Recognition-based virtual objects can automatically extract environmental information, reduce manual intervention, and improve data collection efficiency.

[0170] Virtual objects for identification include at least one of the following: living organisms, such as plants; animals, such as pets and wild animals; stationary objects, such as buildings, roads, and traffic signs; and movable objects, such as cars and drones.

[0171] The target task corresponding to the identification-type virtual object includes at least one of the following: a task of following the target indicated by the identification-type virtual object, a task of sharing the location of the identification-type virtual object, etc.

[0172] Tag-based virtual objects are generated based on user annotation operations on images. Users can add custom tags to images through gestures, touchscreens, voice commands, or other interactive methods. Tag-based virtual objects allow users to customize information, making data more personalized. Tag-based virtual objects include at least one of the following: point-like tags, line-like tags, area-like tags, and 3D tags. Different tagging methods such as points, lines, areas, and 3D can adapt to different levels of spatial information representation, improving the intuitiveness of data.

[0173] Dot marker objects are virtual anchor points generated based on marking operations. They are used to identify the geographical location indicated by the marking operation. As shown in Figure 9, dot marker objects are displayed in the image to mark the geographical location of a building. Users can trigger these dot marker objects as needed, and task identifiers will then be displayed around them. The task identifiers in Figure 9 are displayed directly with the task names as follows.

[0174] The target task corresponding to the dotted marker object includes at least one of the following: a motion control task based on the geographic location indicated by the dotted marker object, a data acquisition task, and a data sharing task. For example, (1) the motion control task includes at least one of the following: a task of moving toward the geographic location indicated by the dotted marker object, and a task of moving around the geographic location indicated by the dotted marker object. (2) the data acquisition task includes at least one of the following: a task of taking pictures toward the geographic location indicated by the dotted marker object, and a task of taking pictures around the geographic location indicated by the dotted marker object. (3) the data sharing task includes at least one of the following: a task of sharing the geographic location indicated by the dotted marker object, and a task of sharing data collected by the mobile platform related to the geographic location indicated by the dotted marker object.

[0175] Linear marker objects are virtual paths generated based on marking operations. They are used to identify spatial paths indicated by the marking operations. As shown in Figure 10, linear marker objects are displayed in the image to mark a spatial path. Users can trigger these linear marker objects as needed, and task identifiers can then be displayed around them. The task identifiers in Figure 10 are displayed directly with the task names as follows.

[0176] The target tasks corresponding to the linear marker objects include at least one of the following: motion control tasks along the spatial path indicated by the linear marker objects, data acquisition tasks, and inspection tasks. In the motion control task, the mobile platform needs to plan its path according to the spatial path and use positioning and navigation technology to adjust its position and orientation in real time to ensure accurate movement along the spatial path. In the data acquisition task, the mobile platform carries various sensors, such as cameras, infrared sensors, and lidar, and can collect data while moving along the spatial path. In the inspection task, the mobile platform relies on environmental perception sensors, such as cameras and lidar, to detect the surrounding environment in real time while moving along the spatial path, ensuring timely detection and response to abnormal situations.

[0177] A polygonal marker object is a virtual region generated based on a marking operation. Polygonal marker objects are used to identify the geographic area indicated by the marking operation. As shown in Figure 11, a polygonal marker object is displayed in the image to mark a geographic area. Users can trigger the polygonal marker object as needed, and task identifiers will then be displayed around it. The task identifiers in Figure 11 are displayed directly with the following task names.

[0178] For example, the target tasks corresponding to area marker objects include at least one of the following: motion control tasks, mapping tasks, and inspection tasks for a geographic area indicated by the area marker object. Motion control tasks require the mobile platform to perform precise motion control within the geographic area defined by the area marker object. Unlike line marker objects, area marker objects require the mobile platform to move within a wider area, which may involve precise positioning, obstacle avoidance, or specific task execution within the geographic area. Mapping tasks require the mobile platform to create maps within the geographic area defined by the area marker object. These tasks involve the collection of spatial data, measurement of terrain or features, and the generation of high-precision geographic information data. Inspection tasks require the mobile device to perform periodic or real-time inspections within the geographic area defined by the area marker object, checking the status of facilities, environment, and equipment within the geographic area to ensure everything is normal and to promptly identify potential risks or problems.

[0179] For example, the 3D marker object is a virtual space generated based on the marking operation. The 3D marker object is used to identify the 3D space indicated by the marking operation. As shown in Figure 12, a 3D marker object is displayed in the image to mark a 3D space. The user can trigger the 3D marker object as needed, and then a task identifier can be displayed around the 3D marker object. The task identifier in Figure 12 is directly displayed with the following task name.

[0180] For example, the target task corresponding to the 3D marker object includes at least one of the following: a motion control task, a search task, and a modeling task for the spatial region indicated by the 3D marker object. The motion control task requires the mobile platform to perform precise motion control within the 3D space defined by the 3D marker object. Unlike motion control within a 2D region, the space involved in the 3D marker object has more complex height and depth requirements. Therefore, the mobile platform needs to be able to accurately locate itself in the 3D space and avoid obstacles within the region to complete the specific task. The search task requires the mobile platform to perform a search within the 3D space defined by the 3D marker object. Unlike ordinary planar search tasks, the 3D marker object requires the mobile platform to consider the height of the space and perform a comprehensive search. The modeling task refers to the mobile platform creating a 3D model within the 3D space specified by the 3D marker object through data acquisition, perception, and analysis. This 3D model can be the geometric structure of the 3D space, the surface of an object, or other space-related features.

[0181] In some embodiments, the target tasks associated with different types of virtual objects b can be customized based on user input instructions; for example, they can be customized through an interactive interface, voice commands, or gesture interactions. Taking the interactive interface as an example, in the interactive interface of the control terminal, the user can manually select virtual object b and assign specific tasks to it; for example, selecting a line-shaped marker object and setting the mobile platform to patrol according to the spatial path indicated by the line-shaped marker object; selecting a point-shaped marker object and setting the mobile platform's camera device to monitor the location in real time; selecting an area-shaped marker object and setting the mobile platform to automatically circumnavigate the area.

[0182] Alternatively, target tasks associated with different types of virtual objects b can be generated based on the user's historical operation data to enhance intelligence. The control terminal records the user's interaction with virtual object b and determines the target tasks associated with virtual object b based on this interaction. For example, if the user frequently has a mobile platform patrol "path b," a patrol task for that path can be created. Generating tasks based on historical data can reduce manual user operations and improve the automation of task scheduling.

[0183] In some embodiments, in response to a trigger operation on virtual object b, the control terminal can display the spatial attribute information of virtual object b, enabling the user to comprehensively and intuitively understand the spatial relationships in the current scene, which is helpful for real-time decision-making. Detailed spatial attribute information can serve as an important basis for subsequent tasks, ensuring that tasks can be executed more accurately, and can also serve as an important basis for users to set task parameters, ensuring the accuracy of task parameter settings.

[0184] For example, for a recognition-type virtual object, in response to a trigger operation on the recognition-type virtual object, the control terminal can display at least one of the following spatial attribute information of the recognition-type virtual object: the distance between the movable platform and the object indicated by the recognition-type virtual object, the height difference between the movable platform and the object indicated by the recognition-type virtual object, and the size information and movement speed of the object indicated by the recognition-type virtual object, etc.

[0185] For example, in response to a triggering operation on a dotted marker object, the control terminal may display at least one of the following spatial attribute information of the dotted marker object: the distance between the movable platform and the geographic location indicated by the dotted marker object, and the height difference between the movable platform and the geographic location indicated by the dotted marker object.

[0186] For example, in response to a triggering operation on a line marker object, the control terminal can display at least one of the following spatial attribute information of the line marker object: the length of the spatial path indicated by the line marker object, and the height difference between the movable platform and the spatial path indicated by the line marker object.

[0187] For example, in response to a triggering operation on a surface marker object, the control terminal can display at least one of the following spatial attribute information of the surface marker object: the area of ​​the geographic region indicated by the surface marker object, and the height difference between the movable platform and the geographic region indicated by the surface marker object.

[0188] For example, in response to a triggering operation on a three-dimensional marker object, the control terminal can display at least one of the following spatial attribute information of the three-dimensional marker object: the volume of the three-dimensional space indicated by the three-dimensional marker object, the height difference between the movable platform and the geographical area indicated by the three-dimensional marker object, and the distance between the movable platform and the geographical area indicated by the three-dimensional marker object.

[0189] In some embodiments, in response to a trigger operation on one of the task identifiers associated with virtual object b, the control terminal can control the mobile platform to execute a target task. A single simple trigger operation is all that's needed to directly start a predefined target task; the control terminal automatically issues instructions, avoiding cumbersome multi-step operations and significantly improving the speed and efficiency of task initiation.

[0190] For example, in response to a triggering operation on one of the task identifiers associated with the virtual object b, the control terminal can control the mobile platform to execute the target task indicated by the triggered task identifier, based on the geographic location information associated with the target. The geographic location information associated with the target provides the target's precise coordinates or regional description in the real environment, ensuring that the control terminal can accurately calculate a better movement path between the mobile platform's current location and the target's geographic location, thereby achieving efficient movement. This allows the mobile platform to complete the target task indicated by the task identifier more accurately and safely, thus improving the overall efficiency and reliability of task execution.

[0191] For example, the geographic location information related to the target is determined based on at least one of the following: location information collected by the positioning module mounted on the mobile platform, map information pre-stored on the mobile platform, and map information perceived in real time by the mobile platform. The location information collected by the positioning module mounted on the mobile platform can provide information such as latitude, longitude, and altitude of the mobile platform's current location. The map information pre-stored on the mobile platform and the map information perceived in real time by the mobile platform contain detailed geographic data of the current real environment, such as roads, buildings, obstacles, and facilities.

[0192] In some embodiments, in response to a triggering operation on one of the task identifiers associated with the virtual object b, the control terminal can directly control the mobile platform to execute the target task indicated by the triggered task identifier based on preset parameters associated with the task identifier.

[0193] For example, when dealing with virtual objects of the recognition type, in response to the triggering operation of the task identifier of the following task corresponding to the virtual object of the recognition type, the control terminal can directly control the mobile platform to follow the object indicated by the virtual object of the recognition type based on preset following parameters. In this embodiment, the preset parameters enable the mobile platform to execute the target task immediately after the triggering operation, without the need for additional parameter configuration steps, thereby improving the immediacy of task execution and making the mobile platform more intelligent.

[0194] In other embodiments, in response to a triggering operation on one of the task identifiers associated with the virtual object b, the control terminal may also display a parameter setting page related to the task identifier, allowing the user to customize the relevant parameters according to their own needs. This allows the mobile platform to execute the target task indicated by the triggered task identifier based on the user-defined parameters. In this embodiment, the user is allowed to adjust the parameters according to real-time needs, making the task more suitable for a specific environment, scenario, or goal, thus improving the customizability of the task.

[0195] For example, in response to a trigger operation on the task identifier of the motion control task corresponding to the dotted marker object, the control terminal can display a motion parameter setting page for the user to set the motion parameters of the movable platform. Upon obtaining the set motion parameters, the control terminal can control the movable platform to perform motion control tasks on the target based on the motion parameters. In this embodiment, displaying the motion parameter setting page allows the user to precisely set the motion parameters of the movable platform, such as speed and steering angle, according to the actual scenario and needs, thereby achieving customized control.

[0196] For example, in response to a trigger operation on the task identifier of the data acquisition task corresponding to the dotted marker object, the control terminal can display a data acquisition parameter setting page for the user to set the shooting parameters of the shooting device. Upon receiving the set shooting parameters, the control terminal can control the shooting device to perform a data acquisition task on the target based on the shooting parameters. In this embodiment, displaying the data acquisition parameter setting page allows the user to flexibly adjust shooting parameters according to specific scenario requirements, such as exposure, shutter speed, focal length, white balance, frame rate, and shooting angle, thereby ensuring that the acquired data or images meet the expected quality standards and avoiding data distortion or information omission due to parameter mismatch.

[0197] For example, in response to a trigger operation on the task identifier of the data sharing task corresponding to the dotted marker object, the control terminal can display an identification code that can be scanned by other devices to provide the data to be shared as indicated by the data sharing task. In this embodiment, displaying an identification code that can be scanned by other devices, such as a barcode or QR code, provides a simple way for multiple devices to exchange data without cumbersome manual input or complex configuration.

[0198] For example, in response to a triggering operation on a line marker object, a guide marker pointing from the current position of the movable platform to the starting point of the line marker is overlaid on the image. By overlaying the guide marker on the image, the user can clearly and intuitively see the positional relationship between the movable platform and the starting point of the line marker object, guiding the movable platform to move quickly and accurately to the starting point of the line marker, thereby ensuring that the task is executed correctly along the predetermined path and avoiding additional adjustments or driving errors caused by path deviations.

[0199] For example, in response to a trigger operation on the task identifier of the data acquisition task corresponding to the line-marked object, the control terminal can display a data acquisition parameter setting page for the user to set the shooting parameters of the shooting device. Upon receiving the set shooting parameters, the control terminal can control the shooting device to perform a data acquisition task on the target based on the shooting parameters. In this embodiment, displaying the data acquisition parameter setting page allows the user to flexibly adjust shooting parameters according to specific scenario requirements, such as exposure, shutter speed, focal length, white balance, and frame rate, thereby ensuring that the acquired data or images meet the expected quality standards and avoiding data distortion or information omission due to parameter mismatch.

[0200] For example, in response to the triggering operation of the task identifier of the surveying task corresponding to the facet-marked object, the control terminal can display a surveying parameter setting page for the user to set surveying parameters; in response to obtaining the set surveying parameters, the control terminal controls the movable platform to perform a surveying task on the target based on the surveying parameters. In this embodiment, through the surveying parameter setting page, the user can flexibly set surveying parameters according to the specific scenario, such as flight altitude, flight path density, shooting angle, image resolution, etc., thereby ensuring the accuracy and integrity of the collected data and meeting specific surveying needs.

[0201] In one possible implementation, when there are multiple surveying methods and different surveying parameters are required for each method, in response to the triggering operation of the task identifier of the surveying task corresponding to the facet-marked object, the control terminal can first display a surveying method selection page, allowing the user to select the target surveying method from at least two options. Then, in response to the completion of the target method selection, a surveying parameter setting page corresponding to the target method is displayed. In this embodiment, considering that different surveying methods correspond to different task requirements, allowing users to select the most suitable surveying method based on the actual environment and target characteristics makes the surveying task more targeted. Furthermore, displaying a dedicated parameter setting page based on the selected surveying method ensures more refined and professional parameter settings, thereby improving the accuracy and reliability of the surveying data.

[0202] For example, after obtaining the set surveying parameters, the control terminal can also generate a surveying trajectory for the mobile platform based on the surveying parameters, and overlay the surveying trajectory and / or a guide marker pointing from the current position of the mobile platform to the starting point of the surveying trajectory onto the area marker object. In this embodiment, the automatically generated surveying trajectory graphically displays the expected movement route of the mobile platform on the area marker object, allowing the user to intuitively understand the task execution path, thereby facilitating verification and adjustment; the overlaid guide marker pointing from the current position of the mobile platform to the starting point of the surveying trajectory provides clear navigation guidance for the operator, ensuring that the platform accurately and quickly enters the surveying state and reducing startup deviation.

[0203] For example, in response to a trigger operation on the task identifier of the modeling task corresponding to the 3D marked object, the control terminal can display a modeling parameter setting page for the user to set modeling parameters. Upon receiving the set modeling parameters, the control terminal controls the movable platform to perform the modeling task on the target based on these parameters. In this embodiment, the user can customize modeling parameters according to the actual characteristics of the target and environmental conditions, such as resolution, sampling density, and level of detail, to ensure that the generated 3D model fully reflects the target details and improves modeling accuracy.

[0204] In some embodiments, the display state of virtual object b can be adjusted accordingly based on changes in the progress of the target task during its execution. In this embodiment, dynamically adjusting the display state can intuitively reflect the progress of the target task, allowing users to clearly understand the task completion status and facilitate timely decision-making. For example, suppose in a roof surveying task, a geographical area is first defined, representing the roof area to be surveyed, and identified by a polygonal marker object. When a user triggers the task identifier of the surveying task corresponding to the area marker object, the control terminal starts the surveying task. At this time, the display status of the area marker object will dynamically reflect the progress of the task. At the start of the task, the area marker object is displayed in bright blue with high visibility, indicating to the user that the surveying task has started. As the mobile platform gradually collects roof data along the predetermined route, the control terminal will update the task progress in real time. At this time, the display status of the area marker object gradually transitions to yellow, indicating that the task is in progress. When the surveying task is nearing completion, the area marker object further changes to orange and displays a "Coming Soon" prompt. Finally, when the surveying task is completely completed, the area marker object may turn into a state with a green checkmark, indicating that the task has been successfully completed.

[0205] Based on the same or similar inventive concept as the above display method, please refer to Figures 1 and 13 together. This application embodiment also provides a control method, which is marked as process 1300 in Figure 13. Process 200 may include steps S1301 to S1303.

[0206] include:

[0207] In S1301, the mobile platform captures images using its onboard camera during movement and sends the images to the control terminal.

[0208] In S1302, the control terminal receives and displays the image, and overlays a virtual object b on the image. The virtual object b is used to identify the target in the image.

[0209] In S1303, in response to a triggering operation on virtual object b, the control terminal displays at least one task identifier associated with virtual object b on the image, wherein the task identifier is used to associate a target task to be executed by the mobile platform for the target; wherein virtual object b includes at least two different types of virtual objects b, the at least two different types of virtual objects b have different display styles in the image, and at least one of the task identifiers associated with each of the at least two different types of virtual objects b is different.

[0210] The above control method integrates the display of images, virtual objects, and task identifiers into the same interface through the control terminal, which greatly simplifies the operation process, reduces the number of interface switching, and also helps to simplify the task instruction issuance process.

[0211] For more information on the above control methods, please refer to the relevant descriptions in the above display methods; they will not be repeated here.

[0212] Next, in an exemplary embodiment, a drone will be used as an example to illustrate the method of this application:

[0213] Augmented reality (AR) technology offers intuitive interactive capabilities, and AR applications have rapidly developed across multiple fields, providing many innovative solutions. While drones currently have some basic AR applications, they still face challenges in navigation, geographic awareness, and real-time control, including high barriers to entry, unintuitive operation, and low efficiency. The main problems are as follows:

[0214] 1. Difficulty in translating real-time footage into 2D maps: Current drone operation relies on 2D maps for navigation and geographic awareness. Pilots often need to switch back and forth between real-time footage and 2D maps, which is not only inefficient but also not intuitive. Users often need to spend a lot of mental effort to translate the correspondence between 2D maps and real-time footage.

[0215] 2. Poor real-time video makes it difficult for users to judge the geographical environment: Industrial drone operations often need to deal with situations such as nighttime, heavy fog, smoke and fire. In these situations, the real-time video of the drone is affected by the environment and its usability is very poor, making it difficult for pilots to judge the geographical environment.

[0216] 3. AR displays frequently interfere with real-time images: Existing AR overlay methods have a significant impact on real-time images and have simple display logic. When AR displays are enabled, they generally interfere with real-time images, and users often need to frequently turn AR displays on and off, which is cumbersome.

[0217] 4. Low efficiency of AR interaction: Currently, there are simple AR projections for marking and recognizing targets, but these ARs lack the ability to perform intuitive and quick interactive operations. Users often need to navigate through many function interfaces or take many steps to operate on the target, resulting in a low experience and low efficiency.

[0218] Based on this, at least some of the above problems can be solved through one or more of the following solutions:

[0219] 1. Images captured by a camera mounted on a mobile platform are overlaid with virtual objects (e.g., AR roads) on a real-time feed. By filtering and analyzing map data, the actual physical length and direction of roads can be extracted. Since map data does not include road width, the width of different roads needs to be determined based on the mapping relationship between different road types and road widths. The drone can calculate the display pixels of the road on the display interface based on its actual physical dimensions, and then project the virtual object (a) onto the display interface. Users can intuitively see the virtual object (a) on the real-time feed, eliminating the need to repeatedly check the 2D map, thus solving the problems of difficult switching between real-time and 2D maps and difficulty in judging the map environment due to poor real-time image quality.

[0220] 2. Adaptive display of virtual object 'a'. Virtual object 'a' will automatically show or hide based on the drone's viewpoint size and the number of pixels it occupies on the screen, avoiding frequent interference with the image. This is mainly reflected in the following:

[0221] (1) Virtual object a is automatically hidden: There is a minimum threshold X for the number of pixels occupied by virtual object a on the display interface. When the number of pixels occupied is less than the minimum threshold X, virtual object a is automatically hidden to reduce invalid information. There is a maximum threshold Y for the number of pixels occupied by virtual object a on the control interface. When the number of pixels occupied reaches the maximum threshold Y, virtual object a is automatically hidden to ensure that the screen is not obstructed.

[0222] (2) Virtual object a is automatically displayed: When the number of pixels occupied by virtual object a is between the minimum threshold X and the maximum threshold Y, virtual object a is displayed normally.

[0223] Among them, the maximum and minimum thresholds for the number of pixels occupied by virtual object a can be customized by the user.

[0224] The difference between this solution and the adaptive scaling of 2D map software: 2D map software divides geographical features into different levels and controls the visibility of different levels of features by the size of the map scale. This solution, on the other hand, calculates the scaling based on the actual number of pixels mapped onto the screen. Its advantage is that it is directly bound to the image, and this logic can be applied to different payload lens specifications of drones.

[0225] 3. Virtual objects b (e.g., AR targets) support touchscreen clicks for interactive operations. Recognition-type and marker-type virtual objects b can be directly accessed via the display interface, allowing users to quickly access the desired functions and improve work efficiency. Marker-type virtual objects b include: point markers, line markers, and area markers. Different types offer different functions; the following are some key characteristics:

[0226] The dotted marker object supports clicking on the display interface to bring up operations such as flying towards, circling around, looking towards, and sharing the location.

[0227] The area-marked object supports clicking on the display interface to quickly access surveying and modeling tasks.

[0228] Linear marker objects support clicking on the display interface to bring up quick waypoint flight mission operations.

[0229] For virtual objects like object b, AI-generated target recognition supports operations such as clicking on the display interface to call up tracking and location sharing.

[0230] It is worth noting that the various technical features in the above embodiments can be combined arbitrarily, as long as there is no conflict or contradiction between the combinations of features. Therefore, any combination of the various technical features in the above embodiments also falls within the scope of this specification. For example, without conflict, the technical features related to virtual object a and the technical features related to virtual object b can be combined with each other.

[0231] In some embodiments, referring to Figure 14, this application also provides a system comprising:

[0232] At least one processor 141;

[0233] At least one memory 142 including computer program code, wherein at least one of the memory 142 and the computer program code, together with at least one of the processors 141, are configured to cause the system to perform at least any of the methods described above.

[0234] The processor 141 executes the executable instructions included in the memory 142. The processor 141 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0235] The memory 142 stores computer program code for the control method. The memory 142 may include at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. Furthermore, the system can cooperate with network storage devices that perform storage functions via a network connection. The memory 142 can be an internal storage unit of the system, such as the system's hard disk or RAM. The memory 142 can also be an external storage system of the system, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, flash card, etc. Further, the memory 142 may include both internal and external storage units. The memory 142 is used to store computer programs and other programs and data required by the system. The memory 142 can also be used to temporarily store data that has been output or will be output.

[0236] For the system implementation, since it basically corresponds to the method implementation, the relevant parts can be referred to in the description of the method implementation. Those skilled in the art can understand and implement it without any inventive effort.

[0237] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions that can be executed by a processor of the device to perform the described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0238] A non-transitory computer-readable storage medium that, when instructions in the storage medium are executed by a terminal's processor, enables the terminal to perform the methods described above.

[0239] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0240] The methods and apparatus provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A display method, characterized in that, include: Acquire images captured by a camera mounted on a mobile platform, the images including geographic features; In the first display state, a virtual object a is overlaid at the display location of the geographic feature in the image with a first visibility, and the virtual object a is used to identify the geographic feature; as well as In response to the virtual object a increasing in display size in the image to meet a first preset condition, the display state is switched from the first display state to the second display state; In the second display state, the virtual object a is overlaid at the display location of the geographic element in the image with a second visibility, the second visibility being less than the first visibility, and the second visibility being greater than or equal to 0.

2. The method according to claim 1, characterized in that, In the first display state, the visibility of the virtual object a is greater than the visibility of the geographic feature corresponding to the virtual object a.

3. The method according to claim 2, characterized in that, In the first display state, the virtual object a covers the display location of the geographic feature, so that the geographic feature is not visible in the image.

4. The method according to claim 1, characterized in that, In the second display state, the visibility of the virtual object a is less than the visibility of the geographic feature corresponding to the virtual object a.

5. The method according to claim 1, characterized in that, The second visibility being equal to 0 includes: not displaying the virtual object a at the display location of the geographic feature in the image.

6. The method according to claim 1, characterized in that, The first visibility is related to the first transparency, and the second visibility is related to the second transparency. The second visibility being less than the first visibility includes: displaying the virtual object a at the display location of the geographic feature in the image with a second transparency, where the second transparency is greater than the first transparency.

7. The method according to claim 6, characterized in that, The transparency of the virtual object 'a' is determined based on the user's input instructions.

8. The method according to claim 1, characterized in that, The geographic elements include at least one of the following: spatial location, surface objects, and transportation elements.

9. The method according to claim 8, characterized in that, The traffic elements include at least one of the following: a passageway that allows the mobile platform to pass through, a passageway whose length or width meets preset conditions, or a passageway of a preset type.

10. The method according to claim 1, characterized in that, The method further includes: In response to the virtual object a shrinking in size in the image to a state that does not meet the first preset condition, the display state is switched from the second display state to the first display state.

11. The method according to claim 1, characterized in that, The method further includes: In response to the virtual object a's display size in the image being reduced to meet a second preset condition, the display state is switched from the first display state to the second display state.

12. The method according to claim 1, characterized in that, The method further includes: In response to the virtual object a increasing in display size in the image to the point that it no longer meets the second preset condition, the display state is switched from the second display state to the first display state.

13. The method according to any one of claims 1 to 12, characterized in that, In the first display state, displaying the virtual object a at the display location of the geographic feature in the image with a first visibility includes: In response to the virtual object a's display size in the image not meeting the first preset condition and not meeting the second preset condition, the virtual object a is overlaid at the display position of the geographic element in the image with the first visibility.

14. The method according to any one of claims 1 to 13, characterized in that, The first preset condition and / or the second preset condition are determined based on the user's input instructions.

15. The method according to any one of claims 1 to 13, characterized in that, The display size of the virtual object a in the image is increased to meet a first preset condition, including: the display size of the virtual object a in the image is greater than or equal to a first preset threshold; or / and, The display size of the virtual object a in the image is reduced to meet the second preset condition, including: the display size of the virtual object a in the image is less than or equal to the second preset threshold.

16. The method according to claim 15, characterized in that, The first preset threshold and the second preset threshold are determined based on the user's operation on the virtual control.

17. The method according to claim 15, characterized in that, The first preset threshold is greater than the second preset threshold.

18. The method according to claim 15, characterized in that, The second visibility is related to the display size of the virtual object a in the image.

19. The method according to claim 18, characterized in that, In response to the virtual object a's display size in the image being greater than or equal to the first preset threshold, the second visibility of the virtual object a is negatively correlated with the virtual object a's display size in the image; or / and, In response to the virtual object a's display size in the image being less than or equal to the second preset threshold, the second visibility of the virtual object a is positively correlated with the virtual object a's display size in the image.

20. The method according to claim 15, characterized in that, The first visibility is related to the display size of the virtual object a in the image.

21. The method according to claim 20, characterized in that, In response to the virtual object a being displayed within a first preset range in the image, the degree of enhancement of the visibility of the virtual object a is negatively correlated with the display size of the virtual object a in the image; The maximum value in the first preset range is the first preset threshold, and the minimum value in the first preset range is the value between the first preset threshold and the second preset threshold.

22. The method according to claim 20, characterized in that, In response to the virtual object a being displayed within a second preset range in the image, the degree of enhancement of the visibility of the virtual object a is positively correlated with the display size of the virtual object a in the image; The minimum value in the second preset range is the second preset threshold, and the maximum value in the second preset range is the value between the first preset threshold and the second preset threshold.

23. The method according to claim 1, characterized in that, The display size of the virtual object a in the image includes at least one of the following: the pixel ratio of the virtual object a in the image, the number of pixels of the virtual object a in the image, the area ratio of the virtual object a in the image, and the area of ​​the virtual object a in the image.

24. The method according to claim 1, characterized in that, The display size of the virtual object a in the image is related to at least one of the following parameters: The distance of the mobile platform relative to the geographic feature corresponding to the virtual object a, the height of the mobile platform relative to the geographic feature corresponding to the virtual object a, the angle of view of the shooting device, and the zoom level of the shooting device.

25. The method according to claim 24, characterized in that, The distance between the mobile platform and the geographic element corresponding to the virtual object a includes: statistical results of the distance values ​​corresponding to multiple geographic locations of the mobile platform relative to the geographic element corresponding to the virtual object a.

26. The method according to claim 24, characterized in that, The display size of the virtual object a in the image is negatively correlated with the distance.

27. The method according to claim 24, characterized in that, The display size of the virtual object a in the image is negatively correlated with its height.

28. The method according to claim 24, characterized in that, The display size of the virtual object 'a' in the image is negatively correlated with the viewing angle of the shooting device.

29. The method according to claim 24, characterized in that, The display size of the virtual object 'a' in the image is positively correlated with the zoom level of the shooting device.

30. The method according to claim 1, characterized in that, If there are multiple geographic features in the current environment where the mobile platform is located, then there are multiple virtual objects a, and different virtual objects a correspond to different geographic features.

31. The method according to claim 30, characterized in that, The step of switching from a first display state to a second display state in response to the virtual object a increasing in display size in the image to meet the first preset condition includes: Detect the display size of each virtual object a in the image among multiple virtual objects a; In response to the fact that at least one target virtual object a in the image increases in size to meet a first preset condition, the target virtual object a is switched from a first display state to a second display state.

32. The method according to claim 30, characterized in that, The method further includes: In response to the fact that at least one target virtual object a in the image is reduced in size to the point that it does not meet the first preset condition, the target virtual object a is switched from the second display state to the first display state. Alternatively, in response to the fact that at least one target virtual object a among a plurality of virtual objects a is reduced in the display size of the image to meet a second preset condition, the target virtual object a is switched from the first display state to the second display state; Alternatively, in response to the fact that the display size of at least one target virtual object a in the image increases to the point that it does not meet the second preset condition, the target virtual object a is switched from the second display state to the first display state.

33. The method according to claim 30, characterized in that, The step of switching from a first display state to a second display state in response to the virtual object a increasing in display size in the image to meet the first preset condition includes: In response to the total display size of all the virtual objects a in the image increasing to meet the first preset condition, all the virtual objects a are switched from the first display state to the second display state.

34. The method according to claim 30, characterized in that, The method further includes: In response to the total display size of all the virtual objects a in the image being reduced to a level that does not meet the first preset condition, all the virtual objects a are switched from the second display state to the first display state; Alternatively, in response to the total display size of all the virtual objects a in the image being reduced to meet a second preset condition, all the virtual objects a are switched from the first display state to the second display state; Alternatively, in response to the total display size of all the virtual objects a in the image increasing to a level that does not meet the second preset condition, all the virtual objects a are switched from the second display state to the first display state.

35. The method according to claim 1, characterized in that, The method further includes: A virtual object a associated with the image is obtained, and the virtual object a is determined based on at least one of the following information: positioning information collected by the positioning module mounted on the mobile platform, map information pre-stored on the mobile platform, map information perceived in real time by the mobile platform, and shooting parameter information of the shooting device.

36. The method according to claim 35, characterized in that, The virtual object a is generated by the mobile platform; The step of obtaining the virtual object 'a' associated with the image includes: Receive the virtual object a sent by the mobile platform.

37. The method according to claim 35, characterized in that, The virtual object 'a' is generated by the control terminal of the mobile platform.

38. The method according to claim 35, characterized in that, The map information includes at least one of the following geographic attribute information: the location information of the passage, the length of the passage, the width of the passage, the type of the passage, the direction of the passage, and the location information of other objects besides the passage.

39. The method according to claim 35, characterized in that, In the image, the superposition of the virtual object a with the real objects in the environment where the mobile platform is located satisfies a spatial occlusion relationship.

40. The method according to claim 39, characterized in that, The spatial occlusion relationship is determined based on the map information pre-stored on the mobile platform.

41. The method according to claim 35, characterized in that, The map information pre-stored on the mobile platform is obtained by processing the initial map information acquired from a third-party platform.

42. The method according to claim 41, characterized in that, The data processing includes supplementing the initial map information with missing geographic attribute information based on preset rules.

43. The method according to claim 42, characterized in that, The preset rules include the mapping relationship between channel type and channel width.

44. The method according to claim 1, characterized in that, The method further includes: In response to a triggering operation on the virtual object a, at least one task identifier associated with the virtual object a is displayed on the image, wherein the task identifier is used to associate a target task to be performed by the mobile platform for the geographic feature; The virtual object a includes at least two different types of virtual objects a, the display styles of the at least two different types of virtual objects a in the image are different, and at least one of the task identifiers associated with each of the at least two different types of virtual objects a is different.

45. The method according to claim 44, characterized in that, Virtual object 'a' includes identification-type virtual objects and tag-type virtual objects; The virtual object for recognition is generated based on the recognition of objects in the image; The marker-type virtual object is generated based on the user's marking operations on the image.

46. ​​The method according to claim 45, characterized in that, The identified virtual objects include at least one of the following: living organisms, animals, stationary objects, and movable objects.

47. The method according to claim 45, characterized in that, The virtual objects of the marker class include at least one of the following: point marker objects, line marker objects, area marker objects, and three-dimensional marker objects.

48. The method according to claim 44, characterized in that, The method further includes: In response to a triggering operation on one of the task identifiers associated with the virtual object a, the mobile platform is controlled to perform the target task for the geographic feature.

49. A control method, characterized in that, include: The mobile platform captures images using its onboard camera and sends the images to a control terminal; the images include geographic features. The control terminal receives and displays the image. In the first display state, a virtual object a is overlaid at the display position of the geographic element in the image with a first visibility. The virtual object a is used to identify the geographic element. In response to the virtual object a increasing in display size in the image to meet a first preset condition, the control terminal switches from the first display state to the second display state. In the second display state, the virtual object a is superimposed at the display position of the geographic element in the image with a second visibility, the second visibility being less than the first visibility and greater than or equal to 0.

50. A display method, characterized in that, include: During the movement of the mobile platform, images captured by the camera device mounted on the mobile platform are obtained; A virtual object b is overlaid on the image, and the virtual object b is used to identify the target in the image; as well as In response to a triggering operation on the virtual object b, at least one task identifier associated with the virtual object b is displayed on the image, wherein the task identifier is used to associate a target task to be executed by the mobile platform for the target; The virtual object b includes at least two different types of virtual objects b, the at least two different types of virtual objects b have different display styles in the image, and at least one of the task identifiers associated with each of the at least two different types of virtual objects b is different.

51. The method according to claim 50, characterized in that, The target includes at least one of the following: objects, geographical features, and spatial locations in the real environment in which the mobile platform is located.

52. The method according to claim 50, characterized in that, The triggering operation is either manually triggered by the user or automatically triggered by an automated program.

53. The method according to claim 52, characterized in that, The triggering operation is determined based on the user's control operation on the control controls.

54. The method according to claim 53, characterized in that, The control controls include virtual controls and / or physical controls.

55. The method according to claim 54, characterized in that, The virtual control includes the virtual object b or a virtual control corresponding to the virtual object b; And / or, the physical controls include a pulsator, a joystick, or physical buttons.

56. The method according to claim 50, characterized in that, Also includes: At least one task identifier associated with the virtual object b is displayed synchronously in the image along with the virtual object b.

57. The method according to claim 50, characterized in that, The display style includes at least one of the following: color, shape, pattern, texture, size, pose, transparency, and marker.

58. The method according to claim 50, characterized in that, The virtual object b includes identification-type virtual objects and tag-type virtual objects; The virtual object for recognition is generated based on the recognition of objects in the image; The marker-type virtual object is generated based on the user's marking operations on the image.

59. The method according to claim 58, characterized in that, The identified virtual objects include at least one of the following: living organisms, animals, stationary objects, and movable objects.

60. The method according to claim 58, characterized in that, The virtual objects of the marker class include at least one of the following: point marker objects, line marker objects, area marker objects, and three-dimensional marker objects.

61. The method according to claim 60, characterized in that, The dot-shaped marker object is a virtual anchor point generated based on the marking operation, and the dot-shaped marker object is used to identify the geographical location indicated by the marking operation; or / and, The linear marker object is a virtual path generated based on the marking operation, and the linear marker object is used to identify the spatial path indicated by the marking operation; or / and The area marker object is a virtual region generated based on the marking operation, and the area marker object is used to identify the geographical region indicated by the marking operation; or / and, The three-dimensional marker object is a virtual space generated based on the marking operation, and the three-dimensional marker object is used to identify the three-dimensional space indicated by the marking operation.

62. The method according to claim 61, characterized in that, The target task corresponding to the dot-marked object includes at least one of the following: motion control task, data acquisition task, and data sharing task based on the geographical location indicated by the dot-marked object.

63. The method according to claim 62, characterized in that, The motion control task includes at least one of the following: a task of moving toward a geographic location indicated by a dotted marker object, and a task of moving around a geographic location indicated by a dotted marker object.

64. The method according to claim 62, characterized in that, The data acquisition task includes at least one of the following: a task of taking pictures toward the geographical location indicated by the dotted marker object, and a task of taking pictures around the geographical location indicated by the dotted marker object.

65. The method according to claim 62, characterized in that, The data sharing task includes at least one of the following: a task of sharing the geographical location indicated by the dotted marker object, and a task of sharing data collected by the mobile platform related to the geographical location indicated by the dotted marker object.

66. The method according to claim 61, characterized in that, The target task corresponding to the linear marker object includes at least one of the following: motion control task, data acquisition task, and inspection task along the spatial path indicated by the linear marker object.

67. The method according to claim 61, characterized in that, The target task corresponding to the area marker object includes at least one of the following: motion control task, surveying task, and inspection task for the geographical area indicated by the area marker object.

68. The method according to claim 61, characterized in that, The target task corresponding to the three-dimensional marker object includes at least one of the following: motion control task, search task, and modeling task for the spatial region indicated by the three-dimensional marker object.

69. The method according to claim 50, characterized in that, The target tasks associated with different types of virtual objects b are customized based on user input commands; Alternatively, the target task associated with different types of virtual objects b can be generated based on the user's historical operation data.

70. The method according to any one of claims 50 to 69, characterized in that, The method further includes: In response to a trigger operation on the virtual object b, the spatial attribute information of the virtual object b is displayed.

71. The method according to claim 70, characterized in that, The spatial attribute information of the linear marker object includes: the length of the spatial path indicated by the linear marker object, and / or the height difference between the movable platform and the spatial path indicated by the linear marker object.

72. The method according to claim 70, characterized in that, The spatial attribute information of the areal marker object includes: the area of ​​the geographic region indicated by the areal marker object, and / or the height difference between the movable platform and the geographic region indicated by the areal marker object.

73. The method according to any one of claims 50 to 72, characterized in that, The method further includes: In response to a trigger operation on one of the task identifiers associated with the virtual object b, the mobile platform is controlled to perform the target task for the target.

74. The method according to claim 73, characterized in that, The step of controlling the mobile platform to execute the target task for the target in response to a trigger operation on one of the task identifiers associated with the virtual object b includes: In response to a triggering operation on one of the task identifiers associated with the virtual object b, the mobile platform is controlled to execute the target task indicated by the triggered task identifier, based on the geographic location information associated with the target.

75. The method according to claim 74, characterized in that, The geographic location information related to the target is determined based on at least one of the following: location information collected by the positioning module mounted on the mobile platform, map information pre-stored on the mobile platform, and map information sensed by the mobile platform in real time.

76. The method according to claim 73, characterized in that, The step of controlling the mobile platform to execute the target task for the target in response to a trigger operation on one of the task identifiers associated with the virtual object b includes: In response to the triggering operation of the task identifier of the surveying task corresponding to the face-shaped marked object, the surveying parameter setting page is displayed so that the user can set the surveying parameters; In response to acquiring the set surveying parameters, the mobile platform is controlled to perform the surveying task for the target based on the surveying parameters.

77. The method according to claim 76, characterized in that, The trigger operation in response to the task identifier of the surveying task corresponding to the surface-marked object displays the surveying parameter setting page, including: In response to the triggering operation of the task identifier of the surveying task corresponding to the face-shaped marked object, a surveying method selection page is displayed, allowing the user to select the target surveying method from at least two surveying methods; In response to the completion of the selection of the target mapping method, the mapping parameter setting page corresponding to the target mapping method is displayed.

78. The method according to claim 76, characterized in that, After obtaining the set surveying parameters, the process also includes: The mapping trajectory of the movable platform is generated based on the mapping parameters, and the mapping trajectory and / or a guide marker pointing from the current position of the movable platform to the starting point of the mapping trajectory are superimposed and displayed on the surface marker object.

79. The method according to claim 50, characterized in that, The method further includes: In response to a triggering operation on a line marker object, a guide marker pointing from the current position of the movable platform to the starting point of the line marker is overlaid in the image.

80. The method according to claim 73, characterized in that, The step of controlling the mobile platform to execute the target task for the target in response to a trigger operation on one of the task identifiers associated with the virtual object b includes: In response to the trigger operation of the task identifier of the motion control task corresponding to the dotted marker object, the motion parameter setting page is displayed so that the user can set the motion parameters of the movable platform. In response to acquiring the set motion parameters, the movable platform is controlled to perform the motion control task for the target based on the motion parameters.

81. The method according to claim 50, characterized in that, The method further includes: In response to a trigger operation on the task identifier of the data sharing task corresponding to the dotted marker object, an identification code that can be scanned by other devices is displayed to provide the data to be shared as indicated by the data sharing task.

82. The method according to claim 50, characterized in that, During the execution of the target task, the display state of the virtual object b can be adjusted accordingly based on changes in the execution progress of the target task.

83. A control method, characterized in that, include: The mobile platform captures images using its onboard camera during movement and sends the images to the control terminal. The control terminal receives and displays the image, and overlays a virtual object b on the image, the virtual object b being used to identify the target in the image; as well as In response to a triggering operation on the virtual object b, the control terminal displays at least one task identifier associated with the virtual object b on the image, wherein the task identifier is used to associate a target task to be executed by the mobile platform for the target. The virtual object b includes at least two different types of virtual objects b, the at least two different types of virtual objects b have different display styles in the image, and at least one of the task identifiers associated with each of the at least two different types of virtual objects b is different.

84. A system, characterized in that, include: At least one processor; At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processors, are configured to cause the system to perform at least the method as described in any one of claims 1 to 83.

85. The system according to claim 84, characterized in that, The system includes at least one of the following: a controller for a display terminal that communicates with the mobile platform, a controller for the mobile platform, a controller for a control terminal of the mobile platform, the display terminal, the mobile platform, and the control terminal.

86. The system according to claim 85, characterized in that, The mobile platform includes at least one of the following: aircraft, vehicles, ships, electric bicycles, and electric motorcycles.

87. The system according to claim 85, characterized in that, The display device includes at least one of the following: head-mounted glasses, tablet computer, and mobile phone.

88. The system according to claim 85, characterized in that, The control terminal includes at least one of the following: a motion-sensing control device, a remote control, or a mobile phone.

89. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by the processor, this instruction implements the steps of the method as described in any one of claims 1 to 83.

Images