Display method, method and device for controlling movable platform, and movable platform

Abstract

A display method, a method and device for controlling a movable platform, and a movable platform. The display method is applied to a display device, the display device is in communication with a movable platform, and the movable platform is equipped with an image acquisition device and a sound amplification device. The method comprises: displaying a captured image captured by the image acquisition device; and displaying, on the captured image, a sound amplification device identifier, the sound amplification device identifier being capable of indicating an orientation of the sound amplification device. In the technical solution provided by the present embodiment, the display device displays the sound amplification device identifier capable of indicating the orientation of the sound amplification device, and the sound amplification device identifier enables a user to quickly and directly determine the orientation of the sound amplification device and perceive whether the sound amplification device is aimed at a target for voice broadcasting, thereby facilitating adjustment of the sound amplification device based on the perception result. In this way, the accuracy of aiming the sound amplification device at the target for voice broadcasting can be improved to a certain extent, which is conducive to improving the quality and effectiveness of voice broadcasting by the sound amplification device and enhancing the usability of the sound amplification device.

Description

Display method, control method and device for a movable platform, and movable platform Technical Field

[0001] The embodiments of the present invention relate to the field of mobile platform technology, and in particular to a display method, a control method for a mobile platform, an apparatus, and a mobile platform. Background Technology

[0002] With the rapid development of mobile platform technology, mobile platforms can be paired with various types of payloads to achieve aerial operations. For example, taking drones as a mobile platform, drones can be equipped with loudspeakers to enable the ability to broadcast messages from the air to the ground.

[0003] When it's necessary to control a megaphone to broadcast messages to the ground, the angle of the gimbal used to mount the megaphone must generally be adjusted so that the megaphone's speaker is pointed at the area or target to be addressed. However, since it's not intuitive to see whether the megaphone is aligned with the target, especially when a drone is flying beyond visual line of sight, it's difficult for the user to observe the megaphone's orientation. Therefore, there may be situations where the ground target and the megaphone are not aligned, which can compromise the quality and effectiveness of the message. Summary of the Invention

[0004] This invention provides a display method, a control method for a movable platform, a device, and a movable platform, which can, to a certain extent, ensure that the loudspeaker is more accurately aimed at the target on the ground.

[0005] A first aspect of the present invention is to provide a display method applied to a display device, the display device being communicatively connected to a portable platform, the portable platform being equipped with an image acquisition device and a sound amplification device; the method includes:

[0006] Displays the captured image from the image acquisition device;

[0007] The loudspeaker identifier is displayed on the captured image, and the loudspeaker identifier can indicate the orientation of the loudspeaker.

[0008] A second aspect of the present invention is to provide a control method for a mobile platform, the mobile platform being equipped with an image acquisition device and a sound amplification device, the method comprising:

[0009] Acquire the captured image from the image acquisition device;

[0010] Obtain the orientation of the loudspeaker;

[0011] The captured image and the orientation of the loudspeaker are transmitted to a display device so that the display device can display a loudspeaker identifier on the captured image. The loudspeaker identifier can indicate the orientation of the loudspeaker. The movable platform is communicatively connected to the loudspeaker.

[0012] A third aspect of the present invention is to provide a display device communicatively connected to a portable platform, the portable platform being equipped with an image acquisition device and a sound amplification device; the display device includes:

[0013] A memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the display method of the first aspect described above.

[0014] A fourth aspect of the present invention is to provide a control device for a mobile platform, the mobile platform being communicatively connected to a display device, and the mobile platform being equipped with an image acquisition device and a sound amplification device; the control device includes:

[0015] A memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the control method of the portable platform described in the second aspect above.

[0016] A fifth aspect of the present invention is to provide a portable platform, the portable platform being communicatively connected to a display device, and the portable platform being equipped with an image acquisition device and a sound amplification device; the portable platform includes:

[0017] The control device for the movable platform described in the fourth aspect above.

[0018] A sixth aspect of the present invention is to provide a computer-readable storage medium storing program instructions for use in any one of the first to second aspects described above.

[0019] The display method, control method, device, and mobile platform provided in this invention display a loudspeaker identifier that indicates the orientation of the loudspeaker. This allows users to quickly and directly determine the orientation of the loudspeaker by viewing the identifier displayed on the screen. In other words, the loudspeaker identifier displayed on the display device enables users to directly perceive whether the loudspeaker is aligned with the target. Users can then adjust the loudspeaker based on this perception, thus improving the accuracy of the loudspeaker's alignment with the target. This, in turn, enhances the quality and effectiveness of the loudspeaker's communication, further ensuring the practicality of the method and improving the ease of use of the loudspeaker. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0021] Figure 1 is a flowchart illustrating a display method provided in an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of a display method provided in an embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of the captured image provided in an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of the posture of the loudspeaker device provided in an embodiment of the present invention;

[0025] Figure 5 is a schematic diagram of the target object corresponding to the loudspeaker provided in the embodiment of the present invention;

[0026] Figure 6 is a schematic diagram showing at least one virtual voice coil of the amplification device according to an embodiment of the present invention;

[0027] Figure 7 is a schematic diagram showing a partial display of the identifier of the loudspeaker device according to an embodiment of the present invention;

[0028] Figure 8 is a schematic diagram of the process of displaying the loudspeaker identifier on the shooting screen according to an embodiment of the present invention;

[0029] Figure 9 is a flowchart illustrating the display of the focus identifier corresponding to the image acquisition device according to an embodiment of the present invention;

[0030] Figure 10 is a flowchart illustrating another display method provided in an embodiment of the present invention;

[0031] Figure 11 is a flowchart illustrating a control method for a mobile platform provided in an embodiment of the present invention;

[0032] Figure 12 is a schematic diagram of a display device provided in an embodiment of the present invention;

[0033] Figure 13 is a schematic diagram of the structure of a control device for a mobile platform provided in an embodiment of the present invention;

[0034] Figure 14 is a schematic diagram of the structure of a mobile platform provided in an embodiment of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0037] To facilitate understanding of the specific implementation process of the technical solution in this embodiment, the relevant technologies are briefly described below. It should be noted that the mobile platform in the following brief description of the relevant technologies is an unmanned aerial vehicle (UAV) as an example:

[0038] As drones become increasingly widely used, they can be equipped with various types of payloads to perform aerial operations in different application scenarios. For example, drones can be equipped with loudspeakers and cameras to enable them to broadcast messages from the air to the ground.

[0039] Specifically, a megaphone can be mounted on a drone using a gimbal. When it is necessary to control the megaphone to broadcast to the ground, the angle of the gimbal used to mount the megaphone must be adjusted so that the megaphone's speaker is aimed at the area or target to be broadcast to. The above-mentioned method of adjusting the direction of the megaphone by calculating the angle of the gimbal is a common practice for controlling the megaphone.

[0040] However, due to the difference between the pan-tilt angle of the megaphone and the direction of the megaphone, it is easy to not be able to intuitively guarantee that the adjusted megaphone is aligned with the target after adjustment. There may be a situation where the ground target and the megaphone are not aligned. Furthermore, users may not be able to perceive the current direction of sound propagation of the megaphone or whether the megaphone is aligned with the target.

[0041] To address the aforementioned issues, this embodiment provides a display method, a control method for a mobile platform, an apparatus, and a mobile platform. The display method is executed by a display device, meaning the display method can be applied to a display device. The display device can communicate with the mobile platform, and the mobile platform can be equipped with an image acquisition device and a sound amplification device. Specifically, during operation of the mobile platform, the image acquisition device can perform a shooting operation to obtain captured images. To enable users to quickly understand the relevant information captured by the image acquisition device, the display device can display the captured images.

[0042] Furthermore, when the loudspeaker needs to broadcast to a target on the ground, an identifier for the loudspeaker can be displayed on the camera screen to allow users to intuitively perceive its orientation. This identifier indicates the loudspeaker's direction, enabling users to quickly and directly determine its orientation through the identifier. In other words, the loudspeaker identifier allows users to directly perceive whether the loudspeaker is aligned with the target, facilitating adjustments based on this perception. This ensures the loudspeaker is more accurately aligned with the target, improving the quality and effectiveness of the broadcasting operation and guaranteeing the method's practicality and ease of use.

[0043] The following detailed description, with reference to the accompanying drawings, outlines some embodiments of a display method, a control method for a movable platform, an apparatus, and a movable platform according to the present invention. Where there is no conflict between the embodiments, the following embodiments and features thereof can be combined with each other.

[0044] Figure 1 is a flowchart illustrating a display method according to an embodiment of the present invention; Figure 2 is a scene diagram illustrating a display method according to an embodiment of the present invention. Referring to Figures 1 and 2, this embodiment provides a display method, the execution subject of which is a display device, i.e., the display method can be applied to a display device, wherein the display device can be implemented as software or a combination of software and hardware; specifically, the display device can be communicatively connected to a mobile platform, and in this case, the display device can be implemented as a handheld remote control corresponding to the mobile platform; furthermore, the aforementioned mobile platform can be equipped with an image acquisition device and a loudspeaker device, so that through the cooperation between the image acquisition device, the display device, and the loudspeaker device, the user can more quickly and accurately know whether the loudspeaker device on the mobile platform is aimed at the target being addressed. In some embodiments, the display device and the remote control of the mobile platform are not the same device. In this case, the display device can be directly communicatively connected to the mobile platform, or it can be communicatively connected to the mobile platform through the control terminal of the mobile platform.

[0045] In this embodiment, the mobile platform refers to a system or device capable of moving freely between different locations, including but not limited to the following: aircraft, vehicles, ships, ground robots (such as sweeping robots, humanoid robots), etc. Taking aircraft as an example, in this embodiment, aircraft are classified according to whether they are piloted in the cabin, including unmanned aircraft and manned aircraft; according to configuration, including rotary-wing drones, fixed-wing drones, and drones combining rotary-wing and fixed-wing configurations; and according to purpose, including aerial photography drones, agricultural drones, surveying drones, logistics drones, etc.

[0046] In addition, the image acquisition device in this embodiment refers to a system or device capable of performing image acquisition operations, including at least one of the following: visible light camera, infrared camera, lidar camera, etc. Those skilled in the art can arbitrarily adjust or configure the image acquisition device according to specific application scenarios or application requirements.

[0047] Specifically, the display method implemented based on the above-mentioned display device may include:

[0048] Step S101: Display the captured image from the image acquisition device.

[0049] During the operation of the mobile platform, the image acquisition device mounted on the mobile platform can perform image acquisition operations. Specifically, it can take pictures of the preset work target or work object to obtain the captured image. The captured image can include a preset field of view (FOV) or relevant information within the field of view, which can include at least one of the following: relevant information of the work target / work object, the operating status information of the mobile platform, the operating status information of the image acquisition device, etc.

[0050] In order to enable users to quickly and intuitively view the content of the image captured by the image acquisition device, after the image acquisition device performs image acquisition and obtains the captured image, the display device can display the captured image. Specifically, the image acquisition device can actively send the captured image to the display device so that the display device can display the acquired captured image; or, the display device can actively acquire the captured image from the image acquisition device and then display the acquired captured image.

[0051] Step S102: Display the loudspeaker identifier on the shooting screen. The loudspeaker identifier can indicate the orientation of the loudspeaker.

[0052] When a mobile platform is equipped with a loudspeaker, it can be used for announcements or amplification. During operation on the mobile platform, the orientation of the loudspeaker directly affects the quality and effectiveness of these announcements or amplification. Therefore, to allow users to perceive the orientation of the loudspeaker in a timely and intuitive manner, the display device can show the image captured by the image acquisition device, and can also display a loudspeaker identifier on the image to indicate the orientation of the loudspeaker.

[0053] Referring to Figure 3, when the target object corresponding to the loudspeaker is a vehicle, a loudspeaker identifier indicating the direction of the loudspeaker can be displayed on the vehicle in the shooting frame. Furthermore, the shooting frame not only displays the loudspeaker identifier but also at least one control for adjusting the image acquisition device and the movable platform. This control may include at least one of the following: a control for adjusting the shooting parameters of the image acquisition device (e.g., aperture, shutter speed, ISO, and shooting mode); a control for adjusting the operating parameters of the movable platform (e.g., whether to perform a follow operation, whether to perform a surround operation, whether to perform a distance measurement operation, etc.). Users can adjust the image acquisition device and / or the movable platform according to their needs using these controls, further ensuring the quality and effectiveness of the operation performed by the image acquisition device and / or the movable platform.

[0054] In addition, this embodiment does not limit the display position and display method of the loudspeaker identifier. In some instances, the loudspeaker identifier can be displayed directly at a preset display position on the shooting screen. In this case, displaying the loudspeaker identifier on the shooting screen may include: displaying the loudspeaker identifier at a preset display position on the shooting screen.

[0055] In order to accurately display the loudspeaker identifier after obtaining it, a preset display position on the shooting screen can be obtained. In some instances, the preset display position can be determined through human-computer interaction. That is, the user can input a position selection operation on the shooting screen, and then the preset display position on the shooting screen can be determined based on the position selection operation.

[0056] In other instances, the preset display position can be determined not only through human-computer interaction, but also through the pan-tilt parameters of the loudspeaker and the image acquisition device. In this case, the loudspeaker can be located on the first pan-tilt and the image acquisition device can be located on the second pan-tilt. The preset display position can be determined based on the first pan-tilt angle of the first pan-tilt and the second pan-tilt angle of the second pan-tilt and the parameters of the image acquisition device.

[0057] Specifically, the first gimbal angle of the first gimbal can be obtained by detection using an inertial measurement unit or attitude sensor located on the first gimbal. Similarly, the second gimbal angle of the second gimbal can be obtained by detection using an inertial measurement unit or attitude sensor located on the second gimbal. The parameters of the image acquisition device can include at least one of the following: camera intrinsic parameters and camera extrinsic parameters. The camera intrinsic parameters can be parameters describing the internal properties of the camera, which can specifically include one of the following: focal length, principal point (optical center) coordinates, distortion coefficient, etc. The camera extrinsic parameters can be parameters describing the position and attitude of the camera in the world coordinate system, which can include at least one of the following: rotation matrix, translation vector, etc.

[0058] After obtaining the first gimbal angle of the first gimbal, the second gimbal angle of the second gimbal, and the parameters of the image acquisition device, a preset algorithm or a pre-trained neural network model can be used to analyze and process the aforementioned first gimbal angle, second gimbal angle, and parameters of the image acquisition device, thereby stably obtaining the preset display position. After obtaining the preset display position, the loudspeaker identifier can be displayed at the preset display position, thus effectively ensuring the accuracy and reliability of displaying the loudspeaker identifier.

[0059] Furthermore, since the loudspeaker identifier can indicate the orientation of the loudspeaker, in order to display the loudspeaker identifier accurately, it is necessary to first determine the orientation of the loudspeaker. In some instances, the orientation of the loudspeaker can be determined by the center of the loudspeaker, where the center of the loudspeaker can refer to the center position or central area of ​​the main sound radiation area.

[0060] Since the main sound radiation area of ​​a loudspeaker is located near its central axis, the center of the loudspeaker can be represented by its central axis, or vice versa. The central axis of the loudspeaker refers to the axis of symmetry formed in the spatial layout of the loudspeaker's physical structure. It usually coincides with the geometric center line of the loudspeaker's outer casing, as shown in Figure 2. By determining the orientation of the loudspeaker through its center or central axis, and displaying this orientation through a captured image, users can quickly and directly ascertain the orientation of the loudspeaker. This accurate identification of the loudspeaker's orientation helps ensure the quality and effectiveness of the loudspeaker operation, improving its usability.

[0061] In some other instances, the orientation of the loudspeaker can also be determined by the attitude information of the loudspeaker, as shown in Figure 4. The attitude information of the loudspeaker may include at least one of the following: pitch angle, yaw angle, and roll angle.

[0062] The attitude information of the amplifier can be determined based on the attitude of the gimbal used to mount the amplifier. That is, the amplifier can be attitude adjusted via the gimbal. For example, when the gimbal is a two-axis gimbal, it can include any two of the pitch, yaw, and roll axes, allowing adjustment of the pitch and / or roll attitude of the mounted amplifier. When the gimbal is a three-axis gimbal, it can include the pitch, roll, and yaw axes, allowing adjustment of the pitch, and / or roll, and / or yaw attitude of the mounted amplifier. Furthermore, the gimbal can also include motors corresponding to each of the aforementioned axes to drive at least some gimbal components to rotate around their respective axes.

[0063] Since the posture of a loudspeaker is closely related to its orientation, in order to accurately obtain the posture of the loudspeaker, the angle of the pan-tilt unit used to mount the loudspeaker can be calculated first. Then, the posture of the loudspeaker can be determined based on the pan-tilt unit angle. Specifically, the pan-tilt unit angle can be directly determined as the posture of the loudspeaker, or the pan-tilt unit angle can be offset to obtain the posture of the loudspeaker. Then, the orientation of the loudspeaker can be determined based on its posture. This ensures the accuracy and reliability of determining the orientation of the loudspeaker to a certain extent.

[0064] To enable users to quickly understand the orientation of the loudspeaker, a loudspeaker identifier can be generated to indicate its orientation. This loudspeaker identifier can be implemented as a "loudspeaker attitude identifier" and then displayed on the camera screen, allowing users to quickly understand the orientation of the loudspeaker through the displayed identifier.

[0065] In other instances, the orientation of the loudspeaker can be determined not only by its posture but also by the target object it is pointing at, as shown in the captured image. The number of target objects can be one or more. For example, the target object can be determined by a target selection operation entered by the user in the captured image.

[0066] Specifically, after the display device shows the captured image, the user can input a target selection operation on any displayed object in the captured image as needed. The target selection operation can be a single click, a double click, etc. Then, the displayed object corresponding to the target selection operation can be set as the target object that the loudspeaker is pointing at. This can effectively satisfy the user's need to perform loudspeaking or shouting operations on a specific target object.

[0067] For example, the target object pointed at by the loudspeaker can be determined not only by the target selection operation input by the user in the shooting screen, but also by the image captured by the built-in image acquisition device of the loudspeaker. In this case, the method in this embodiment may further include: determining the display features of the target object based on the built-in image acquisition device, wherein the built-in image acquisition device is communicatively connected to the display device; and marking the target object in the shooting screen based on the display features.

[0068] Specifically, referring to Figure 5, the loudspeaker can be equipped with a built-in image acquisition device (or built-in camera). This built-in image acquisition device is communicatively connected to the display device. During the operation of the loudspeaker, the built-in image acquisition device can align itself with the target object in the detection screen and read the display features of the target object. Different target objects can correspond to different display features. For example, when the target object is a vehicle, the display features of the vehicle can be acquired, which may include at least one of the following: vehicle outline, vehicle color, vehicle license plate number, etc. When the target object is a person, the display features of the person can be acquired, which may include at least one of the following: clothing features, facial features, hairstyle features, height features, etc. Then, based on the display features, a search and matching operation is performed on the image captured by the display device to determine the target object located in the aforementioned image captured screen and mark the target object for display. In this way, by marking the target object, the user can quickly and accurately know the current orientation of the loudspeaker.

[0069] For example, the target object pointed at by the loudspeaker can be determined not only based on the target selection operation input by the user in the shooting screen, but also by a preset event existing in the detection area, wherein the target object corresponds to the preset event.

[0070] Specifically, the mobile platform can perform preset event recognition or detection operations for preset detection areas. Different application scenarios may correspond to different preset events for the detection areas. For example, when the detection area is a vehicle-related area (highway area, parking lot area, etc.), the preset events can be one or more of the following: (a) vehicle illegal parking event; (b) vehicle illegal lane change event; (c) vehicle speeding event; (d) the number of parked vehicles exceeding the preset number event; (e) identification or following of suspicious vehicles, etc.; (f) alert event for abnormal vehicle status (e.g., vehicle temperature greater than or equal to a preset threshold). When the detection area is a public area (e.g., square area, street area), the preset events can be one or more of the following: (a) alert event for excessively dense pedestrian flow; (b) alert event for illegal behavior by personnel, etc.

[0071] When a preset event is detected in the detection area, the target object that the loudspeaker is pointing at can be determined based on the preset event. For example, if a "vehicle illegally parked event" is detected in the detection area, the vehicle corresponding to the "vehicle illegally parked event" can be identified as the target object; if a "person illegally acting event" is detected in the detection area, the person corresponding to the "person illegally acting event" can be identified as the target object. This effectively enables the automatic identification of the target object based on preset events and displays the target object in the captured image, thereby improving the automation and intelligence of the method.

[0072] In other instances, the orientation of the loudspeaker can be determined not only by its posture but also by its virtual voice coil. The virtual voice coil refers to virtual sound wave identification information generated based on the principle of sound diffusion. It can not only identify the sound wave diffusion process of the loudspeaker to a certain extent but also the degree of intensity change during the diffusion process. To represent the intensity of the sound wave based on the virtual voice coil, the method in this embodiment may further include displaying at least one virtual voice coil of the loudspeaker, wherein each virtual voice coil corresponds to a volume parameter.

[0073] When the loudspeaker is amplifying or making announcements, the camera can display not only a loudspeaker identifier indicating its orientation, but also at least one virtual voice coil of the loudspeaker. For example, referring to Figure 6, the camera can display not only the loudspeaker identifier but also at least one virtual voice coil of the loudspeaker in concentric circles. Each virtual voice coil can correspond to a volume parameter, which can be in decibels, indicating the intensity of the sound propagation corresponding to that virtual voice coil. For example, at least one virtual voice coil may include: a virtual voice coil corresponding to volume parameter D1, a virtual voice coil corresponding to volume parameter D2, a virtual voice coil corresponding to volume parameter D3, and a virtual voice coil corresponding to volume parameter D4, etc.

[0074] Furthermore, regarding the volume parameters corresponding to each virtual voice coil, since at least one virtual voice coil includes a central virtual voice coil corresponding to the amplification center area of ​​the amplifier, and the central virtual voice coil often identifies the main radiation area of ​​the sound, the volume parameter corresponding to the central virtual voice coil is greater than the volume parameters of the other virtual voice coils. For example, when the central virtual voice coil corresponds to a volume parameter D1, and the other virtual voice coils include virtual voice coils corresponding to volume parameters D2, D3, and D4, the volume parameters corresponding to the above virtual voice coils satisfy the following relationship: D1>D2>D3>D4, that is, the sound of the amplifier gradually weakens as the diffusion range increases.

[0075] Furthermore, for any given virtual voice coil, different virtual voice coils can indicate different intensities of the diffused sound wave. Therefore, in order to display at least one virtual voice coil more flexibly, any two virtual voice coils can be displayed differently. For example, different virtual voice coils can be displayed using marker lines of varying thickness. For instance, at least one virtual voice coil can become thinner as its distance from the target object of the amplification device increases; that is, the closer it is to the target object, the thicker the marker line corresponding to the virtual voice coil; the farther it is from the target object, the thinner the marker line corresponding to the virtual voice coil.

[0076] Similarly, different virtual voice coils can be displayed using marker lines of different colors. For example, for at least one virtual voice coil, the closer it is to the target object, the more prominent its color (e.g., red, green, etc.), and the farther away it is from the target object, the lighter its color (e.g., gray, brown, etc.). Alternatively, different virtual voice coils can be displayed using different types of marker lines. For example, for at least one virtual voice coil, the closer it is to the target object, the more continuous and smooth its curve; the farther away it is from the target object, the more segmented and discontinuous its curve. By displaying at least one virtual voice coil in different ways, users can quickly and intuitively understand the strength of the sound wave diffusion.

[0077] The display method provided in this embodiment displays a loudspeaker identifier that indicates the orientation of the loudspeaker through a display device. This allows users to quickly and directly determine the orientation of the loudspeaker by viewing the identifier displayed in the captured image. In other words, the loudspeaker identifier enables users to directly perceive whether the loudspeaker is pointing at the target, and then facilitates adjustments to the loudspeaker based on the perception result. This can improve the accuracy of the loudspeaker pointing at the target to a certain extent, thereby improving the quality and effect of the loudspeaker's broadcast, further ensuring the practicality of the method and improving the ease of use of the loudspeaker.

[0078] Based on the above embodiments, for the loudspeaker, during the loudspeaker's amplification process, the target object of the loudspeaker can be a moving object. At this time, the display position of the loudspeaker identifier on the shooting screen can change based on the position change of the moving object. That is, the display position of the loudspeaker identifier on the shooting screen can flexibly change with the position change of the moving object.

[0079] When the target object is a moving object, the target object in the shooting frame can have different display states, and the loudspeaker identifier can be displayed differently based on the different display states of the target object in the shooting frame.

[0080] For example, the captured image can fully display the target object. At this time, the display position of the loudspeaker identifier in the captured image changes with the display position of the moving object, and the captured image can fully display the loudspeaker identifier.

[0081] For example, when the shooting frame can not fully display the target object, the shooting frame can partially display the loudspeaker identifier. In this case, displaying the loudspeaker identifier on the shooting frame includes: when the target object is not in the shooting frame, the loudspeaker identifier is partially displayed.

[0082] When the target object is a moving object, its position can change over time. For example, referring to Figure 7, when the target object is a vehicle, its position can change over time. For instance, if part of the vehicle is in the shooting frame, meaning the shooting frame can display a portion of the vehicle, the loudspeaker identifier can be partially displayed. Specifically, the loudspeaker identifier can be partially displayed at part of the vehicle's location. This partially displayed loudspeaker identifier allows the user to quickly understand the relative positional relationship between the target object and the shooting frame, thereby improving the quality and effectiveness of the shouting operation targeting the target object.

[0083] For example, when the target object is a vehicle, the vehicle may not be in the shooting frame, meaning the shooting frame may not display any part of the vehicle. In this case, the loudspeaker identifier can be partially displayed in the shooting frame. For instance, a preset position in the shooting frame can be directly obtained. This preset position is used to indicate that the target object is not in the shooting frame and is the default position for displaying the loudspeaker identifier. For example, the preset position can be the upper right corner, upper left corner, or upper center of the shooting frame, etc. Then, the loudspeaker identifier can be partially displayed at the preset position. This allows the user to directly understand the state that the target object is not in the shooting frame through the partial loudspeaker identifier displayed at the preset position, thereby facilitating the user's adjustment of the shooting frame and improving the quality and effect of the loudspeaker's amplification operation to a certain extent.

[0084] For example, when the target object is not in the shooting frame, the loudspeaker identifier can be partially displayed not only at a preset position, but also based on the edge of the shooting frame adjacent to the target object. In this case, the partial display of the loudspeaker identifier in this embodiment may include: determining the edge of the shooting frame adjacent to the target object; and partially displaying the loudspeaker identifier at the edge of the shooting frame.

[0085] Specifically, referring to Figure 7, when the target object is a vehicle, the vehicle may not be in the shooting frame, meaning the shooting frame may not display any part of the vehicle. In this case, in order to directly reflect the state that the target object is not in the shooting frame based on the displayed loudspeaker identifier, the edge of the shooting frame adjacent to the target object can be determined first. For example, when the vehicle disappears from the right side of the shooting frame, the edge of the shooting frame adjacent to the target object can be determined as the right edge. Then, the loudspeaker identifier can be partially displayed at the right edge. This allows the user to directly understand the state that the target object is not in the shooting frame and that the target object disappears from the right side of the shooting frame through the partially displayed loudspeaker identifier at the preset position. This facilitates the user's adjustment of the shooting frame and can improve the quality and effect of the loudspeaker's amplification operation to a certain extent.

[0086] In this embodiment, when the target object is a moving object, the loudspeaker identifier is displayed differently depending on whether the target object is in the shooting frame. Specifically, when the target object is in the shooting frame, the loudspeaker identifier can be displayed completely at the target object's location; when the target object is partially in the shooting frame, the loudspeaker identifier can be displayed partially at the target object's location; when the target object is not in the shooting frame, the loudspeaker identifier can be displayed partially at the edge of the shooting frame adjacent to the target object or at a preset position. By displaying the loudspeaker identifier in the above differentiated manner, the user can understand the positional relationship between the target object and the shooting frame, thereby facilitating the user's adjustment of the shooting frame. This helps to improve the quality and effect of the loudspeaker's amplification operation to a certain extent.

[0087] Figure 8 is a schematic flowchart of displaying a loudspeaker identifier on a shooting screen according to an embodiment of the present invention. Based on the above embodiment, referring to Figure 8, in order to improve the quality and effect of displaying the loudspeaker identifier to a certain extent, the loudspeaker identifier can be displayed differently based on the operating status of the loudspeaker. In this case, displaying the loudspeaker identifier on the shooting screen in this embodiment may include:

[0088] Step S801: Obtain the operating status of the loudspeaker.

[0089] The loudspeaker can have different operating states. For example, when the loudspeaker is performing a shouting or amplifying operation, it can be in the shouting state; when the loudspeaker is not performing a shouting or amplifying operation, or when the loudspeaker has not performed a shouting or amplifying operation within a preset time period (e.g., a preset 1 minute, 3 minutes, 5 minutes, or 8 minutes, etc.), it can be in the non-shouting state.

[0090] Since the identifier of a loudspeaker can be displayed differently based on its various operating states, to ensure flexibility and reliability in displaying the identifier, the operating state of the loudspeaker can be obtained first. In some examples, the operating state of the loudspeaker can be determined based on its operating parameters. Obtaining the operating state can include acquiring the operating parameters, which may include at least one of the following: current parameters, voltage parameters, etc. Then, the operating state can be determined based on these parameters. Specifically, when the operating parameters are within a preset range, the loudspeaker is determined to be in a broadcasting state; when the operating parameters are not within the preset range, the loudspeaker is determined to be in a non-broadcasting state.

[0091] In other instances, the operating status of a loudspeaker can be determined not only based on its operating parameters but also based on identification information obtained from status detection. In this case, obtaining the operating status can include: acquiring a status identifier obtained from a status detection operation on the loudspeaker; and then determining the operating status based on this identifier. Specifically, when the status identifier is a preset first identifier, the loudspeaker is determined to be in a broadcasting state; when the status identifier is a preset second identifier, the loudspeaker is determined to be in a non-broadcasting state. This effectively ensures the accuracy and reliability of determining the operating status of the loudspeaker.

[0092] Step S802: Differentiate the display of the loudspeaker identifier based on the operating status.

[0093] Since different operating states correspond to different ways of displaying the loudspeaker identifier, the loudspeaker identifier can be displayed differently based on the operating state after it is obtained. In some examples, differentiating the loudspeaker identifier based on the operating state may include: highlighting the loudspeaker identifier when the operating state is "speaking"; and displaying the loudspeaker identifier in grayscale when the operating state is "not speaking".

[0094] Specifically, when the operating status is "speaking," it means that the loudspeaker is performing amplification or speaking operations. In order to enable users to quickly and directly know that the loudspeaker is performing amplification or speaking operations through the captured image, the loudspeaker identifier can be highlighted.

[0095] When the operating status is "not speaking," it indicates that the loudspeaker is not currently performing amplification or speaking operations, or that the loudspeaker has not performed amplification or speaking operations for a preset time period. In this case, in order to allow users to quickly and directly know from the captured image that the loudspeaker is not performing amplification or speaking operations, the loudspeaker identifier can be displayed in grayscale. That is, the pixels in the captured image corresponding to the loudspeaker identifier can be displayed in grayscale. This effectively enables differentiated display of the loudspeaker identifier based on different operating states of the loudspeaker, improving the ease of use of the loudspeaker.

[0096] In some other instances, in order to further improve the flexibility and reliability of differentiating the loudspeaker identifier, after the loudspeaker identifier is displayed on the captured image, the loudspeaker identifier can be differentiated based on the duration during which the loudspeaker is in a non-speaking state. In this case, the method in this embodiment may further include: obtaining the duration during which the loudspeaker is in a non-speaking state; and differentiating the loudspeaker identifier based on the duration.

[0097] Since the loudspeaker may switch back and forth between a speaking state and a non-speaking state, in order to avoid frequent changes to the loudspeaker identifier based on the switching between the speaking state and the non-speaking state, the duration of the loudspeaker being in the non-speaking state can be obtained. The duration of the loudspeaker being in the non-speaking state can be determined by a preset timer.

[0098] After obtaining the duration during which the loudspeaker is inactive, the loudspeaker identifier can be differentiated based on this duration. In some instances, the display method for the loudspeaker identifier can be determined based on the duration information. This method can be determined by analyzing the duration information using a pre-trained neural network model; alternatively, the method can be determined by analyzing the duration information using a pre-trained mapping table, and then the loudspeaker identifier can be differentiated based on this method information.

[0099] In other instances, the loudspeaker identifier can be differentiated based on the analysis and comparison results between a preset duration threshold and the actual duration. In this case, differentiating the loudspeaker identifier on the captured image based on duration can include: when the duration is greater than or equal to the preset duration threshold, it indicates that the loudspeaker has been in a non-speaking state for a relatively long time, and the loudspeaker identifier can be hidden in the captured image; or, when the duration is less than the preset duration threshold, it indicates that the loudspeaker has been in a non-speaking state for a relatively short time, and the loudspeaker may restart to perform amplification or speaking operations, and the loudspeaker identifier can be continuously displayed in the captured image. This effectively achieves differentiated display of the loudspeaker identifier based on different durations of the loudspeaker being in a non-speaking state.

[0100] In this embodiment, by obtaining the operating status of the loudspeaker and then displaying the loudspeaker identifier differently based on the operating status, the flexibility and reliability of displaying the loudspeaker identifier are effectively guaranteed.

[0101] Based on any of the above embodiments, during the shooting operation of the image acquisition device, the method in this embodiment may further include: displaying a focus identifier corresponding to the image acquisition device on the shooting screen, wherein the focus identifier is different from the loudspeaker identifier.

[0102] The focus identifier and the loudspeaker identifier can be displayed using the same identifier or different identifiers. Furthermore, the focus identifier and the loudspeaker identifier can partially overlap, or the focus identifier can be located inside the loudspeaker identifier.

[0103] For example, both the focus identifier and the amplification device identifier are displayed using circular, elliptical, or cross-shaped identifiers. Taking the example that both the focus identifier and the amplification device identifier are displayed using circular identifiers, the size of the circular identifier corresponding to the focus identifier can be different from that of the circular identifier corresponding to the amplification device identifier. When focusing and amplifying operations are performed on a target object, the focus identifier and the amplification device identifier can partially overlap.

[0104] For example, referring to Figure 9, the focus identifier can be displayed using a crosshair identifier, and the megaphone identifier can be displayed using a circular identifier. In this case, the focus identifier can be located inside the megaphone identifier. Similarly, the focus identifier can be displayed using a circular identifier, and the megaphone identifier can be displayed using a crosshair identifier. In this case, the focus identifier can be located outside the megaphone identifier.

[0105] In this embodiment, the shooting screen can display not only the loudspeaker identifier but also the focus identifier corresponding to the image acquisition device. This allows the user to quickly and directly understand the orientation of the loudspeaker through the loudspeaker identifier displayed in the shooting screen, and also directly understand the focus position of the image acquisition device through the displayed focus identifier, thereby improving the quality and effect of loudspeaker operation and shooting operation.

[0106] Figure 10 is a flowchart illustrating another display method provided by an embodiment of the present invention. Based on any of the above embodiments, referring to Figure 10, the display device in this embodiment can not only display the loudspeaker identifier on the shooting screen, but also uniformly display the shooting image containing the target object and the shooting screen. In this case, the method in this embodiment may further include:

[0107] Step S1001: Acquire a captured image containing the target object.

[0108] In some cases, when a loudspeaker is used to amplify or broadcast messages to a target object, in order to enable the user to understand the relevant status information of the target object, the loudspeaker acquires a captured image containing the target object. In some instances, the captured image containing the target object can be obtained by capturing images using an image acquisition device mounted on a mobile platform. In this case, acquiring the captured image containing the target object can include: capturing images using an image acquisition device to obtain images containing the target object, wherein the captured image containing the target object is a scene captured by the image acquisition device; or, the captured image containing the target object can be obtained by cropping a portion of the scene captured by the image acquisition device. In this case, the captured image containing the target object can be a portion of the scene captured by the image acquisition device.

[0109] In other instances, the captured image containing the target object can be determined from the image captured by the built-in image acquisition device of the loudspeaker. In this case, acquiring the captured image containing the target object can include: taking a picture using the built-in image acquisition device to obtain the captured image containing the target object, wherein the captured image containing the target object is the image captured by the built-in image acquisition device; or, the captured image containing the target object can be obtained by cropping the image captured by the built-in image acquisition device. In this case, the captured image containing the target object can be a portion of the image captured by the image acquisition device, thus effectively ensuring the accuracy and reliability of acquiring the captured image containing the target object.

[0110] Step S1002: Display the captured screen and the captured image separately, as the captured screen and the captured image are different.

[0111] After acquiring the captured screen and the captured image, since the captured screen and the captured image are different, they can be displayed separately. For example, the captured image can be displayed in a picture-in-picture manner within the captured screen; or, the captured screen and the captured image can be displayed using different display areas of the display device, so that the user can directly view the captured screen and the captured image through the display interface.

[0112] In this embodiment, by acquiring a captured image containing the target object and then displaying the captured screen and the captured image separately, the user can directly view the captured screen and the captured image through the display interface. This allows the user to directly understand the relevant information of the amplification operation and also allows the user to directly view the status information of the target object, thereby ensuring a good user experience and further improving the practicality of the method.

[0113] Figure 11 is a flowchart illustrating a control method for a mobile platform according to an embodiment of the present invention. Referring to Figure 11, this embodiment provides a control method for a mobile platform. The execution subject of this method is a control device for the mobile platform. The control device for the mobile platform can be implemented as software or a combination of software and hardware. The mobile platform is equipped with an image acquisition device and a loudspeaker. Through the cooperation between the image acquisition device and the loudspeaker, the user can more accurately aim the loudspeaker on the mobile platform at the target on the ground.

[0114] In this embodiment, the mobile platform refers to a system or device capable of moving freely between different locations, including at least one of the following: aircraft, vehicles, ships, ground robots (such as robotic vacuum cleaners), etc. Taking aircraft as an example, in this embodiment, aircraft are classified according to whether they are piloted inside the cabin, including unmanned aircraft and manned aircraft; according to configuration, including rotary-wing drones, fixed-wing drones, and drones combining rotary-wing and fixed-wing configurations; and according to purpose, including aerial photography drones, agricultural drones, surveying drones, logistics drones, etc.

[0115] In addition, the image acquisition device in this embodiment refers to a system or device capable of performing image acquisition operations, including at least one of the following: visible light camera, infrared camera, lidar camera, etc. Those skilled in the art can arbitrarily adjust or configure the image acquisition device according to specific application scenarios or application requirements.

[0116] Specifically, the control method for the mobile platform implemented based on the aforementioned control device for the mobile platform may include:

[0117] Step S1101: Acquire the captured image from the image acquisition device.

[0118] Step S1102: Obtain the orientation of the loudspeaker.

[0119] In some instances, the orientation of the loudspeaker is determined by its center. The center of the loudspeaker may include its central axis. Alternatively, the orientation of the loudspeaker may be determined by its virtual voice coil.

[0120] In other instances, the orientation of the loudspeaker is determined using the speaker's attitude information. This attitude information is determined by the attitude of the pan-tilt unit used to support the loudspeaker.

[0121] In other instances, the orientation of the loudspeaker is determined based on the target object that the loudspeaker is pointing at, as shown in the captured image. This target object is determined by a target selection operation entered by the user in the captured image; alternatively, the target object is determined by a preset event existing in the detection area, where the target object corresponds to the preset event; or, the target object is determined by an image captured by the built-in image acquisition device of the loudspeaker.

[0122] Step S1103: Transmit the captured image and the orientation of the loudspeaker to the display device so that the display device can display the loudspeaker identifier on the captured image. The loudspeaker identifier can indicate the orientation of the loudspeaker. The movable platform is in communication connection with the loudspeaker.

[0123] The control method for the mobile platform provided in this embodiment determines the orientation of the loudspeaker by acquiring the captured image from the image acquisition device. Then, the captured image and the orientation of the loudspeaker are transmitted to the display device so that the display device can display the loudspeaker identifier on the captured image. This allows the user to quickly and directly know the orientation of the loudspeaker through the loudspeaker identifier in the captured image. In other words, the loudspeaker identifier allows the user to directly perceive whether the loudspeaker is pointing at the target. This can, to a certain extent, enable the loudspeaker to be pointed more accurately at the target on the ground, thereby improving the quality and effect of the loudspeaker and ensuring the practicality of the method and improving the ease of use of the loudspeaker.

[0124] In some instances, the method in this embodiment may further include: determining the display features of the target object based on the built-in image acquisition device, wherein the built-in image acquisition device is communicatively connected to the display device; determining the target object located in the captured image based on the display features; and sending the target object to the display device so that the display device marks and displays the target object in the captured image.

[0125] In some instances, the target object is a moving object, and the display position of the loudspeaker identifier changes based on the positional changes of the moving object.

[0126] In some instances, obtaining the orientation of the loudspeaker may include: determining a preset display position for the loudspeaker identifier; transmitting the captured image and the orientation of the loudspeaker to the display device may include: transmitting the preset display position to the display device so that the display device can display the loudspeaker identifier at the preset display position on the captured image.

[0127] In some instances, the loudspeaker is located on a first pan-tilt unit and the image acquisition device is located on a second pan-tilt unit. Determining the preset display position of the loudspeaker identifier may include: obtaining the first pan-tilt angle of the first pan-tilt unit and the second pan-tilt angle of the second pan-tilt unit; determining the parameters of the image acquisition device; and determining the preset display position of the loudspeaker identifier based on the first pan-tilt angle, the second pan-tilt angle, and the parameters of the image acquisition device.

[0128] In some instances, the method in this embodiment may further include: obtaining the operating status of the loudspeaker; sending the operating status to a display device so that the display device can display the loudspeaker identifier differently based on the operating status.

[0129] In some instances, the method in this embodiment may further include: acquiring a captured image containing the target object; sending the captured image to a display device so that the display device can display the captured screen and the captured image separately, the captured screen and the captured image being different.

[0130] The specific implementation methods and effects of each scheme in the above embodiments are similar to the specific implementation methods and effects of each step in the display methods shown in Figures 1-10. For details, please refer to the descriptions in the embodiments shown in Figures 1-10. For parts not described in detail in this embodiment, please refer to the relevant descriptions of the embodiments shown in Figures 1-10. The execution process and technical effects of this technical solution are described in the embodiments shown in Figures 1-10, and will not be repeated here.

[0131] Based on any of the above embodiments, when the target object being addressed by the loudspeaker is a moving object, the movable platform can be controlled to follow the moving object. In this case, the method in this embodiment may further include: when the target object being addressed by the loudspeaker is a moving object, controlling the movable platform to follow the moving object.

[0132] In order to ensure the quality and effectiveness of the amplification operation, when the loudspeaker is pointing at a target object, it is necessary to first identify whether the target object is a moving object. Specifically, this can be done by detecting the position change information of the target object within a preset time period. For example, if the position of the target object has changed within the preset time period, it can be determined that the target object is a moving object; if the position of the target object has not changed within the preset time period, it can be determined that the target object is not a moving object.

[0133] When the target object being amplified by the loudspeaker is a moving object, in order to ensure the quality and effect of the amplification operation on the moving object, the movable platform can be controlled to follow the moving object. This allows the loudspeaker to amplify the moving object simultaneously while the movable platform is following it, effectively ensuring the quality and effect of the amplification operation and further improving the practicality of the method.

[0134] Based on any of the above embodiments, when the target object is a moving object, not only can the movable platform be controlled to follow the moving object, but the movable platform and / or pan-tilt unit can also be adjusted based on the analysis and comparison results of whether the target object is within the effective range of the loudspeaker corresponding to the loudspeaker device. In this case, the method in this embodiment may also include: when the target object is outside the effective range of the loudspeaker device, adjusting the movable platform and / or the pan-tilt unit corresponding to the loudspeaker device so that the effective range of the loudspeaker can cover the target object.

[0135] The loudspeaker has a corresponding effective range. When the target is a moving object, the position of the moving object may change, and the target object may be within the effective range of the loudspeaker. This means that the target object can accurately receive the loudspeaker information. At this time, the loudspeaker effect can meet the preset requirements.

[0136] Correspondingly, as the position of the moving object changes, there may be situations where the target object is outside the effective range of the loudspeaker. This means that the target object may not be able to accurately receive the amplified information from the loudspeaker, indicating that the amplification effect of the loudspeaker does not meet the preset requirements. To ensure the quality and effectiveness of amplification operations for moving objects, the pan-tilt unit of the movable platform and / or the loudspeaker can be adjusted to ensure that the effective range of the loudspeaker covers the target object.

[0137] In some instances, when the target object is outside the effective range of the loudspeaker, the mobile platform can be adjusted. Specifically, adjustment parameters corresponding to the mobile platform can be generated based on the effective range of the loudspeaker and the current position of the target object. Then, the mobile platform can be adjusted based on the adjustment parameters so that the effective range of the loudspeaker can cover the target object.

[0138] In other instances, when the target object is outside the effective range of the loudspeaker, the pan-tilt unit (PTZ) of the loudspeaker can be adjusted. Specifically, adjustment parameters corresponding to the PTN of the loudspeaker can be generated based on the effective range of the loudspeaker and the current position of the target object. Then, the PTN of the loudspeaker can be adjusted based on the adjustment parameters so that the effective range of the loudspeaker can cover the target object.

[0139] In other instances, when the target object is outside the effective range of the loudspeaker, the mobile platform and the pan-tilt unit of the loudspeaker can be adjusted. Specifically, a first adjustment parameter corresponding to the mobile platform and a second adjustment parameter corresponding to the pan-tilt unit can be generated based on the effective range of the loudspeaker and the current position of the target object. Then, the mobile platform can be adjusted based on the first adjustment parameter and the pan-tilt unit of the loudspeaker can be adjusted based on the second adjustment parameter, so that the effective range of the loudspeaker can cover the target object. This effectively ensures the quality and effect of the loudspeaker operation and further improves the flexibility and reliability of the method.

[0140] In other instances, when the target object is outside the effective range of the loudspeaker, the pan-tilt unit (PTZ) of both the mobile platform and the loudspeaker can be adjusted. Specifically, the mobile platform and the PTN of the loudspeaker can be linked and adjusted using preset controls. In this case, preset controls for linking and adjusting the PTN of the mobile platform and the loudspeaker are displayed on the screen. In response to the user's confirmation of the preset control input, the mobile platform and the PTN of the loudspeaker are linked and adjusted to ensure that the effective range of the loudspeaker can cover the target object. This effectively ensures the quality and effect of the loudspeaker operation and further improves the flexibility and reliability of the method.

[0141] Figure 12 is a schematic diagram of the structure of a display device provided in an embodiment of the present invention; referring to Figure 12, this embodiment provides a display device that is communicatively connected to a mobile platform, the mobile platform being equipped with an image acquisition device and a sound amplification device; the display device can execute the display methods shown in Figures 1-10 above, specifically, the display device may include: a first memory 11 and a first processor 12.

[0142] The first memory 11 is used to store one or more computer instructions.

[0143] The first processor 12 is communicatively connected to the first memory 11 and is used to execute one or more computer instructions stored in the first memory 11 to achieve the following steps: displaying the captured image taken by the image acquisition device; displaying a loudspeaker identifier on the captured image, the loudspeaker identifier being able to indicate the orientation of the loudspeaker.

[0144] Furthermore, the first processor 12 is also used to execute all or part of the steps in the embodiments shown in Figures 1-10 above.

[0145] The structure of the electronic device may also include a first communication interface 13 for communication between the electronic device and other devices or communication networks.

[0146] Figure 13 is a schematic diagram of the structure of a control device for a mobile platform provided in an embodiment of the present invention. Referring to Figure 13, this embodiment provides a control device for a mobile platform, wherein the mobile platform is communicatively connected to a display device, and the mobile platform is equipped with an image acquisition device and a sound amplification device. The control device for the mobile platform can execute the control method for the mobile platform shown in Figure 11 above. Specifically, the control device for the mobile platform may include: a second memory 21 and a second processor 22.

[0147] The second memory 21 is used to store one or more computer instructions.

[0148] The second processor 22 is communicatively connected to the second memory 21 and is used to execute one or more computer instructions stored in the second memory 21 to achieve the following steps: acquiring the captured image from the image acquisition device; acquiring the orientation of the loudspeaker; transmitting the captured image and the orientation of the loudspeaker to the display device so that the display device can display the loudspeaker identifier on the captured image, the loudspeaker identifier indicating the orientation of the loudspeaker; and the movable platform is communicatively connected to the loudspeaker.

[0149] Furthermore, the second processor 22 is also used to perform all or part of the steps in the embodiment shown in FIG11 above.

[0150] The structure of the electronic device may also include a second communication interface 23 for communication between the electronic device and other devices or communication networks.

[0151] Figure 14 is a schematic diagram of the structure of a mobile platform provided in an embodiment of the present invention. Referring to Figure 14, this embodiment provides a mobile platform 200, which is communicatively connected to a display device. The mobile platform 200 is communicatively connected to the display device and is equipped with an image acquisition device and a sound amplification device. The mobile platform 200 may include a control device 201 of the mobile platform shown in Figure 13, which is used to control the display device to display a sound amplification device identifier on the captured image based on the image acquisition device and the sound amplification device. The sound amplification device identifier can indicate the orientation of the sound amplification device.

[0152] The implementation principle and effect of the mobile platform provided in the embodiment shown in Figure 14 are consistent with the implementation principle and effect of the control device 201 of the mobile platform corresponding to Figure 13. For details, please refer to the above description, which will not be repeated here.

[0153] In addition, embodiments of the present invention provide a computer-readable storage medium, wherein the storage medium stores program instructions for implementing the methods of Figures 1-11 above.

[0154] The technical solutions and features in the above embodiments can be used individually or in combination if they conflict with this invention. As long as they do not exceed the knowledge of those skilled in the art, they are all equivalent embodiments within the scope of protection of this application.

[0155] In the several embodiments provided by this invention, it should be understood that the disclosed remote control devices and methods can be implemented in other ways. For example, the remote control device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection of the remote control device or unit may be electrical, mechanical, or other forms.

[0156] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0157] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0158] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0159] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A display method, characterized in that, The method is applied to a display device, which is communicatively connected to a mobile platform, the mobile platform being equipped with an image acquisition device and a sound amplification device; the method includes: Displays the captured image from the image acquisition device; The loudspeaker identifier is displayed on the captured image, and the loudspeaker identifier can indicate the orientation of the loudspeaker.

2. The method according to claim 1, characterized in that, The orientation of the loudspeaker is determined by the center of the loudspeaker.

3. The method according to claim 2, characterized in that, The center of the loudspeaker includes the central axis of the loudspeaker.

4. The method according to claim 1, characterized in that, The orientation of the loudspeaker is determined by the virtual voice coil of the loudspeaker.

5. The method according to claim 4, characterized in that, The method further includes: At least one virtual voice coil of the amplification device is displayed, wherein each virtual voice coil corresponds to a volume parameter.

6. The method according to claim 5, characterized in that, The at least one virtual voice coil includes a central virtual voice coil corresponding to the amplification center area of ​​the amplification device, and the volume parameter corresponding to the central virtual voice coil is greater than the volume parameters of the other virtual voice coils.

7. The method according to claim 1, characterized in that, The orientation of the loudspeaker is determined by the attitude information of the loudspeaker.

8. The method according to claim 7, characterized in that, The attitude information of the loudspeaker is determined by the attitude of the pan-tilt unit used to support the loudspeaker.

9. The method according to claim 1, characterized in that, The orientation of the loudspeaker is determined based on the target object that the loudspeaker is pointing at, as shown in the captured image.

10. The method according to claim 9, characterized in that, The target object that the loudspeaker is aimed at is determined by the target selection operation entered by the user in the shooting screen.

11. The method according to claim 9, characterized in that, The target object that the loudspeaker is aimed at is determined by a preset event existing in the detection area, wherein the target object corresponds to the preset event.

12. The method according to claim 9, characterized in that, The target object that the loudspeaker is aimed at is determined by the image captured by the built-in image acquisition device on the loudspeaker.

13. The method according to claim 12, characterized in that, The method further includes: The display features of the target object are determined based on the built-in image acquisition device, wherein the built-in image acquisition device is communicatively connected to the display device; Based on the aforementioned display features, the target object is marked and displayed in the captured image.

14. The method according to claim 9, characterized in that, The target object is a moving object, and the display position of the loudspeaker identifier changes based on the position change of the moving object.

15. The method according to claim 14, characterized in that, The loudspeaker identifier is displayed on the captured image, including: When the target object is not in the shooting frame, the identifier of the loudspeaker device is partially displayed.

16. The method according to claim 15, characterized in that, Partial display of the loudspeaker identifier includes: Determine the edge of the shooting frame adjacent to the target object; partially display the identifier of the loudspeaker at the edge of the shooting frame.

17. The method according to any one of claims 1-16, characterized in that, The loudspeaker identifier is displayed on the captured image, including: The identifier of the loudspeaker is displayed at a preset display position on the captured image.

18. The method according to claim 17, characterized in that, The amplification device is located on the first pan-tilt unit, and the image acquisition device is located on the second pan-tilt unit; the preset display position is determined based on the first pan-tilt angle of the first pan-tilt unit, the second pan-tilt angle of the second pan-tilt unit, and the parameters of the image acquisition device.

19. The method according to any one of claims 1-16, characterized in that, The loudspeaker identifier is displayed on the captured image, including: Obtain the operating status of the loudspeaker; The identifier of the loudspeaker device is displayed differently based on the operating status.

20. The method according to claim 19, characterized in that, Differentiated display of the loudspeaker identifier based on the operating status includes: When the operating state is the loudspeaker state, the identifier of the loudspeaker device is highlighted; When the operating state is in the non-speaking state, the identifier of the loudspeaker device is displayed in grayscale.

21. The method according to claim 20, characterized in that, After displaying the loudspeaker identifier on the captured image, the method further includes: The duration for which the loudspeaker is in a silent state is obtained; Based on the duration, the identifier of the loudspeaker device is displayed differently.

22. The method according to claim 21, characterized in that, Based on duration, the identifiers of the loudspeakers on the captured footage are displayed differently, including: When the duration is greater than or equal to a preset duration threshold, the loudspeaker identifier is hidden in the captured image. If the duration is less than a preset duration threshold, the identifier of the loudspeaker device will be continuously displayed in the shooting screen.

23. The method according to any one of claims 1-16, characterized in that, The method further includes: The image capture screen displays a focus identifier corresponding to the image acquisition device, which is different from the identifier of the loudspeaker device.

24. The method according to claim 23, characterized in that, The focus identifier and the loudspeaker identifier partially overlap.

25. The method according to claim 23, characterized in that, The focus identifier is located inside the loudspeaker identifier.

26. The method according to any one of claims 1-16, characterized in that, The method further includes: Acquire a captured image containing the target object; The captured screen and the captured image are displayed separately, and the captured screen and the captured image are different.

27. The method according to claim 26, characterized in that, The captured image is displayed in a picture-in-picture format within the captured screen.

28. The method according to claim 26, characterized in that, The captured screen and the captured image are displayed using different display areas of the display device.

29. A control method for a mobile platform, characterized in that, The mobile platform is equipped with an image acquisition device and a sound amplification device, and the method includes: Acquire the captured image from the image acquisition device; Obtain the orientation of the loudspeaker; The captured image and the orientation of the loudspeaker are transmitted to a display device so that the display device can display a loudspeaker identifier on the captured image. The loudspeaker identifier can indicate the orientation of the loudspeaker. The movable platform is communicatively connected to the loudspeaker.

30. The method according to claim 29, characterized in that, The orientation of the loudspeaker is determined by the center of the loudspeaker.

31. The method according to claim 30, characterized in that, The center of the loudspeaker includes the central axis of the loudspeaker.

32. The method according to claim 29, characterized in that, The orientation of the loudspeaker is determined by the virtual voice coil of the loudspeaker.

33. The method according to claim 32, characterized in that, The orientation of the loudspeaker is determined by the attitude information of the loudspeaker.

34. The method according to claim 33, characterized in that, The attitude information of the loudspeaker is determined by the attitude of the pan-tilt unit used to support the loudspeaker.

35. The method according to claim 29, characterized in that, The orientation of the loudspeaker is determined based on the target object that the loudspeaker is pointing at, as shown in the captured image.

36. The method according to claim 35, characterized in that, The target object that the loudspeaker is aimed at is determined by the target selection operation entered by the user in the shooting screen.

37. The method according to claim 35, characterized in that, The target object that the loudspeaker is aimed at is determined by a preset event existing in the detection area, wherein the target object corresponds to the preset event.

38. The method according to claim 35, characterized in that, The target object that the loudspeaker is aimed at is determined by the image captured by the built-in image acquisition device on the loudspeaker.

39. The method according to claim 38, characterized in that, The method further includes: The display features of the target object are determined based on the built-in image acquisition device, wherein the built-in image acquisition device is communicatively connected to the display device; Based on the display features, the target object located in the captured image is determined; The target object is sent to the display device so that the display device marks and displays the target object in the captured image.

40. The method according to claim 35, characterized in that, The target object is a moving object, and the display position of the loudspeaker identifier changes based on the position change of the moving object.

41. The method according to any one of claims 29-40, characterized in that, The process of obtaining the orientation of the loudspeaker includes: Determine the preset display position of the loudspeaker identifier; Transmitting the captured image and the orientation of the amplification device to the display device includes: The preset display position is transmitted to the display device so that the display device can display the loudspeaker identifier at the preset display position on the captured image.

42. The method according to claim 41, characterized in that, The loudspeaker is located on the first pan-tilt unit, and the image acquisition device is located on the second pan-tilt unit; Determining the preset display position of the loudspeaker identifier includes: Obtain the first gimbal angle of the first gimbal and the second gimbal angle of the second gimbal; Determine the parameters of the image acquisition device; Based on the angles of the first and second pan-tilt units and the parameters of the image acquisition device, the preset display position of the loudspeaker identifier is determined.

43. The method according to any one of claims 29-40, characterized in that, The method further includes: Obtain the operating status of the loudspeaker; The operating status is sent to the display device so that the display device can display the loudspeaker identifier differently based on the operating status.

44. The method according to any one of claims 29-40, characterized in that, The method further includes: Acquire a captured image containing the target object; The captured image is sent to the display device so that the display device can display the captured screen and the captured image separately, and the captured screen and the captured image are different.

45. The method according to any one of claims 29-40, characterized in that, The method further includes: When the target object being directed by the loudspeaker is a moving object, the movable platform is controlled to follow the moving object.

46. ​​The method according to claim 45, characterized in that, The method further includes: When the target object is outside the effective range of the loudspeaker, the movable platform and / or the pan-tilt unit corresponding to the loudspeaker are adjusted so that the effective range of the loudspeaker can cover the target object.

47. A display device, characterized in that, The display device is communicatively connected to a portable platform, which is equipped with an image acquisition device and a sound amplification device; the display device includes: A memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the display method of any one of claims 1-28.

48. A control device for a mobile platform, characterized in that, The mobile platform is communicatively connected to a display device, and the mobile platform is equipped with an image acquisition device and a sound amplification device; the control device includes: A memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the control method of the mobile platform according to any one of claims 29-46.

49. A mobile platform, characterized in that, The mobile platform is communicatively connected to a display device, and the mobile platform is equipped with an image acquisition device and a sound amplification device. The mobile platform includes: The control device for the mobile platform as described in claim 48.

50. A computer-readable storage medium, characterized in that, The storage medium is a computer-readable storage medium that stores program instructions for implementing the method described in any one of claims 1-46.

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