CN111213108A

CN111213108A - Control method of movable platform, control terminal and computer readable storage medium

Info

Publication number: CN111213108A
Application number: CN201980005004.XA
Authority: CN
Inventors: 殷悦; 卢欢鹏
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-04-02
Filing date: 2019-04-02
Publication date: 2020-05-29
Also published as: WO2020199126A1

Abstract

A control method, a control terminal and a computer-readable storage medium of a movable platform, the method comprising: outputting target training task prompt information, wherein the target training task prompt information is used for indicating a user to control a movable platform to execute a target training task, the movable platform is limited to move in a target area, and the target area is determined by the movable platform according to target area information; detecting target control operation input by a user, and determining control information of the movable platform according to the detected target control operation; and sending the control information to the movable platform, wherein the control information is used for controlling the movable platform to execute the target training task in the target area. The embodiment of the invention not only can instruct the user to control the movable platform through the training task so as to reduce the difficulty of the user in handling, but also can improve the safety of operating the movable platform by limiting the moving area of the movable platform.

Description

Control method of movable platform, control terminal and computer readable storage medium

Technical Field

The present invention relates to the field of control technologies, and in particular, to a control method for a movable platform, a control terminal, and a computer-readable storage medium.

Background

At present, the functions of movable platforms such as unmanned aerial vehicles, unmanned ships, movable trolleys and the like are continuously abundant, and the movable platforms are widely applied to the fields of public service, agriculture, supervision, aerial photography and the like. The user may control the movable platform to perform task operations, such as controlling the movement of the movable platform, etc., using the control device that establishes a communication connection with the movable platform. However, for a user who just touches the movable platform, the user usually does not know how to control the movable platform by using the control terminal, and only learns how to control the movable platform by using the text teaching materials, the instruction manual and continuous manual attempts, but the text teaching materials and the instruction manual are difficult to understand, and have a certain difference from actual control, so that the manual difficulty is large, the possibility of improper operation in the manual attempt process is high, and the improper operation easily causes the fault or damage of the movable platform, even causes other safety problems.

Disclosure of Invention

The embodiment of the invention discloses a control method of a movable platform, a control terminal and a computer readable storage medium, which can not only instruct a user to control the movable platform through a training task so as to reduce the difficulty of the user in the hands, but also improve the safety of operating the movable platform by limiting the moving area of the movable platform.

The first aspect of the embodiment of the invention discloses a control method of a movable platform, which is applied to a control terminal and comprises the following steps:

outputting target training task prompt information, wherein the target training task prompt information is used for instructing a user to control a movable platform to execute a target training task, the movable platform is limited to move in a target area, and the target area is determined by the movable platform according to target area information;

detecting target control operation input by a user, and determining control information of the movable platform according to the detected target control operation;

and sending the control information to the movable platform, wherein the control information is used for controlling the movable platform to execute the target training task in the target area.

A second aspect of the embodiments of the present invention discloses a control terminal, including: a memory, a communication interface, and a processor,

the memory to store program instructions;

the processor to execute the memory-stored program instructions, the processor to, when executed:

and sending the control information to the movable platform through the communication interface, wherein the control information is used for controlling the movable platform to execute the target training task in the target area.

A third aspect of the present invention discloses a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method according to the first aspect.

In the embodiment of the invention, the target training task prompt information is output firstly to instruct the user to control the movable platform to execute the target training task, then the target control operation input by the user is detected, and the control information corresponding to the target control operation is sent to the movable platform to control the movable platform to execute the target training task in the target area.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a block diagram of a mobile platform control system according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a method for controlling a movable platform according to an embodiment of the present invention;

FIG. 3 is a schematic view of a control interface according to a first embodiment of the present disclosure;

FIG. 4 is a schematic view of a control interface according to a second embodiment of the present disclosure;

FIG. 5 is a schematic view of a control interface according to a third embodiment of the present disclosure;

FIG. 6 is a flow chart illustrating another method for controlling a movable platform according to an embodiment of the present invention;

FIG. 7 is a schematic view of a control interface according to a fourth embodiment of the present disclosure;

FIG. 8 is a flowchart illustrating a method for controlling a movable platform according to an embodiment of the present invention;

FIG. 9 is a schematic view of a control interface according to a fifth embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the embodiment of the present invention, the movable platform may be a movable device such as an Unmanned Aerial Vehicle (UAV), an Unmanned Vehicle (or a movable trolley), an Unmanned ship, and a mobile robot. The movable platform can be provided with a positioning device and a shooting device, and the positioning device can be at least one of a Visual Inertial Odometer (VIO) and a GPS module; the shooting device can be mounted on a holder of the movable platform; the holder arranged on the movable platform can be rotatable or fixed. The control terminal is an intelligent device which can be used for controlling the movable platform to execute task operation, such as an intelligent remote controller, a smart phone and other mobile terminal devices; the control terminal may be configured with a display device, which may be a display screen.

Fig. 1 is a schematic structural diagram of a movable platform control system according to an embodiment of the present invention. As shown in fig. 1, the movable platform control system includes a control terminal 100 and a movable platform 200, and a communication connection is established between the control terminal 100 and the movable platform 200. When it is detected that the target training task is performed, the control terminal 100 outputs target training task prompt information for instructing the user to control the movable platform 200 to perform the target training task. Further, the control terminal 100 detects a target control operation input by the user, and determines control information for controlling the movable platform 200 according to the detected target control operation; the control information is then sent to the movable platform 200. After receiving the control information transmitted from the control terminal 100, the movable platform 200 controls the movable platform 200 to perform the target training task according to the control information. Wherein the movable platform 200 is constrained to move within the target area and to perform the target training task within the target area. The target area is determined by the movable platform 200 according to target area information, which may be pre-stored in the movable platform 200 or sent to the movable platform 200 by the control terminal 100. By adopting the mode, the user can be instructed to control the movable platform through the training task, so that the difficulty of the user in handling is reduced, the user can be helped to handle quickly, the safety of operating the movable platform can be improved by limiting the moving area of the movable platform, and the possibility of fault or damage of the movable platform caused by improper operation is reduced to a certain extent. It should be noted that the movable platform 200 in fig. 1 is exemplified by an unmanned aerial vehicle, and the control terminal 100 is exemplified by a smart phone. The movable platform 200 includes, but is not limited to, a drone, and the control terminal 100 includes, but is not limited to, a smartphone.

Fig. 2 is a schematic flow chart illustrating a method for controlling a movable platform according to a first embodiment of the present invention. The control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the movable platform control system shown in fig. 1, and the control method of the movable platform may include:

s201, the control terminal outputs target training task prompt information, wherein the target training task prompt information is used for indicating a user to control the movable platform to execute a target training task, and the movable platform is limited to move in a target area.

In the embodiment of the present invention, the target training task prompt information is used to instruct the user to control the movable platform to execute the target training task, that is, any information used to prompt the user which target training task the movable platform should be controlled to complete. In one embodiment, the target training task may include one or more of controlling the movable platform to move to the target position, controlling the movable platform to photograph, record, turn over, or adjust a photographing posture. The control terminal may output the target training task prompt information in at least one of a text form, a video form, an animation form, and an audio form.

Before outputting the target training task prompt information, the control terminal establishes communication connection with the movable platform. The control terminal may establish communication with the movable platform by connecting wireless signals transmitted by the movable platform. The Wireless signal may be generated based on a Wireless Fidelity (Wi-Fi), a Software Defined Radio (SDR), a cellular communication, or a bluetooth, among other Wireless protocols. In one embodiment, before establishing the communication connection with the movable platform, the control terminal outputs communication connection prompt information for introducing a user how to establish the communication connection with the movable platform; the control terminal may output the communication connection prompt information in at least one of a text form, a video form, an animation form, and an audio form. In another embodiment, after the communication connection prompt message is output, whether the control terminal successfully establishes the communication connection with the movable platform is judged at preset time intervals, and if not, the communication connection prompt message is output again.

In one embodiment, after the control terminal is successfully connected with the movable platform in a communication mode, the control terminal outputs a training task selection interface, and the training task selection interface comprises at least one training task option; and the control terminal acquires a selection instruction input by the user aiming at the at least one training task option and takes the training task corresponding to the selection instruction as a target training task. In another embodiment, the at least one training task option is ranked according to the difficulty index of the corresponding training task, which may be that the difficulty index of the training task corresponding to the training task option ranked first is lower than the difficulty index of the training task corresponding to the training task option ranked next according to the left-to-right order. The first training task option with the corresponding difficulty index not being the lowest is kept in a locked state, and the first training task option is unlocked after the control terminal determines that the user controls the movable platform to complete the training task corresponding to the second training task option; the second training task option is the training task option with the corresponding difficulty index ranked one bit before the first training task option. By adopting the mode, the training task is from easy to difficult, better training experience can be brought to the user, misoperation in the user handling process can be reduced to a certain extent, and the safety in the training process is improved.

In an embodiment, after the target training task selected by the user is determined and before the target training task prompt information is output, the control terminal outputs introduction information of the target training task. The introduction information is used for explaining and demonstrating the target training task. The introduction information may be used to describe which type of task the target training task is, what the difficulty index and the expected training duration of the target training task are, to describe, in text or voice, an input control operation that needs to be performed by a user corresponding to the target training task, to demonstrate, in animation or video, an input control operation that needs to be performed by a user corresponding to the target training task, and the like.

S202, the control terminal detects target control operation input by a user and determines control information of the movable platform according to the detected target control operation.

In the embodiment of the invention, the target control operation can be input by a user through a control key of the control terminal, a control rocker or a user gesture operation. The control key can be a physical control key or a virtual control key; the control rocker can be a physical control rocker or a virtual control rocker; the user gesture operation may be a gesture operation, an eye movement or head movement operation, or the like. After the control terminal detects the target control operation input by the user, the control terminal determines control information for controlling the movable platform to execute the target training task according to the detected target control operation.

In one embodiment, before the control terminal detects the target control operation input by the user, a control interface aiming at the movable platform is output, and the control interface comprises a control area. The control area is used for a user to input target control operation so as to input a control instruction aiming at the movable platform; the control area may be one or more. The control terminal detects target control operation input by a user through the control area, and determines control information for controlling the movable platform to execute a target training task according to the detected target control operation.

Fig. 3 is a schematic view of a control interface according to a first embodiment of the present invention. As shown in fig. 3, the control interface includes a first control area 301, a second control area 302, a third control area 303, and a fourth control area 304. The first control area 301 includes a first virtual control joystick, and the first virtual control joystick may be used for a user to input one or more of a forward movement instruction, a backward movement instruction, a left movement instruction, a right movement instruction, a left forward movement instruction, a left backward movement instruction, a right forward movement instruction, and a right backward movement instruction for the movable platform. For example, when the control terminal detects a touch operation of a user on the control region 3011 in the first virtual control rocker, it is determined that the user inputs a forward movement instruction on the movable platform; when the control terminal detects a touch operation of a user on the control area 3012 in the first virtual control rocker, it is determined that the user inputs a left shift instruction on the movable platform.

The second control area 302 includes a second virtual control joystick, and the second virtual control joystick may be used for a user to input one or more of an up command, a down command, a left steering command (or a clockwise steering command), and a right steering command (or a counterclockwise steering command) for the movable platform. For example, when the control terminal detects a touch operation of a user on the control area 3021 in the second virtual control rocker, it is determined that the user inputs an upward movement instruction on the movable platform; when the movable platform is a drone, the upward movement command is also a command instructing the drone to fly upward. When the control terminal detects a touch operation of the user on the control area 3022 in the second virtual control stick, it is determined that the user inputs a left steering instruction (or a clockwise steering instruction) on the movable platform. It should be noted that the forward movement, the backward movement, the left movement, the right movement, the upward movement and the downward movement are mentioned with respect to the three-dimensional space coordinate system, the left movement and the right movement may refer to movement along a horizontal axis (X axis) in the three-dimensional space coordinate system, the forward movement and the backward movement may refer to movement along a vertical axis (Y axis) in the three-dimensional space coordinate system, and the upward movement and the downward movement may refer to movement along a vertical axis (Z axis) in the three-dimensional space coordinate system.

The third control region 303 includes a virtual photo button 3031 and a virtual video button 3032, where the virtual photo button 3031 may be used for a user to input a photo instruction for the movable platform, and the virtual video button 3032 may be used for the user to input a video instruction for the movable platform. The fourth control area 303 is a gesture control area preset in the control terminal, and may be used for a user to input a control instruction for the movable platform through a gesture input operation, where the control instruction includes a flipping control instruction. For example, when the control terminal detects that the user inputs a gesture operation of sliding upwards in the fourth control area, it is determined that the user inputs a forward-flipping control instruction for the movable platform.

In an embodiment, please refer to fig. 4, which is a schematic diagram of a control interface according to a second embodiment of the present invention. The control interface shown in fig. 4 further includes a fifth control area 305 and a movement status display area 306 compared to the control interface shown in fig. 3. As shown in fig. 4, the fifth control region includes a movement start key 3051 and a movement stop key 3052. When the control terminal detects the clicking operation of the user on the movement starting key 3051, it is determined that the user inputs a movement starting instruction for the movable platform, and the movement starting instruction is used for controlling the movable platform to start moving. When the control terminal detects the click operation of the user on the movement stop key 3052, it is determined that the user inputs a movement stop instruction for the movable platform, and the movement stop instruction is used for controlling the movable platform to stop moving. As shown in fig. 4, the movement state display area 306 includes a movement speed display area 3061 and a movement distance display area 3062. The movement speed display area 3061 may be used to display the movement speed of the movable platform during movement; the movement distance display area 3062 may be used to display the distance between the current location point of the movable platform and the geometric center location point of the target area; the movement distance display area 3062 may also be used to display the distance between the movable platform current position point and the movable platform initial position point.

S203, the control terminal sends the control information to the movable platform, wherein the control information is used for controlling the movable platform to execute the target training task in the target area.

In embodiments of the present invention, the movable platform is constrained to perform a target training task within a target area. The target area is determined by the movable platform according to the target area information, and the target area information may be pre-stored in the movable platform or sent to the movable platform by the control terminal.

For the case where the target area information is pre-stored in the movable platform, the control terminal transmits, to the movable platform, movement restriction information for restricting movement of the movable platform within the target area, before or at the same time as transmitting the control information to the movable platform for the first time. After receiving the movement limiting information sent by the control terminal, the movable platform starts a movement area limiting function, acquires target area information stored in the movable platform, and determines a target area according to the acquired target area information. And in the subsequent process of executing the training task, controlling the movable platform to execute the target training task only in the target area.

For the case that the target area information is sent to the movable platform by the control terminal, the control terminal carries the target area information in the movement limiting information before sending the control information to the movable platform or sends the control information to the movable platform for the first time, and the movement limiting information is used for limiting the movable platform to move in the target area. After receiving the movement limiting information sent by the control terminal, the movable platform starts a movement area limiting function, acquires target area information included in the movement limiting information, and determines a target area according to the acquired target area information. And in the subsequent process of executing the training task, controlling the movable platform to execute the target training task only in the target area.

In an embodiment, when the movable platform is controlled by the control terminal to execute the target training task under the condition that the movement area limiting function is started, if the distance between the movable platform and the boundary of the target area is detected to be smaller than or equal to the distance threshold, the movable platform is controlled to reduce the movement speed; and if the movable platform is detected to move to the boundary of the target area, controlling the movable platform to keep still. In this manner, it may be ensured that the movable platform is confined to perform the target training task within the target area.

In an embodiment, the target region information includes position information of a geometric center point of the target region, and a target value that may be used to determine a range of the target region, the target value may be at least one of a length of side value, a length of diagonal value, a radius value, a diameter value, a length of geometric center point to vertex value, a region area, and a region perimeter of a geometric shape of the target region. The movable platform determines a target area based on the position information of the geometric center point and the target value. Wherein the geometric center point of the target area includes at least one of an initial position point of the movable platform, a current position point of the movable platform, and a position point of the control terminal.

In one embodiment, the target area may be a circular area, an elliptical area, a rectangular area, or the like. When the target area is a circular area, the target area information includes position information of a geometric center point of the circular area, and a radius value or a diameter value of the circular area, the radius value being, for example, 1 m; the movable platform determines a target area based on the position information of the geometric center point and the radius value or the diameter value. When the target area is an elliptical area, the target area information comprises position information of a geometric center point of the elliptical area, and a length value of a long half axis and a length value of a short half axis of the elliptical area, and the movable platform determines the target area based on the position information of the geometric center point, the length value of the long half axis and the length value of the short half axis. When the target area is a rectangular area, the target area information comprises position information of a geometric center point of the rectangular area, and a length value and a width value of the rectangular area, and the movable platform determines the target area based on the position information of the geometric center point, the length value and the width value.

In one embodiment, the control terminal displays an area icon corresponding to the target area, acquires a current position point of the movable platform in the target area, and displays an icon for indicating the current position point of the movable platform in the area icon according to the current position point of the movable platform and the target area information. The geometric shape corresponding to the area icon can be any one of a circle, an ellipse and a rectangle. Fig. 5 is a schematic view of a control interface according to a third embodiment of the present invention. Compared with the control interface shown in fig. 3, the control interface shown in fig. 5 further includes a region icon 307 corresponding to the target region. As shown in fig. 5, the area icon 307 has a circular geometry, and an icon 3071 for indicating the current position point of the movable platform is displayed in the area icon 307. In this way, a user may be provided with a position reference and path navigation in controlling the movement of the movable platform. In one embodiment, the movable platform is provided with a positioning device, the positioning device can be a visual inertial odometer, and the control terminal can acquire the position point of the movable platform through the visual inertial odometer arranged on the movable platform. The movable platform is positioned by using the visual inertial odometer, so that the positioning error is small, and the positioning accuracy can be improved.

In one embodiment, after the control terminal outputs the target training task prompt information, the control terminal outputs control operation prompt information. The control terminal may output the control operation prompt information in at least one of a text form, a video form, an animation form, and an audio form. Wherein the control operation prompt message is used for indicating an input control operation for controlling the movable platform to execute the target training task to a user. For example, assuming that the target training task includes controlling the movable platform to rotate 360 degrees, the control operation prompting message may be used to prompt the user to perform an operation of triggering the rotation control key, and may prompt the user about the position of the rotation control key, the time duration of triggering the rotation control key, and the like.

In one embodiment, after the control terminal sends control information corresponding to target control operation input by a user to the movable platform, whether the movable platform finishes the current target training task is detected; and if the movable platform is detected to finish the current target training task, outputting prompt information of the next project target training task on an interactive interface of the control terminal, or outputting prompt information of the movable platform finishing the current target training task on the interactive interface, or outputting introduction information of the next project target training task on the interactive interface. In another embodiment, after the control terminal sends the control information corresponding to the target control operation input by the user to the movable platform, whether the movable platform finishes the current training task in the target training tasks is detected; and if the movable platform is detected to have executed the current training task in the target training tasks, outputting prompt information or introduction information of the next project target training task in the target training tasks on an interactive interface of the control terminal.

Fig. 6 is a flowchart illustrating a method for controlling a movable platform according to a second embodiment of the present invention. The control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the movable platform control system shown in fig. 1, and the control method of the movable platform may include:

s601, the control terminal outputs target training task prompt information, wherein the target training task prompt information is used for indicating a user to control the movable platform to execute a target training task, the target training task comprises a task moving to a target position point, and the movable platform is limited to move in a target area.

In the embodiment of the invention, the target area is determined by the movable platform according to the target area information. The target position point is also located in the target area, and the target position point can be one or more. The control terminal may determine a point spaced apart from the initial position point of the movable platform by a first preset distance as a target position point; the target location point may also be randomly determined by the control terminal according to the target area information.

S602, the control terminal displays an area icon corresponding to the target area, displays a first position point icon of the target position point in the area icon, and displays a second position point icon for indicating the current position point of the movable platform in the area icon according to the current position point of the movable platform and the target area information.

In the embodiment of the invention, the first position point icon of the target position point and the second position point icon of the current position point of the movable platform are displayed in the area icon, so that a user can know the end position to which the movable platform needs to be controlled to move in the training task, and can know and determine the approximate path for controlling the movable platform to move from the current position point to the target position point.

In one embodiment, the control terminal displays a trajectory from the second location point icon to the first location point icon in the area icon, the trajectory indicating a target path for controlling the movable platform to move from the current location point to the target location point. The target path may be a shortest path for controlling the movable platform to move from the current position point to the target position point, or the target path may be a path randomly planned by the control terminal according to the current position point of the movable platform and the target position point. Referring to fig. 7 together, there is a schematic diagram of a control interface according to a fourth embodiment of the present invention, in the control interface shown in fig. 7, compared with the control interface shown in fig. 5, icons of the target position points and a track from the icon of the current position point of the movable platform to the icon of the target position point are further displayed in the area icon 307 in the control interface. As shown in fig. 7, the current position point of the movable platform is represented by the second position point icon 3071 in the area icon 307, the target position point is represented by the first position point icon 3072 in the area icon 307, and the track from the second position point icon 3071 to the first position point icon 3072 is represented by 3073, which is used for indicating the shortest path from the second position point icon 3071 to the first position point icon 3072, i.e. for indicating the shortest path for controlling the movable platform to move from the current position point to the target position point.

S603, the control terminal detects a movement control operation input by a user and sends control information corresponding to the movement control operation to the movable platform, wherein the control information corresponding to the movement control operation is used for controlling the movable platform to move from the current position point to the target position point in the target area.

For example, referring to fig. 7, as shown in fig. 7, the first position point icon 3072 corresponding to the target position point is located on the left side of the second position point icon 3071 corresponding to the current position point of the movable platform, and the movable platform can be controlled to move from the current position point to the target position point by controlling the movable platform to move to the left. If the control terminal detects a touch operation input by the user with respect to the control region 3012 in the first control region 301, it is determined that a left-shift control operation is detected as being input by the user. And then sending left shift control information corresponding to the left shift control operation to the mobile platform. And after receiving the left movement control information, the movable platform is controlled to move to the left so as to move from the current position point to the target position point in the target area.

In one embodiment, the control terminal outputs the movement control operation prompt message before detecting the movement control operation input by the user, and the control terminal may output the movement control operation prompt message in at least one of a text form, a video form, an animation form, and an audio form. Wherein the movement control operation prompt message is used to indicate to the user an input movement control operation that controls the movable platform to move from the current location point to the target location point. For example, assuming that the target position point is located on the right side of the current position point of the movable platform, the movement control operation prompt message may be used to prompt the user to perform an operation of triggering the right shift key or the right shift control area, and may prompt the user of the position where the right shift key or the right shift control area is located.

S604, when it is determined that the movable platform moves to the target position point, the control terminal detects shooting control operation input by a user and sends control information corresponding to the shooting control operation to the movable platform, wherein the target training task further comprises a shooting task or a video recording task, and the control information corresponding to the shooting control operation is used for controlling the movable platform to execute the shooting task or the video recording task at the target position point.

In the embodiment of the invention, after the control terminal sends the control information corresponding to the shooting control operation to the mobile platform, a target image obtained by shooting in the process of executing the shooting task by the mobile platform is obtained, or a target video obtained by video recording in the process of executing the video recording task by the mobile platform is obtained; and displaying the target image or playing the target video in an interactive interface of the control terminal.

In an embodiment, the control terminal outputs the photographing control operation prompt message before detecting the photographing control operation input by the user, and the control terminal may output the photographing control operation prompt message in at least one of a text form, a video form, an animation form, and an audio form. The shooting control operation prompt information is used for indicating shooting control operation for controlling the movable platform to shoot or record the video to the user. The shooting control operation prompt information can be used for prompting a user to execute the operation of triggering a shooting key or the operation of triggering a video recording key, and prompting the position of the shooting key or the video recording key to the user. The triggering of the photographing key may be pressing a physical photographing key or clicking a virtual photographing key. The video recording triggering key can be a physical video recording key pressed or a virtual video recording key clicked.

In an embodiment, when the control information corresponding to the shooting control operation is used to control the movable platform to execute the video recording task at the target position, the control information corresponding to the shooting control operation is further used to control the movable platform to adjust the shooting attitude of the movable platform during the process of executing the video recording task. Specifically, when the control terminal detects that the user executes the video triggering key operation, it is determined that the user inputs the video control operation, and control information corresponding to the video control operation is sent to the movable platform. And the control information corresponding to the video recording control operation is used for controlling the movable platform to execute the video recording task at the target position point and is used for controlling the movable platform to adjust the shooting posture according to a preset rule in the process of executing the video recording task. The preset rule is that: and controlling the movable platform to rotate for a preset angle along a preset direction, or controlling a target shaft of a holder which is configured on the movable platform and used for carrying the shooting device to rotate to a preset position. The preset direction can be clockwise or anticlockwise, the target axis can be a yaw axis, a pitch axis or a roll axis of the holder, and the joint angle of the preset position as the target axis is a preset angle. In one embodiment, the predetermined angle may be 30 to 360 degrees, and the predetermined angle may be 30 to 120 degrees of the joint angle of the target axis.

In another embodiment, the goal training task further comprises a shooting task and adjusting the shooting posture of the movable platform, and the shooting task can be a shooting task or a video recording task. When the movable platform is determined to move to the target position point, the control terminal detects shooting control operation and rotation control operation input by a user, and sends control information corresponding to the shooting control operation and the rotation control operation to the movable platform respectively. When the control information corresponding to the shooting control operation is used for controlling the movable platform to execute the shooting task at the target position point, the control information corresponding to the rotation control operation is used for controlling the movable platform to adjust the shooting posture in the process of executing the shooting task. The control information corresponding to the rotation control operation is specifically used for controlling the movable platform to adjust the shooting attitude according to a preset rule. The preset rule is that: and controlling the movable platform to rotate for a preset angle along a preset direction, or controlling a target shaft of a holder which is configured on the movable platform and used for carrying the shooting device to rotate to a preset position.

Fig. 8 is a schematic flow chart illustrating a method for controlling a movable platform according to a third embodiment of the present invention. The control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the movable platform control system shown in fig. 1, and the control method of the movable platform may include:

s801, the control terminal outputs target training task prompt information, wherein the target training task prompt information is used for indicating a user to control the movable platform to execute a target training task, the target training task comprises a turning task, and the movable platform is limited to move in a target area.

In the embodiment of the invention, the target area is determined by the movable platform according to the target area information.

S802, the control terminal detects a turning control operation input by a user and sends control information corresponding to the turning control operation to the movable platform, wherein the control information corresponding to the turning control operation is used for controlling the movable platform to execute a turning task in the target area.

For example, referring to fig. 9 together, which is a schematic diagram of a control interface according to a fifth embodiment of the present invention, in the control interface shown in fig. 9, a fourth control area of the control interface corresponds to the control interface shown in fig. 5, and includes a track area 3041, where the track area 3041 is used for indicating a gesture operation input by a user. As shown in fig. 9, the trajectory region 3041 indicates that the gesture operation input by the user is a rightward slide. If the control terminal detects that the gesture operation input by the user in the fourth control area 304 is rightward sliding, and the rightward sliding distance is greater than a second preset distance, it is determined that the rightward turning control operation is input by the user; and then sending the right turning control information corresponding to the right turning control operation to the movable platform. And after receiving the right-turning control information, the movable platform is controlled to execute a right-turning task in the target area.

In an embodiment, the control terminal outputs the roll-over control operation prompt message before detecting the roll-over control operation input by the user, and the control terminal may output the roll-over control operation prompt message in at least one of a text form, a video form, an animation form, and an audio form. The overturn control operation prompt message is used for indicating input overturn control operation for controlling the movable platform to execute an overturn task along a preset direction to a user. The flipping task may include any one of a forward flipping, a backward flipping, a left flipping, and a right flipping. For example, assuming that the target training task includes a flip-ahead task, the flip control operation prompt information may be used to prompt the user to input a swipe-up gesture operation in the gesture control area, and the swipe-up gesture operation may be presented to the user in the gesture control area. The turning control operation prompt message can also be used for prompting the user to execute the operation of triggering the forward turning control key, and prompting the position of the forward turning control key to the user.

In an embodiment, before the control terminal detects a flipping control operation input by a user, the control terminal controls the movable platform to enter a flipping mode, displays an area icon corresponding to the target area, and displays a movable platform icon corresponding to the movable platform in the area icon. The mobile platform icon may be located at a geometric center point position in the area icon. Further, the target object icon is displayed in the area icon according to a preset display mode, in the process of displaying the target object icon according to the preset display mode, the overturning control operation input by a user is detected, and control information corresponding to the overturning control operation is sent to the movable platform so as to control the movable platform to execute an overturning task in the target area. The step of displaying the target object icon in the area icon according to the preset display mode includes: and moving and displaying the target object icon in the area icon according to a preset moving direction, wherein the target object icon passes through the display position of the mobile platform icon in the moving and displaying process. The preset moving direction includes any one of from bottom to top, from top to bottom, from left to right, or from right to left. In the process that the mobile platform executes the turnover task, the mobile platform icon is not displayed in the area icon; and if the display position of the mobile platform icon in the area icon before the target object icon moves through the mobile platform to execute the turnover task is detected in the process of not displaying the mobile platform icon in the area icon, determining that the mobile platform successfully avoids the target object, and determining that the mobile platform completes the turnover task.

It should be noted that, for a specific implementation manner of a part of steps in the embodiment shown in fig. 8 and fig. 6, reference may be made to the description in the embodiment shown in fig. 2, and details are not repeated here.

Fig. 10 is a schematic structural diagram of a control terminal according to an embodiment of the present invention. The control terminal described in the embodiment of the present invention includes: a processor 1001, a communication interface 1002, a user interface 1003 and a memory 1004. The processor 1001, the communication interface 1002, the user interface 1003, and the memory 1004 may be connected by a bus or in other manners, and the embodiment of the present invention is exemplified by being connected by a bus.

The processor 1001 may be a Central Processing Unit (CPU) or a core in a multi-core CPU for implementing communication identifier binding. The processor 1001 may be a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.

The communication interface 1002 may be used for transceiving information or signaling interaction, and receiving and transferring signals, and the communication interface 1002 may optionally include a standard wireless interface (e.g., Wi-Fi, mobile communication interface, etc.). The user interface 1003 is a medium for implementing interaction and information exchange between a user and a control terminal, and may specifically include a Display screen (Display) and a speaker for output, a key for input, a joystick, a touch screen, a microphone, and the like; it should be noted that the keys and the joysticks herein may be physical or virtual. The memory 1004 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, and a storage program required by at least one function (such as a text storage function, a location storage function, etc.); the storage data area may store data (such as image data, text data) created according to the use of the device, etc., and may include an application storage program, etc. Further, the memory 1004 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The memory 1004 is also used to store program instructions. The processor 1001 is configured to execute the program instructions stored in the memory 1004, and when the program instructions are executed, the processor 1001 is configured to: outputting target training task prompt information through the user interface 1003, wherein the target training task prompt information is used for instructing a user to control a movable platform to execute a target training task, the movable platform is limited to move in a target area, and the target area is determined by the movable platform according to target area information; detecting target control operation input by a user, and determining control information of the movable platform according to the detected target control operation; and sending the control information to the movable platform through the communication interface, wherein the control information is used for controlling the movable platform to execute the target training task in the target area.

The method executed by the processor in the embodiment of the present invention is described from the perspective of the processor, and it is understood that the processor in the embodiment of the present invention needs to cooperate with other hardware structures to execute the method. The embodiments of the present invention are not described or limited in detail for the specific implementation process.

In one embodiment, the processor 1001 is further configured to: sending movement restriction information to the movable platform through the communication interface 1002, wherein the movement restriction information is used to restrict the movable platform from moving within the target area.

In an embodiment, the movement restriction information comprises the target area information. In an embodiment, the target area information comprises position information of a geometric center point of the target area. In an embodiment, the geometric center point includes at least one of an initial position point of the movable platform, a current position point of the movable platform, and a position point of the control terminal. In an embodiment, the target area is a circular area, and the target area information includes a radius value or a diameter value of the circular area. In an embodiment, the target training task includes at least one of a task of moving to a target position, a task of taking a picture, a task of recording a video, a task of adjusting a shooting posture of the movable platform, and a task of turning over.

In one embodiment, the processor 1001 is further configured to: displaying an area icon corresponding to the target area through the user interface 1003; displaying an icon indicating the current position point of the movable platform in the area icon through the user interface 1003 according to the current position point of the movable platform and the target area information.

In one embodiment, the position points of the movable platform are determined from a visual odometer configured with the movable platform.

In an embodiment, after the processor 1001 outputs the goal training task prompt information through the user interface 1003, the processor 1001 is further configured to: and outputting control operation prompt information through the user interface 1003, wherein the control operation prompt information is used for indicating an input control operation for controlling the movable platform to execute the target training task to a user.

In one embodiment, the target training task includes a task of moving to a target position point, and before the processor 1001 detects a target control operation input by a user, the processor 1001 is further configured to: displaying an area icon corresponding to the target area through the user interface 1003, and displaying a first position point icon of the target position point in the area icon; displaying a second position point icon for indicating the current position point of the movable platform in the area icon through the user interface 1003 according to the current position point of the movable platform and the target area information; when the processor 1001 detects a target control operation input by a user, the processor is specifically configured to: and detecting a movement control operation input by a user, wherein control information corresponding to the movement control operation is used for controlling the movable platform to move from the current position point to the target position point in the target area.

In one embodiment, the processor 1001 is further configured to: displaying a trajectory from the second location point icon to the first location point icon in the area icon through the user interface 1003, wherein the trajectory is used for indicating a target path for the movable platform to move from the current location point to the target location point.

In one embodiment, the processor 1001 is further configured to: outputting movement control operation prompt information through the user interface 1003, wherein the movement control operation prompt information is used for indicating an input movement control operation for controlling the movable platform to move from the current position point to the target position point to a user.

In an embodiment, the goal training task further includes a photo task or a video task, and the processor 1001 is further configured to: when it is determined that the movable platform moves to the target position point, detecting a shooting control operation input by a user; and the control information corresponding to the shooting control operation is used for controlling the movable platform to execute a shooting task or a video recording task at the target position.

In an embodiment, when the control information corresponding to the shooting control operation is used to control the movable platform to execute a video recording task at the target position, the control information corresponding to the shooting control operation is further used to control the movable platform to adjust a shooting posture of the movable platform in a process of executing the video recording task.

In an embodiment, the target training task includes a flipping task, and when the processor 1001 detects a target control operation input by a user, the processor is specifically configured to: and detecting a turning control operation input by a user, wherein control information corresponding to the turning control operation is used for controlling the movable platform to execute a turning task in the target area.

In one embodiment, the processor 1001 is further configured to: and outputting turnover control operation prompt information through the user interface 1003, wherein the turnover control operation prompt information is used for instructing a user to input turnover control operation for controlling the movable platform to execute a turnover task along a preset direction.

In an embodiment, before the processor 1001 outputs the goal training task prompt information through the user interface 1003, the processor 1001 is further configured to: and outputting introduction information of the target training task through the user interface 1003, wherein the introduction information includes at least one of the type, the difficulty index, the expected training duration of the target training task and the input control operation corresponding to the target training task.

In an embodiment, after the processor 1001 sends the control information to the movable platform through the communication interface, the processor 1001 is further configured to: detecting whether the movable platform finishes the current target training task; if so, outputting prompt information of a next project target training task on an interactive interface, or outputting prompt information that the movable platform finishes executing the current target training task on the interactive interface, or outputting introduction information of the next project target training task on the interactive interface.

In an embodiment, the movable platform is a drone or a mobile robot.

In a specific implementation, the processor 1001, the communication interface 1002, the user interface 1003, and the memory 1004 described in the embodiment of the present invention may execute an implementation manner described in the method for controlling a movable platform provided in the embodiment of the present invention, and details are not described here again.

The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for controlling a movable platform according to the above method embodiment is implemented.

Embodiments of the present invention further provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the method for controlling a movable platform according to the above method embodiments.

It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

The above detailed description is provided for the control method and the control terminal of the movable platform according to the embodiment of the present invention, and a specific example is applied in the present description to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A control method of a movable platform is applied to a control terminal, and comprises the following steps:

2. The method of claim 1, further comprising:

sending movement restriction information to the movable platform, wherein the movement restriction information is used to restrict the movable platform from moving within the target area.

3. The method of claim 2, wherein the movement restriction information comprises the target area information.

4. The method according to any one of claims 1 to 3, wherein the target region information comprises position information of a geometric center point of the target region.

5. The method of claim 4, wherein the geometric center point comprises at least one of an initial position point of the movable platform, a current position point of the movable platform, and a position point of the control terminal.

6. The method according to any one of claims 1 to 5, wherein the target region is a circular region, and the target region information includes a radius value or a diameter value of the circular region.

7. The method of any one of claims 1 to 6, wherein the target training task comprises at least one of a task of moving to a target location point, a task of taking a picture, a task of recording a video, a task of adjusting a shooting pose of the movable platform, and a task of turning over.

8. The method according to any one of claims 1 to 7, further comprising:

displaying an area icon corresponding to the target area;

and displaying an icon for indicating the current position point of the movable platform in the area icon according to the current position point of the movable platform and the target area information.

9. The method of claim 8, wherein the position points of the movable platform are determined from a visual inertial odometer configured with the movable platform.

10. The method of any one of claims 1-9, wherein after outputting the target training task prompt information, the method further comprises:

and outputting control operation prompt information, wherein the control operation prompt information is used for indicating an input control operation for controlling the movable platform to execute the target training task to a user.

11. The method of any of claims 1-10, wherein the target training task comprises a task to move to a target location point, and wherein prior to detecting a user-input target control operation, the method further comprises:

displaying an area icon corresponding to the target area;

displaying a first location point icon of the target location point in the area icon;

displaying a second position point icon for indicating the current position point of the movable platform in the area icon according to the current position point of the movable platform and the target area information;

the detecting of the target control operation input by the user comprises the following steps:

and detecting a movement control operation input by a user, wherein control information corresponding to the movement control operation is used for controlling the movable platform to move from the current position point to the target position point in the target area.

12. The method of claim 11, further comprising:

displaying a trajectory from the second location point icon to the first location point icon in the area icon, wherein the trajectory is used to indicate a target path for the movable platform to move from the current location point to the target location point.

13. The method according to claim 11 or 12, characterized in that the method further comprises:

and outputting movement control operation prompt information, wherein the movement control operation prompt information is used for indicating an input movement control operation for controlling the movable platform to move from the current position point to the target position point to a user.

14. The method of any of claims 11 to 13, wherein the goal training task further comprises a photo task or a video task, the method further comprising:

when it is determined that the movable platform moves to the target position point, detecting a shooting control operation input by a user; and the control information corresponding to the shooting control operation is used for controlling the movable platform to execute a shooting task or a video recording task at the target position.

15. The method of claim 14, wherein when the control information corresponding to the shooting control operation is used to control the movable platform to perform a video recording task at the target location, the control information corresponding to the shooting control operation is further used to control the movable platform to adjust a shooting attitude of the movable platform during the video recording task.

16. The method of any one of claims 1 to 10, wherein the target training task comprises a flip task, and wherein detecting a user-input target control operation comprises:

and detecting a turning control operation input by a user, wherein control information corresponding to the turning control operation is used for controlling the movable platform to execute a turning task in the target area.

17. The method of claim 16, further comprising:

and outputting turnover control operation prompt information, wherein the turnover control operation prompt information is used for indicating an input turnover control operation for controlling the movable platform to execute a turnover task along a preset direction to a user.

18. The method of any of claims 1-17, wherein prior to outputting target training task prompt information, the method further comprises:

and outputting introduction information of the target training task, wherein the introduction information comprises at least one of the type, the difficulty index, the expected training duration and the input control operation corresponding to the target training task.

19. The method of any one of claims 1 to 18, wherein after said sending said control information to said movable platform, said method further comprises:

detecting whether the movable platform finishes the current target training task;

if so, outputting prompt information of a next project target training task on an interactive interface, or outputting prompt information that the movable platform finishes executing the current target training task on the interactive interface, or displaying introduction information of the next project target training task on the interactive interface.

20. The method of any one of claims 1 to 19, wherein the movable platform is a drone or a mobile robot.

21. A control terminal, comprising: a memory, a communication interface, and a processor,

the memory to store program instructions;

the communication interface is controlled by the processor for transceiving information;

22. The control terminal of claim 21, wherein the processor is further configured to:

sending movement restriction information to the movable platform through the communication interface, wherein the movement restriction information is used to restrict the movable platform from moving within the target area.

23. The control terminal of claim 22, wherein the movement restriction information includes the target area information.

24. The control terminal according to any of claims 21 to 23, wherein the target area information comprises position information of a geometric center point of the target area.

25. The control terminal of claim 24, wherein the geometric center point comprises at least one of an initial position point of the movable platform, a current position point of the movable platform, and a position point of the control terminal.

26. The control terminal according to any of claims 21 to 25, wherein the target area is a circular area, and the target area information comprises a radius value or a diameter value of the circular area.

27. The control terminal according to any one of claims 21 to 26, wherein the target training task comprises at least one of a task of moving to a target location point, a task of taking a picture, a task of recording a picture, a task of adjusting a shooting posture of the movable platform, and a task of turning over.

28. The control terminal according to any of claims 21 to 27, wherein the processor is further configured to:

displaying an area icon corresponding to the target area;

29. The control terminal of claim 28, wherein the position point of the moveable platform is determined from a visual inertial odometer configured with the moveable platform.

30. The control terminal according to any one of claims 21 to 29, wherein after the processor outputs the target training task prompt information, the processor is further configured to:

31. The control terminal of any of claims 21 to 30, wherein the target training task comprises a task to move to a target location point, and wherein before the processor detects a target control operation input by a user, the processor is further configured to:

displaying an area icon corresponding to the target area;

when the processor detects a target control operation input by a user, the processor is specifically configured to:

32. The control terminal of claim 31, wherein the processor is further configured to:

33. The control terminal according to claim 31 or 32, wherein the processor is further configured to: and outputting movement control operation prompt information, wherein the movement control operation prompt information is used for indicating an input movement control operation for controlling the movable platform to move from the current position point to the target position point to a user.

34. The control terminal according to any one of claims 31 to 33, wherein the target training task further comprises a photo task or a video task, and the processor is further configured to:

35. The control terminal of claim 34, wherein when the control information corresponding to the shooting control operation is used to control the movable platform to perform a video recording task at the target location, the control information corresponding to the shooting control operation is further used to control the movable platform to adjust a shooting attitude of the movable platform during the video recording task.

36. The control terminal according to any one of claims 21 to 30, wherein the target training task comprises a flipping task, and the processor, when detecting a target control operation input by a user, is specifically configured to:

37. The control terminal of claim 36, wherein the processor is further configured to:

38. The control terminal according to any one of claims 21 to 37, wherein before the processor outputs the target training task prompt information, the processor is further configured to:

39. The control terminal of any of claims 21 to 38, wherein after the processor sends the control information to the movable platform via the communication interface, the processor is further configured to:

if so, outputting prompt information of a next project target training task on an interactive interface, or outputting prompt information that the movable platform finishes executing the current target training task on the interactive interface, or outputting introduction information of the next project target training task on the interactive interface.

40. The control terminal of any one of claims 21 to 39, wherein the movable platform is a drone or a mobile robot.

41. A computer-readable storage medium having a computer program stored therein, characterized in that: the computer program when executed by a processor implementing the steps of the method according to any one of claims 1 to 20.