CN113632037A

CN113632037A - Control method and device for movable platform

Info

Publication number: CN113632037A
Application number: CN202080024194.2A
Authority: CN
Inventors: 朱新田
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-02-28
Filing date: 2020-02-28
Publication date: 2021-11-09
Also published as: WO2021168821A1

Abstract

A control method and equipment for a movable platform are provided, the movable platform comprises a machine body and a plurality of cloud platforms which are connected with the machine body and used for bearing loads, the method comprises the following steps: acquiring a main cradle head selection instruction, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user (S301); and determining a first holder in the plurality of holders as a main holder according to the main holder selection instruction, wherein the yawing attitude of the fuselage is controlled according to the yawing attitude of the main holder (S302). The user can set any one cradle head as the main cradle head from a plurality of cradle heads according to actual needs. In addition, the yaw attitude of the machine body is controlled according to the yaw attitude of the main holder, so that the yaw attitude of the machine body can be controlled according to the yaw attitude of any holder selected by a user, and the flexibility of controlling the yaw attitude of the machine body is improved.

Description

Control method and device for movable platform

Technical Field

The embodiment of the application relates to the technical field of movable platforms, in particular to a control method and equipment of a movable platform.

Background

Along with movable platform's application is wider and wider, movable platform (for example unmanned aerial vehicle) can carry on a plurality of cloud platforms, and every cloud platform can carry on shooting device, and these shooting device's shooting direction can be different, consequently, can shoot the picture of different angles. The unmanned aerial vehicle transmits the pictures shot by the shooting devices to the control terminal of the movable platform, and the user can switch the pictures of the shooting devices to be watched through the control terminal at any time.

At present, for unmanned aerial vehicle is more stable, when adjusting unmanned aerial vehicle's course, control cloud platform and take turns to the direction motion and control unmanned aerial vehicle and follow this cloud platform and take turns to the direction motion. However, the mode is suitable for a scene that the unmanned aerial vehicle carries one cloud platform, and if the unmanned aerial vehicle carries a plurality of cloud platforms, the body of the unmanned aerial vehicle always moves along with the same default cloud platform, and cannot move along with other cloud platforms.

Disclosure of Invention

The embodiment of the application provides a control method and equipment of a movable platform, which are used for enabling a user to set one holder of a plurality of holders as a main holder at will, and realizing that a machine body of the movable platform can move along with any holder in a yawing direction.

In a first aspect, an embodiment of the present application provides a method for controlling a movable platform, where the movable platform includes a main body and a plurality of holders connected to the main body and used for carrying a load, and the method includes:

and acquiring a main holder selection instruction, wherein the main holder selection instruction is obtained by detecting main holder selection operation of a user.

And determining a first holder in the holders as a main holder according to the main holder selection instruction, wherein the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.

In a second aspect, an embodiment of the present application provides a method for controlling a movable platform, which is applied to a control terminal of the movable platform, where the movable platform includes a main body and a plurality of holders connected to the main body and used for carrying a load, and the method includes:

and detecting a main holder selection operation of a user.

And generating a main holder selection instruction according to the main holder selection operation.

And sending a main holder selection instruction to the movable platform so that the movable platform determines a first holder in the holders as a main holder according to the main holder selection instruction.

And the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.

In a third aspect, an embodiment of the present application provides a control device for a movable platform, where the movable platform includes a main body and a plurality of holders connected to the main body and used for bearing a load, and the control device includes: a memory and a processor.

The memory is used for storing program codes.

The processor, invoking the program code, when executed, is configured to: acquiring a main holder selection instruction, wherein the main holder selection instruction is obtained by detecting main holder selection operation of a user; and determining a first holder in the holders as a main holder according to the main holder selection instruction, wherein the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.

In a fourth aspect, an embodiment of the present application provides a movable platform, including: the device comprises a processor, a machine body and a plurality of cloud platforms which are connected to the machine body and used for bearing loads;

the processor is configured to: acquiring a main holder selection instruction, wherein the main holder selection instruction is obtained by detecting main holder selection operation of a user; and determining a first holder in the holders as a main holder according to the main holder selection instruction, wherein the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.

In a fifth aspect, an embodiment of the present application provides a control terminal, configured to control a movable platform, where the movable platform includes a body and a plurality of holders connected to the body and configured to bear a load, and the control terminal includes:

and the interaction device is used for detecting the main holder selection operation of the user.

And the processor is used for generating a main holder selection instruction according to the main holder selection operation.

And the communication device is used for sending a main holder selection instruction to the movable platform so that the movable platform determines a first holder in the holders as a main holder according to the main holder selection instruction.

In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed, the computer program implements a method for controlling a movable platform according to an embodiment of the present application in the first aspect or the second aspect.

In a seventh aspect, an embodiment of the present invention provides a program product, where the program product includes a computer program, where the computer program is stored in a readable storage medium, and at least one processor may read the computer program from the readable storage medium, and execute the computer program by the at least one processor to implement the method for controlling a movable platform according to the embodiment of the present application in the first aspect or the second aspect.

To sum up, the control method and the control device for the movable platform provided by the embodiment of the application realize that a user can set any one cradle head as a main cradle head from a plurality of cradle heads according to actual needs. In addition, the yaw attitude of the machine body is controlled according to the yaw attitude of the main holder, so that the yaw attitude of the machine body can be controlled according to the yaw attitude of any holder selected by a user, and the flexibility of controlling the yaw attitude of the machine body is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application;

fig. 2 is a schematic view of an application scenario provided in an embodiment of the present application;

FIG. 3 is a flowchart illustrating a method for controlling a movable platform according to an embodiment of the present disclosure;

fig. 4 is an operation schematic diagram of a main pan/tilt head selected by a user according to an embodiment of the present application;

fig. 5 is another schematic operation diagram of a main pan/tilt head selected by a user according to an embodiment of the present application;

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

fig. 7 is a schematic structural diagram of a control device of a movable platform according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a movable platform according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a control terminal according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a control system of a movable platform according to an embodiment of the present disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, 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 application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The embodiment of the application provides a control method and equipment of a movable platform. Wherein, the movable platform can be unmanned aerial vehicle, unmanned ship, robot etc.. The following description of the movable platform of the present application uses a drone as an example. It will be apparent to those skilled in the art that other types of drones may be used without limitation, and embodiments of the present application may be applied to various types of drones. For example, the drone may be a small or large drone. In certain embodiments, the drone may be a rotorcraft (rotorcraft), for example, a multi-rotor drone propelled through the air by a plurality of propulsion devices, embodiments of the present application are not so limited.

Fig. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application. The present embodiment is described by taking a rotor unmanned aerial vehicle as an example.

The unmanned flight system 100 can include a drone 110, a display device 130, and a control terminal 140. The drone 110 may include, among other things, a power system 150, a flight control system 160, a frame, and a plurality of holders 120 (two holders are illustrated in the figures) carried on the frame. The drone 110 may be in wireless communication with the control terminal 140 and the display device 130. Wherein, the drone 110 further includes a battery (not shown in the figures) that provides electrical energy to the power system 150. The drone 110 may be an agricultural drone or an industrial application drone, with the need for cyclic operation. Accordingly, the battery also has a demand for a cycle operation.

The airframe may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected with the fuselage for play the supporting role when unmanned aerial vehicle 110 lands.

The power system 150 may include one or more electronic governors (abbreviated as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected between the electronic governors 151 and the propellers 153, the motors 152 and the propellers 153 are disposed on the horn of the drone 110; the electronic governor 151 is configured to receive a drive signal generated by the flight control system 160 and provide a drive current to the motor 152 based on the drive signal to control the rotational speed of the motor 152. The motor 152 is used to drive the propeller in rotation, thereby providing power for the flight of the drone 110, which power enables the drone 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the drone 110 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a Roll axis (Roll), a Yaw axis (Yaw) and a pitch axis (pitch). It should be understood that the motor 152 may be a dc motor or an ac motor. The motor 152 may be a brushless motor or a brush motor.

Flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure attitude information of the drone, i.e., position information and status information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, three-dimensional angular velocity, and the like. The sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system

(Global Positioning System, GPS). The flight controller 161 is used to control the flight of the drone 110, for example, the flight of the drone 110 may be controlled according to attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the drone 110 according to preprogrammed instructions, or may control the drone 110 in response to one or more remote control signals from the control terminal 140.

Each pan and tilt head 120 may include a motor 122. Each pan-tilt 120 is used to carry a load, such as a camera 123. Flight controller 161 may control the movement of pan/tilt head 120 via motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan/tilt head 120 may be separate from the drone 110, or may be part of the drone 110. It should be understood that the motor 122 may be a dc motor or an ac motor. The motor 122 may be a brushless motor or a brush motor. It should also be understood that the pan/tilt head may be located at the top of the drone, as well as at the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photographing under the control of the flight controller. The image capturing Device 123 of this embodiment at least includes a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor.

The display device 130 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used for displaying attitude information of the unmanned aerial vehicle 110. In addition, an image photographed by the photographing device 123 may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated into the control terminal 140.

The control terminal 140 is located at the ground end of the unmanned aerial vehicle system 100, and can communicate with the unmanned aerial vehicle 110 in a wireless manner, so as to remotely control the unmanned aerial vehicle 110.

It should be understood that the above-mentioned nomenclature for the components of the unmanned flight system is for identification purposes only, and should not be construed as limiting the embodiments of the present application.

Fig. 2 is a schematic view of an application scenario provided in the embodiment of the present application, and as shown in fig. 2, fig. 2 shows an unmanned aerial vehicle 201 and a control terminal 202 of the unmanned aerial vehicle. The control terminal 202 of the drone 201 may be one or more of a remote control, a smartphone, a desktop computer, a laptop computer, a wearable device (watch, bracelet). The embodiment of the present application takes the control terminal 202 as the remote controller 2021 and the terminal device 2022 as an example for schematic explanation. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, and the like, but the embodiment of the present application is not limited thereto.

Unmanned aerial vehicle 201 includes fuselage 2011 and connects a plurality of cloud platform 2012 on fuselage 2011, and every cloud platform 2012 is used for bearing load 2013. The load 2013 comprises the shooting devices, the unmanned aerial vehicle transmits images shot by each shooting device to the control terminal 202, and the control terminal 202 can display the images shot by the multiple shooting devices at the same time.

Wherein, the driftage gesture of the fuselage 2011 of unmanned aerial vehicle is according to the driftage gesture control of unmanned aerial vehicle's main cloud platform. The main cloud platform is one of them cloud platform in a plurality of cloud platforms 2012 of above-mentioned, therefore the user can set up any cloud platform from a plurality of cloud platforms and be main cloud platform to the main cloud platform that the fuselage that can control unmanned aerial vehicle follows the user and select moves in the yaw direction. The scheme of each embodiment described below in the present application can be adopted for how to determine the main pan/tilt.

Fig. 3 is a flowchart of a method for controlling a movable platform according to an embodiment of the present application, where the method of the present embodiment may be applied to a control device of the movable platform. The control device of the movable platform may be provided at the movable platform; alternatively, a part of the control device of the movable platform is provided on the movable platform and another part is provided on the control terminal of the movable plane. The movable platform includes a body and a plurality of holders connected to the body and used for bearing loads, in this embodiment, a control device of the movable platform is disposed on the movable platform, as shown in fig. 3, and the method of this embodiment includes:

s301, a main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user.

In this embodiment, the driftage gesture of the fuselage of movable platform can be controlled according to the driftage gesture of main cloud platform, and including a plurality of cloud platforms in the movable platform, main cloud platform needs to be confirmed from a plurality of cloud platforms. In this embodiment, a user can select a main cradle head from a plurality of cradle heads. Accordingly, the movable platform acquires a main pan/tilt selection instruction, which is obtained by detecting a main pan/tilt selection operation of the user.

In one possible implementation manner, the movable platform receives a main pan-tilt selection instruction sent by the control terminal. The user can carry out main cloud platform selection operation to control terminal, and correspondingly, control terminal detects user's main cloud platform selection operation, and control terminal includes one or more in remote controller, smart mobile phone, panel computer, laptop, the wearable equipment, and it is no longer repeated here. For example, a user performs a main pan/tilt selection operation through an interaction device of the control terminal, where the interaction device may be an important component of the control terminal and is an interface for interacting with the user, and the user may implement an operation on the movable platform through an operation on the interaction device; accordingly, the control terminal can detect the main holder selection operation of the user through the interaction device. The interaction device can be one or more of a touch screen, a keyboard, a rocker and a wave wheel of the control terminal. And then, the control terminal determines the main holder from the holders according to the main holder selection operation, generates a main holder selection instruction and sends the main holder selection instruction to the movable platform.

In a possible implementation manner, a user may perform a main pan/tilt selection operation by operating the movable platform, for example, a main pan/tilt selection operation key is provided on the movable platform, and the user selects the main pan/tilt by operating the main pan/tilt selection operation key. For another example, a main cradle head selection key is provided for each cradle head, and a user presses the main cradle head selection key of a certain cradle head to indicate that the user selects the cradle head as the main cradle head. Therefore, the movable platform detects the main holder selection operation of the user and acquires the main holder selection instruction.

S302, determining a first holder in the holders as a main holder according to the main holder selection instruction, and controlling the yawing attitude of the body according to the yawing attitude of the main holder.

In this embodiment, after the movable platform obtains the main pan/tilt selection instruction, it is determined that the first pan/tilt in the plurality of pan/tilt units is the main pan/tilt unit according to the main pan/tilt selection instruction. After the main holder is determined to be the first holder, the yawing attitude of the fuselage is controlled according to the yawing attitude of the first holder.

In this embodiment, through obtaining main cloud platform selection command, main cloud platform selection command is obtained through the main cloud platform select operation who detects the user, then confirms first cloud platform in a plurality of cloud platforms as main cloud platform according to main cloud platform selection command to realize that the user can set up any cloud platform from a plurality of cloud platforms as main cloud platform according to actual need. In addition, the yaw attitude of the machine body is controlled according to the yaw attitude of the main holder, so that the yaw attitude of the machine body can be controlled according to the yaw attitude of any holder selected by a user, and the flexibility of controlling the yaw attitude of the machine body is improved.

Optionally, the main pan/tilt/zoom selection instruction includes identification information of the first pan/tilt/zoom. Correspondingly, the movable platform determines the first holder as the main holder according to the identification information of the first holder included in the main holder selection instruction.

Optionally, the movable platform is further provided with an identification position of the main pan/tilt head, the identification position of the main pan/tilt head can be set as the identification information of the first pan/tilt head after the main pan/tilt head selection instruction is obtained, if the identification position of the current main pan/tilt head is empty, it is indicated that the current main pan/tilt head is not determined, and then the identification position of the main pan/tilt head is changed from empty to the identification information of the first pan/tilt head. And subsequently, the main holder in the holders can be determined through the identification position of the main holder.

Optionally, if the main cradle head of the movable platform is the second cradle head of the multiple cradle heads before the movable platform acquires the main cradle head selection instruction, a possible implementation manner of the S302 is: and switching the main cloud platform of the movable platform from the second cloud platform to the first cloud platform according to the main cloud platform selection instruction.

Optionally, the main pan/tilt selection instruction is used to instruct the main pan/tilt of the movable platform to be switched from the second pan/tilt of the plurality of pan/tilt/.

For example, the movable platform is provided with an identification position of the main pan/tilt head, before the main pan/tilt head selection instruction is obtained, the main pan/tilt head of the movable platform is the second pan/tilt head, the identification position of the main pan/tilt head is identification information of the second pan/tilt head, and after the main pan/tilt head selection instruction is obtained, the identification position of the main pan/tilt head is changed from the identification information of the second pan/tilt head to the identification information of the first pan/tilt head, so that switching of the main pan/tilt head can be realized according to selection of a user.

In an embodiment, when the movable platform is powered on and started up, the movable platform does not determine the main holder of the movable platform, and through the above manner, the purpose that the main holder is not appointed to the appointed main holder can be achieved.

In an embodiment, when the movable platform is powered on and started up, the movable platform determines the second pan-tilt as the main pan-tilt of the movable platform according to a preset strategy. By the mode, the main holder can be switched according to the selection of a user after the power-on and the startup are realized.

Optionally, the movable platform includes a plurality of interfaces disposed on the body, wherein each of the plurality of holders is connected to one of the plurality of interfaces, and the plurality of interfaces include a reference interface. Correspondingly, the implementation manner of the movable platform determining the second pan/tilt head as the main pan/tilt head of the movable platform according to the preset selection strategy is as follows: and determining the second cloud platform connected with the reference interface as a main cloud platform of the movable platform.

For example, the plurality of interfaces are interface 1 and interface 2, respectively, the reference interface is interface 1, when interface 1 is connected with the cloud platform, and after the movable platform is powered on and started up, the movable platform can default one cradle head as a main cradle head, that is, the cradle head connected with interface 1 is determined as the main cradle head of the movable platform. It should be noted that, the holders connected to the interface 1 and the interface 2 may be interchanged, for example, the holder connected to the interface 1 is the holder 1, the holder connected to the interface 2 is the holder 2, and the user may pull out the holder 1 from the interface 1, pull out the holder 2 from the interface, insert the holder 1 into the interface 2, and insert the holder 2 into the interface 1. Before the user does not operate and select the main holder, the movable platform determines the main holder to be the holder 2 according to the holder 2 connected with the interface 1. If a user wants to select a main cradle head from a plurality of cradle heads, the scheme of any one of the embodiments can be used for realizing the selection.

Optionally, when the movable platform is powered on and started up, the movable platform determines the second pan/tilt head as the main pan/tilt head of the movable platform according to a preset strategy, and then sends a prompt message indicating that the main pan/tilt head is the second pan/tilt head to a control terminal of the movable platform. Correspondingly, the control terminal receives prompt information which is sent by the movable platform and indicates that the main holder is the second holder, and determines that the main holder of the movable platform is the second holder according to the prompt information.

Optionally, after the movable platform determines that the main pan/tilt head is the first pan/tilt head according to the main pan/tilt head selection instruction, the movable platform may further send prompt information indicating that the main pan/tilt head is the first pan/tilt head to the control terminal.

In an embodiment, how the control terminal detects the main pan/tilt selection operation of the user is described. The load in this embodiment is a shooting device, each pan-tilt carries a shooting device, and these shooting devices can shoot images, and the shooting device may be, for example, a visible light shooting device, or an infrared shooting device, and so on. The shooting devices borne by the multiple cloud platforms are of the same type, or the shooting devices borne by the multiple cloud platforms are not of the same type. For example, each cradle head in a plurality of cradle heads bears the visible light shooting device, or each cradle head in a plurality of cradle heads bears the infrared shooting device, or a part of cradle heads in a plurality of cradle heads bears the visible light shooting device, and another part of cradle heads bears the infrared shooting device, and this embodiment does not limit this.

The movable platform can send the images shot by the shooting devices borne by the multiple cloud platforms to the control terminal. Correspondingly, the control terminal receives the images shot by the shooting devices borne by the multiple cloud platforms sent by the movable platform, and simultaneously displays the images shot by the shooting devices borne by the multiple cloud platforms. When a user wants to select a first cradle head of the plurality of cradle heads as a main cradle head, the user performs a selection operation on an image shot by a shooting device carried by the first cradle head and displayed by the control terminal, and accordingly, the control terminal detects that the user performs the selection operation on the image shot by the shooting device carried by the first cradle head, the selection operation indicates that the control terminal detects the main cradle head selection operation of the user, and the control terminal can determine that the main cradle head selected by the user is the first cradle head.

In the following, a multi-stage is taken as two stages, namely, a first stage and a second stage.

Fig. 4 is an operation schematic diagram of a user selecting a main pan/tilt according to an embodiment of the present application, as shown in fig. 4, before the user selects the main pan/tilt, the main pan/tilt of a movable platform is empty, a control terminal displays none of images shot by shooting devices respectively carried by two pan/tilt units in a lower right corner, when the user wants to select the first pan/tilt unit as the main pan/tilt, the user performs a selection operation on an image shot by a shooting device carried by the first pan/tilt unit, the control terminal detects the operation, that is, it can be determined that the user selects the first pan/tilt unit as the main pan/tilt unit, and then sends a main pan/tilt selection instruction to the movable platform, the movable platform determines the first pan/tilt unit as the main pan/tilt unit, and then the control terminal displays an image shot by the shooting device carried by the first pan/tilt unit in a main display area.

Fig. 5 is another operation schematic diagram of the user selecting the main pan/tilt according to an embodiment of the present application, and as shown in fig. 5, fig. 5 shows that before the user switches the main pan/tilt, the main pan/tilt of the movable platform is the second pan/tilt, the main display area of the control terminal displays an image shot by the shooting device carried by the second pan/tilt, and the right lower corner displays an image shot by the shooting device carried by the first pan/tilt. When a user wants to switch the main cloud deck from the second cloud to the first cloud deck, the user performs selection operation on an image shot by a shooting device borne by the first cloud deck, the control terminal detects the operation, namely the user can determine that the first cloud deck is selected as the main cloud deck, then a main cloud deck selection instruction is sent to the movable platform, the movable platform determines that the first cloud deck is the main cloud deck, then the control terminal displays the image shot by the shooting device borne by the first cloud deck in a main display area, and the image shot by the shooting device borne by the second cloud deck is displayed at the lower right corner. In addition, the user can also adopt the similar operation to switch the main cloud platform from the first cloud platform to the second cloud platform.

Optionally, after the control terminal receives prompt information indicating that the main cradle head is the first cradle head and sent by the movable platform, the control terminal displays an image shot by a shooting device carried by the first cradle head in the main display area.

In some embodiments, after performing S302 above, the movable platform may further control a yaw attitude of the body according to a yaw attitude of the main head. In this embodiment, after the main cradle head is determined to be the first cradle head, the movable platform controls the yaw attitude of the body according to the yaw attitude of the first cradle head, so that the body of the movable platform moves along the yaw direction along with the first cradle head.

The following describes the control of the yaw attitude of the body according to the yaw attitude of the main head with respect to the movable platform. On the basis of the embodiment shown in fig. 3, after the step S302 is executed, the scheme shown in fig. 6 may be further executed, where fig. 6 is a flowchart of a method for controlling a movable platform according to another embodiment of the present application, and the method of this embodiment further includes, after the step S302 is executed:

s601, acquiring a yaw attitude control command of the fuselage.

In this embodiment, the movable platform may obtain a yaw attitude control command of the body. The yaw attitude control command of the body is obtained by detecting a yaw attitude control operation of the body input by a user. Optionally, the yaw attitude control command is further used to indicate an angle at which a yaw attitude angle of the fuselage changes.

In one possible implementation manner, the movable platform receives a yaw attitude control command of the body sent by the control terminal. The user may perform a yaw attitude control operation of the body on the control terminal, and accordingly, the control terminal detects the yaw attitude control operation of the body input by the user. Then, the control terminal generates a yaw attitude control command of the body according to the yaw attitude control operation of the body, and sends the yaw attitude control command of the body to the movable platform.

In one possible implementation, the user may perform the yaw attitude control operation of the body by operating a movable platform, for example, a yaw attitude control part of the body is provided on the movable platform, and the user controls the yaw attitude of the body by operating the yaw attitude control part of the body. Therefore, the movable platform detects the yaw attitude control operation of the body performed by the user, and acquires a yaw attitude control command of the body.

And S602, controlling the main holder to move in the yaw direction according to the yaw attitude control command of the machine body.

In this embodiment, the movable platform acquires the yaw attitude control command of the body, and does not directly control the movement of the body in the yaw direction, but controls the main pan-tilt to move in the yaw direction first. And if the main holder is the first holder at the moment, the movable platform controls the first holder to move in the yaw direction.

And S603, controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction.

In this embodiment, at the in-process of control main cloud platform at the motion of yaw direction, because the driftage gesture of main cloud platform changes, so the driftage of control fuselage also moves at the yaw direction to realize that the fuselage follows main cloud platform motion at the yaw direction, guarantee the stability of fuselage motion in the yaw direction, even make the motion of fuselage in the yaw direction reach like the smooth-going of cloud platform increase steady level, improve user experience.

Optionally, before the movable platform controls the main pan/tilt head to move in the yaw direction, the yaw attitude difference between the main pan/tilt head and the body is further obtained. Accordingly, in a possible implementation manner of the S603, in the process of controlling the main pan/tilt head to move in the yaw direction, the yaw attitude of the fuselage is controlled according to the yaw attitude of the main pan/tilt head and the yaw attitude difference.

In this embodiment, the yaw attitude difference between the main pan/tilt and the fuselage is obtained before the main pan/tilt is controlled to move in the yaw direction according to the yaw attitude control command of the fuselage, for example, 15 degrees, and the yaw attitude of the main pan/tilt may change continuously during the process of controlling the main pan/tilt to move in the yaw direction, so that the movement of the fuselage in the yaw direction is controlled according to the yaw attitude of the main pan/tilt and the obtained yaw attitude difference (for example, 15 degrees).

After the control body finishes moving in the yaw direction, the yaw attitude difference between the body and the main holder is unchanged. For example, before the main pan/tilt is controlled to move in the yaw direction according to the yaw attitude control command of the body, the yaw attitude angle of the main pan/tilt is 60 degrees, the yaw attitude angle of the body is 45 degrees, and accordingly, the yaw attitude difference between the pan/tilt and the body is 15 degrees. If the yaw attitude control command of the fuselage is used to instruct the yaw attitude angle rotation of the fuselage by 30 degrees, the movable platform controls the main pan/tilt head to move in the yaw direction so that the yaw attitude angle of the main pan/tilt head rotates from 60 degrees to 90 degrees, and controls the fuselage to move in the yaw direction according to the yaw attitude angle of the main pan/tilt head and the difference of 15 degrees in the yaw attitude during the control of the main pan/tilt head from 60 degrees to 90 degrees, and stops controlling the movement of the fuselage in the yaw direction when the yaw attitude angle of the fuselage rotates to 75 degrees. Therefore, before and after the yaw attitude of the control machine body is changed, the yaw attitude difference between the main holder and the machine body is unchanged, so that the stability of the movement of the machine body of the movable platform in the yaw direction is ensured. And in the process of controlling the body of the movable platform to move in the yaw direction, the control terminal does not shake or jam when displaying the image shot by the shooting device carried by the main holder.

Optionally, the movable platform of this embodiment may be configured to respond to the main pan/tilt selection instruction after receiving the main pan/tilt selection instruction, and obtain the yaw attitude difference between the main pan/tilt and the body. The movable platform of the embodiment can acquire the yaw attitude difference between each cradle head and the body according to a preset period, replace the yaw attitude difference between each cradle head and the body acquired last time with the newly acquired yaw attitude difference between each cradle head and the body, and when acquiring the main cradle head selection instruction, the main cradle head selection instruction is used for indicating the main cradle head as the first cradle head. And then after receiving a yaw attitude control command of the fuselage, controlling the yaw attitude of the fuselage according to the yaw attitude difference between the first holder and the fuselage and the yaw attitude of the first holder. Since the yaw attitude difference is acquired in advance, the movement of the fuselage in the yaw direction can be controlled quickly and stably after the yaw attitude control command of the fuselage is received.

Optionally, the movable platform of this embodiment may be configured to, after receiving a yaw attitude control instruction of the body, respond to the yaw attitude control instruction of the body, obtain a yaw attitude difference between the main pan/tilt head and the body, and then control the main pan/tilt head to move in a yaw direction according to the yaw attitude control instruction of the body; and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder and the yaw attitude difference in the process of controlling the main holder to move in the yaw direction. The yaw attitude difference between the main holder and the machine body is guaranteed to be the latest and accurate yaw attitude difference, and the stability of the movement of the machine body in the yaw direction is guaranteed.

On the basis of the above embodiments, the movable platform further acquires a yaw attitude control command of the main pan/tilt head; and responding to a yaw attitude control command of the main holder, and controlling the main holder to move in a yaw direction.

In this embodiment, how the movable platform obtains the yaw attitude control command of the main pan/tilt can refer to the related description of obtaining the main pan/tilt selection command or the yaw attitude control command of the body, and details are not repeated here.

In this embodiment, after the yaw attitude control instruction of the main pan/tilt is acquired, the main pan/tilt is controlled to move in the yaw direction in response to the yaw attitude control instruction of the main pan/tilt. Because the command is the yaw attitude control command of the main holder, the yaw attitude of the machine body does not need to be controlled according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction. After the main holder is controlled to move in the yaw direction in response to the yaw attitude control instruction of the main holder, the yaw attitude deviation of the main holder and the machine body can be obtained again because the yaw attitude of the main holder is changed, so that the yaw attitude deviation of the main holder and the machine body is ensured to be updated in real time. Therefore, after a yaw attitude control command of the fuselage is acquired subsequently, the yaw attitude of the fuselage is controlled according to the latest yaw attitude deviation between the main holder and the fuselage and the yaw attitude of the main holder, and the stability of the movement of the fuselage in the yaw direction is ensured.

Optionally, the movable platform may further obtain a yaw attitude control instruction of any one of the holders other than the main holder; and controlling the tripod head to move in the yaw direction in response to the yaw attitude control command of the tripod head. Optionally, after the cradle head is controlled to move in the yaw direction, the yaw attitude deviation between the cradle head and the body can be obtained again, so that after the movable platform obtains a main cradle head selection instruction for indicating the main cradle head to be the cradle head, the yaw attitude difference between the main cradle head and the body can be quickly obtained.

The embodiment of the present invention further provides a computer storage medium, in which program instructions are stored, and when the program is executed, the program may include some or all of the steps of the method for controlling a movable platform according to any one of the above embodiments.

Fig. 7 is a schematic structural diagram of a control device of a movable platform according to an embodiment of the present application, where the movable platform includes a main body and a plurality of holders connected to the main body and used for carrying a load, and as shown in fig. 7, the control device 700 of the movable platform includes: a memory 701 and a processor 702. Optionally, the control apparatus 700 of the movable platform may further include: a communication device 703.

The memory 701 is used for storing program codes.

The processor 702, invoking the program code, when executed, is configured to:

Optionally, the processor 702 is specifically configured to: and switching the main holder of the movable platform from a second holder to the first holder according to the main holder selection instruction.

Optionally, the main pan/tilt head selection instruction includes identification information of the first pan/tilt head.

Optionally, the processor 702 is further configured to control a yaw attitude of the fuselage according to the yaw attitude of the main pan/tilt head.

Optionally, the processor 702 is further configured to obtain a yaw attitude control instruction of the body before controlling the body to be in a yaw attitude according to the yaw attitude of the main pan/tilt; and controlling the main holder to move in the yaw direction according to the yaw attitude control command of the machine body.

The processor 702, when controlling the yaw attitude of the fuselage according to the yaw attitude of the main pan/tilt head, is specifically configured to: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction.

Optionally, the processor 702 is further configured to obtain a yaw attitude difference between the main pan/tilt and the fuselage before controlling the fuselage to have a yaw attitude according to the yaw attitude of the main pan/tilt. The processor 702 is specifically configured to, when controlling the yaw attitude of the fuselage according to the yaw attitude of the main pan/tilt/zoom system: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder and the yaw attitude difference.

Optionally, the communication device 703 is configured to receive a yaw attitude control instruction of the body sent by the control terminal of the movable platform.

The processor 702 is specifically configured to: receiving, by the communication device 703, a yaw attitude control instruction of the body sent by a control terminal of the movable platform, where the yaw attitude control instruction of the body is obtained by the control terminal detecting a yaw attitude control operation of the body input by a user.

Optionally, the processor 702 is specifically configured to: and responding to the main holder selection instruction or the yawing attitude control instruction of the machine body, and acquiring the yawing attitude difference between the main holder and the machine body.

Optionally, the processor 702 is further configured to obtain a yaw attitude control instruction of the main pan/tilt head; and responding to a yaw attitude control command of the main holder, and controlling the main holder to move in a yaw direction.

Optionally, the processor 702 is further configured to: and when the movable platform is powered on and started up, determining the second holder as a main holder of the movable platform according to a preset strategy.

Optionally, the movable platform includes a plurality of interfaces disposed on the body, wherein each of the plurality of holders is connected to one of the plurality of interfaces, and the plurality of interfaces include a reference interface. The processor 702 is specifically configured to: and determining a second tripod head connected with the reference interface as a main tripod head of the movable platform.

Optionally, the communication device 703 is configured to send, to a control terminal of the movable platform, a prompt message indicating that the main cradle head is the second cradle head.

Optionally, the communication device 703 is configured to receive the main pan/tilt selection instruction sent by the control terminal of the movable platform.

The processor 702 is specifically configured to: receiving, by the communication device 703, the main pan/tilt selection instruction sent by the control terminal of the movable platform, where the main pan/tilt selection instruction is obtained by the control terminal detecting a main pan/tilt selection operation of a user.

Optionally, the load comprises a camera. The communication device 703 is further configured to: and sending the images shot by the shooting devices borne by the multiple cloud platforms to the control terminal so that the control terminal can simultaneously display the images shot by the shooting devices borne by the multiple cloud platforms, wherein the main cloud platform selection operation of the user comprises the image selection operation of the user on the shooting device borne by the first cloud platform.

The control device of the movable platform of this embodiment may be configured to execute the technical solution of the movable platform in the foregoing method embodiments of this application, and the implementation principle and the technical effect are similar, which are not described herein again.

Fig. 8 is a schematic structural diagram of a movable platform according to an embodiment of the present application, and as shown in fig. 8, a movable platform 800 according to the embodiment includes: a processor 801, a body 802 and a plurality of holders 804 connected to the body 802 for carrying a load 803. Optionally, the processor 801 may be disposed within the body 802. Optionally, the movable platform 800 of this embodiment may further include: a communication device 805.

The processor 801 is configured to: acquiring a main holder selection instruction, wherein the main holder selection instruction is obtained by detecting main holder selection operation of a user; and determining a first holder of the holders as a main holder according to the main holder selection instruction, wherein the yaw attitude of the body 802 is controlled according to the yaw attitude of the main holder.

Optionally, the processor 801 is specifically configured to: and switching the main cloud platform of the movable platform 800 from a second cloud platform of the plurality of cloud platforms to the first cloud platform according to the main cloud platform selection instruction.

Optionally, the processor 801 is further configured to control a yaw attitude of the fuselage according to the yaw attitude of the main pan/tilt.

Optionally, the processor 801 is further configured to obtain a yaw attitude control instruction of the body before controlling the body to be in a yaw attitude according to the yaw attitude of the main pan/tilt; controlling the main holder to move in the yaw direction according to the yaw attitude control instruction of the machine body;

the processor 801, when controlling the yaw attitude of the fuselage according to the yaw attitude of the main pan/tilt head, is specifically configured to: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction.

Optionally, the processor 801 is further configured to obtain a yaw attitude difference between the main pan/tilt and the fuselage before controlling the fuselage to be in a yaw attitude according to the yaw attitude of the main pan/tilt;

when the processor 801 controls the yaw attitude of the fuselage according to the yaw attitude of the main pan/tilt head, the processor is specifically configured to: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder and the yaw attitude difference.

Optionally, the communication device 805 is configured to receive a yaw attitude control command of the body sent by the control terminal of the movable platform.

The processor 801 is specifically configured to: receiving, by the communication device 805, a yaw attitude control command of the body sent by a control terminal of the movable platform, where the yaw attitude control command of the body is obtained by the control terminal detecting a yaw attitude control operation of the body input by a user.

Optionally, the processor 801 is specifically configured to: and responding to the main holder selection instruction or the yawing attitude control instruction of the machine body, and acquiring the yawing attitude difference between the main holder and the machine body.

Optionally, the processor 801 is further configured to obtain a yaw attitude control instruction of the main pan/tilt; and responding to a yaw attitude control command of the main holder, and controlling the main holder to move in a yaw direction.

Optionally, the processor 801 is further configured to: and when the movable platform is powered on and started up, determining the second holder as the main holder of the movable platform 800 according to a preset strategy.

Optionally, the movable platform 800 further includes a plurality of interfaces 806 disposed on the main body 802, wherein each of the plurality of holders 804 is connected to one of the plurality of interfaces 806, and the plurality of interfaces includes a reference interface;

the processor 801 is specifically configured to: the second pan/tilt connected to the reference interface is determined as the main pan/tilt of the movable platform 800.

Optionally, the communication device 805 is configured to send a prompt message indicating that the main cradle head is the second cradle head to a control terminal of the movable platform 800.

Optionally, the communication device 805 is configured to receive the main pan/tilt head selection instruction sent by the control terminal of the movable platform 800.

The processor 801 is specifically configured to: receiving, by the communication device 805, the main pan/tilt selection instruction sent by the control terminal of the movable platform 800, where the main pan/tilt selection instruction is obtained by the control terminal detecting a main pan/tilt selection operation of a user.

Optionally, the load 803 comprises a camera. The communication device 805 is further configured to: sending the images shot by the shooting devices carried by the plurality of cloud platforms 804 to the control terminal so that the control terminal can simultaneously display the images shot by the shooting devices carried by the plurality of cloud platforms 804, wherein the main cloud platform selection operation of the user comprises the image selection operation shot by the shooting device carried by the first cloud platform.

Optionally, the removable platform of this embodiment further includes a memory (not shown in the figure) for storing program codes, and when the program codes are called, the removable platform is enabled to implement the above solutions.

The movable platform of this embodiment may be configured to implement the technical solutions of the movable platform in the above method embodiments of the present application, and the implementation principles and technical effects are similar, which are not described herein again.

In another embodiment, the present application provides another movable platform, which includes a main body and a plurality of holders connected to the main body and used for bearing loads, and the control device of the movable platform shown in fig. 7 can be installed on the movable platform. Alternatively, the control device of the movable platform may be a component integrated in the movable platform, or the control device of the movable platform may be a component separate from the movable platform.

Fig. 9 is a schematic structural diagram of a control terminal according to an embodiment of the present application, and as shown in fig. 9, the control terminal 900 according to the embodiment is used for controlling a movable platform, which is a control terminal of the movable platform. The movable platform includes a body and a plurality of holders connected to the body and used for bearing a load, and the control terminal 900 of this embodiment may include: an interaction means 901, a processor 902 and a communication means 903.

An interaction device 901, configured to detect a main pan/tilt selection operation of a user.

And the processor 902 is configured to generate a main pan/tilt selection instruction according to the main pan/tilt selection operation.

A communication device 903, configured to send a main pan/tilt selection instruction to the movable platform, so that the movable platform determines, according to the main pan/tilt selection instruction, that a first pan/tilt in the multiple pan/tilt heads is a main pan/tilt head;

Optionally, the interaction device 901 is further configured to detect a yaw attitude control operation of the body input by the user;

the processor 902 is further configured to generate a yaw attitude control command of the fuselage according to the yaw attitude control operation of the fuselage.

The communication device 903 is further configured to send a yaw attitude control instruction of the body to the movable platform, so that the movable platform controls the main pan/tilt head to move in the yaw direction, and in the process of controlling the main pan/tilt head to move in the yaw direction, the yaw attitude of the body is controlled according to the yaw attitude of the main pan/tilt head.

Optionally, the interaction device 901 is further configured to detect a yaw attitude control operation of the main pan/tilt head of the user.

The processor 902 is further configured to generate a yaw attitude control instruction of the main pan/tilt according to the yaw attitude control operation of the main pan/tilt.

The communication device 903 is further configured to send a yaw attitude control command of the main pan/tilt to the movable platform, so that the movable platform controls the main pan/tilt to move in a yaw direction.

Optionally, the communication device 903 is further configured to receive, after the movable platform is powered on and started up, prompt information that indicates that the main pan/tilt head is the second pan/tilt head and is sent by the movable platform.

Optionally, the movable platform includes a plurality of interfaces disposed on the body, wherein each of the plurality of holders is connected to one of the plurality of interfaces, and the plurality of interfaces include a reference interface. The holder connected with the reference interface is the second holder.

Optionally, the load includes a camera, and the control terminal 900 further includes a display device 904.

The communication device 903 is further configured to receive the image, which is sent by the movable platform and captured by the capturing device carried by the multiple holders.

The display device 904 is configured to simultaneously display images captured by the capturing devices carried by the plurality of holders.

When detecting a main pan/tilt selection operation of a user, the interaction device 901 is specifically configured to: and detecting the image selection operation of the user on the shooting device carried by the first holder.

Alternatively, the interactive device 901 may be a touch screen, and the display device 904 may be a display screen. The interactive device 901 and the display device 904 are respectively part of a touch display screen.

Optionally, the control terminal of this embodiment further includes a memory (not shown in the figure) for storing a program code, and when the program code is called, the control terminal implements the above solutions.

The control terminal of this embodiment may be configured to execute the technical solution of the control terminal in each of the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.

Fig. 10 is a schematic structural diagram of a control system of a movable platform according to an embodiment of the present application, and as shown in fig. 10, the control system 1000 of the movable platform according to the present embodiment may include: a movable platform 1001 and a control terminal 1002.

The movable platform 1001 may execute the technical solution of the movable platform provided in any of the above embodiments, and is not described herein again. The control terminal 1002 may execute the technical solution of the control terminal provided in any of the above embodiments, and details are not described here.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

A method of controlling a movable platform, the movable platform including a body and a plurality of bays attached to the body for carrying loads, the method comprising:

acquiring a main holder selection instruction, wherein the main holder selection instruction is obtained by detecting main holder selection operation of a user;

and determining a first holder in the holders as a main holder according to the main holder selection instruction, wherein the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.
The method of claim 1,

the determining that a first cradle head of the plurality of cradle heads is a main cradle head according to the main cradle head selection instruction includes:

and switching the main holder of the movable platform from a second holder to the first holder according to the main holder selection instruction.
Method according to claim 1 or 2, characterized in that said main head selection command comprises identification information of said first head.
The method according to any one of claims 1-3, further comprising:

and controlling the yaw attitude of the machine body according to the yaw attitude of the main holder.
The method of claim 4, wherein prior to controlling the fuselage at a yaw attitude based on a yaw attitude of the main head, the method further comprises:

acquiring a yaw attitude control instruction of the fuselage;

controlling the main holder to move in the yaw direction according to the yaw attitude control instruction of the machine body;

controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder, comprising:

and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction.
The method according to claim 4 or 5, wherein before controlling the fuselage in yaw attitude according to yaw attitude of the main head, the method further comprises:

acquiring a yaw attitude difference between the main holder and the fuselage;

according to the driftage gesture control of main cloud platform the driftage gesture of fuselage includes:

and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder and the yaw attitude difference.
The method of claim 5, wherein the obtaining yaw attitude control commands for the fuselage comprises:

and receiving a yaw attitude control command of the machine body sent by a control terminal of the movable platform, wherein the yaw attitude control command of the machine body is obtained by the control terminal detecting a yaw attitude control operation of the machine body input by a user.
The method of claim 6, wherein the obtaining a yaw attitude difference between the main head and the fuselage comprises:

and responding to the main holder selection instruction or the yawing attitude control instruction of the machine body, and acquiring the yawing attitude difference between the main holder and the machine body.
The method according to any one of claims 1-8, further comprising:

acquiring a yaw attitude control instruction of a main holder;

and responding to a yaw attitude control command of the main holder, and controlling the main holder to move in a yaw direction.
The method of claim 2, further comprising:

and when the movable platform is powered on and started up, determining the second holder as a main holder of the movable platform according to a preset strategy.
The method of claim 10, wherein the movable platform comprises a plurality of interfaces disposed on the body, wherein each of the plurality of bays is coupled to a respective one of the plurality of interfaces, the plurality of interfaces comprising a reference interface;

the determining the second pan/tilt head as the main pan/tilt head of the movable platform according to a preset selection strategy includes:

and determining a second tripod head connected with the reference interface as a main tripod head of the movable platform.
The method according to claim 10 or 11, characterized in that the method further comprises:

and sending prompt information indicating that the main holder is the second holder to a control terminal of the movable platform.
The method according to any one of claims 1 to 12, wherein said obtaining a main pan-tilt selection command comprises:

and receiving a main holder selection instruction sent by a control terminal of the movable platform, wherein the main holder selection instruction is obtained by the control terminal detecting a main holder selection operation of a user.
The method of claim 13, wherein the load comprises a camera, the method further comprising:

and sending the images shot by the shooting devices carried by the plurality of cloud platforms to the control terminal so that the control terminal can simultaneously display the images shot by the shooting devices carried by the plurality of cloud platforms, wherein the main cloud platform selection operation of the user comprises the image selection operation of the user on the shooting device carried by the first cloud platform.
A control method of a movable platform is characterized in that the control method is applied to a control terminal of the movable platform, the movable platform comprises a machine body and a plurality of cloud platforms which are connected to the machine body and used for bearing loads, and the method comprises the following steps:

detecting a main holder selection operation of a user;

generating a main holder selection instruction according to the main holder selection operation;

sending a main holder selection instruction to the movable platform so that the movable platform determines a first holder in the holders as a main holder according to the main holder selection instruction;

and the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.
The method according to claim 15, wherein said main head selection command is used to instruct the main head of said movable platform to be switched from a second head of said plurality of heads to said first head.
Method according to claim 15 or 16, characterized in that said main head selection command comprises identification information of said first head.
The method of any one of claims 15-17, further comprising:

detecting a yaw attitude control operation of a body of a user;

and generating a yaw attitude control command of the body according to the yaw attitude control operation of the body, and sending the yaw attitude control command of the body to the movable platform so that the movable platform controls the main holder to move in the yaw direction, and controlling the yaw attitude of the body according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction.
The method according to any one of claims 15-18, further comprising:

detecting yaw attitude control operation of a main holder of a user;

and generating a yaw attitude control command of the main holder according to the yaw attitude control operation of the main holder, and sending the yaw attitude control command of the main holder to the movable platform so that the movable platform controls the main holder to move in the yaw direction.
The method of claim 16, further comprising:

and after the movable platform is powered on and started up, receiving prompt information which is sent by the movable platform and indicates that the main holder is the second holder.
The method of claim 20, wherein the movable platform comprises a plurality of interfaces disposed on the body, wherein each of the plurality of bays is coupled to a respective one of the plurality of interfaces, and wherein the plurality of interfaces comprises a reference interface;

the holder connected with the reference interface is the second holder.
The method of any one of claims 15-21, wherein the load comprises a camera, the method further comprising:

receiving images shot by shooting devices carried by the multiple cloud platforms and sent by the movable platform;

simultaneously displaying images shot by the shooting devices carried by the plurality of cloud platforms;

the detecting of the main holder selection operation of the user comprises the following steps:

and detecting the image selection operation of the user on the shooting device carried by the first holder.
The control equipment of a movable platform, characterized in that, the movable platform includes the fuselage and with a plurality of connections be in on the fuselage and be used for bearing the cloud platform of load, control equipment includes: a memory and a processor;

the memory for storing program code;

the processor, invoking the program code, when executed, is configured to:

acquiring a main holder selection instruction, wherein the main holder selection instruction is obtained by detecting main holder selection operation of a user;

and determining a first holder in the holders as a main holder according to the main holder selection instruction, wherein the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.
The control device of claim 23, wherein the processor is specifically configured to:

and switching the main holder of the movable platform from a second holder to the first holder according to the main holder selection instruction.
The control apparatus according to claim 23 or 24, characterized in that said main head selection instruction comprises identification information of said first head.
The control apparatus of any one of claims 23-25, wherein the processor is further configured to control a yaw attitude of the fuselage according to a yaw attitude of the main head.
The control device of claim 26, wherein the processor is further configured to:

acquiring a yaw attitude control instruction of the fuselage before controlling the fuselage to be in a yaw attitude according to the yaw attitude of the main holder; controlling the main holder to move in the yaw direction according to the yaw attitude control instruction of the machine body;

the processor is specifically configured to, when controlling the yaw attitude of the body according to the yaw attitude of the main pan/tilt head: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction.
The control apparatus according to claim 26 or 27, wherein the processor is further configured to obtain a yaw attitude difference between the main pan/tilt and the body before controlling the body to a yaw attitude according to the yaw attitude of the main pan/tilt;

the processor is specifically configured to, when controlling the yaw attitude of the body according to the yaw attitude of the main pan/tilt head: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder and the yaw attitude difference.
The control apparatus according to claim 27, characterized by further comprising: a communication device;

the processor is specifically configured to: and receiving a yaw attitude control command of the body sent by a control terminal of the movable platform through the communication device, wherein the yaw attitude control command of the body is obtained by the control terminal detecting a yaw attitude control operation of the body input by a user.
The control device of claim 28, wherein the processor is specifically configured to: and responding to the main holder selection instruction or the yawing attitude control instruction of the machine body, and acquiring the yawing attitude difference between the main holder and the machine body.
The control device of any one of claims 23-30, wherein the processor is further configured to: acquiring a yaw attitude control instruction of a main holder; and responding to a yaw attitude control command of the main holder, and controlling the main holder to move in a yaw direction.
The control device of claim 24, wherein the processor is further configured to: and when the movable platform is powered on and started up, determining the second holder as a main holder of the movable platform according to a preset strategy.
The control apparatus of claim 32, wherein the movable platform comprises a plurality of interfaces disposed on the body, wherein each of the plurality of bays is coupled to a respective one of the plurality of interfaces, the plurality of interfaces comprising a reference interface;

the processor is specifically configured to: and determining a second tripod head connected with the reference interface as a main tripod head of the movable platform.
The control apparatus according to claim 32 or 33, characterized by further comprising: a communication device;

and the communication device is used for sending prompt information indicating that the main holder is the second holder to a control terminal of the movable platform.
The control apparatus according to any one of claims 23 to 33, characterized by further comprising: a communication device;

the processor is specifically configured to: and receiving the main holder selection instruction sent by the control terminal of the movable platform through the communication device, wherein the main holder selection instruction is obtained by the control terminal detecting the main holder selection operation of the user.
The control apparatus of claim 35, wherein the load comprises a camera;

the communication device is further configured to: and sending the images shot by the shooting devices borne by the multiple cloud platforms to the control terminal so that the control terminal can simultaneously display the images shot by the shooting devices borne by the multiple cloud platforms, wherein the main cloud platform selection operation of the user comprises the image selection operation of the user on the shooting device borne by the first cloud platform.
A movable platform, comprising: the device comprises a processor, a machine body and a plurality of cloud platforms which are connected to the machine body and used for bearing loads;

the processor is configured to: acquiring a main holder selection instruction, wherein the main holder selection instruction is obtained by detecting main holder selection operation of a user;

and determining a first holder in the holders as a main holder according to the main holder selection instruction, wherein the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.
The movable platform of claim 37, wherein the processor is specifically configured to:

and switching the main holder of the movable platform from a second holder to the first holder according to the main holder selection instruction.
The movable platform of claim 37 or 38, wherein the main head selection instruction comprises identification information of the first head.
The movable platform of any one of claims 37-39, wherein the processor is further configured to control a yaw attitude of the fuselage based on a yaw attitude of the main head.
The movable platform of claim 40, wherein the processor is further configured to obtain yaw attitude control commands for the main body before controlling the main body to a yaw attitude according to a yaw attitude of the main head; controlling the main holder to move in the yaw direction according to the yaw attitude control instruction of the machine body;

the processor is specifically configured to, when controlling the yaw attitude of the body according to the yaw attitude of the main pan/tilt head: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction.
The movable platform of claim 40 or 41, wherein the processor is further configured to obtain a yaw attitude difference between the main pan/tilt and the fuselage before controlling the fuselage to a yaw attitude according to the yaw attitude of the main pan/tilt;

the processor is specifically configured to, when controlling the yaw attitude of the body according to the yaw attitude of the main pan/tilt head: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder and the yaw attitude difference.
The movable platform of claim 41, further comprising: a communication device;

the processor is specifically configured to: and receiving a yaw attitude control command of the body sent by a control terminal of the movable platform through the communication device, wherein the yaw attitude control command of the body is obtained by the control terminal detecting a yaw attitude control operation of the body input by a user.
The movable platform of claim 42, wherein the processor is specifically configured to: and responding to the main holder selection instruction or the yawing attitude control instruction of the machine body, and acquiring the yawing attitude difference between the main holder and the machine body.
The movable platform of any one of claims 37-44, wherein the processor is further configured to obtain yaw attitude control commands for the main head; and responding to a yaw attitude control command of the main holder, and controlling the main holder to move in a yaw direction.
The movable platform of claim 38, wherein the processor is further configured to: and when the movable platform is powered on and started up, determining the second holder as a main holder of the movable platform according to a preset strategy.
The movable platform of claim 46, further comprising a plurality of interfaces disposed on the body, wherein each of the plurality of bays is coupled to a respective one of the plurality of interfaces, the plurality of interfaces including a reference interface;

the processor is specifically configured to: and determining a second tripod head connected with the reference interface as a main tripod head of the movable platform.
The movable platform of claim 46 or 47, further comprising: a communication device;

and the communication device is used for sending prompt information indicating that the main holder is the second holder to a control terminal of the movable platform.
The movable platform of any one of claims 37-47, further comprising: a communication device;

the processor is specifically configured to: and receiving the main holder selection instruction sent by the control terminal of the movable platform through the communication device, wherein the main holder selection instruction is obtained by the control terminal detecting the main holder selection operation of the user.
The movable platform of claim 49, wherein the load comprises a camera;

the communication device is further configured to: and sending the images shot by the shooting devices borne by the multiple cloud platforms to the control terminal so that the control terminal can simultaneously display the images shot by the shooting devices borne by the multiple cloud platforms, wherein the main cloud platform selection operation of the user comprises the image selection operation of the user on the shooting device borne by the first cloud platform.
The utility model provides a control terminal for control movable platform, but movable platform includes the fuselage and is connected with a plurality of the cloud platform that just is used for bearing load on the fuselage, control terminal includes:

the interaction device is used for detecting the main holder selection operation of a user;

the processor is used for generating a main holder selection instruction according to the main holder selection operation;

the communication device is used for sending a main holder selection instruction to the movable platform so that the movable platform determines a first holder in the holders as a main holder according to the main holder selection instruction;

and the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.
The control terminal of claim 51, wherein the main pan-tilt selection instruction is configured to instruct the main pan-tilt of the movable platform to be switched from the second pan-tilt to the first pan-tilt of the plurality of pan-tilts.
The control terminal according to claim 51 or 52, wherein the main pan/tilt head selection command comprises identification information of the first pan/tilt head.
The control terminal according to any of claims 51-53,

the interaction device is also used for detecting the yaw attitude control operation of the fuselage input by a user;

the processor is further used for generating a yaw attitude control instruction of the fuselage according to the yaw attitude control operation of the fuselage;

the communication device is further used for sending a yaw attitude control command of the machine body to the movable platform so that the movable platform controls the main holder to move in the yaw direction, and in the process of controlling the main holder to move in the yaw direction, the yaw attitude of the machine body is controlled according to the yaw attitude of the main holder.
The control terminal according to any of claims 51-54,

the interaction device is also used for detecting the yaw attitude control operation of the main holder of the user;

the processor is further used for generating a yaw attitude control instruction of the main holder according to the yaw attitude control operation of the main holder;

the communication device is further used for sending a yaw attitude control command of the main holder to the movable platform so that the movable platform controls the main holder to move in the yaw direction.
The control terminal according to claim 52, wherein the communication device is further configured to receive, after the movable platform is powered on and started up, a prompt message indicating that the main cradle head is the second cradle head, where the prompt message is sent by the movable platform.
The control terminal of claim 56, wherein the movable platform comprises a plurality of interfaces disposed on the body, wherein each of the plurality of holders is coupled to a respective one of the plurality of interfaces, and wherein the plurality of interfaces comprises a reference interface;

the holder connected with the reference interface is the second holder.
The control terminal of any of claims 51-57, wherein the load comprises a camera, the control terminal further comprising a display;

the communication device is also used for receiving the images which are sent by the movable platform and shot by the shooting devices carried by the plurality of holders;

the display device is used for simultaneously displaying images shot by the shooting devices carried by the plurality of cloud platforms;

when detecting a main pan-tilt selection operation of a user, the interaction device is specifically configured to: and detecting the image selection operation of the user on the shooting device carried by the first holder.
A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program; the computer program, when executed, implementing a method of controlling a movable platform according to any one of claims 1-14 or 15-22.