WO2020037589A1 - 一种可移动平台的控制方法及装置 - Google Patents
一种可移动平台的控制方法及装置 Download PDFInfo
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- WO2020037589A1 WO2020037589A1 PCT/CN2018/101893 CN2018101893W WO2020037589A1 WO 2020037589 A1 WO2020037589 A1 WO 2020037589A1 CN 2018101893 W CN2018101893 W CN 2018101893W WO 2020037589 A1 WO2020037589 A1 WO 2020037589A1
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- movable platform
- phase
- target
- surrounding
- point
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- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000012790 confirmation Methods 0.000 claims description 37
- 230000015654 memory Effects 0.000 claims description 18
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/04—Large scale networks; Deep hierarchical networks
- H04W84/06—Airborne or Satellite Networks
Definitions
- the present invention relates to the technical field of terminals, and in particular, to a method and device for controlling a movable platform.
- a control terminal such as a remote control, a mobile phone, a tablet or a wearable device, etc.
- the embodiment of the invention discloses a control method and device of a movable platform, which can conveniently control the movable platform to surround a target.
- an embodiment of the present invention provides a method for controlling a movable platform, and the method includes:
- the point-of-interest surround mode includes a target determination phase, an estimated target phase, and a surround phase in turn;
- the target determination phase is used to determine a surrounding target
- the estimation target stage is used for the movable platform to detect the position of the surrounding target
- the surrounding stage is used for the movable platform to surround the surrounding target according to the position of the surrounding target.
- an embodiment of the present invention provides a control device for a movable platform.
- the control device for the movable platform includes: a memory and a processor, where:
- the memory is used to store program instructions
- the processor calls the program instructions for:
- the point-of-interest surround mode includes a target determination phase, an estimated target phase, and a surround phase in turn;
- the target determination phase is used to determine a surrounding target
- the estimation target stage is used for the movable platform to detect the position of the surrounding target
- the surrounding stage is used for the movable platform to surround the surrounding target according to the position of the surrounding target.
- an embodiment of the present invention provides a movable platform, the movable platform power device and the control device of the movable platform described in the second aspect, wherein the power device is used for the movable platform. Provide power.
- an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores instructions that, when run on a computer, cause the computer to execute the method according to the first aspect.
- the movable platform can be conveniently controlled to surround the target.
- FIG. 1 is a schematic diagram of a system architecture according to an embodiment of the present invention
- FIG. 2 is a schematic flowchart of a control method of a movable platform according to an embodiment of the present invention
- FIG. 3 is a schematic diagram of a parallax provided by an embodiment of the present invention.
- FIG. 4 is a schematic structural diagram of a control device for a movable platform according to an embodiment of the present invention.
- FIG. 5 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention.
- first, second, third, etc. may be used in the present invention to describe various information, these information should not be limited to these terms. These terms are used to distinguish the same type of information from each other.
- first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information.
- word “if” can be interpreted as “at”, or “at ", or "in response to a determination”.
- the embodiments of the present application provide a control method and device for a movable platform.
- the control device of the movable platform is included in a device, and the device may be a movable platform or a control terminal for controlling the movable platform.
- the movable platform may include, but is not limited to, an unmanned aerial vehicle, an unmanned ship, a ground robot (such as an unmanned vehicle), and the like.
- the control terminal may include, but is not limited to, a mobile phone, a tablet computer, a remote control, a wearable device (watch or bracelet), and the like.
- FIG. 1 is a schematic diagram of a system architecture of a movable platform and a control terminal according to an embodiment of the present application.
- Figure 1 uses the mobile platform as the drone and the control terminal as the mobile phone as an example.
- the control terminal is used to control the drone.
- the drone may include a running subject, a gimbal, and a camera device.
- the running main body may include a plurality of rotors and a rotor motor driving the rotation of the rotors, thereby providing power required for the operation of the drone 1.
- the imaging device is mounted on the operating body through the pan / tilt.
- the camera device is used to capture images or videos during the operation of the drone, and may include, but is not limited to, a multispectral imager, a hyperspectral imager, a visible light camera, an infrared camera, and the like.
- the gimbal can be a multi-axis transmission and stabilization system, which can include multiple rotating shafts and gimbal motors.
- the gimbal motor can compensate the shooting angle of the camera device by adjusting the rotation angle of the rotation shaft, and can prevent or reduce the shake of the camera device by setting an appropriate buffer mechanism.
- the imaging device may be mounted on the running body directly or through other methods, which are not limited in the embodiment of the present invention.
- FIG. 2 is a schematic flowchart of a control method of a mobile platform according to an embodiment of the present invention.
- the control method of the movable platform may include steps 201 and 202. among them:
- the device receives an instruction to enter a point of interest surround mode.
- the device may be a control terminal or a mobile platform.
- the instruction for entering the point of interest surround mode may be input by a user on the control terminal.
- the user may click a function button for entering the point of interest surround mode on the display interface of the control terminal to input an instruction for entering the point of interest surround mode.
- the instruction for entering the point of interest surround mode may be sent by the control terminal to the mobile platform.
- the point-of-interest surround mode may specifically be a point-of-interest surround time-lapse shooting mode, that is, when the surround target is surrounded, the surround target is time-lapse shot.
- the point-of-interest surround mode can also be a point-of-interest surround ordinary shooting mode, that is, a mode of ordinary shooting of a surround target when surrounding a surround target. This ordinary shooting refers to non-time-lapse shooting.
- the point-of-interest surround mode includes a target determination phase, an estimated target phase, and a surround phase in turn.
- the device enters a point of interest surround mode.
- the target determination phase is used to determine the surrounding target;
- the estimated target phase is used for the movable platform to detect the position of the surrounding target;
- the surrounding phase is used for the movable platform to surround the surrounding target according to the position of the surrounding target.
- the device only needs to enter the point-of-interest surround mode, and then it can control the movable platform to surround the surround target. Therefore, by implementing the method described in FIG. 2, the movable platform can be conveniently controlled to surround the target.
- the device before the device enters the point of interest orbit mode, it can also determine whether a first parameter satisfies a first preset condition, and the first parameter includes a global positioning system (Global Positioning System, GPS) of a movable platform. ) Information, at least one of the operating parameters of the mobile platform and the connection state of the mobile platform and the control terminal.
- the specific implementation manner of the device entering the point of interest surround mode is: if the first parameter satisfies the first preset condition, enter the point of interest surround mode.
- the device may be a control terminal or a mobile platform.
- the device after receiving the instruction for entering the point of interest surround mode, acquires a first parameter, and determines whether the first parameter satisfies a first preset condition. If the first parameter satisfies the first preset condition, the point of interest surround mode is entered.
- the control terminal may obtain GPS information of the mobile platform or the mobile platform from the mobile platform. Operating parameters.
- the device When the first parameter satisfies the first preset condition, the device is suitable for entering the point of interest surround mode. When the first parameter does not satisfy the first preset condition, the device is not suitable for entering the point of interest surround mode.
- the first parameter includes the GPS signal level of the movable platform, and the first preset condition is that the GPS signal level of the movable platform is greater than a preset level.
- the GPS signal level of the mobile platform does not satisfy the first preset condition, when the GPS signal level of the mobile platform is low, the mobile platform may not be able to accurately determine the position around the target, resulting in the mobile platform not being able to accurately Surround the target.
- the device when the GPS signal level of the movable platform does not satisfy the first preset condition, the device is not suitable to enter the point of interest surround mode to control the movable platform to surround the target.
- the first parameter is a connection state between the movable platform and the control terminal
- the first preset condition is that the connection state between the movable platform and the control terminal is a connected state.
- the device can enter the point of interest orbit mode at an appropriate timing, and then control the movable platform to orbit the target.
- the device may further determine whether the first parameter satisfies a first preset condition in the point of interest surround mode, and the first parameter includes GPS information of the mobile platform, operating parameters of the mobile platform, and At least one of a connection state between the movable platform and the control terminal; if the first parameter does not satisfy the first preset condition, exit the point of interest surround mode.
- the device may be a control terminal or a mobile platform.
- the device obtains the first parameter in the point of interest surround mode and determines whether the first parameter satisfies a first preset condition. If the first parameter does not satisfy the first preset condition, exit the point of interest surround mode.
- the control terminal may obtain the GPS information of the mobile platform or the mobile platform ’s Operating parameters.
- the movable platform When the first parameter does not satisfy the first preset condition, the movable platform is not suitable to surround the target. Therefore, by implementing this embodiment, the device can exit the POI surround mode in a timely manner at an appropriate timing.
- the GPS information of the movable platform includes at least one of a GPS signal level of the movable platform, a navigation coordinate system, and a GPS position of the movable platform.
- the GPS information of the mobile platform includes only one of the GPS signal level of the mobile platform, the navigation coordinate system, and the GPS position of the mobile platform.
- the GPS information of the mobile platform includes any two of the GPS signal level of the mobile platform, the navigation coordinate system, and the GPS position of the mobile platform.
- the GPS information of the mobile platform includes the GPS signal level of the mobile platform, the navigation coordinate system, and the GPS position of the mobile platform.
- the movable platform may not be able to accurately determine the position of the surrounding target, resulting in that the movable platform cannot accurately surround the target.
- the GPS position of the movable platform is abnormal or the GPS position of the movable platform reaches a restricted area (such as near an airport)
- the movable platform is not suitable to surround the target at this time. Therefore, the device can accurately determine whether it is suitable to enter the point of interest surround mode or whether to exit the point of interest surround mode according to at least one of the GPS signal level of the movable platform, the navigation coordinate system, and the GPS position of the movable platform.
- the first preset condition includes that the GPS signal level of the movable platform is greater than or equal to a preset level; the first parameter includes navigation When in the coordinate system, the first preset condition includes that the navigation coordinate system is valid; when the first parameter includes the GPS position of the movable platform, the first preset condition includes that the GPS position of the movable platform is abnormal and / or the movable platform The GPS position did not reach the restricted area.
- the device obtains a first parameter.
- the first parameter includes the GPS signal level of the mobile platform, the navigation coordinate system, and the GPS position of the mobile platform.
- the first preset condition includes that the GPS signal level of the movable platform is greater than or equal to the preset level, the navigation coordinate system is valid, the GPS position of the movable platform is not abnormal, and the GPS position of the movable platform does not reach the restricted area. If the GPS signal level in the first parameter is greater than or equal to a preset level, and the navigation coordinate system in the first parameter is valid, and the GPS position in the first parameter is not abnormal and does not reach the restricted area, the device enters the point of interest surround mode .
- the device obtains the first parameter in the point of interest surround mode.
- the first parameter includes the GPS signal level of the mobile platform, the navigation coordinate system, and the GPS position of the mobile platform.
- the first preset condition includes that the GPS signal level of the movable platform is greater than or equal to the preset level, the navigation coordinate system is valid, the GPS position of the movable platform is not abnormal, and the GPS position of the movable platform does not reach the restricted area. If the GPS signal level in the first parameter is lower than the preset level, or the navigation coordinate system in the first parameter is invalid, or the GPS position in the first parameter is abnormal, or the GPS position in the first parameter reaches the restricted area, the device exits POI surround mode.
- the device can accurately determine whether it is currently suitable to enter the point of interest surround mode or whether it should exit the point of interest surround mode.
- the operating parameters of the movable platform include the operating distance of the movable platform and / or the operating height of the movable platform.
- the operating parameters of the movable platform include the operating distance of the movable platform.
- the operating parameters of the movable platform include the operating distance of the movable platform, or the operating parameters of the movable platform include the operating height of the movable platform, or the operating parameters of the movable platform include movable The operating distance of the platform and the operating height of the movable platform.
- the device can accurately determine whether it is currently suitable to enter the point of interest surround mode or whether it should exit the point of interest surround mode according to the operating distance of the movable platform and / or the operating height of the movable platform.
- the first preset condition includes that the operating distance of the movable platform is less than or equal to the limit distance; the first parameter includes the operating height of the movable platform.
- the first preset condition includes that the operating height of the movable platform is greater than or equal to the preset height.
- the device obtains a first parameter.
- the first parameter includes a running distance of the movable platform and a running height of the movable platform.
- the first preset condition includes that a running distance of the movable platform is less than or equal to a limit distance and a running height of the movable platform is greater than or equal to a preset height. If the running distance in the first parameter is less than or equal to the limit distance, and the running height in the first parameter is greater than or equal to a preset height, the device enters the point of interest surround mode.
- the device obtains the first parameter in the point of interest surround mode.
- the first parameter includes a running distance of the movable platform and a running height of the movable platform.
- the first preset condition includes that a running distance of the movable platform is less than or equal to a limit distance and a running height of the movable platform is greater than or equal to a preset height. If the running distance in the first parameter is greater than the limit distance, or the running height in the first parameter is less than the preset height, the device exits the POI surround mode.
- the device can accurately determine whether it is currently suitable to enter the point of interest surround mode or whether it should exit the point of interest surround mode.
- the first preset condition includes that the connection state between the movable platform and the control terminal is a connected state.
- the mobile platform When the connection between the mobile platform and the control terminal is disconnected, that is, when the mobile platform is out of control, the mobile platform should return to the sea. At this time, the mobile platform is not suitable to surround the target. Therefore, the device can accurately determine whether it is currently suitable to enter the point of interest surround mode or whether it should exit the point of interest surround mode according to the connection state of the movable platform and the control terminal.
- the first parameter includes the GPS signal level of the movable platform, the navigation coordinate system and the GPS position of the movable platform, the operating distance of the movable platform, the operating height of the movable platform, and the movable platform and the control terminal.
- the GPS signal level of the movable platform is greater than or equal to a preset level, and the navigation coordinate system is valid, the GPS position is normal, the GPS position does not reach the restricted area, and the running distance is less than or equal to the restricted distance, When the running height is greater than or equal to the preset height and the connection status is connected, the device can enter the POI surround mode.
- the GPS signal level of the mobile platform is lower than the preset level, or the navigation coordinate system is invalid, or the GPS position is abnormal, or the GPS position reaches the restricted area, or the running distance is greater than the restricted distance, or the running height is less than the preset height Or when the connection status is disconnected, the device exits POI surround mode.
- the operating height of the movable platform is greater than or equal to a first threshold value and less than or equal to a second threshold value.
- the first threshold may be equal to the preset height in Table 1 above. For example, the first threshold is 5 meters, the second threshold is 15 meters, and the first threshold is equal to a preset height.
- the operating height of the movable platform remains greater than or equal to the preset height. Therefore, in the point-of-interest surround mode, the device does not need to determine whether the movable platform's operating height is less than the preset height.
- the running height of the movable platform can be maintained at a reasonable height, so that the movable platform can orbit the orbiting target normally.
- the device pushes alarm information.
- the warning information is used to prompt that the height of the movable platform reaches a first threshold or a second threshold.
- the movable platform is a device with a flight function.
- the control terminal can directly push the alarm information to the user.
- the control terminal may directly output warning information on the display screen for prompting that the height of the movable platform reaches the first threshold or the second threshold.
- the mobile platform can push alarm information to the control terminal. After the control terminal receives the alarm information, the control terminal can push the alarm information to the user.
- the target determination phase includes an idle phase, where the idle phase is used to wait for receiving frame selection information surrounding the target, and to receive frame selection information.
- the idle phase is used to control the terminal or the mobile platform to wait to receive frame selection information for the surrounding target, and to receive frame selection information.
- the user can frame the surrounding target.
- the user can flexibly select a surrounding target.
- the movable platform is to surround the surround target, it is necessary to remotely control the movable platform to the position of the surround target.
- the mobile platform Only when the mobile platform is running to the location of the surrounding target can the GPS's geographic location be determined by technologies such as GPS, and the mobile platform can then surround the surrounding target based on the geographic location of the surrounding target.
- the movable platform can automatically detect the geographic location of the surrounding target according to the frame selection information, and the mobile platform does not need to run to the location of the surrounding target. . Therefore, by implementing this embodiment, it is beneficial to quickly and conveniently detect the position of the surrounding target.
- the device detects a pause instruction or an obstacle, and the device may ignore the pause instruction and the obstacle without responding to the pause instruction and the obstacle. .
- the user in the idle phase and the surround phase, the user can remotely control the movable platform freely.
- the target determination phase further includes an observation phase.
- the observation phase is after the idle phase, and the observation phase is used to modify the frame selection area corresponding to the frame selection information. By correcting the frame selection area, the surrounding target of frame selection can be accurately determined.
- the device pushes alarm information for prompting to reframe the surrounding target.
- the device may be a control terminal or a mobile platform.
- the device needs to wait for receiving frame selection information around the target in addition to pushing the alarm information. That is, if the frame selection area has insufficient texture or the frame selection area is smaller than the preset size during the observation phase, it needs to return to the idle phase so that the user can reframe the surrounding target.
- the control terminal may directly push the alarm information to the user to prompt the user to re-frame the surrounding target and control The terminal waits again to receive the marquee information about the surrounding target.
- the movable platform may not be able to accurately detect the position around the target. Therefore, the user is required to re-frame the target to be surrounded. Therefore, by implementing this embodiment, it is advantageous for the movable platform to accurately detect the position around the target.
- the device may control the movable platform to rotate the yaw angle so that the surrounding target is displayed at the middle position of the display interface of the control terminal, so as to perform the confirmation operation on the surrounding target during the waiting confirmation phase.
- the device may be a control terminal or a mobile platform.
- the surrounding target is displayed at the middle position of the display interface of the control terminal, which can facilitate the user's confirmation operation on the surrounding target during the waiting confirmation phase.
- the device during the observation phase, if the device detects a pause instruction and / or detects a remote control instruction to remotely control the movable platform, it waits to receive a frame selection for the surrounding target again. information. That is, during the observation phase, if the device detects a pause instruction and / or a remote control instruction to remotely control the movable platform, it returns to the idle phase.
- the device may be a control terminal or a mobile platform.
- the remote control instruction may be a remote control instruction for remotely controlling the movable platform to move in any direction.
- the device detects a remote control instruction to the movable platform, in addition to waiting to re-frame the surrounding target, it can also output a prompt message that the current task has exited.
- the movable platform is remotely controlled during the observation phase, the framed surround target may no longer exist in the current display screen of the control terminal. Therefore, it is necessary to return to the idle phase and reframe the circled target. Therefore, by implementing this embodiment, it is possible to return to the idle state in a timely manner at an appropriate timing.
- the observation phase when the user wants to re-select the surrounding target, he can click the pause button to return to the idle phase. Therefore, by implementing this embodiment, it is possible to easily return to the idle phase.
- the device during the observation phase, if the device detects an obstacle, it ignores the obstacle, that is, does not respond to the obstacle.
- the focal length of the camera device of the movable platform is unlocked.
- the camera device of the movable platform The focal length is locked.
- the focal length of the camera device of the movable platform is locked, so that the movable platform can accurately measure the position around the target during the estimated target phase. Therefore, by implementing this embodiment, it is advantageous for the movable platform to accurately measure the position around the target in the stage of estimating the target.
- the point-of-interest surround mode in this embodiment is a point-of-interest surround ordinary shooting mode, that is, the point-of-interest surround mode in this embodiment is ordinary shooting of a surround target when it surrounds a surround target. Mode.
- the point-of-interest surround mode is the point-of-interest surround time-lapse shooting mode.
- the focal length of the camera device of the movable platform is unlocked.
- the focal length of the camera device of the movable platform is locked.
- the focal length of the camera device of the movable platform is locked during the observation phase and the estimated target phase, so that the movable platform can accurately measure the position around the target during the estimated target phase.
- the time-lapse shooting should be consistent with the observation parameters, the waiting confirmation phase, and the estimated target phase to maintain the same exposure parameters and focal field angles. Therefore, the focal length of the camera in the surround phase is still locked.
- the movable platform By implementing this embodiment, it is beneficial for the movable platform to accurately measure the position around the target in the stage of estimating the target.
- the target determination phase further includes a waiting confirmation phase.
- the waiting confirmation phase After the waiting confirmation phase is in an idle phase, the waiting confirmation phase confirms the surrounding target selected by the frame. By confirming the surrounding target again by the user, it is beneficial to accurately determine the surrounding target.
- the target determination phase includes an idle phase, an observation phase, and a waiting for confirmation phase
- the idle phase is before the observation phase
- the observation phase is before the waiting confirmation phase
- the device in the waiting for confirmation phase, if the device detects a pause instruction and / or a remote control instruction for remotely controlling the movable platform, the device waits again to receive frame selection information around the target. That is, during the waiting for confirmation phase, if the device detects a pause instruction and / or a remote control instruction for remotely controlling the movable platform, it returns to the idle phase.
- the device is a control terminal or a mobile platform.
- the remote control instruction may be a remote control instruction for remotely controlling the movable platform to move in any direction.
- the device detects a remote control instruction to the movable platform, in addition to waiting to re-frame the surrounding target, it can also output a prompt message that the current task has exited.
- the mobile platform is remotely controlled during the observation phase, the framed surrounding target may no longer exist in the current display screen of the control terminal, so it is necessary to return to the idle phase and reframe the surrounded target. Therefore, by implementing this embodiment, it is possible to return to the idle state in a timely manner at an appropriate timing.
- the user wants to re-select the surround target during the waiting confirmation phase, he can click the pause button to return to the idle phase. Therefore, by implementing this embodiment, it is possible to easily return to the idle phase.
- the device during the waiting for confirmation, if the device detects an obstacle, it ignores the obstacle, that is, does not respond to the obstacle.
- the focal length of the camera device of the movable platform is unlocked.
- the camera device of the movable platform The focal length is locked.
- the focal length of the camera device of the movable platform is locked, so that the movable platform can accurately measure the position around the target during the estimation target phase. Therefore, by implementing this embodiment, it is advantageous for the movable platform to accurately measure the position around the target in the stage of estimating the target.
- the point-of-interest surround mode in this embodiment is a point-of-interest surround ordinary shooting mode, that is, the point-of-interest surround mode in this embodiment is ordinary shooting of a surround target when it surrounds a surround target. Mode.
- the point-of-interest surround mode is a point-of-interest surround time-lapse shooting mode.
- the focal length of the camera device of the movable platform is unlocked.
- the focal length of the camera on the movable platform is locked.
- the focal length of the camera device of the movable platform is locked during the waiting for confirmation phase and the estimation target phase, so that the movable platform can accurately measure the position around the target during the estimation target phase.
- the time-lapse shooting should be consistent with the exposure parameters, the waiting confirmation stage, and the estimated target stage to keep the same exposure parameters and focal field angle. Therefore, the focus of the camera device in the surround stage is still locked.
- the movable platform By implementing this embodiment, it is beneficial for the movable platform to accurately measure the position around the target in the stage of estimating the target.
- the device during the estimation target stage, if the device detects a pause command and / or detects the presence of an obstacle and / or detects a remote control of the movable platform in the target axis With the remote control command in a direction opposite to the movement direction, the device waits again to receive the frame selection information for the surrounding target. That is, during the estimation target phase, if the device detects a pause instruction and / or detects the presence of an obstacle and / or detects a remote control instruction for remotely controlling the movable platform to roll in the target axis direction opposite to the movement direction, Then return to the idle phase.
- the device may be a control terminal or a mobile platform.
- the device may also output a prompt message for prompting the termination of the task of measuring the surrounding target position.
- the user wants to re-select the surrounding target during the estimation target phase, he can click the pause button to return to the idle phase. Therefore, by implementing this embodiment, it is possible to easily return to the idle phase.
- the movable platform In the stage of estimating the target, the movable platform first needs to roughly estimate the first distance of the movable platform from the surrounding target. Alternatively, the first distance may be a default value. The movable platform then orbits the orbiting target according to the first distance, and measures the position of the orbiting target during the orbiting process. If an obstacle is detected during the estimated target phase, the movable platform orbiting the target during the estimated target phase may cause the movable platform to collide with the obstacle. Therefore, when an obstacle is detected during the estimation target phase, it can return to the idle state and re-select the surrounding target to avoid collision with the obstacle during the surrounding process.
- the device can also output an obstacle encountered in position calculation.
- the current task has been terminated Prompt message.
- the target axis may be any axis.
- the target axis may be a roll axis.
- the movable platform may not be able to accurately measure the position around the target, so it is necessary to return to the idle stage and re-perform the surrounding target. Box selection. Therefore, by implementing this embodiment, it is beneficial to accurately measure the position around the target.
- the device waits to receive frame selection information about the surrounding target again. That is, during the estimation target phase, if the movable platform loses the surrounding target and / or the positioning of the movable platform is inaccurate, it returns to the idle phase.
- the device may be a control terminal or a mobile platform.
- the device may also output a prompt message that the current task has exited.
- the device may, in addition to waiting to receive frame selection information around the target, output a prompt message that the current task has exited.
- the movable platform loses the surrounding target and / or the positioning of the movable platform is inaccurate, the movable platform cannot measure the position of the surrounding target. Therefore, at this time, you need to return to the idle phase and re-frame the surrounding target. Therefore, by implementing this embodiment, it is beneficial to accurately measure the position around the target.
- a first distance from the surrounding target is estimated; according to the correspondence between the distance and the number of parallaxes, the first number of parallaxes corresponding to the first distance is determined;
- the device terminates the current task of measuring the position around the target and restarts Waiting to receive marquee information around the target.
- the parallax is the distance between two images taken by the same object at different times.
- image 1 is an image taken at time t1
- image 2 is an image taken at time t2.
- Image 1 and image 2 both have object 1, so the parallax of FIGS. 1 and 2 is d1, that is, 100 pixels.
- the device may be a movable platform.
- the movable platform In the stage of estimating the target, the movable platform first needs to roughly estimate the first distance of the movable platform from the surrounding target.
- the movable platform may be considered as a default distance from the surrounding target, that is, the first distance may be a default value.
- surround the surrounding target according to the first distance and measure the position of the surrounding target during the surrounding process.
- the first parallax quantity corresponding to the first distance is determined according to the correspondence between the distance and the parallax quantity.
- the movable platform will take multiple images during the orbiting process.
- the movable platform can detect whether the number of parallaxes between the currently captured image and the first image captured in the estimation target stage reaches the first number of parallaxes. If the position of the surrounding target has not been detected after reaching the first number of parallaxes, the current task of measuring the position of the surrounding target is terminated. After the movable platform terminates the current task of measuring the surrounding target position, the control terminal may wait to re-frame the surrounding target, that is, return to the idle state.
- the movable platform can preset a correspondence relationship between the distance and the number of parallaxes. If the distance around the target is relatively long, the actual distance corresponding to each parallax is large, and a small change in parallax corresponds to a larger actual distance. Similarly, if the distance around the target is short, the actual distance corresponding to each parallax is small, and the larger parallax change corresponds to the smaller actual distance. Therefore, when the distance around the target is long, the position around the target can be measured within a small parallax range. When the distance around the target is short, the position around the target can be measured within a large range of parallax.
- a larger distance corresponds to a smaller number of parallaxes
- a smaller distance corresponds to a larger number of parallaxes.
- Table 3 the correspondence relationship can be shown in Table 3 below.
- the position of the surrounding target can be measured within the parallax of [(-9/70) * d2 + 970/7] pixels. Therefore, when the distance to the surrounding target is 300 ⁇ d2 ⁇ 1000 meters, the amount of parallax between the currently captured image and the first image captured in the estimated target phase reaches [(-9/70) * d2 + 970 / 7] When the position of the surrounding target has not been measured, the position of the surrounding target cannot be detected due to some factors. At this time, the task of measuring the position of the surrounding target should be terminated and the surrounding target should be selected again.
- the position of the surrounding target can be measured within 10 pixels of parallax. Therefore, when the distance to the surrounding target is greater than 1000 meters, the number of parallaxes between the currently captured image and the first image captured during the estimated target phase reaches 10 pixels. Some factors cause the position of the surrounding target cannot be detected. At this time, the task of measuring the position of the surrounding target should be terminated and the surrounding target should be selected again. It can be seen that by implementing this embodiment, the number of parallaxes can be flexibly determined according to the distance from the surrounding target, so that it can be determined in time whether the movable platform can detect the position of the surrounding target.
- the device pauses the current orbiting task of the movable platform.
- the device may be a control terminal or a mobile platform. If the device is a control terminal, in the surround phase, if the control terminal detects a pause instruction, the control terminal sends a pause surround instruction to the movable platform to suspend the current surround task of the movable platform. When the device is a movable platform, the control terminal may send the suspension instruction to the movable platform after receiving the suspension instruction. The mobile platform receives the suspension instruction, and the mobile platform pauses the current orbiting task of the mobile platform.
- the device may output a prompt message for prompting the termination of the orbiting task, in addition to suspending the orbiting task currently on the movable platform.
- the control terminal may directly output to the user prompt information for prompting the termination of the surround task.
- the movable platform outputs prompt information to the control terminal for prompting the termination of the surround task. After receiving the prompt information, the control terminal outputs the prompt information to the user.
- a movable platform may be used to prompt the control terminal whether there is an obstacle.
- the control terminal receives the prompt information sent by the mobile platform to prompt the existence of an obstacle, the control terminal suspends the current surround task of the mobile platform. Specifically, the control terminal sends a pause surround instruction to the movable platform to pause the current surround task of the movable platform.
- the device adjusts the orbiting radius of the movable platform.
- the device may be a mobile platform or a control terminal.
- the user can adjust the surrounding radius of the movable platform in the surrounding phase.
- the device adjusts the orbiting linear speed of the movable platform.
- the device may be a mobile platform or a control terminal.
- the user can adjust the orbiting linear velocity of the movable platform during the orbiting phase.
- FIG. 4 is a schematic structural diagram of a control device for a movable platform according to an embodiment of the present invention.
- the control device of the movable platform may be used to implement the function of the device in the foregoing method embodiment.
- the control device of the movable platform includes a memory 401 and a processor 402.
- the memory 401 and the processor 402 may be connected through a bus system 403.
- a communication device may be further included, and the communication device is configured to communicate with other equipment.
- the communication device, the memory 401, and the processor 402 may be connected through a bus system 403.
- the memory 401 is configured to store a program instruction.
- the memory 401 may include volatile memory (for example, random-access memory (RAM); the memory 401 may also include non-volatile memory (for example, flash memory) memory), solid state drive (SSD), etc .; the memory 401 may further include a combination of the above types of memories.
- the processor 402 may include a central processing unit (CPU).
- the processor 402 may further include a hardware chip.
- the above hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or the like.
- the PLD may be a field-programmable gate array (FPGA), a generic array logic (GAL), or the like.
- the processor 402 calls program instructions in the memory 401 to perform the following steps:
- the point of interest orbit mode includes a target determination phase, an estimated target phase, and a surround phase in turn;
- the target determination phase is used to determine the surrounding target
- the estimated target stage is used for the mobile platform to detect the position around the target;
- the orbiting stage is used for orbiting the orbiting target based on the position of the orbiting target.
- the processor 402 the calling program instruction is further configured to:
- the first parameter includes GPS information of the mobile platform, operating parameters of the mobile platform, and connection status between the mobile platform and the control terminal. At least one
- the manner in which the processor 402 enters the point-of-interest surround mode is specifically: if the first parameter satisfies the first preset condition, enter the point-of-interest surround mode.
- the processor 402 the calling program instruction is further configured to:
- the point of interest surround mode determine whether a first parameter satisfies a first preset condition, the first parameter includes at least one of GPS information of the mobile platform, operating parameters of the mobile platform, and a connection state of the mobile platform and the control terminal One type; if the first parameter does not satisfy the first preset condition, exit the point of interest surround mode.
- the GPS information of the movable platform includes at least one of a GPS signal level of the movable platform, a navigation coordinate system, and a GPS position of the movable platform.
- the first preset condition includes that the GPS signal level of the movable platform is greater than or equal to a preset level; when the first parameter includes a navigation coordinate system The first preset condition includes that the navigation coordinate system is valid.
- the first preset condition includes that there is no abnormal GPS position of the movable platform and / or the GPS position of the movable platform does not reach the limit. region.
- the operating parameters of the movable platform include the operating distance of the movable platform and / or the operating height of the movable platform.
- the first preset condition includes that the running distance of the movable platform is less than or equal to the limit distance; and the first parameter includes the operating height of the movable platform.
- the first preset condition includes that the operating height of the movable platform is greater than or equal to the preset height.
- the first preset condition includes that the connection state between the movable platform and the control terminal is a connected state.
- the operating height of the movable platform is greater than or equal to a first threshold value and less than or equal to a second threshold value.
- the processor 402 the calling program instruction is further configured to:
- the target determination phase includes an idle phase.
- the idle phase is used to wait for receiving frame selection information surrounding the target, and to receive frame selection information.
- the target determination phase further includes an observation phase. After the observation phase is after the idle phase, the observation phase is used to modify the frame selection area corresponding to the frame selection information.
- the processor 402 the calling program instruction is further configured to:
- the processor 402 the calling program instruction is further configured to:
- the movable platform is controlled to rotate the yaw angle so that the surrounding target is displayed at the middle position of the display interface of the control terminal.
- the processor 402 the calling program instruction is further configured to:
- the focal length of the camera device of the movable platform is unlocked, and during the observation phase and the estimated target phase, the focal length of the camera device of the movable platform is locked.
- the point-of-interest surround mode is a point-of-interest surround time-lapse shooting mode.
- the focal length of the camera device of the movable platform is unlocked.
- the focal length of the camera of the movable platform is locked.
- the target determination phase further includes a wait for confirmation phase. After the wait for confirmation phase is in an idle phase, the wait for confirmation phase confirms the surrounding target selected by the frame.
- the processor 402 the calling program instruction is further configured to:
- a pause instruction is detected and / or a remote control instruction for remotely controlling the movable platform is detected, it waits again to receive frame selection information for the surrounding target.
- the focal length of the camera device of the movable platform is unlocked, and during the waiting for confirmation phase and the estimated target phase, the focal length of the camera device of the movable platform is locked.
- the point-of-interest surround mode is a point-of-interest surround time-lapse shooting mode.
- the focal length of the camera device of the movable platform is unlocked.
- estimated target phase, and surround phase The focal length of the camera of the movable platform is locked.
- the processor 402 the calling program instruction is further configured to:
- a pause command is detected and / or an obstacle is detected and / or a remote control command for remotely controlling the movable platform to roll in the target axis direction opposite to the direction of movement is detected, then it waits to receive the pair again. Marquee information around the target.
- the processor 402 the calling program instruction is further configured to:
- the movable platform In the estimation target stage, if the movable platform loses the surrounding target and / or the positioning of the movable platform is inaccurate, it waits to receive the frame selection information for the surrounding target again.
- the processor 402 the calling program instruction is further configured to:
- the first distance from the surrounding target is estimated
- the current measurement of the position around the target is terminated Task, and wait to receive the box selection message around the target again.
- the processor 402 the calling program instruction is further configured to:
- the current orbiting task of the movable platform is suspended.
- the processor 402 the calling program instruction is further configured to:
- the orbiting radius of the movable platform is adjusted.
- the processor 402 the calling program instruction is further configured to:
- the orbiting linear velocity of the movable platform is adjusted.
- the principle of solving the problem of the control device of the mobile platform provided in the embodiments of the present application is similar to the method embodiment of the present application. Therefore, the implementation of the control device of the mobile platform can refer to the implementation of the method, and the control of the mobile platform.
- the beneficial effects of the device refer to the beneficial effects of the method. For brevity description, they will not be repeated here.
- FIG. 5 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
- An embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores instructions, and when the computer-readable storage medium is run on a computer, causes the computer to execute the method according to any one of the foregoing method embodiments. .
- the functions described in the present invention may be implemented by hardware, software, firmware, or any combination thereof.
- the functions may be stored on a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium.
- Computer-readable media includes computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another.
- a storage media may be any available media that can be accessed by a general purpose or special purpose computer.
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Abstract
一种可移动平台的控制方法及装置,该方法包括:接收用于进入兴趣点环绕模式的指令(201);进入兴趣点环绕模式,其中,兴趣点环绕模式依次包括目标确定阶段、预估目标阶段和环绕阶段(202);其中,目标确定阶段用于确定环绕目标;预估目标阶段用于可移动平台对环绕目标的位置进行检测;环绕阶段用于可移动平台根据环绕目标的位置对环绕目标进行环绕。可以便捷地控制可移动平台对目标进行环绕。
Description
本发明涉及终端技术领域,尤其涉及一种可移动平台的控制方法及装置。
随着科学技术的不断进步,可移动平台(如智能汽车、无人机等可移动的设备)的功能不断丰富,其应用领域也在不断扩展。例如,无人机可用于专业航拍,农业灌溉,电力巡航,遥感测绘,治安监控等。可移动平台通常由控制终端(如遥控器、手机、平板电脑或穿戴式设备等)控制运行。
在现有技术中,控制可移动平台对目标进行环绕的流程非常复杂,因此,如何便捷地控制可移动平台对目标进行环绕是目前亟待解决的问题。
发明内容
本发明实施例公开了一种可移动平台的控制方法及装置,能够便捷地控制可移动平台对目标进行环绕。
第一方面,本发明实施例提供了一种可移动平台的控制方法,该方法包括:
接收用于进入兴趣点环绕模式的指令;
进入所述兴趣点环绕模式,其中,所述兴趣点环绕模式依次包括目标确定阶段、预估目标阶段和环绕阶段;
其中,所述目标确定阶段用于确定环绕目标;
所述预估目标阶段用于所述可移动平台对所述环绕目标的位置进行检测;
所述环绕阶段用于所述可移动平台根据所述环绕目标的位置对所述环绕目标进行环绕。
第二方面,本发明实施例提供了一种可移动平台的控制装置,所述可移动平台的控制装置包括:存储器和处理器,其中:
所述存储器,用于存储程序指令;
所述处理器,调用所述程序指令以用于:
接收用于进入兴趣点环绕模式的指令;
进入所述兴趣点环绕模式,其中,所述兴趣点环绕模式依次包括目标确定阶段、预估目标阶段和环绕阶段;
其中,所述目标确定阶段用于确定环绕目标;
所述预估目标阶段用于所述可移动平台对所述环绕目标的位置进行检测;
所述环绕阶段用于所述可移动平台根据所述环绕目标的位置对所述环绕目标进行环绕。
第三方面,本发明实施例提供了一种可移动平台,所述可移动平台动力装置和第二方面描述的可移动平台的控制装置,其中,所述动力装置用于为所述可移动平台提供动力。
第四方面,本发明实施例提供了一种计算机可读存储介质,所述计算机可读存储介质中存储有指令,当其在计算机上运行时,使得计算机执行如第一方面所述的方法。
可见,通过实施第一方面所描述的方法和第二方面所描述的装置,可以便捷地控制可移动平台对目标进行环绕。
为了更清楚地说明本发明实施例中的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种***架构的示意图;
图2是本发明实施例提供的一种可移动平台的控制方法的流程示意图;
图3是本发明实施例提供的一种视差的示意图。
图4是本发明实施例提供的一种可移动平台的控制装置的结构示意图。
图5是本发明实施例提供的一种可移动平台的结构示意图。
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是 全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。另外,在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
本发明使用的术语仅仅是出于描述特定实施例的目的,而非限制本发明。本发明和权利要求书所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式,除非上下文清楚地表示其它含义。应当理解的是,本文中使用的术语“和/或”是指包含一个或多个相关联的列出项目的任何或所有可能组合。
尽管在本发明可能采用术语第一、第二、第三等来描述各种信息,但这些信息不应限于这些术语。这些术语用来将同一类型的信息彼此区分开。例如,在不脱离本发明范围的情况下,第一信息也可以被称为第二信息,类似地,第二信息也可以被称为第一信息。取决于语境,此外,所使用的词语“如果”可以被解释成为“在……时”,或者,“当……时”,或者,“响应于确定”。
本申请实施例提出了一种可移动平台的控制方法及装置。其中,该可移动平台的控制装置包括于设备中,该设备可以为可移动平台或用于对可移动平台进行控制的控制终端。其中,该可移动平台可以包括但不限于无人机、无人船、地面机器人(例如无人车)等。控制终端可以包括但不限于手机、平板电脑、遥控器、穿戴式设备(手表或手环)等。
图1是本申请实施例提供的一种可移动平台与控制终端的***架构示意图。图1以可移动平台为无人机,控制终端为手机为例。控制终端用于对无人机进行控制。可选的,无人机可包括运行主体、云台以及摄像装置。运行主体可包括多个旋翼以及驱动旋翼转动的旋翼电机,由此提供无人机1运行所需动力。摄像装置通过云台搭载于运行主体上。摄像装置用于在无人机的运行过程中进行图像或视频拍摄,可包括但不限于多光谱成像仪、高光谱成像仪、可见光相机及红外相机等。云台可以为多轴传动及增稳***,可包括多个转动轴和云台电机。云台电机可通过调整转动轴的转动角度来对摄像装置的拍摄角度进行补偿,并可通过设置适当的缓冲机构来防止或减小摄像装置的抖动。当然,摄像装置可以直接或通过其他方式搭载于运行主体上,本发明实施例不做限定。
下面对本发明实施例提供的可移动平台的控制方法的具体流程进一步进 行说明。
请参阅图2,图2为本发明实施例公开的一种可移动平台的控制方法的流程示意图。如图2所示,该可移动平台的控制方法可包括步骤201和202。其中:
201、接收用于进入兴趣点环绕模式的指令。
具体地,设备接收用于进入兴趣点环绕模式的指令。其中,该设备可以为控制终端或可移动平台。可选的,该设备为控制终端时,该用于进入兴趣点环绕模式的指令可以是用户在控制终端输入的。例如,用户可在控制终端的显示界面点击用于进入兴趣点环绕模式的功能按钮,以输入用于进入兴趣点环绕模式的指令。
可选的,该设备为可移动平台时,该用于进入兴趣点环绕模式的指令可以是控制终端发送给可移动平台的。
可选的,该兴趣点环绕模式具体可以为兴趣点环绕延时拍摄模式,即在对环绕目标进行环绕时,对环绕目标进行延时拍摄。当然该兴趣点环绕模式也可以为兴趣点环绕普通拍摄模式,即在对环绕目标进行环绕时,对环绕目标进行普通拍摄的模式。该普通拍摄指非延时拍摄。
202、进入兴趣点环绕模式,其中,该兴趣点环绕模式依次包括目标确定阶段、预估目标阶段和环绕阶段。
具体地,设备进入兴趣点环绕模式。其中,该目标确定阶段用于确定环绕目标;该预估目标阶段用于可移动平台对环绕目标的位置进行检测;该环绕阶段用于可移动平台根据环绕目标的位置对环绕目标进行环绕。
也就是说,该设备只需进入兴趣点环绕模式之后,就可控制可移动平台对环绕目标进行环绕。因此,通过实施图2所描述的方法,可以便捷地控制可移动平台对目标进行环绕。
作为一种可选的实施方式,该设备进入兴趣点环绕模式之前,还可确定第一参数是否满足第一预设条件,该第一参数包括可移动平台的全球定位***(Global Positioning System,GPS)信息、可移动平台的运行参数以及可移动平台与控制终端的连接状态中的至少一种。相应地,设备进入兴趣点环绕模式的具体实施方式为:若第一参数满足第一预设条件,则进入兴趣点环绕模式。
在该实施方式中,该设备可以为控制终端或可移动平台。在该实施方式中, 该设备接收用于进入兴趣点环绕模式的指令之后,获取第一参数,并确定第一参数是否满足第一预设条件。若第一参数满足第一预设条件,则进入兴趣点环绕模式。在该实施方式中,当设备为控制终端,该第一参数包括可移动平台的GPS信息或可移动平台的运行参数时,控制终端可以从可移动平台获取可移动平台的GPS信息或可移动平台的运行参数。
在第一参数满足第一预设条件时,设备才适宜进入兴趣点环绕模式。在第一参数不满足第一预设条件时,设备不适宜进入兴趣点环绕模式。例如,第一参数包括可移动平台的GPS信号等级,第一预设条件为可移动平台的GPS信号等级大于预设等级。当可移动平台的GPS信号等级不满足第一预设条件时,即可移动平台的GPS信号等级较低时,可移动平台可能不能准确地确定环绕目标的位置,从而导致可移动平台不能准确地对目标进行环绕。因此,当可移动平台的GPS信号等级不满足第一预设条件时,设备不适宜进入兴趣点环绕模式控制可移动平台对目标进行环绕。再如,第一参数为可移动平台与控制终端的连接状态,第一预设条件为可移动平台与控制终端的连接状态为连通状态。当可移动平台与控制终端的连接状态不满足第一预设条件时,即可移动平台失控时,可移动平台应该返航。因此,此时设备也不适宜进入兴趣点环绕模式控制可移动平台对目标进行环绕。
因此,通过实施该实施方式,设备能够在合适的时机进入兴趣点环绕模式,进而控制可移动平台对目标进行环绕。
作为一种可选的实施方式,设备还可在兴趣点环绕模式下,确定第一参数是否满足第一预设条件,该第一参数包括可移动平台的GPS信息、可移动平台的运行参数以及可移动平台与控制终端的连接状态中的至少一种;若第一参数不满足第一预设条件,则退出兴趣点环绕模式。
在该实施方式中,该设备可以为控制终端或可移动平台。在该实施方式中,设备进入兴趣点环绕模式之后,设备在兴趣点环绕模式下获取第一参数,并确定第一参数是否满足第一预设条件。若第一参数不满足第一预设条件,则退出兴趣点环绕模式。在该实施方式中,当设备为控制终端,第一参数包括可移动平台的GPS信息或可移动平台的运行参数时,控制终端可以从可移动平台获取可移动平台的GPS信息或可移动平台的运行参数。
在第一参数不满足第一预设条件时,可移动平台不适宜对目标进行环绕。因此,通过实施该实施方式,设备能够在合适的时机及时退出兴趣点环绕模式。
作为一种可选的实施方式,可移动平台的GPS信息包括可移动平台的GPS信号等级、导航坐标系和可移动平台的GPS位置中的至少一种。例如,可移动平台的GPS信息仅包括可移动平台的GPS信号等级、导航坐标系和可移动平台的GPS位置中的一个。或可移动平台的GPS信息包括可移动平台的GPS信号等级、导航坐标系和可移动平台的GPS位置中的任意两个。或可移动平台的GPS信息包括可移动平台的GPS信号等级、导航坐标系和可移动平台的GPS位置。
在可移动平台的GPS信号等级过低或导航坐标系无效时,可移动平台可能不能准确地确定环绕目标的位置,从而导致可移动平台不能准确地对目标进行环绕。可移动平台的GPS位置异常或可移动平台的GPS位置达到限制区域(如机场附近等)时,此时可移动平台不适宜环绕目标。因此设备根据可移动平台的GPS信号等级、导航坐标系和可移动平台的GPS位置中的至少一种可准确地确定当前是否适合进入兴趣点环绕模式或是否应该退出兴趣点环绕模式。
作为一种可选的实施方式,该第一参数包括可移动平台的GPS信号等级时,该第一预设条件包括可移动平台的GPS信号等级大于或等于预设等级;该第一参数包括导航坐标系时,该第一预设条件包括导航坐标系有效;该第一参数包括可移动平台的GPS位置时,该第一预设条件包括可移动平台的GPS位置无异常和/或可移动平台的GPS位置未达到限制区域。
例如,设备接收用于进入兴趣点环绕模式的指令之后,设备获取第一参数。该第一参数包括可移动平台的GPS信号等级、导航坐标系和可移动平台的GPS位置。该第一预设条件包括可移动平台的GPS信号等级大于或等于预设等级、导航坐标系有效、可移动平台的GPS位置无异常和可移动平台的GPS位置未达到限制区域。若第一参数中的GPS信号等级大于或等于预设等级,并且第一参数中的导航坐标系有效,并且第一参数中的GPS位置无异常并且未达到限制区域,则设备进入兴趣点环绕模式。
再如,设备进入兴趣点环绕模式之后,设备在兴趣点环绕模式下获取第一参数。该第一参数包括可移动平台的GPS信号等级、导航坐标系和可移动平 台的GPS位置。该第一预设条件包括可移动平台的GPS信号等级大于或等于预设等级、导航坐标系有效、可移动平台的GPS位置无异常和可移动平台的GPS位置未达到限制区域。若第一参数中的GPS信号等级小于预设等级,或第一参数中的导航坐标系无效,或第一参数中的GPS位置异常,或第一参数中的GPS位置达到限制区域,则设备退出兴趣点环绕模式。
通过实施该实施方式,设备可准确地确定当前是否适合进入兴趣点环绕模式或是否应该退出兴趣点环绕模式。
作为一种可选的实施方式,可移动平台的运行参数包括可移动平台的运行距离和/或可移动平台的运行高度。
当可移动平台不为可以飞行的设备时,可移动平台的运行参数包括可移动平台的运行距离。
当可移动平台为可以飞行的设备时,可移动平台的运行参数包括可移动平台的运行距离,或可移动平台的运行参数包括可移动平台的运行高度,或可移动平台的运行参数包括可移动平台的运行距离和可移动平台的运行高度。
在可移动平台的运行较远或较高时,可移动平台不适宜对目标进行环绕。因此,设备根据可移动平台的运行距离和/或可移动平台的运行高度可准确地确定当前是否适合进入兴趣点环绕模式或是否应该退出兴趣点环绕模式。
作为一种可选的实施方式,该第一参数包括可移动平台的运行距离时,第一预设条件包括可移动平台的运行距离小于或等于限制距离;第一参数包括可移动平台的运行高度时,该第一预设条件包括可移动平台的运行高度大于或等于预设高度。
例如,设备接收用于进入兴趣点环绕模式的指令之后,设备获取第一参数。该第一参数包括可移动平台的运行距离和可移动平台的运行高度。该第一预设条件包括可移动平台的运行距离小于或等于限制距离和可移动平台的运行高度大于或等于预设高度。若第一参数中的运行距离小于或等于限制距离,并且第一参数中的运行高度大于或等于预设高度,则设备进入兴趣点环绕模式。
再如,设备进入兴趣点环绕模式之后,设备在兴趣点环绕模式下获取第一参数。该第一参数包括可移动平台的运行距离和可移动平台的运行高度。该第一预设条件包括可移动平台的运行距离小于或等于限制距离和可移动平台的运行高度大于或等于预设高度。若第一参数中的运行距离大于限制距离,或者 第一参数中的运行高度小于预设高度,则设备退出兴趣点环绕模式。
通过实施该实施方式,设备可准确地确定当前是否适合进入兴趣点环绕模式或是否应该退出兴趣点环绕模式。
作为一种可选的实施方式,该第一参数包括可移动平台与控制终端的连接状态时,该第一预设条件包括可移动平台与控制终端的连接状态为连通状态。
当可移动平台与控制终端的连接状态为不连通时,即可移动平台失控时,可移动平台应该返航,此时可移动平台不适宜对目标进行环绕。因此,设备根据可移动平台与控制终端的连接状态可准确地确定当前是否适合进入兴趣点环绕模式或是否应该退出兴趣点环绕模式。
举例来说,以第一参数包括可移动平台的GPS信号等级、导航坐标系和所述可移动平台的GPS位置、可移动平台的运行距离、可移动平台的运行高度和可移动平台与控制终端的连接状态为例。如下表1所示,当可移动平台的GPS信号等级大于或等于预设等级,并且导航坐标系有效,并且GPS位置无异常和GPS位置未达到限制区域,并且运行距离小于或等于限制距离,并且运行高度大于或等于预设高度,并且连接状态为连通状态时,设备可以进入兴趣点环绕模式。在兴趣点环绕模式下,可移动平台的GPS信号等级小于预设等级,或航坐标系无效,或GPS位置异常或GPS位置达到限制区域,或运行距离大于限制距离,或运行高度小于预设高度或连接状态为未连通状态时,设备退出兴趣点环绕模式。
表1
作为一种可选的实施方式,在兴趣点环绕模式下,可移动平台的运行高度大于或等于第一阈值,且小于或等于第二阈值。其中,第一阈值可以等于上述表1中的预设高度。例如,第一阈值为5米,第二阈值为15米,第一阈值等于预设高度。设备判断可移动平台的运行高度大于或等于5米之后,设备进入兴趣点环绕模式,在兴趣点环绕模式下可移动平台的运行高度保持大于或等于5米,且小于或等于15米。在兴趣点环绕模式下可移动平台的运行高度维持大于或等于预设高度,因此,在兴趣点环绕模式下设备不需要再判断可移动平台的运行高度是否小于预设高度。
通过实施该实施方式,在进入兴趣点环绕模式之后,能够使可移动平台的运行高度维持在一个合理的高度,以便可移动平台能够正常对环绕目标进行环绕。
作为一种可选的实施方式,在兴趣点环绕模式下,当可移动平台的高度达到第一阈值或第二阈值时,设备推送告警信息。该告警信息用于提示可移动平台的高度达到第一阈值或第二阈值。在该实施方式中,该可移动平台为具有飞行功能的设备。通过当可移动平台的高度达到第一阈值或第二阈值时,推送告警信息,可及时提示用户可移动平台的运行高度已经达到限制的高度。
当设备为控制终端时,控制终端可直接向用户推送该告警信息。例如,控制终端可直接在显示屏中输出用于提示可移动平台的高度达到第一阈值或第二阈值的告警信息。当设备为可移动平台时,可移动平台可向控制终端推送告警信息。控制终端接收该告警信息之后,控制终端可向用户推送该告警信息。
作为一种可选的实施方式,目标确定阶段包括空闲阶段,该空闲阶段用于等待接收对环绕目标的框选信息,以及用于接收框选信息。具体地,该空闲阶段用于控制终端或可移动平台等待接收对环绕目标的框选信息,以及用于接收框选信息。也就是说,在空闲阶段用户可对环绕目标进行框选。通过实施该实施方式,用户能够灵活地框选环绕目标。并且现有技术中,若可移动平台要对环绕目标进行环绕,需要遥控可移动平台至环绕目标所在位置。可移动平台运 行到环绕目标所在位置才可通过GPS等技术确定环绕目标的地理位置,进而可移动平台才能根据环绕目标的地理位置对环绕目标进行环绕。然而通过实施该实施方式,用户在空闲阶段在显示画面中框选环绕目标之后,可移动平台根据框选信息就可自动检测出环绕目标的地理位置,不需要可移动平台运行至环绕目标所在位置。因此,通过实施该实施方式,有利于快速地便捷地检测出环绕目标所在位置。
作为一种可选的实施方式,如下表2所示,在空闲阶段,设备检测到暂停指令或检测到障碍物,设备可不对该暂停指令和障碍物进行响应,即可忽略暂停指令和障碍物。
作为一种可选的实施方式,如下表2所示,在空闲阶段和环绕阶段,用户可自由遥控可移动平台。
表2
作为一种可选的实施方式,目标确定阶段还包括观测阶段,观测阶段处于 空闲阶段之后,该观测阶段用于对框选信息对应的框选区域进行修正。通过对框选区域进行修正能够准确地确定框选的环绕目标。
作为一种可选的实施方式,在观测阶段,若该框选区域纹理不足或该框选区域小于预设尺寸,则设备推送用于提示对环绕目标重新框选的告警信息。
在该实施方式中,该设备可以为控制终端或可移动平台。可选的,在观测阶段若框选区域纹理不足或框选区域小于预设尺寸,则设备除推送该告警信息之外,还需重新等待接收对环绕目标的框选信息。也即是说,在观测阶段若框选区域纹理不足或框选区域小于预设尺寸,还需返回空闲阶段,以便用户对环绕目标重新框选。以设备具体为控制终端为例,在观测阶段若框选区域纹理不足或框选区域小于预设尺寸,控制终端可直接向用户推送该告警信息,以提示用户对环绕目标重新框选,并且控制终端重新等待接收对环绕目标的框选信息。
在该实施方式中,若框选区域纹理不足或框选区域小于预设尺寸,则可能导致可移动平台无法准确地对环绕目标的位置进行检测。因此,需要用户重新框选需要环绕的目标。因此,通过实施该实施方式,有利于可移动平台准确地对环绕目标的位置进行检测。
作为一种可选的实施方式,在观测阶段,设备可控制可移动平台转动偏航角,使环绕目标显示于控制终端的显示界面的中间位置,以便在等待确认阶段对环绕目标进行确认操作。
在该实施方式中,该设备可以为控制终端或可移动平台。通过实施该实施方式,使环绕目标显示于控制终端的显示界面的中间位置,能够便于在等待确认阶段用户对环绕目标进行确认操作。
作为一种可选的实施方式,如上表2所示,在观测阶段,若设备检测到暂停指令和/或检测到对可移动平台进行遥控的遥控指令,则重新等待接收对环绕目标的框选信息。也就是说,在观测阶段,若设备检测到暂停指令和/或检测到对可移动平台进行遥控的遥控指令,则返回空闲阶段。
在该实施方式中,该设备可以为控制终端或可移动平台。在该实施方式中,该遥控指令可以为遥控可移动平台向相任意方向运动的遥控指令。可选的,设备检测到对可移动平台进行遥控指令时,除等待重新对环绕目标进行框选,还可输出当前任务已退出的提示信息。若在观测阶段对可移动平台进行遥控,则 控制终端当前的显示画面中可能已经不存在框选的环绕目标,因此需要回到空闲阶段,重新对环绕目标进行框选。因此,通过实施该实施方式能够在恰当的时机及时返回到空闲状态。并且通过实施该实施方式中,在观测阶段,用户想要重新对环绕目标进行选择时,可点击暂停按钮返回到空闲阶段。因此,通过实施该实施方式中,能够便捷地返回到空闲阶段。
作为一种可选的实施方式,如上表2所示,在观测阶段,若设备检测到障碍物,则忽略障碍物,即不对障碍物进行响应。
作为一种可选的实施方式,如上表2所示,在空闲阶段和环绕阶段,可移动平台的摄像装置的焦距为解锁状态,在观测阶段、预估目标阶段,可移动平台的摄像装置的焦距为锁定状态。
在观测阶段和预估目标阶段可移动平台的摄像装置的焦距为锁定状态,可移动平台才能在预估目标阶段准确地测量出环绕目标的位置。因此,通过实施该实施方式,有利于可移动平台在预估目标阶段准确地测量出环绕目标的位置。
值得一提的是,该实施方式中的该兴趣点环绕模式为兴趣点环绕普通拍摄模式,即该实施方式中的该兴趣点环绕模式为在对环绕目标进行环绕时,对环绕目标进行普通拍摄的模式。
作为一种可选的实施方式,如上表2所示,该兴趣点环绕模式为兴趣点环绕延时拍摄模式,在空闲阶段,可移动平台的摄像装置的焦距为解锁状态,在观测阶段、预估目标阶段和环绕阶段,可移动平台的摄像装置的焦距为锁定状态。
同理,在观测阶段、预估目标阶段可移动平台的摄像装置的焦距为锁定状态,可移动平台才能在预估目标阶段准确地测量出环绕目标的位置。并且延时拍摄要与观测阶段、等待确认阶段、预估目标阶段保持一致的曝光参数、焦距视场角,因此,在环绕阶段摄像装置的焦距还是锁定状态。
通过实施该实施方式,有利于可移动平台在预估目标阶段准确地测量出环绕目标的位置。
作为一种可选的实施方式,目标确定阶段还包括等待确认阶段,该等待确认阶段处于空闲阶段之后,该等待确认阶段对框选的环绕目标进行确认。通过用户再次确认环绕目标,有利于准确地确定环绕目标。
若目标确定阶段包括空闲阶段、观测阶段和等待确认阶段,则空闲阶段处于观测阶段之前,观测阶段处于等待确认阶段之前。
作为一种可选的实施方式,在等待确认阶段,若设备检测到暂停指令和/或检测到对可移动平台进行遥控的遥控指令,则设备重新等待接收对环绕目标的框选信息。也就是说,在等待确认阶段,若设备检测到暂停指令和/或检测到对可移动平台进行遥控的遥控指令,则返回空闲阶段。
在该实施方式中,该设备为控制终端或可移动平台。在该实施方式中,该遥控指令可以为遥控可移动平台向相任意方向运动的遥控指令。可选的,设备检测到对可移动平台进行遥控指令时,除等待重新对环绕目标进行框选,还可输出当前任务已退出的提示信息。若在观测阶段对可移动平台进行遥控,则控制终端当前的显示画面中可能已经不存在框选的环绕目标,因此需要回到空闲阶段,重新对环绕目标进行框选。因此,通过实施该实施方式能够在恰当的时机及时返回到空闲状态。并且通过实施该实施方式中,在等待确认阶段,用户想要重新对环绕目标进行选择时,可点击暂停按钮返回到空闲阶段。因此,通过实施该实施方式中,能够便捷地返回到空闲阶段。
作为一种可选的实施方式,如上表2所示,在等待确认阶段,若设备检测到障碍物,则忽略障碍物,即不对障碍物进行响应。
作为一种可选的实施方式,如上表2所示,在空闲阶段和环绕阶段,可移动平台的摄像装置的焦距为解锁状态,在等待确认阶段、预估目标阶段,可移动平台的摄像装置的焦距为锁定状态。
在等待确认阶段和预估目标阶段可移动平台的摄像装置的焦距为锁定状态,可移动平台才能在预估目标阶段准确地测量出环绕目标的位置。因此,通过实施该实施方式,有利于可移动平台在预估目标阶段准确地测量出环绕目标的位置。
值得一提的是,该实施方式中的该兴趣点环绕模式为兴趣点环绕普通拍摄模式,即该实施方式中的该兴趣点环绕模式为在对环绕目标进行环绕时,对环绕目标进行普通拍摄的模式。
作为一种可选的实施方式,如上表2所示,该兴趣点环绕模式为兴趣点环绕延时拍摄模式,在空闲阶段,可移动平台的摄像装置的焦距为解锁状态,在等待确认阶段、预估目标阶段和环绕阶段,可移动平台的摄像装置的焦距为锁 定状态。
同理,在等待确认阶段、预估目标阶段可移动平台的摄像装置的焦距为锁定状态,可移动平台才能在预估目标阶段准确地测量出环绕目标的位置。并且延时拍摄要与等待确认阶段、等待确认阶段、预估目标阶段保持一致的曝光参数、焦距视场角,因此,在环绕阶段摄像装置的焦距还是锁定状态。
通过实施该实施方式,有利于可移动平台在预估目标阶段准确地测量出环绕目标的位置。
作为一种可选的实施方式,如上表2所示,在预估目标阶段,若设备检测到暂停指令和/或检测到存在障碍物和/或检测到用于遥控可移动平台在目标轴向与运动方向相反的方向翻滚的遥控指令,则设备重新等待接收对环绕目标的框选信息。也就是说,在预估目标阶段,若设备检测到暂停指令和/或检测到存在障碍物和/或检测到用于遥控可移动平台在目标轴向与运动方向相反的方向翻滚的遥控指令,则返回空闲阶段。
在该实施方式中,该设备可以为控制终端或可移动平台。
可选的,在预估目标阶段,若检测到暂停指令,设备除等待重新对环绕目标进行框选之外,设备还可输出用于提示测算环绕目标位置的任务终止的提示信息。通过实施该实施方式中,在预估目标阶段,用户想要重新对环绕目标进行选择时,可点击暂停按钮返回到空闲阶段。因此,通过实施该实施方式中,能够便捷地返回到空闲阶段。
在预估目标阶段,可移动平台首先需要粗略估算可移动平台距环绕目标的第一距离。或者,该第一距离也可以是一个默认值。然后可移动平台再根据该第一距离对环绕目标进行环绕,并在环绕的过程中测量环绕目标的位置。若在预估目标阶段检测到存在障碍物,则可移动平台在预估目标阶段对目标进行环绕可能导致可移动平台碰撞障碍物。因此,在预估目标阶段当检测到障碍物时,可返回到空闲状态,重新选择环绕目标,避免在环绕过程中碰撞障碍物。可见,在检测到存在障碍物时,重新等待接收对环绕目标的框选信息,有利于提高可移动平台的安全性。可选的,在预估目标阶段,若设备检测到存在障碍物,设备除重新等待接收对环绕目标的框选信息之外,还可输出用于位置测算中遇到障碍物,当前任务已终止的提示信息。
其中,上述目标轴可以是任意轴。例如,当可移动平台为具有飞行功能的 设备时,目标轴可以为横滚轴。在预估目标阶段,若遥控可移动平台在目标轴向与运动方向相反的方向翻滚,则可移动平台可能不能准确地测量出环绕目标的位置,因此需要返回到空闲阶段,重新对环绕目标进行框选。因此,通过实施该实施方式,有利于准确测量出环绕目标的位置。
作为一种可选的实施方式,在预估目标阶段,若检测到可移动平台丢失环绕目标和/或可移动平台定位不准确,则设备重新等待接收对环绕目标的框选信息。也就是说,在预估目标阶段,若可移动平台丢失环绕目标和/或可移动平台定位不准确,则返回到空闲阶段。
在该实施方式中,该设备可以为控制终端或可移动平台。
可选的,在预估目标阶段,若可移动平台丢失环绕目标,设备除重新等待接收对环绕目标的框选信息,还可输出当前任务已退出的提示信息。
可选的,在预估目标阶段,若可移动平台定位不准确,设备除重新等待接收对环绕目标的框选信息,还可输出当前任务已退出的提示信息。
在预估目标阶段,若可移动平台丢失环绕目标和/或可移动平台定位不准确,则可移动平台无法测量出环绕目标的位置。因此,此时需要返回空闲阶段,重新框选环绕目标。因此,通过实施该实施方式,有利于准确测量出环绕目标的位置。
作为一种可选的实施方式,在预估目标阶段,估算与环绕目标的第一距离;根据距离与视差数量的对应关系,确定第一距离对应的第一视差数量;若可移动平台拍摄的当前图像与可移动平台在预估目标阶段拍摄的第一张图像之间的视差数量达到第一视差数量时,未检测出环绕目标的位置,则设备终止当前测量环绕目标位置的任务,并重新等待接收对环绕目标的框选信息。
在该实施方式中,视差是同一个物体在不同的时间拍摄的两张图像上相差的距离。例如,如图3所示,图像1为在时间t1拍摄的图像,图像2为在时间t2拍摄的图像。图像1和图像2都具有物体1,因此,图1和图2的视差为d1,即100个像素。
在该实施方式中,设备可以为可移动平台。在预估目标阶段,可移动平台首先需要粗略估算可移动平台距环绕目标的第一距离。或者,可移动平台可以认为可移动平台距环绕目标为默认距离,即第一距离可以是一个默认值。然后再根据该第一距离对环绕目标进行环绕,并在环绕的过程中测量环绕目标的位 置。可移动平台得到第一距离之后,根据距离与视差数量的对应关系,确定该第一距离对应的第一视差数量。在预估目标阶段,在环绕过程中可移动平台会拍摄多张图像。在每次拍摄图像之后,可移动平台可检测当前拍摄的图像与在预估目标阶段拍摄的第一张图像之间的视差数量是否达到第一视差数量。若达到第一视差数量还未检测出环绕目标的位置,则终止当前测量环绕目标位置的任务。可移动平台终止当前测量环绕目标位置的任务之后,控制终端可等待重新对环绕目标进行框选,即返回空闲状态。
可移动平台可预先设置距离与视差数量的对应关系。若环绕目标距离较远,则每个视差对应的实际距离很大,较小的视差变化就对应着较大的实际距离。同理若环绕目标距离较近,则每个视差对应的实际距离很小,较大的视差变化就对应着较小的实际距离。因此,在环绕目标距离较远时,在较小的视差范围内就可测量出环绕目标的位置。在环绕目标距离较近时,在较大的视差范围内可测量出环绕目标的位置。因此,可设置越大的距离对应越小的视差数量,越小的距离对应越大的视差数量。例如,该对应关系可如下表3所示。与环绕目标的距离为0<d2<300米时,在视差为100个像素以内可测量出环绕目标的位置。因此,与环绕目标的距离为0<d2<300米时,当前拍摄的图像与在预估目标阶段拍摄的第一张图像之间的视差数量达到100个像素还未测量出环绕目标的位置时,可能由于某些因素导致不能检测出环绕目标的位置,此时应该终止当前测量环绕目标位置的任务,并重新选择环绕目标。同理,与环绕目标的距离为300<d2<1000米时,在视差为[(-9/70)*d2+970/7]个像素以内可测量出环绕目标的位置。因此,与环绕目标的距离为300<d2<1000米时,当前拍摄的图像与在预估目标阶段拍摄的第一张图像之间的视差数量达到[(-9/70)*d2+970/7]个像素还未测量出环绕目标的位置时,可能由于某些因素导致不能检测出环绕目标的位置,此时应该终止当前测量环绕目标位置的任务,并重新选择环绕目标。同理,与环绕目标的距离为大于1000米时,在视差为10个像素以内就可测量出环绕目标的位置。因此,与环绕目标的距离为大于1000米时,当前拍摄的图像与在预估目标阶段拍摄的第一张图像之间的视差数量达到10个像素还未测量出环绕目标的位置时,可能由于某些因素导致不能检测出环绕目标的位置,此时应该终止当前测量环绕目标位置的任务,并重新选择环绕目标。可见,通过实施该实施方式,能够根据与环绕目标的距离灵 活地确定视差数量,以便能够及时确定可移动平台是否能够检测出环绕目标的位置。
表3
视差数量d1 | 与环绕目标的距离d2 |
100 | 0<d2<300米 |
(-9/70)*d2+970/7 | 300<d2<1000米 |
10 | >1000米 |
作为一种可选的实施方式,如上表2所示,在环绕阶段,若设备检测到暂停指令和/或检测到存在障碍物,则设备暂停可移动平台当前的环绕任务。
在该实施方式中,该设备可以为控制终端或可移动平台。若设备为控制终端,在环绕阶段,若控制终端检测到暂停指令,则控制终端向可移动平台发送暂停环绕指令,以暂停可移动平台当前的环绕任务。当设备为可移动平台时,控制终端接收到暂停指令之后,可发送该暂停指令给可移动平台。可移动平台接收在环绕阶段接收到该暂停指令之后,可移动平台暂停可移动平台当前的环绕任务。
可选的,在环绕阶段,若检测到暂停指令,设备除暂停可移动平台当前的环绕任务之外,设备还可输出用于提示环绕任务终止的提示信息。具体地,若设备为控制终端,则控制终端可直接向用户输出用于提示环绕任务终止的提示信息。若设备为可移动平台,则可移动平台向控制终端输出用于提示环绕任务终止的提示信息。控制终端接收该提示信息之后,向用户输出该提示信息。
通过实施该实施方式,在环绕阶段用户想要暂停可移动平台当前环绕任务时,点击暂停按钮即可暂停可移动平台当前环绕任务。因此,通过实施该实施方式,能够便捷地暂停可移动平台当前环绕任务。
在该实施方式中,若设备为控制终端,则可由可移动平台提示控制终端是否存在障碍物。在控制终端接收到可移动平台发送的用于提示存在障碍物的提示信息之后,控制终端暂停可移动平台当前的环绕任务。具体地,控制终端向可移动平台发送暂停环绕指令,以暂停可移动平台当前的环绕任务。通过实施该实施方式,有利于提高可移动平台的安全性。
作为一种可选的实施方式,在环绕阶段,若检测到第一遥控指令,则设备调节可移动平台的环绕半径。在该实施方式中,该设备可以为可移动平台或控 制终端。
通过实施该实施方式,在环绕阶段用户可以对可移动平台的环绕半径进行调节。
作为一种可选的实施方式,在环绕阶段,若检测到第二遥控指令,则设备调节可移动平台的环绕线速度。在该实施方式中,该设备可以为可移动平台或控制终端。
通过实施该实施方式,在环绕阶段用户可以对可移动平台的环绕线速度进行调节。
请参阅图4,图4是本发明实施例提供的一种可移动平台的控制装置的结构示意图。该可移动平台的控制装置可用于实现上述方法实施例中设备的功能。如图4所示,该可移动平台的控制装置包括存储器401和处理器402。其中,存储器401、处理器402可通过总线***403相连。可选的,还可包括通信装置,该通信装置用于与其他设备进行通信。通信装置、存储器401、处理器402可通过总线***403相连。
存储器401,用于存储程序指令。存储器401可以包括易失性存储器(volatile memory),例如随机存取存储器(random-access memory,RAM);存储器401也可以包括非易失性存储器(non-volatile memory),例如快闪存储器(flash memory),固态硬盘(solid-state drive,SSD)等;存储器401还可以包括上述种类的存储器的组合。
处理器402可以包括中央处理器(central processing unit,CPU)。处理器402还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit,ASIC),可编程逻辑器件(programmable logic device,PLD)等。上述PLD可以是现场可编程逻辑门阵列(field-programmable gate array,FPGA),通用阵列逻辑(generic array logic,GAL)等。其中,处理器402调用存储器401中的程序指令用于执行以下步骤:
接收用于进入兴趣点环绕模式的指令;
进入兴趣点环绕模式,其中,该兴趣点环绕模式依次包括目标确定阶段、预估目标阶段和环绕阶段;
其中,该目标确定阶段用于确定环绕目标;
该预估目标阶段用于可移动平台对环绕目标的位置进行检测;
该环绕阶段用于可移动平台根据环绕目标的位置对环绕目标进行环绕。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在进入兴趣点环绕模式之前,确定第一参数是否满足第一预设条件,该第一参数包括可移动平台的GPS信息、可移动平台的运行参数以及可移动平台与控制终端的连接状态中的至少一种;
处理器402进入兴趣点环绕模式的方式具体为:若第一参数满足第一预设条件,则进入兴趣点环绕模式。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在兴趣点环绕模式下,确定第一参数是否满足第一预设条件,该第一参数包括可移动平台的GPS信息、可移动平台的运行参数以及可移动平台与控制终端的连接状态中的至少一种;若第一参数不满足第一预设条件,则退出兴趣点环绕模式。
作为一种可选的实施方式,可移动平台的GPS信息包括可移动平台的GPS信号等级、导航坐标系和可移动平台的GPS位置中的至少一种。
作为一种可选的实施方式,第一参数包括可移动平台的GPS信号等级时,第一预设条件包括可移动平台的GPS信号等级大于或等于预设等级;第一参数包括导航坐标系时,第一预设条件包括导航坐标系有效;第一参数包括可移动平台的GPS位置时,第一预设条件包括可移动平台的GPS位置无异常和/或可移动平台的GPS位置未达到限制区域。
作为一种可选的实施方式,可移动平台的运行参数包括可移动平台的运行距离和/或可移动平台的运行高度。
作为一种可选的实施方式,第一参数包括可移动平台的运行距离时,第一预设条件包括可移动平台的运行距离小于或等于限制距离;第一参数包括可移动平台的运行高度时,第一预设条件包括可移动平台的运行高度大于或等于预设高度。
作为一种可选的实施方式,第一参数包括可移动平台与控制终端的连接状态时,第一预设条件包括可移动平台与控制终端的连接状态为连通状态。
作为一种可选的实施方式,在兴趣点环绕模式下,可移动平台的运行高度大于或等于第一阈值,且小于或等于第二阈值。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在兴趣点环绕模式下,当可移动平台的运行高度达到第一阈值或第二阈值时,推送告警信息。
作为一种可选的实施方式,目标确定阶段包括空闲阶段,空闲阶段用于等待接收对环绕目标的框选信息,以及用于接收框选信息。
作为一种可选的实施方式,目标确定阶段还包括观测阶段,观测阶段处于空闲阶段之后,观测阶段用于对框选信息对应的框选区域进行修正。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在观测阶段,若框选区域纹理不足和/或框选区域小于预设尺寸,则推送用于提示对环绕目标重新框选的告警信息。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在观测阶段,控制可移动平台转动偏航角,使环绕目标显示于控制终端的显示界面的中间位置。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在观测阶段,若检测到暂停指令和/或检测到对可移动平台进行遥控的遥控指令,则重新等待接收对环绕目标的框选信息。
作为一种可选的实施方式,在空闲阶段和环绕阶段,可移动平台的摄像装置的焦距为解锁状态,在观测阶段、预估目标阶段,可移动平台的摄像装置的焦距为锁定状态。
作为一种可选的实施方式,兴趣点环绕模式为兴趣点环绕延时拍摄模式,在空闲阶段,可移动平台的摄像装置的焦距为解锁状态,在观测阶段、预估目标阶段和环绕阶段,可移动平台的摄像装置的焦距为锁定状态。
作为一种可选的实施方式,目标确定阶段还包括等待确认阶段,等待确认阶段处于空闲阶段之后,等待确认阶段对框选的环绕目标进行确认。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在等待确认阶段,若检测到暂停指令和/或检测到对可移动平台进行遥控的遥控指令,则重新等待接收对环绕目标的框选信息。
作为一种可选的实施方式,在空闲阶段和环绕阶段,可移动平台的摄像装置的焦距为解锁状态,在等待确认阶段、预估目标阶段,可移动平台的摄像装置的焦距为锁定状态。
作为一种可选的实施方式,兴趣点环绕模式为兴趣点环绕延时拍摄模式,在空闲阶段,可移动平台的摄像装置的焦距为解锁状态,在等待确认阶段、预估目标阶段和环绕阶段,可移动平台的摄像装置的焦距为锁定状态。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在预估目标阶段,若检测到暂停指令和/或检测到存在障碍物和/或检测到用于遥控可移动平台在目标轴向与运动方向相反的方向翻滚的遥控指令,则重新等待接收对环绕目标的框选信息。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在预估目标阶段,若可移动平台丢失环绕目标和/或可移动平台定位不准确,则重新等待接收对环绕目标的框选信息。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在预估目标阶段,估算与环绕目标的第一距离;
根据距离与视差数量的对应关系,确定第一距离对应的第一视差数量;
若可移动平台拍摄的当前图像与可移动平台在预估目标阶段拍摄的第一张图像之间的视差数量达到第一视差数量时,未检测出环绕目标的位置,则终止当前测量环绕目标位置的任务,并重新等待接收对环绕目标的框选信息。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在环绕阶段,若检测到暂停指令和/或检测到存在障碍物,则暂停可移动平台当前的环绕任务。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在环绕阶段,若检测到第一遥控指令,则调节可移动平台的环绕半径。
作为一种可选的实施方式,处理器402,调用程序指令还用于:
在环绕阶段,若检测到第二遥控指令,则调节可移动平台的环绕线速度。
基于同一发明构思,本申请实施例中提供的可移动平台的控制装置解决问题的原理与本申请方法实施例相似,因此可移动平台的控制装置的实施可以参见方法的实施,可移动平台的控制装置的有益效果可以参见方法的有益效果,为简洁描述,在这里不再赘述。
请参阅图5,图5是本发明实施例提供的一种可移动平台的结构示意图。如图5所示,可移动平台动力装置501和图4所描述的任意一种可移动平台的控制装置502,其中,该动力装置501用于为该可移动平台提供动力。
本申请实施例还提供了一种计算机可读存储介质,所述计算机可读存储介质中存储有指令,当其在计算机上运行时,使得计算机执行上述方法实施例中任一项所述的方法。
本领域技术人员应该可以意识到,在上述一个或多个示例中,本发明所描述的功能可以用硬件、软件、固件或它们的任意组合来实现。当使用软件实现时,可以将这些功能存储在计算机可读介质中或者作为计算机可读介质上的一个或多个指令或代码进行传输。计算机可读介质包括计算机存储介质和通信介质,其中通信介质包括便于从一个地方向另一个地方传送计算机程序的任何介质。存储介质可以是通用或专用计算机能够存取的任何可用介质。
以上所述的具体实施方式,对本发明的目的、技术方案和有益效果进行了进一步详细说明,所应理解的是,以上所述仅为本发明的具体实施方式而已,并不用于限定本发明的保护范围,凡在本发明的技术方案的基础之上,所做的任何修改、等同替换、改进等,均应包括在本发明的保护范围之内。
Claims (56)
- 一种可移动平台的控制方法,其特征在于,所述方法包括:接收用于进入兴趣点环绕模式的指令;进入所述兴趣点环绕模式,其中,所述兴趣点环绕模式依次包括目标确定阶段、预估目标阶段和环绕阶段;其中,所述目标确定阶段用于确定环绕目标;所述预估目标阶段用于所述可移动平台对所述环绕目标的位置进行检测;所述环绕阶段用于所述可移动平台根据所述环绕目标的位置对所述环绕目标进行环绕。
- 根据权利要求1所述的方法,其特征在于,所述进入所述兴趣点环绕模式之前,所述方法还包括:确定第一参数是否满足第一预设条件,所述第一参数包括可移动平台的GPS信息、可移动平台的运行参数以及可移动平台与控制终端的连接状态中的至少一种;所述进入所述兴趣点环绕模式,包括:若所述第一参数满足所述第一预设条件,则进入所述兴趣点环绕模式。
- 根据权利要求1或2所述的方法,其特征在于,所述方法还包括:在所述兴趣点环绕模式下,确定第一参数是否满足第一预设条件,所述第一参数包括所述可移动平台的GPS信息、所述可移动平台的运行参数以及所述可移动平台与控制终端的连接状态中的至少一种;若所述第一参数不满足所述第一预设条件,则退出所述兴趣点环绕模式。
- 根据权利要求2或3所述的方法,其特征在于,所述可移动平台的GPS信息包括所述可移动平台的GPS信号等级、导航坐标系和所述可移动平台的GPS位置中的至少一种。
- 根据权利要求4所述的方法,其特征在于,所述第一参数包括所述可移动平台的GPS信号等级时,所述第一预设条件包括所述可移动平台的GPS 信号等级大于或等于预设等级;所述第一参数包括导航坐标系时,所述第一预设条件包括导航坐标系有效;所述第一参数包括所述可移动平台的GPS位置时,所述第一预设条件包括所述可移动平台的GPS位置无异常和/或所述可移动平台的GPS位置未达到限制区域。
- 根据权利要求2~5任意一项所述的方法,其特征在于,所述可移动平台的运行参数包括所述可移动平台的运行距离和/或所述可移动平台的运行高度。
- 根据权利要求6所述的方法,其特征在于,所述第一参数包括所述可移动平台的运行距离时,所述第一预设条件包括所述可移动平台的运行距离小于或等于限制距离;所述第一参数包括可移动平台的运行高度时,所述第一预设条件包括所述可移动平台的运行高度大于或等于预设高度。
- 根据权利要求2~7任意一项所述的方法,其特征在于,所述第一参数包括所述可移动平台与控制终端的连接状态时,所述第一预设条件包括所述可移动平台与控制终端的连接状态为连通状态。
- 根据权利要求1~8任意一项所述的方法,其特征在于,在所述兴趣点环绕模式下,所述可移动平台的运行高度大于或等于第一阈值,且小于或等于第二阈值。
- 根据权利要求9所述的方法,其特征在于,所述方法还包括:在所述兴趣点环绕模式下,当所述可移动平台的运行高度达到所述第一阈值或所述第二阈值时,推送告警信息。
- 根据权利要求1~10任意一项所述的方法,其特征在于,所述目标确定阶段包括空闲阶段,所述空闲阶段用于等待接收对环绕目标的框选信息,以及用于接收所述框选信息。
- 根据权利要求11所述的方法,其特征在于,所述目标确定阶段还包括观测阶段,所述观测阶段处于所述空闲阶段之后,所述观测阶段用于对所述框选信息对应的框选区域进行修正。
- 根据权利要求12所述的方法,其特征在于,所述方法还包括:在所述观测阶段,若所述框选区域纹理不足和/或所述框选区域小于预设尺寸,则推送用于提示对环绕目标重新框选的告警信息。
- 根据权利要求12或13所述的方法,其特征在于,所述方法还包括:在所述观测阶段,控制所述可移动平台转动偏航角,使所述环绕目标显示于控制终端的显示界面的中间位置。
- 根据权利要求12~14中任意一项所述的方法,其特征在于,所述方法还包括:在所述观测阶段,若检测到暂停指令和/或检测到对可移动平台进行遥控的遥控指令,则重新等待接收对环绕目标的框选信息。
- 根据权利要求12~15中任意一项所述的方法,其特征在于,在所述空闲阶段和所述环绕阶段,所述可移动平台的摄像装置的焦距为解锁状态,在所述观测阶段、所述预估目标阶段,所述可移动平台的摄像装置的焦距为锁定状态。
- 根据权利要求12~15中任意一项所述的方法,其特征在于,所述兴趣点环绕模式为兴趣点环绕延时拍摄模式,在所述空闲阶段,所述可移动平台的摄像装置的焦距为解锁状态,在所述观测阶段、所述预估目标阶段和所述环绕阶段,所述可移动平台的摄像装置的焦距为锁定状态。
- 根据权利要求11~17任意一项所述的方法,其特征在于,所述目标确定阶段还包括等待确认阶段,所述等待确认阶段处于所述空闲阶段之后,所述等待确认阶段对框选的环绕目标进行确认。
- 根据权利要求18所述的方法,其特征在于,所述方法还包括:在所述等待确认阶段,若检测到暂停指令和/或检测到对可移动平台进行遥控的遥控指令,则重新等待接收对环绕目标的框选信息。
- 根据权利要求18或19所述的方法,其特征在于,在所述空闲阶段和所述环绕阶段,所述可移动平台的摄像装置的焦距为解锁状态,在所述等待确认阶段、所述预估目标阶段,所述可移动平台的摄像装置的焦距为锁定状态。
- 根据权利要求18或19所述的方法,其特征在于,所述兴趣点环绕模式为兴趣点环绕延时拍摄模式,在所述空闲阶段,所述可移动平台的摄像装置的焦距为解锁状态,在所述等待确认阶段、所述预估目标阶段和所述环绕阶段,所述可移动平台的摄像装置的焦距为锁定状态。
- 根据权利要求1~21中任意一项所述的方法,其特征在于,所述方法还包括:在所述预估目标阶段,若检测到暂停指令和/或检测到存在障碍物和/或检测到用于遥控所述可移动平台在目标轴向与运动方向相反的方向翻滚的遥控指令,则重新等待接收对环绕目标的框选信息。
- 根据权利要求1~22中任意一项所述的方法,其特征在于,所述方法还包括:在所述预估目标阶段,若所述可移动平台丢失环绕目标和/或所述可移动平台定位不准确,则重新等待接收对环绕目标的框选信息。
- 根据权利要1~23中任意一项所述的方法,其特征在于,所述方法还包括:在所述预估目标阶段,估算与环绕目标的第一距离;根据距离与视差数量的对应关系,确定所述第一距离对应的第一视差数量;若所述可移动平台拍摄的当前图像与所述可移动平台在预估目标阶段拍摄的第一张图像之间的视差数量达到所述第一视差数量时,未检测出所述环绕目标的位置,则终止当前测量环绕目标位置的任务,并重新等待接收对环绕目标的框选信息。
- 根据权利要求1~24中任意一项所述的方法,其特征在于,所述方法还包括:在所述环绕阶段,若检测到暂停指令和/或检测到存在障碍物,则暂停所述可移动平台当前的环绕任务。
- 根据权利要求1~25中任意一项所述的方法,其特征在于,所述方法还包括:在所述环绕阶段,若检测到第一遥控指令,则调节所述可移动平台的环绕半径。
- 根据权利要求1~26中任意一项所述的方法,其特征在于,所述方法还包括:在所述环绕阶段,若检测到第二遥控指令,则调节所述可移动平台的环绕线速度。
- 一种可移动平台的控制装置,其特征在于,所述可移动平台的控制装置包括:存储器和处理器,其中:所述存储器,用于存储程序指令;所述处理器,调用所述程序指令以用于:接收用于进入兴趣点环绕模式的指令;进入所述兴趣点环绕模式,其中,所述兴趣点环绕模式依次包括目标确定阶段、预估目标阶段和环绕阶段;其中,所述目标确定阶段用于确定环绕目标;所述预估目标阶段用于所述可移动平台对所述环绕目标的位置进行检测;所述环绕阶段用于所述可移动平台根据所述环绕目标的位置对所述环绕 目标进行环绕。
- 根据权利要求28所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在进入所述兴趣点环绕模式之前,确定第一参数是否满足第一预设条件,所述第一参数包括可移动平台的GPS信息、可移动平台的运行参数以及可移动平台与控制终端的连接状态中的至少一种;所述处理器进入所述兴趣点环绕模式的方式具体为:若所述第一参数满足所述第一预设条件,则进入所述兴趣点环绕模式。
- 根据权利要求28或29所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在所述兴趣点环绕模式下,确定第一参数是否满足第一预设条件,所述第一参数包括所述可移动平台的GPS信息、所述可移动平台的运行参数以及所述可移动平台与控制终端的连接状态中的至少一种;若所述第一参数不满足所述第一预设条件,则退出所述兴趣点环绕模式。
- 根据权利要求29或30所述的可移动平台的控制装置,其特征在于,所述可移动平台的GPS信息包括所述可移动平台的GPS信号等级、导航坐标系和所述可移动平台的GPS位置中的至少一种。
- 根据权利要求31所述的可移动平台的控制装置,其特征在于,所述第一参数包括所述可移动平台的GPS信号等级时,所述第一预设条件包括所述可移动平台的GPS信号等级大于或等于预设等级;所述第一参数包括导航坐标系时,所述第一预设条件包括导航坐标系有效;所述第一参数包括所述可移动平台的GPS位置时,所述第一预设条件包括所述可移动平台的GPS位置无异常和/或所述可移动平台的GPS位置未达到限制区域。
- 根据权利要求29~32任意一项所述的可移动平台的控制装置,其特征在于,所述可移动平台的运行参数包括所述可移动平台的运行距离和/或所述 可移动平台的运行高度。
- 根据权利要求33所述的可移动平台的控制装置,其特征在于,所述第一参数包括所述可移动平台的运行距离时,所述第一预设条件包括所述可移动平台的运行距离小于或等于限制距离;所述第一参数包括可移动平台的运行高度时,所述第一预设条件包括所述可移动平台的运行高度大于或等于预设高度。
- 根据权利要求29~34任意一项所述的可移动平台的控制装置,其特征在于,所述第一参数包括所述可移动平台与控制终端的连接状态时,所述第一预设条件包括所述可移动平台与控制终端的连接状态为连通状态。
- 根据权利要求28~35任意一项所述的可移动平台的控制装置,其特征在于,在所述兴趣点环绕模式下,所述可移动平台的运行高度大于或等于第一阈值,且小于或等于第二阈值。
- 根据权利要求36所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在所述兴趣点环绕模式下,当所述可移动平台的运行高度达到所述第一阈值或所述第二阈值时,推送告警信息。
- 根据权利要求28~37任意一项所述的可移动平台的控制装置,其特征在于,所述目标确定阶段包括空闲阶段,所述空闲阶段用于等待接收对环绕目标的框选信息,以及用于接收所述框选信息。
- 根据权利要求38所述的可移动平台的控制装置,其特征在于,所述目标确定阶段还包括观测阶段,所述观测阶段处于所述空闲阶段之后,所述观测阶段用于对所述框选信息对应的框选区域进行修正。
- 根据权利要求39所述的可移动平台的控制装置,其特征在于,所述 处理器,调用所述程序指令还用于:在所述观测阶段,若所述框选区域纹理不足和/或所述框选区域小于预设尺寸,则推送用于提示对环绕目标重新框选的告警信息。
- 根据权利要求39或40所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在所述观测阶段,控制所述可移动平台转动偏航角,使所述环绕目标显示于控制终端的显示界面的中间位置。
- 根据权利要求39~41任意一项所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在所述观测阶段,若检测到暂停指令和/或检测到对可移动平台进行遥控的遥控指令,则重新等待接收对环绕目标的框选信息。
- 根据权利要求39~42任意一项所述的可移动平台的控制装置,其特征在于,在所述空闲阶段和所述环绕阶段,所述可移动平台的摄像装置的焦距为解锁状态,在所述观测阶段、所述预估目标阶段,所述可移动平台的摄像装置的焦距为锁定状态。
- 根据权利要求39~42任意一项所述的可移动平台的控制装置,其特征在于,所述兴趣点环绕模式为兴趣点环绕延时拍摄模式,在所述空闲阶段,所述可移动平台的摄像装置的焦距为解锁状态,在所述观测阶段、所述预估目标阶段和所述环绕阶段,所述可移动平台的摄像装置的焦距为锁定状态。
- 根据权利要求38~44任意一项所述的可移动平台的控制装置,其特征在于,所述目标确定阶段还包括等待确认阶段,所述等待确认阶段处于所述空闲阶段之后,所述等待确认阶段对框选的环绕目标进行确认。
- 根据权利要求45所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在所述等待确认阶段,若检测到暂停指令和/或检测到对可移动平台进行遥控的遥控指令,则重新等待接收对环绕目标的框选信息。
- 根据权利要求45或46所述的可移动平台的控制装置,其特征在于,在所述空闲阶段和所述环绕阶段,所述可移动平台的摄像装置的焦距为解锁状态,在所述等待确认阶段、所述预估目标阶段,所述可移动平台的摄像装置的焦距为锁定状态。
- 根据权利要求45或46所述的可移动平台的控制装置,其特征在于,所述兴趣点环绕模式为兴趣点环绕延时拍摄模式,在所述空闲阶段,所述可移动平台的摄像装置的焦距为解锁状态,在所述等待确认阶段、所述预估目标阶段和所述环绕阶段,所述可移动平台的摄像装置的焦距为锁定状态。
- 根据权利要求28~48任意一项所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在所述预估目标阶段,若检测到暂停指令和/或检测到存在障碍物和/或检测到用于遥控所述可移动平台在目标轴向与运动方向相反的方向翻滚的遥控指令,则重新等待接收对环绕目标的框选信息。
- 根据权利要求28~49任意一项所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在所述预估目标阶段,若所述可移动平台丢失环绕目标和/或所述可移动平台定位不准确,则重新等待接收对环绕目标的框选信息。
- 根据权利要求28~50任意一项所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在所述预估目标阶段,估算与环绕目标的第一距离;根据距离与视差数量的对应关系,确定所述第一距离对应的第一视差数量;若所述可移动平台拍摄的当前图像与所述可移动平台在预估目标阶段拍 摄的第一张图像之间的视差数量达到所述第一视差数量时,未检测出所述环绕目标的位置,则终止当前测量环绕目标位置的任务,并重新等待接收对环绕目标的框选信息。
- 根据权利要求28~51任意一项所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在所述环绕阶段,若检测到暂停指令和/或检测到存在障碍物,则暂停所述可移动平台当前的环绕任务。
- 根据权利要求28~52任意一项所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在所述环绕阶段,若检测到第一遥控指令,则调节所述可移动平台的环绕半径。
- 根据权利要求28~53任意一项所述的可移动平台的控制装置,其特征在于,所述处理器,调用所述程序指令还用于:在所述环绕阶段,若检测到第二遥控指令,则调节所述可移动平台的环绕线速度。
- 一种可移动平台,其特征在于,所述可移动平台动力装置和如权利要求28~54中任意一项可移动平台的控制装置,其中,所述动力装置用于为所述可移动平台提供动力。
- 一种计算机可读存储介质,所述计算机可读存储介质中存储有指令,当其在计算机上运行时,使得计算机执行如权利要求1~27中任一项所述的方法。
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