WO2020199126A1 - Control method for movable platform, control terminal, and computer readable storage medium - Google Patents
Control method for movable platform, control terminal, and computer readable storage medium Download PDFInfo
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- WO2020199126A1 WO2020199126A1 PCT/CN2019/081027 CN2019081027W WO2020199126A1 WO 2020199126 A1 WO2020199126 A1 WO 2020199126A1 CN 2019081027 W CN2019081027 W CN 2019081027W WO 2020199126 A1 WO2020199126 A1 WO 2020199126A1
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- target
- movable platform
- control
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- task
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Definitions
- the present invention relates to the field of control technology, in particular to a control method of a movable platform, a control terminal and a computer-readable storage medium.
- the functions of mobile platforms such as unmanned aerial vehicles, unmanned ships, and mobile vehicles are constantly enriched, and they have been widely used in public services, agriculture, surveillance, and aerial photography.
- the user can use the control device that establishes a communication connection with the movable platform to control the movable platform to perform task operations, such as controlling the movement of the movable platform.
- task operations such as controlling the movement of the movable platform.
- users who are new to the mobile platform they usually don’t know how to use the control terminal to control the mobile platform. They can only learn how to control the mobile platform through graphic textbooks, instruction manuals, and constant hands-on attempts.
- the embodiment of the invention discloses a method for controlling a movable platform, a control terminal and a computer-readable storage medium, which can not only instruct the user to control the movable platform through a training task, thereby reducing the difficulty for the user to get started, but also restrict the movable platform.
- the mobile area of the platform can improve the safety of operating the mobile platform.
- the first aspect of the embodiments of the present invention discloses a control method of a movable platform, which is applied to a control terminal, and the method includes:
- Output target training task prompt information where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the movable platform is restricted to move within the target area, and the target area is the Determined by the mobile platform based on the target area information;
- the control information is sent to the movable platform, wherein the control information is used to control the movable platform to perform the target training task in the target area.
- the second aspect of the embodiments of the present invention discloses a control terminal, which includes a memory, a communication interface and a processor,
- the memory is used to store program instructions
- the processor is configured to execute program instructions stored in the memory, and when the program instructions are executed, the processor is configured to:
- Output target training task prompt information where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the movable platform is restricted to move within the target area, and the target area is the Determined by the mobile platform based on the target area information;
- the control information is sent to the movable platform through the communication interface, where the control information is used to control the movable platform to perform the target training task in the target area.
- a third aspect of the embodiments of the present invention discloses a computer-readable storage medium in which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented .
- the target training task prompt information is first output to instruct the user to control the movable platform to perform the target training task, and then the target control operation input by the user is detected, and the control information corresponding to the target control operation is sent to the movable platform , To control the movable platform to perform the target training task in the target area.
- the target training task prompt information is first output to instruct the user to control the movable platform to perform the target training task, and then the target control operation input by the user is detected, and the control information corresponding to the target control operation is sent to the movable platform , To control the movable platform to perform the target training task in the target area.
- FIG. 1 is a schematic diagram of the architecture of a mobile platform control system disclosed in an embodiment of the present invention
- FIG. 2 is a schematic flowchart of a method for controlling a movable platform disclosed in an embodiment of the present invention
- FIG. 3 is a schematic diagram of a control interface disclosed in the first embodiment of the present invention.
- FIG. 4 is a schematic diagram of a control interface disclosed in the second embodiment of the present invention.
- FIG. 5 is a schematic diagram of a control interface disclosed in the third embodiment of the present invention.
- FIG. 6 is a schematic flowchart of another method for controlling a movable platform disclosed in an embodiment of the present invention.
- FIG. 7 is a schematic diagram of a control interface disclosed in the fourth embodiment of the present invention.
- FIG. 8 is a schematic flowchart of another method for controlling a movable platform disclosed in an embodiment of the present invention.
- FIG. 9 is a schematic diagram of a control interface disclosed in the fifth embodiment of the present invention.
- Fig. 10 is a schematic structural diagram of a control terminal disclosed in an embodiment of the present invention.
- the movable platform may be a movable device such as an unmanned aerial vehicle (UAV), an unmanned vehicle (or a movable car), an unmanned ship, and a mobile robot.
- the mobile platform can be equipped with a positioning device and a camera.
- the positioning device can be at least one of a visual inertial odometer (VIO) and a GPS module; the camera can be a cloud mounted on the mobile platform.
- VIO visual inertial odometer
- the control terminal is a smart device that can be used to control the mobile platform to perform task operations, such as a smart remote control, a smart phone and other mobile terminal devices; the control terminal can be equipped with a display device, which can be a display screen.
- FIG. 1 is a schematic structural diagram of a movable platform control system provided by an embodiment of the present invention.
- the movable platform control system includes a control terminal 100 and a movable platform 200, and a communication connection is established between the control terminal 100 and the movable platform 200.
- the control terminal 100 outputs target training task prompt information, which is used to instruct the user to control the movable platform 200 to perform the target training task.
- the control terminal 100 detects the target control operation input by the user, and determines the control information for controlling the movable platform 200 according to the detected target control operation; and then sends the control information to the movable platform 200.
- the mobile platform 200 After the mobile platform 200 receives the control information sent by the control terminal 100, it controls the mobile platform 200 to perform the target training task according to the control information. Among them, the movable platform 200 is restricted to move in the target area, and is restricted to perform target training tasks in the target area.
- the target area is determined by the movable platform 200 according to the target area information.
- the target area information may be pre-stored in the movable platform 200, or may be sent to the movable platform 200 by the control terminal 100.
- the movable platform 200 in FIG. 1 is illustrated by using a drone as an example, and the control terminal 100 is illustrated by using a smart phone as an example.
- the movable platform 200 includes but is not limited to drones, and the control terminal 100 includes but is not limited to smart phones.
- FIG. 2 is a schematic flowchart of a method for controlling a movable platform according to the first embodiment of the present invention.
- the control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the control system of the movable platform as shown in FIG. 1.
- the control method of the movable platform may include:
- the control terminal outputs target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, and the movable platform is restricted to move within the target area.
- the target training task prompt information is used to instruct the user to control the mobile platform to perform the target training task, that is, any information used to prompt the user to control the mobile platform to complete which target training task.
- the target training task may include one or more of the tasks of controlling the movable platform to move to the target position, controlling the movable platform to take pictures, video, flip, or adjust the shooting posture.
- the control terminal may use at least one of a text format, a video format, an animation format, and an audio format to output the target training task prompt information.
- the control terminal before outputting the target training task prompt information, the control terminal first establishes a communication connection with the movable platform.
- the control terminal may establish communication with the movable platform by connecting to the wireless signal transmitted by the movable platform.
- the wireless signal may be generated based on wireless protocols such as Wireless Fidelity (Wi-Fi), Software Definition Radio (SDR), cellular communication or Bluetooth.
- the control terminal before establishing a communication connection with the mobile platform, the control terminal outputs a communication connection prompt information used to introduce to the user how to establish a communication connection with the mobile platform; the control terminal may adopt text, video, and animation forms And at least one of audio formats to output the communication connection prompt information.
- the control terminal after the control terminal successfully establishes a communication connection with the movable platform, the control terminal outputs a training task selection interface, the training task selection interface includes at least one training task option; the control terminal acquires the user’s response to the at least one training task Option input selection instruction, and use the training task corresponding to the selection instruction as the target training task.
- the at least one training task option is sorted according to the difficulty index of the corresponding training task, which may be in order from left to right, and the difficulty of the training task corresponding to the training task option ranked first The index is lower than the difficulty index of the training task corresponding to the training task option ranked next. The first training task option for which the corresponding difficulty index is not the lowest remains locked.
- the training task option is the training task option with the corresponding difficulty index ranked first in the first training task option.
- the control terminal after determining the target training task selected by the user, before outputting the target training task prompt information, the control terminal outputs the introduction information of the target training task.
- the introduction information is used to explain and demonstrate the target training task.
- the introduction information can be used to explain what type of task the target training task is, the difficulty index of the target training task and the estimated training duration respectively, and can also be used to explain in text or voice what the user corresponding to the target training task needs to perform
- the input control operation can also be used to demonstrate the input control operation required to be performed by the user corresponding to the target training task through animation or video.
- the control terminal detects the target control operation input by the user, and determines the control information of the movable platform according to the detected target control operation.
- the target control operation may be input by the user through the control button of the control terminal, the control joystick, or through the user gesture operation.
- the control button can be a physical control button or a virtual control button;
- the control joystick can be a physical control joystick or a virtual control joystick;
- the user gesture operation can be gesture operation, eye movement or head Sports operations, etc.
- the control terminal before detecting the target control operation input by the user, the control terminal outputs a control interface for the movable platform, and the control interface includes a control area.
- the control area is used for the user to input a target control operation to input control instructions for the movable platform; the control area may be one or more.
- the control terminal detects the target control operation input by the user through the control area, and determines the control information used to control the movable platform to perform the target training task according to the detected target control operation.
- FIG. 3 is a schematic diagram of a control interface provided by the first embodiment of the present invention.
- the control interface includes a first control area 301, a second control area 302, a third control area 303, and a fourth control area 304.
- the first control area 301 includes a first virtual control joystick, which can be used for the user to input forward movement instructions, backward movement instructions, left movement instructions, right movement instructions, and direction One or more of a left-forward movement instruction, a left-rear movement instruction, a right-forward movement instruction, and a right-rear movement instruction.
- control terminal when the control terminal detects the user's touch operation on the control area 3011 of the first virtual control joystick, it is determined that the user inputs a forward movement instruction on the movable platform; when the control terminal detects that the user is on the first virtual control joystick During the touch operation of the control area 3012 in, it is determined that the user inputs a left shift instruction for the movable platform.
- the second control area 302 includes a second virtual control joystick
- the second virtual control joystick can be used for the user to input an upward movement instruction, a downward movement instruction, a left steering instruction (or a clockwise steering instruction) for the movable platform. ) And one or more of a right steering command (or a counterclockwise steering command).
- the control terminal detects the user's touch operation on the control area 3021 in the second virtual control joystick, it is determined that the user inputs an upward movement instruction for the movable platform; when the movable platform is a drone, the upward movement instruction It is an instruction to instruct the drone to fly upward.
- the control terminal detects the user's touch operation on the control area 3022 in the second virtual control joystick, it is determined that the user inputs a left steering instruction (or a clockwise steering instruction) for the movable platform.
- a left steering instruction or a clockwise steering instruction
- the horizontal axis (X axis) in the movement, forward and backward movement can refer to the movement along the vertical axis (Y axis) in the three-dimensional space coordinate system
- the upward and downward movement can refer to the movement along the three-dimensional space coordinate system.
- the vertical axis (Z axis) moves.
- the third control area 303 includes a virtual camera button 3031 and a virtual video button 3032.
- the virtual camera button 3031 can be used for the user to input a camera command for the mobile platform
- the virtual video button 3032 can be used for the user to target the mobile platform.
- the platform enters the video instruction.
- the fourth control area 303 is a gesture control area preset by the control terminal, which can be used for a user to input a control instruction for the movable platform through a gesture input operation, and the control instruction includes a flip control instruction. For example, when the control terminal detects that the user inputs an upward sliding gesture operation in the fourth control area, it is determined that the user inputs a forward flip control instruction for the movable platform.
- FIG. 4 is a schematic diagram of a control interface provided by the second embodiment of the present invention.
- the control interface shown in FIG. 4 further includes a fifth control area 305 and a movement status display area 306.
- the fifth control area includes a movement start button 3051 and a movement stop button 3052.
- the moving state display area 306 includes a moving speed display area 3061 and a moving distance display area 3062.
- the moving speed display area 3061 can be used to display the moving speed of the movable platform during the movement;
- the moving distance display area 3062 can be used to display the distance between the current position of the movable platform and the geometric center position of the target area;
- the moving distance display area 3062 can also be used to display the distance between the current position of the movable platform and the initial position of the movable platform.
- the control terminal sends the control information to the movable platform, where the control information is used to control the movable platform to perform the target training task in the target area.
- the movable platform is restricted to perform target training tasks in the target area.
- the target area is determined by the movable platform based on the target area information, and the target area information may be pre-stored in the movable platform, or may be sent to the movable platform by the control terminal.
- the control terminal sends the movement restriction information to the movable platform before sending the control information to the movable platform, or when sending the control information to the movable platform for the first time .
- the movement restriction information is used to restrict the movable platform from moving within the target area.
- the mobile platform receives the movement restriction information sent by the control terminal, it activates the movement area restriction function, obtains its stored target area information, and determines the target area according to the obtained target area information.
- the control movable platform can only execute the target training task in the target area.
- the control terminal shall carry the target area information in the movement restriction before sending the control information to the movable platform, or when sending the control information to the movable platform for the first time.
- the information is sent to the movable platform, and the movement restriction information is used to restrict the movable platform from moving within the target area.
- the movable platform activates the movement area restriction function, acquires the target area information included in the movement restriction information, and determines the target area according to the acquired target area information.
- the control movable platform can only execute the target training task in the target area.
- the movable platform when the movable platform is under the control of the movement area limitation function, during the process of performing the target training task under the control of the controlled terminal, if it is detected that the distance between the movable platform and the boundary of the target area is less than or equal to The distance threshold is controlled to reduce the moving speed of the movable platform; if the movable platform is detected to move to the boundary of the target area, the movable platform is controlled to remain stationary.
- the target area information includes position information of the geometric center point of the target area, and a target value that can be used to determine the range of the target area.
- the target value may be a side length value of the geometric shape of the target area, At least one of the angle length value, the radius value, the diameter value, the length value from the geometric center point to the vertex, the area area, and the area circumference.
- the movable platform determines the target area based on the position information of the geometric center point and the target value.
- the geometric center point of the target area includes at least one of the initial position point of the movable platform, the current position point of the movable platform, and the position point of the control terminal.
- the target area may be a circular area, an elliptical area, or a rectangular area.
- the target area information includes the position information of the geometric center point of the circular area, and the radius value or diameter value of the circular area, the radius value is, for example, 1 m; the movable platform is based on the geometric center point The location information and the radius or diameter value determine the target area.
- the target area information includes the position information of the geometric center point of the elliptical area, as well as the length of the major semi-axis and the length of the minor semi-axis of the elliptical area.
- the movable platform is based on the geometric center point.
- the position information, the length of the major semi-axis and the length of the minor axis determine the target area.
- the target area information includes the position information of the geometric center point of the rectangular area, and the length value and width value of the rectangular area.
- the movable platform is based on the position information of the geometric center point, the length value and the width The value determines the target area.
- the control terminal displays the area icon corresponding to the target area, obtains the current position point of the movable platform in the target area, and displays the area icon in the area icon according to the current position point of the movable platform and the target area information
- the geometric shape corresponding to the area icon can be any of a circle, an ellipse, and a rectangle.
- FIG. 5 is a schematic diagram of a control interface provided by the third embodiment of the present invention. Compared with the control interface shown in FIG. 3, the control interface shown in FIG. 5 also includes an area icon 307 corresponding to the target area. As shown in FIG.
- the geometric shape of the area icon 307 is a circle, and an icon 3071 for indicating the current position of the movable platform is displayed in the area icon 307.
- a positioning device is configured on the movable platform, and the positioning device may be a visual inertial odometer, and the control terminal can obtain the position of the movable platform through the visual inertial odometer configured on the movable platform. Using the visual inertial odometer to locate the movable platform, the positioning error is small, and the accuracy of the positioning can be improved.
- control operation prompt information is used to indicate to the user an input control operation for controlling the movable platform to perform the target training task.
- the control operation prompt information can be used to prompt the user to perform the operation of triggering the rotation control button, and can prompt the user where the rotation control button is located and trigger rotation The duration of the control button, etc.
- the control terminal after the control terminal sends the control information corresponding to the target control operation input by the user to the mobile platform, it detects whether the mobile platform has completed the current target training task; if it is detected that the mobile platform has completed the current target training task; For the target training task, the prompt information for the next target training task is output on the interactive interface of the control terminal, or the prompt information for the mobile platform to complete the current target training task is output on the interactive interface, or on the interactive interface The introduction information of the next target training task is output on the top.
- control terminal after the control terminal sends the control information corresponding to the target control operation input by the user to the movable platform, it detects whether the movable platform has completed the current training task in the target training task; if the movable platform is detected After the current training task in the target training task has been executed, the prompt information or introduction information of the next target training task in the target training task is output on the interactive interface of the control terminal.
- the target training task prompt information is first output to instruct the user to control the movable platform to perform the target training task, and then the target control operation input by the user is detected, and the control information corresponding to the target control operation is sent to the movable platform , To control the movable platform to perform the target training task in the target area.
- the target training task prompt information is first output to instruct the user to control the movable platform to perform the target training task, and then the target control operation input by the user is detected, and the control information corresponding to the target control operation is sent to the movable platform , To control the movable platform to perform the target training task in the target area.
- FIG. 6 is a schematic flowchart of a method for controlling a movable platform according to a second embodiment of the present invention.
- the control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the control system of the movable platform as shown in FIG. 1.
- the control method of the movable platform may include:
- the control terminal outputs target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform a target training task.
- the target training task includes a task to move to a target location.
- the mobile platform is restricted to move within the target area.
- the target area is determined by the movable platform according to the target area information.
- the location where the target location point is located is also within the target area, and there may be one or more target location points.
- the control terminal may determine a point separated by a first preset distance from the initial position point of the movable platform as the target position point; the target position point may also be randomly determined by the control terminal according to the target area information.
- the control terminal displays the area icon corresponding to the target area, and displays the first position point icon of the target position point in the area icon, and according to the current position point of the movable platform and the target Area information, displaying a second position point icon for indicating the current position point of the movable platform in the area icon.
- the first location point icon of the target location point and the second location point icon of the current location point of the movable platform are displayed in the area icon, which can let the user know that the movable platform needs to be controlled to move to The end position of the terminal, and allows the user to understand and determine the approximate path that controls the movable platform to move from the current position to the target position.
- the control terminal displays a trajectory from the second location point icon to the first location point icon in the area icon, and the trajectory is used to indicate a target path for controlling the movable platform to move from the current location point to the target location point.
- the target path may be the shortest path for controlling the movable platform to move from the current location point to the target location point, and the target path may also be a path randomly planned by the control terminal according to the current location point and the target location point of the movable platform.
- FIG. 7 is a schematic diagram of a control interface provided by the fourth embodiment of the present invention. Compared with the control interface described in FIG. 5, the control interface shown in FIG. 7 also displays the area icon 307 in the control interface.
- the icon of the target location point There are the icon of the target location point, and the trajectory from the icon of the current location point of the movable platform to the icon of the target location point.
- the icon of the current position point of the movable platform is the second position point icon 3071 in the area icon 307
- the icon of the target position point is the first position point icon 3072 in the area icon 307.
- the trajectory of the point icon 3071 to the first position point icon 3072 is 3073, which is used to indicate the shortest path from the second position point icon 3071 to the first position point icon 3072, that is, to indicate the control of the movable platform from the current position point The shortest path to move to the target location point.
- the control terminal detects the movement control operation input by the user, and sends the control information corresponding to the movement control operation to the movable platform, wherein the control information corresponding to the movement control operation is used to control the mobile platform.
- the movable platform moves from the current position point to the target position point in the target area.
- the first position point icon 3072 corresponding to the target position point is located on the left side of the second position point icon 3071 corresponding to the current position point of the movable platform.
- the control terminal detects the touch operation input by the user on the control area 3012 in the first control area 301, it is determined that the user has input the left shift control operation. Then the left shift control information corresponding to the left shift control operation is sent to the mobile platform. After receiving the left shift control information, the movable platform controls the movable platform to move to the left to move from the current position point to the target position point in the target area.
- the control terminal before the control terminal detects the movement control operation input by the user, it outputs the movement control operation prompt information, and the control terminal can output the movement control in at least one of text form, video form, animation form, and audio form Operation prompt information.
- the movement control operation prompt information is used to indicate to the user an input movement control operation for controlling the movable platform to move from the current position point to the target position point. For example, assuming that the target location point is on the right side of the current location point of the movable platform, the movement control operation prompt information can be used to prompt the user to perform the operation of triggering the right-shift button or the right-shift control area, and can prompt the user Move the button right or move the position of the control area right.
- the control terminal detects the shooting control operation input by the user, and sends control information corresponding to the shooting control operation to the movable platform.
- the target training task also includes a photographing task or a video recording task, and the control information corresponding to the photographing control operation is used to control the movable platform to perform a photographing task or a video recording task at the target location point.
- control terminal after the control terminal sends the control information corresponding to the shooting control operation to the mobile platform, it obtains the target image obtained by the mobile platform during the photographing task, or obtains the mobile platform during the recording task. Record the target video; and display the target image or play the target video in the interactive interface of the control terminal.
- the control terminal before the control terminal detects the shooting control operation input by the user, it outputs the shooting control operation prompt information.
- the control terminal may output the shooting control in at least one of text form, video form, animation form, and audio form. Operation prompt information.
- the shooting control operation prompt information is used to instruct the user to control the shooting control operation of the movable platform to take pictures or video.
- the shooting control operation prompt information can be used to prompt the user to perform the operation of triggering the camera button or the operation of triggering the video button, and can prompt the user where the camera button or the video button is located.
- the camera button can be triggered by pressing the physical camera button or by clicking the virtual camera button.
- the recording button can be triggered by pressing the physical recording button or clicking the virtual recording button.
- the control information corresponding to the shooting control operation when used to control the movable platform to perform the video recording task at the target location, the control information corresponding to the shooting control operation is also used to control the movable platform to perform the video recording task. Adjust the shooting posture of the movable platform during the process. Specifically, when the control terminal detects that the user has performed a video triggering button operation, it is determined that the user has input a video control operation, and the control information corresponding to the video control operation is sent to the movable platform. The control information corresponding to the video control operation is used to control the movable platform to perform the video recording task at the target position, and to control the movable platform to adjust the shooting posture according to preset rules during the process of performing the video task.
- the preset rule refers to: controlling the movable platform to rotate a preset angle in a preset direction, or controlling the target axis of a pan/tilt equipped with a camera configured on the movable platform to rotate to a preset position.
- the preset direction may be a clockwise direction or a counterclockwise direction
- the target axis may be the yaw axis, pitch axis or roll axis of the pan/tilt head
- the joint angle of the preset position as the target axis is a predetermined angle.
- the predetermined angle may be 30 degrees to 360 degrees
- the predetermined angle may be the joint angle of the target axis of 30 degrees to 120 degrees.
- the target training task further includes a shooting task and adjusting the shooting posture of the movable platform.
- the shooting task may be a photographing task or a video recording task.
- the control terminal detects the shooting control operation and the rotation control operation input by the user, and sends the control information corresponding to the shooting control operation and the rotation control operation to the movable platform.
- the control information corresponding to the shooting control operation is used to control the movable platform to perform the shooting task at the target location point
- the control information corresponding to the rotation control operation is used to control the movable platform to adjust the shooting posture during the execution of the shooting task.
- the control information corresponding to the rotation control operation is specifically used to control the movable platform to adjust the shooting posture according to a preset rule.
- the preset rule refers to: controlling the movable platform to rotate a preset angle in a preset direction, or controlling the target axis of a pan/tilt equipped with a camera configured on the movable platform to rotate to a preset position.
- FIG. 8 is a schematic flowchart of a method for controlling a movable platform according to a third embodiment of the present invention.
- the control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the control system of the movable platform as shown in FIG. 1.
- the control method of the movable platform may include:
- the control terminal outputs target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the target training task includes a flip task, and the movable platform is restricted to Move within the target area.
- the target area is determined by the movable platform according to the target area information.
- the control terminal detects the flip control operation input by the user, and sends the control information corresponding to the flip control operation to the movable platform, wherein the control information corresponding to the flip control operation is used to control the The movable platform performs a turnover task in the target area.
- FIG. 9 is a schematic diagram of a control interface provided by the fifth embodiment of the present invention.
- the control interface shown in FIG. The control area includes a track area 3041, and the track area 3041 is used to indicate gesture operations input by the user.
- the track area 3041 indicates that the gesture operation input by the user is sliding to the right. If the controlling terminal detects that the user's gesture operation input in the fourth control area 304 is sliding to the right, and the sliding distance to the right is greater than the second preset distance, it is determined that the user has input the right flip control operation; The right turning control information corresponding to the right turning control operation is sent to the movable platform. After the movable platform receives the right flip control information, it controls the movable platform to perform a right flip task in the target area.
- the control terminal outputs the prompt information of the flip control operation before detecting the flip control operation input by the user, and the control terminal may output the flip control in at least one of text, video, animation, and audio formats.
- Operation prompt information is used to instruct the user to control the movable platform to perform the input flip control operation of the flip task along the preset direction.
- the flip task can include any one of forward flip, backward flip, left flip, and right flip.
- the flip control operation prompt information can be used to prompt the user to enter an upward sliding gesture operation in the gesture control area, and the upward sliding gesture can be shown to the user in the gesture control area operating.
- the flip control operation prompt information can also be used to prompt the user to perform an operation that triggers the forward flip control button, and can prompt the user where the forward flip control button is located.
- the control terminal controls the movable platform to enter the flip mode and displays the area icon corresponding to the target area, and the mobile platform icon corresponding to the movable platform is displayed in the area icon.
- the mobile platform icon may be located at the geometric center point of the area icon.
- the target object icon is displayed in the area icon according to a preset display mode, and in the process of displaying the target object icon according to the preset display mode, the flip control operation input by the user is detected, and the control information corresponding to the flip control operation is detected Sent to the movable platform to control the movable platform to perform flipping tasks in the target area.
- displaying the target object icon in the area icon according to the preset display mode means: moving and displaying the target object icon in the area icon according to the preset moving direction, and the target object icon will pass through the display of the mobile platform icon during the moving display process position.
- the preset moving direction includes any one of bottom to top, top to bottom, left to right, or right to left.
- the mobile platform icon is not displayed in the area icon; if the mobile platform icon is not displayed in the area icon, the target object icon is detected to move through the mobile platform before performing the flip task.
- the display position of the mobile platform icon in the area icon determines that the movable platform successfully avoids the target object, and it is determined that the movable platform completes the flip task.
- FIG. 10 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention.
- the control terminal described in the embodiment of the present invention includes a processor 1001, a communication interface 1002, a user interface 1003, and a memory 1004.
- the processor 1001, the communication interface 1002, the user interface 1003, and the memory 1004 may be connected by a bus or other methods.
- the embodiment of the present invention takes the connection by a bus as an example.
- the processor 1001 may be a central processing unit (CPU), or a core used to implement communication identification binding in a multi-core CPU.
- the processor 1001 may be a hardware chip.
- the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
- the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL) or any combination thereof.
- the communication interface 1002 may be used for the interaction of sending and receiving information or signaling, as well as the reception and transmission of signals.
- the communication interface 1002 may optionally include a standard wireless interface (such as Wi-Fi, mobile communication interface, etc.).
- the user interface 1003 is a medium for realizing interaction and information exchange between the user and the control terminal.
- the specific embodiment may include a display and a speaker for output, and keys, a joystick, a touch screen and a mark for input. Wind, etc.; it should be noted that the buttons and joysticks here can be either physical or virtual.
- the memory 1004 may mainly include a storage program area and a storage data area.
- the storage program area can store an operating system and a storage program required by at least one function (such as a text storage function, a location storage function, etc.); the storage data area can store Data (such as image data, text data) created according to the use of the device, etc., and may include application storage programs, etc.
- the memory 1004 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
- the memory 1004 is also used to store program instructions.
- the processor 1001 is configured to execute program instructions stored in the memory 1004. When the program instructions are executed, the processor 1001 is configured to: output target training task prompt information through the user interface 1003, where: The target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the movable platform is restricted to move within the target area, and the target area is determined by the movable platform according to the target area information Detect the target control operation input by the user, and determine the control information of the movable platform according to the detected target control operation; send the control information to the movable platform through the communication interface, wherein the The control information is used to control the movable platform to perform the target training task in the target area.
- the processor 1001 is further configured to send movement restriction information to the movable platform through the communication interface 1002, where the movement restriction information is used to restrict the movable platform from being Move within the target area.
- the movement restriction information includes the target area information.
- the target area information includes position information of a geometric center point of the target area.
- the geometric center point includes at least one of an initial position point of the movable platform, a current position point of the movable platform, and a position point of the control terminal.
- the target area is a circular area, and the target area information includes a radius value or a diameter value of the circular area.
- the target training task includes at least one of a task of moving to a target location point, a photographing task, a video recording task, adjusting the shooting posture of the movable platform, and a flipping task.
- the processor 1001 is further configured to: display the area icon corresponding to the target area through the user interface 1003; according to the current position of the movable platform and the target area information, pass The user interface 1003 displays an icon for indicating the current position of the movable platform in the area icon.
- the position of the movable platform is determined according to a visual inertial odometer configured on the movable platform.
- the processor 1001 is further configured to: output control operation prompt information through the user interface 1003, where the The control operation prompt information is used to indicate to the user an input control operation for controlling the movable platform to perform the target training task.
- the target training task includes a task of moving to a target location point.
- the processor 1001 is further configured to: display through the user interface 1003 The area icon corresponding to the target area, the first position point icon of the target position point is displayed in the area icon; according to the current position point of the movable platform and the target area information, through the user
- the interface 1003 displays the second position point icon indicating the current position point of the movable platform in the area icon; wherein, when the processor 1001 detects the target control operation input by the user, it is specifically used to: detect the user The input movement control operation, wherein the control information corresponding to the movement control operation is used to control the movable platform to move from the current position point to the target position point in the target area.
- the processor 1001 is further configured to display a trajectory from the second position point icon to the first position point icon in the area icon through the user interface 1003, wherein The track is used to indicate a target path for the movable platform to move from the current position point to the target position point.
- the processor 1001 is further configured to: output movement control operation prompt information through the user interface 1003, wherein the movement control operation prompt information is used to indicate to the user to control the movable platform from all directions.
- the target training task further includes a photographing task or a video recording task
- the processor 1001 is further configured to: when it is determined that the movable platform has moved to the target position point, detect the photographing control input by the user Operation; wherein the control information corresponding to the shooting control operation is used to control the movable platform to perform a photographing task or a video recording task at the target location point.
- control information corresponding to the shooting control operation when used to control the movable platform to perform a video recording task at the target location, the control information corresponding to the shooting control operation is also used to control The movable platform adjusts the shooting posture of the movable platform during the execution of the video recording task.
- the target training task includes a flip task.
- the processor 1001 detects a target control operation input by a user, it is specifically configured to: detect a flip control operation input by the user, wherein the flip control operation corresponds to The control information is used to control the movable platform to perform a flipping task in the target area.
- the processor 1001 is further configured to: output tipping control operation prompt information through the user interface 1003, wherein the tipping control operation prompt information is used to instruct the user to control the movable platform to execute the edge The input flip control operation of the flip task in the preset direction.
- the processor 1001 before the processor 1001 outputs the target training task prompt information through the user interface 1003, the processor 1001 is further configured to: output the introduction information of the target training task through the user interface 1003, Wherein, the introduction information includes at least one of the type of the target training task, the difficulty index, the expected training duration, and the input control operation corresponding to the target training task.
- the processor 1001 is further configured to: detect whether the movable platform has finished executing the current Target training task; if yes, output prompt information for the next target training task on the interactive interface, or output prompt information on the interactive interface that the movable platform has completed the current target training task, or The introduction information of the next target training task is output on the interactive interface.
- the movable platform is a drone or a mobile robot.
- the processor 1001, the communication interface 1002, the user interface 1003, and the memory 1004 described in the embodiment of the present invention can execute the implementation described in the method for controlling a movable platform provided by the embodiment of the present invention. This will not be repeated here.
- An embodiment of the present invention also provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method for controlling the movable platform described in the foregoing method embodiment is implemented .
- the embodiment of the present invention also provides a computer program product containing instructions, which when running on a computer, causes the computer to execute the control method of the movable platform described in the above method embodiment.
- the program can be stored in a computer-readable storage medium, and the storage medium can include: Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.
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Abstract
A control method for a movable platform, a control terminal, and a computer readable storage medium. The method comprises: outputting target training task prompt information, the target training task prompt information being used for instructing a user to control the movable platform to perform a target training task, the movable platform being restricted to move within a target area, and the target area being determined by the movable platform according to target area information; detecting a target control operation inputted by the user, and determining control information of the movable platform according to the detected target control operation; and sending the control information to the movable platform, the control information being used for controlling the movable platform to perform the target training task within the target area. The embodiments of the present invention can not only instruct the user to control the movable platform by means of training tasks so as to reduce the difficulty of the user to get started, but also improve the safety of operating the movable platform by restricting the movement area of the movable platform.
Description
本发明涉及控制技术领域,尤其涉及一种可移动平台的控制方法、控制终端及计算机可读存储介质。The present invention relates to the field of control technology, in particular to a control method of a movable platform, a control terminal and a computer-readable storage medium.
目前,诸如无人机、无人船、可移动小车等可移动平台的功能不断丰富,已经广泛应用于公共服务、农业、监察、航拍等领域中。用户可以利用与可移动平台建立通信连接的控制设备来控制可移动平台执行任务操作,例如控制可移动平台移动等。但对于刚接触可移动平台的用户来说,通常不太了解如何利用控制终端来控制可移动平台,只能通过图文教材、使用说明书以及不断的上手尝试来学***台,但图文教材和使用说明书内容较难理解,与实际控制有一定的差别,导致上手难度大,并且上手尝试过程中出现操作不当的情况的可能性很大,操作不当则很容易造成可移动平台故障或者损坏,甚至造成其他的安全问题。At present, the functions of mobile platforms such as unmanned aerial vehicles, unmanned ships, and mobile vehicles are constantly enriched, and they have been widely used in public services, agriculture, surveillance, and aerial photography. The user can use the control device that establishes a communication connection with the movable platform to control the movable platform to perform task operations, such as controlling the movement of the movable platform. But for users who are new to the mobile platform, they usually don’t know how to use the control terminal to control the mobile platform. They can only learn how to control the mobile platform through graphic textbooks, instruction manuals, and constant hands-on attempts. The content of textbooks and instruction manuals is difficult to understand, and there is a certain difference from the actual control, which makes it difficult to get started, and there is a high possibility of improper operation in the process of getting started. Improper operation can easily cause the mobile platform to malfunction or Damage, or even cause other safety issues.
发明内容Summary of the invention
本发明实施例公开了一种可移动平台的控制方法、控制终端及计算机可读存储介质,不仅可以通过训练任务来指示用户控制可移动平台,从而降低用户上手的难度,还可以通过限制可移动平台的移动区域来提高操作可移动平台的安全性。The embodiment of the invention discloses a method for controlling a movable platform, a control terminal and a computer-readable storage medium, which can not only instruct the user to control the movable platform through a training task, thereby reducing the difficulty for the user to get started, but also restrict the movable platform. The mobile area of the platform can improve the safety of operating the mobile platform.
本发明实施例第一方面公开了一种可移动平台的控制方法,应用于控制终端,所述方法包括:The first aspect of the embodiments of the present invention discloses a control method of a movable platform, which is applied to a control terminal, and the method includes:
输出目标训练任务提示信息,其中,所述目标训练任务提示信息用于指示用户控制可移动平台执行目标训练任务,所述可移动平台被限制在目标区域内移动,所述目标区域是所述可移动平台根据目标区域信息确定出的;Output target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the movable platform is restricted to move within the target area, and the target area is the Determined by the mobile platform based on the target area information;
检测用户输入的目标控制操作,并根据检测到的目标控制操作确定出所述可移动平台的控制信息;Detecting the target control operation input by the user, and determining the control information of the movable platform according to the detected target control operation;
将所述控制信息发送给所述可移动平台,其中,所述控制信息用于控制所述可移动平台在所述目标区域内执行所述目标训练任务。The control information is sent to the movable platform, wherein the control information is used to control the movable platform to perform the target training task in the target area.
本发明实施例第二方面公开了一种控制终端,包括:存储器、通信接口和处理器,The second aspect of the embodiments of the present invention discloses a control terminal, which includes a memory, a communication interface and a processor,
所述存储器,用于存储程序指令;The memory is used to store program instructions;
所述处理器,用于执行所述存储器存储的程序指令,当所述程序指令被执行时,所述处理器用于:The processor is configured to execute program instructions stored in the memory, and when the program instructions are executed, the processor is configured to:
输出目标训练任务提示信息,其中,所述目标训练任务提示信息用于指示用户控制可移动平台执行目标训练任务,所述可移动平台被限制在目标区域内移动,所述目标区域是所述可移动平台根据目标区域信息确定出的;Output target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the movable platform is restricted to move within the target area, and the target area is the Determined by the mobile platform based on the target area information;
检测用户输入的目标控制操作,并根据检测到的目标控制操作确定出所述可移动平台的控制信息;Detecting the target control operation input by the user, and determining the control information of the movable platform according to the detected target control operation;
通过所述通信接口将所述控制信息发送给所述可移动平台,其中,所述控制信息用于控制所述可移动平台在所述目标区域内执行所述目标训练任务。The control information is sent to the movable platform through the communication interface, where the control information is used to control the movable platform to perform the target training task in the target area.
本发明实施例第三方面公开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计算机程序,所述计算机程序被处理器执行时实现如上述第一方面所述方法的步骤。A third aspect of the embodiments of the present invention discloses a computer-readable storage medium in which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented .
本发明实施例中,先输出目标训练任务提示信息,以指示用户控制可移动平台执行目标训练任务,然后检测用户输入的目标控制操作,并将目标控制操作所对应的控制信息发送给可移动平台,以控制可移动平台在目标区域内执行目标训练任务,采用上述方式,不仅可以通过训练任务来指示用户控制可移动平台,从而降低用户上手的难度,还可以通过限制可移动平台的移动区域来提高操作可移动平台的安全性。In the embodiment of the present invention, the target training task prompt information is first output to instruct the user to control the movable platform to perform the target training task, and then the target control operation input by the user is detected, and the control information corresponding to the target control operation is sent to the movable platform , To control the movable platform to perform the target training task in the target area. In the above method, not only can the user be instructed to control the movable platform through the training task, thereby reducing the difficulty for the user to get started, but also by restricting the movement area of the movable platform. Improve the safety of operating mobile platforms.
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性的前提下,还可以根据这些附图获得其他的附图。In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative labor, other drawings can be obtained from these drawings.
图1是本发明实施例公开的一种可移动平台控制***的架构示意图;FIG. 1 is a schematic diagram of the architecture of a mobile platform control system disclosed in an embodiment of the present invention;
图2是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;2 is a schematic flowchart of a method for controlling a movable platform disclosed in an embodiment of the present invention;
图3是本发明第一实施例公开的一种控制界面的示意图;3 is a schematic diagram of a control interface disclosed in the first embodiment of the present invention;
图4是本发明第二实施例公开的一种控制界面的示意图;4 is a schematic diagram of a control interface disclosed in the second embodiment of the present invention;
图5是本发明第三实施例公开的一种控制界面的示意图;5 is a schematic diagram of a control interface disclosed in the third embodiment of the present invention;
图6是本发明实施例公开的另一种可移动平台的控制方法的流程示意图;6 is a schematic flowchart of another method for controlling a movable platform disclosed in an embodiment of the present invention;
图7是本发明第四实施例公开的一种控制界面的示意图;7 is a schematic diagram of a control interface disclosed in the fourth embodiment of the present invention;
图8是本发明实施例公开的又一种可移动平台的控制方法的流程示意图;FIG. 8 is a schematic flowchart of another method for controlling a movable platform disclosed in an embodiment of the present invention;
图9是本发明第五实施例公开的一种控制界面的示意图;9 is a schematic diagram of a control interface disclosed in the fifth embodiment of the present invention;
图10是本发明实施例公开的一种控制终端的结构示意图。Fig. 10 is a schematic structural diagram of a control terminal disclosed in an embodiment of the present invention.
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。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.
本发明实施例中,可移动平台可以是无人机(Unmanned Aerial Vehicle,UAV)、无人车(或者可移动小车)、无人船、移动机器人等可移动设备。可移动平台上可以配置有定位装置和拍摄装置,该定位装置可以视觉惯性里程计(Visual Inertial Odometer,VIO)、GPS模块中的至少一种;该拍摄装置可以是挂载在可移动平台的云台上;可移动平台上设置的云台可以是可旋转的,也可以是固定的。控制终端是可以用于控制可移动平台执行任务操作的智能设备,例如是智能遥控器、智能手机等移动终端设备;控制终端可以配置有显示设备,该显示设备可以是显示屏。In the embodiment of the present invention, the movable platform may be a movable device such as an unmanned aerial vehicle (UAV), an unmanned vehicle (or a movable car), an unmanned ship, and a mobile robot. The mobile platform can be equipped with a positioning device and a camera. The positioning device can be at least one of a visual inertial odometer (VIO) and a GPS module; the camera can be a cloud mounted on the mobile platform. On the stage; the PTZ set on the movable platform can be rotatable or fixed. The control terminal is a smart device that can be used to control the mobile platform to perform task operations, such as a smart remote control, a smart phone and other mobile terminal devices; the control terminal can be equipped with a display device, which can be a display screen.
请参阅图1,为本发明实施例提供的一种可移动平台控制***的架构示意图。如图1所示,可移动平台控制***包括控制终端100和可移动平台200,控制终端100与可移动平台200之间建立有通信连接。在检测到进行目标训练任务时,控制终端100输出目标训练任务提示信息,该目标训练任务提示信息用于指示用户控制可移动平台200执行目标训练任务。进一步地,控制终端100检测用户输入的目标控制操作,并根据检测到的目标控制操作确定出用于控制可移动平台200的控制信息;然后将该控制信息发送给可移动平台200。可移动平台 200在接收到控制终端100发送的控制信息之后,根据该控制信息控制可移动平台200执行目标训练任务。其中,可移动平台200被限制在目标区域内移动,以及被限制在目标区域内执行目标训练任务。该目标区域是可移动平台200根据目标区域信息确定出的,该目标区域信息可以是预先存储在可移动平台200中,也可以是控制终端100发送给可移动平台200的。采用上述方式,不仅可以通过训练任务来指示用户控制可移动平台,从而降低用户上手的难度,有助于用户快速上手,还可以通过限制可移动平台的移动区域来提高操作可移动平台的安全性,在一定程度上降低由于操作不当造成可移动平台故障或者损坏的可能性。需要说明的是,图1中的可移动平台200以无人机为例、控制终端100以智能手机为例进行说明。可移动平台200包括但不仅限于无人机,控制终端100包括但不限于智能手机。Please refer to FIG. 1, which is a schematic structural diagram of a movable platform control system provided by an embodiment of the present invention. As shown in FIG. 1, the movable platform control system includes a control terminal 100 and a movable platform 200, and a communication connection is established between the control terminal 100 and the movable platform 200. When the target training task is detected, the control terminal 100 outputs target training task prompt information, which is used to instruct the user to control the movable platform 200 to perform the target training task. Further, the control terminal 100 detects the target control operation input by the user, and determines the control information for controlling the movable platform 200 according to the detected target control operation; and then sends the control information to the movable platform 200. After the mobile platform 200 receives the control information sent by the control terminal 100, it controls the mobile platform 200 to perform the target training task according to the control information. Among them, the movable platform 200 is restricted to move in the target area, and is restricted to perform target training tasks in the target area. The target area is determined by the movable platform 200 according to the target area information. The target area information may be pre-stored in the movable platform 200, or may be sent to the movable platform 200 by the control terminal 100. Using the above method, not only can the user be instructed to control the movable platform through the training task, thereby reducing the difficulty of the user to get started, and helping the user to get started quickly, but also can improve the safety of operating the movable platform by limiting the movement area of the movable platform , To a certain extent, reduce the possibility of failure or damage to the movable platform due to improper operation. It should be noted that the movable platform 200 in FIG. 1 is illustrated by using a drone as an example, and the control terminal 100 is illustrated by using a smart phone as an example. The movable platform 200 includes but is not limited to drones, and the control terminal 100 includes but is not limited to smart phones.
请参阅图2,为本发明第一实施例提供的一种可移动平台的控制方法的流程示意图。本发明实施例中所描述的可移动平台的控制方法,应用于如图1所示可移动平台控制***中的控制终端,该可移动平台的控制方法可以包括:Please refer to FIG. 2, which is a schematic flowchart of a method for controlling a movable platform according to the first embodiment of the present invention. The control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the control system of the movable platform as shown in FIG. 1. The control method of the movable platform may include:
S201、控制终端输出目标训练任务提示信息,其中,所述目标训练任务提示信息用于指示用户控制可移动平台执行目标训练任务,所述可移动平台被限制在目标区域内移动。S201. The control terminal outputs target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, and the movable platform is restricted to move within the target area.
本发明实施例中,目标训练任务提示信息用于指示用户控制可移动平台执行目标训练任务,即任何用于提示用户应该控制可移动平台完成哪种目标训练任务的信息。在一实施例中,目标训练任务可以包括控制可移动平台移动至目标位置点、控制可移动平台拍照、录像、翻转或者调整拍摄姿态等任务中的一种或者多种。控制终端可以采用文字形式、视频形式、动画形式、和音频形式中的至少一种来输出该目标训练任务提示信息。In the embodiment of the present invention, the target training task prompt information is used to instruct the user to control the mobile platform to perform the target training task, that is, any information used to prompt the user to control the mobile platform to complete which target training task. In an embodiment, the target training task may include one or more of the tasks of controlling the movable platform to move to the target position, controlling the movable platform to take pictures, video, flip, or adjust the shooting posture. The control terminal may use at least one of a text format, a video format, an animation format, and an audio format to output the target training task prompt information.
其中,在输出目标训练任务提示信息之前,控制终端先与可移动平台建立通信连接。控制终端可以是通过连接可移动平台发射的无线信号来建立与可移动平台之间的通信。其中,该无线信号可以是基于无线保真(Wireless Fidelity,Wi-Fi)、软件定义无线电(Software Defination Radio,SDR)、蜂窝通信或者蓝牙等无线协议生成的。在一实施例中,在与可移动平台建立通信连接之前,控制终端输出用于向用户介绍如何与可移动平台建立通信连接的通信连接提 示信息;控制终端可以采用文字形式、视频形式、动画形式和音频形式中的至少一种来输出该通信连接提示信息。在另一实施例中,在该通信连接提示信息输出完成之后,每隔预设时间间隔判断控制终端是否与可移动平台成功建立通信连接,若否,则再次输出该通信连接提示信息。Among them, before outputting the target training task prompt information, the control terminal first establishes a communication connection with the movable platform. The control terminal may establish communication with the movable platform by connecting to the wireless signal transmitted by the movable platform. Wherein, the wireless signal may be generated based on wireless protocols such as Wireless Fidelity (Wi-Fi), Software Definition Radio (SDR), cellular communication or Bluetooth. In one embodiment, before establishing a communication connection with the mobile platform, the control terminal outputs a communication connection prompt information used to introduce to the user how to establish a communication connection with the mobile platform; the control terminal may adopt text, video, and animation forms And at least one of audio formats to output the communication connection prompt information. In another embodiment, after the output of the communication connection prompt information is completed, it is determined whether the control terminal has successfully established a communication connection with the movable platform at a preset time interval, and if not, the communication connection prompt information is output again.
在一实施例中,在控制终端与可移动平台成功建立通信连接之后,控制终端输出训练任务选择界面,该训练任务选择界面中包括至少一个训练任务选项;控制终端获取用户针对该至少一个训练任务选项输入的选择指令,并将该选择指令所对应的训练任务作为目标训练任务。在另一实施例中,该至少一个训练任务选项是按照相应训练任务的难度指数进行排序的,可以是按照从左至右的顺序,排在前一位的训练任务选项所对应训练任务的难度指数,低于排在后一位的训练任务选项所对应训练任务的难度指数。对于相应难度指数不是最低的第一训练任务选项保持锁定状态,当控制终端确定出用户控制可移动平台完成了第二训练任务选项所对应的训练任务之后,解锁该第一训练任务选项;第二训练任务选项为相应难度指数排在该第一训练任务选项前一位的训练任务选项。采用上述方式,训练任务由易到难,不仅可以给用户带来更好的训练体验,还可以在一定程度上减少用户上手过程中的误操作,提高训练过程中的安全性。In one embodiment, after the control terminal successfully establishes a communication connection with the movable platform, the control terminal outputs a training task selection interface, the training task selection interface includes at least one training task option; the control terminal acquires the user’s response to the at least one training task Option input selection instruction, and use the training task corresponding to the selection instruction as the target training task. In another embodiment, the at least one training task option is sorted according to the difficulty index of the corresponding training task, which may be in order from left to right, and the difficulty of the training task corresponding to the training task option ranked first The index is lower than the difficulty index of the training task corresponding to the training task option ranked next. The first training task option for which the corresponding difficulty index is not the lowest remains locked. When the control terminal determines that the user controls the movable platform to complete the training task corresponding to the second training task option, unlock the first training task option; The training task option is the training task option with the corresponding difficulty index ranked first in the first training task option. By adopting the above method, the training tasks are changed from easy to difficult, which not only brings a better training experience to the user, but also reduces the user's misoperation during the hands-on process to a certain extent and improves the safety during the training process.
在一实施例中,在确定出用户所选择的目标训练任务之后,输出目标训练任务提示信息之前,控制终端输出目标训练任务的介绍信息。介绍信息用于对目标训练任务进行说明和演示。其中,该介绍信息可以用于说明目标训练任务是哪种类型的任务、目标训练任务的难度指数和预计训练时长分别是多少,还可以用于文字或者语音说明目标训练任务对应的用户需要执行的输入控制操作,也可以用于通过动画或者视频演示目标训练任务对应的用户需要执行的输入控制操作等。In an embodiment, after determining the target training task selected by the user, before outputting the target training task prompt information, the control terminal outputs the introduction information of the target training task. The introduction information is used to explain and demonstrate the target training task. Among them, the introduction information can be used to explain what type of task the target training task is, the difficulty index of the target training task and the estimated training duration respectively, and can also be used to explain in text or voice what the user corresponding to the target training task needs to perform The input control operation can also be used to demonstrate the input control operation required to be performed by the user corresponding to the target training task through animation or video.
S202、所述控制终端检测用户输入的目标控制操作,并根据检测到的目标控制操作确定出所述可移动平台的控制信息。S202: The control terminal detects the target control operation input by the user, and determines the control information of the movable platform according to the detected target control operation.
本发明实施例中,目标控制操作可以是用户通过控制终端的控制按键、控制摇杆、或者通过用户姿态操作输入的。该控制按键可以是物理控制按键,也可以是虚拟控制按键;该控制摇杆可以是物理控制摇杆,也可以是虚拟控制摇 杆;该用户姿态操作可以是手势操作,眼部运动或头部运动操作等。控制终端在检测到用户输入的目标控制操作之后,根据检测到的目标控制操作确定出用于控制可移动平台执行目标训练任务的控制信息。In the embodiment of the present invention, the target control operation may be input by the user through the control button of the control terminal, the control joystick, or through the user gesture operation. The control button can be a physical control button or a virtual control button; the control joystick can be a physical control joystick or a virtual control joystick; the user gesture operation can be gesture operation, eye movement or head Sports operations, etc. After detecting the target control operation input by the user, the control terminal determines the control information used to control the movable platform to perform the target training task according to the detected target control operation.
在一实施例中,控制终端检测用户输入的目标控制操作之前,输出针对可移动平台的控制界面,该控制界面中包括控制区域。该控制区域用于供用户输入目标控制操作,以针对可移动平台输入控制指令;该控制区域可以是一个或者多个。控制终端检测用户通过该控制区域输入的目标控制操作,并根据检测到的目标控制操作确定出用于控制可移动平台执行目标训练任务的控制信息。In an embodiment, before detecting the target control operation input by the user, the control terminal outputs a control interface for the movable platform, and the control interface includes a control area. The control area is used for the user to input a target control operation to input control instructions for the movable platform; the control area may be one or more. The control terminal detects the target control operation input by the user through the control area, and determines the control information used to control the movable platform to perform the target training task according to the detected target control operation.
请一并参见图3,为本发明第一实施例提供的一种控制界面的示意图。如图3所述,控制界面中包括第一控制区域301、第二控制区域302、第三控制区域303和第四控制区域304。其中,第一控制区域301中包括第一虚拟控制摇杆,该第一虚拟控制摇杆可以用于供用户针对可移动平台输入前移指令、后移指令、左移指令、右移指令、向左前方移动指令、向左后方移动指令、向右前方移动指令以及向右后方移动指令中的一种或者多种。例如,当控制终端检测到用户针对第一虚拟控制摇杆中的控制区域3011的触控操作时,确定用户针对可移动平台输入前移指令;当控制终端检测到用户针对第一虚拟控制摇杆中的控制区域3012的触控操作时,确定用户针对可移动平台输入左移指令。Please also refer to FIG. 3, which is a schematic diagram of a control interface provided by the first embodiment of the present invention. As shown in FIG. 3, the control interface includes a first control area 301, a second control area 302, a third control area 303, and a fourth control area 304. Wherein, the first control area 301 includes a first virtual control joystick, which can be used for the user to input forward movement instructions, backward movement instructions, left movement instructions, right movement instructions, and direction One or more of a left-forward movement instruction, a left-rear movement instruction, a right-forward movement instruction, and a right-rear movement instruction. For example, when the control terminal detects the user's touch operation on the control area 3011 of the first virtual control joystick, it is determined that the user inputs a forward movement instruction on the movable platform; when the control terminal detects that the user is on the first virtual control joystick During the touch operation of the control area 3012 in, it is determined that the user inputs a left shift instruction for the movable platform.
其中,第二控制区域302中包括第二虚拟控制摇杆,该第二虚拟控制摇杆可以用于供用户针对可移动平台输入上移指令、下移指令、左转向指令(或者顺时针转向指令)以及右转向指令(或者逆时针转向指令)中的一种或者多种。例如,当控制终端检测到用户针对第二虚拟控制摇杆中的控制区域3021的触控操作时,确定用户针对可移动平台输入上移指令;当可移动平台为无人机时,上移指令也即是指示无人机向上飞行的指令。当控制终端检测到用户针对第二虚拟控制摇杆中的控制区域3022的触控操作时,确定用户针对可移动平台输入左转向指令(或者顺时针转向指令)。需要说明的是,前文所述的前移、后移、左移、右移、上移以及下移是相对三维空间坐标系所说的,左移和右移可以指的是沿三维空间坐标系中的横轴(X轴)移动,前移和后移可以指的是沿三维空间坐标系中的纵轴(Y轴)移动,上移和下移可以指的是沿三维空间坐标系中的竖轴(Z轴)移动。Wherein, the second control area 302 includes a second virtual control joystick, and the second virtual control joystick can be used for the user to input an upward movement instruction, a downward movement instruction, a left steering instruction (or a clockwise steering instruction) for the movable platform. ) And one or more of a right steering command (or a counterclockwise steering command). For example, when the control terminal detects the user's touch operation on the control area 3021 in the second virtual control joystick, it is determined that the user inputs an upward movement instruction for the movable platform; when the movable platform is a drone, the upward movement instruction It is an instruction to instruct the drone to fly upward. When the control terminal detects the user's touch operation on the control area 3022 in the second virtual control joystick, it is determined that the user inputs a left steering instruction (or a clockwise steering instruction) for the movable platform. It should be noted that the forward movement, backward movement, left movement, right movement, up movement and down movement mentioned above are relative to the three-dimensional space coordinate system, and the left and right movement can refer to the three-dimensional space coordinate system. The horizontal axis (X axis) in the movement, forward and backward movement can refer to the movement along the vertical axis (Y axis) in the three-dimensional space coordinate system, and the upward and downward movement can refer to the movement along the three-dimensional space coordinate system. The vertical axis (Z axis) moves.
其中,第三控制区域303中包括虚拟拍照按键3031和虚拟录像按键3032,该虚拟拍照按键3031可以用于供用户针对可移动平台输入拍照指令,该虚拟录像按键3032可以用于供用户针对可移动平台输入录像指令。第四控制区域303为控制终端预置的手势控制区域,可以用于供用户通过输入手势操作针对可移动平台输入控制指令,该控制指令包括翻转控制指令。例如,当控制终端检测到用户在第四控制区域中输入向上滑动的手势操作时,确定用户针对可移动平台输入向前翻转控制指令。Among them, the third control area 303 includes a virtual camera button 3031 and a virtual video button 3032. The virtual camera button 3031 can be used for the user to input a camera command for the mobile platform, and the virtual video button 3032 can be used for the user to target the mobile platform. The platform enters the video instruction. The fourth control area 303 is a gesture control area preset by the control terminal, which can be used for a user to input a control instruction for the movable platform through a gesture input operation, and the control instruction includes a flip control instruction. For example, when the control terminal detects that the user inputs an upward sliding gesture operation in the fourth control area, it is determined that the user inputs a forward flip control instruction for the movable platform.
在一实施例中,请一并参见图4,为本发明第二实施例提供的一种控制界面的示意图。图4所示的控制界面较之图3所示的控制界面,控制界面中还包括第五控制区域305和移动状态显示区域306。如图4所示,第五控制区域中包括移动启动按键3051和移动停止按键3052。当控制终端检测到用户针对该移动启动按键3051的点击操作时,确定用户针对可移动平台输入移动启动指令,该移动启动指令用于控制可移动平台开始移动。当控制终端检测到用户针对该移动停止按键3052的点击操作时,确定用户针对可移动平台输入移动停止指令,该移动停止指令用于控制可移动平台停止移动。如图4所示,移动状态显示区域306包括移动速度显示区域3061和移动距离显示区域3062。移动速度显示区域3061可以用于显示可移动平台移动过程中的移动速度;移动距离显示区域3062可以用于显示可移动平台当前位置点与目标区域几何中心位置点之间的距离;移动距离显示区域3062还可以用于显示可移动平台当前位置点与可移动平台初始位置点之间的距离。In one embodiment, please also refer to FIG. 4, which is a schematic diagram of a control interface provided by the second embodiment of the present invention. Compared with the control interface shown in FIG. 3, the control interface shown in FIG. 4 further includes a fifth control area 305 and a movement status display area 306. As shown in FIG. 4, the fifth control area includes a movement start button 3051 and a movement stop button 3052. When the control terminal detects that the user clicks on the movement start button 3051, it is determined that the user inputs a movement start instruction for the movable platform, and the movement start instruction is used to control the movable platform to start moving. When the control terminal detects that the user clicks on the movement stop button 3052, it is determined that the user inputs a movement stop instruction for the movable platform, and the movement stop instruction is used to control the movable platform to stop moving. As shown in FIG. 4, the moving state display area 306 includes a moving speed display area 3061 and a moving distance display area 3062. The moving speed display area 3061 can be used to display the moving speed of the movable platform during the movement; the moving distance display area 3062 can be used to display the distance between the current position of the movable platform and the geometric center position of the target area; the moving distance display area 3062 can also be used to display the distance between the current position of the movable platform and the initial position of the movable platform.
S203、所述控制终端将所述控制信息发送给所述可移动平台,其中,所述控制信息用于控制所述可移动平台在所述目标区域内执行所述目标训练任务。S203. The control terminal sends the control information to the movable platform, where the control information is used to control the movable platform to perform the target training task in the target area.
本发明实施例中,可移动平台被限制在目标区域内执行目标训练任务。其中,该目标区域是可移动平台根据目标区域信息确定出的,该目标区域信息可以是预先存储在可移动平台中,也可以是控制终端发送给可移动平台的。In the embodiment of the present invention, the movable platform is restricted to perform target training tasks in the target area. Wherein, the target area is determined by the movable platform based on the target area information, and the target area information may be pre-stored in the movable platform, or may be sent to the movable platform by the control terminal.
对于目标区域信息是预先存储在可移动平台中的情况,控制终端在向可移动平台发送控制信息之前,或者在第一次向可移动平台发送控制信息的同时,向可移动平台发送移动限制信息,该移动限制信息用于限制可移动平台在目标区域内移动。其中,可移动平台在接收到控制终端发送的移动限制信息之后, 启动移动区域限制功能,获取其存储的目标区域信息,并根据获取到的目标区域信息确定出目标区域。在后续执行训练任务的过程中,控制可移动平台只能在目标区域内执行目标训练任务。For the case where the target area information is pre-stored in the movable platform, the control terminal sends the movement restriction information to the movable platform before sending the control information to the movable platform, or when sending the control information to the movable platform for the first time , The movement restriction information is used to restrict the movable platform from moving within the target area. Among them, after the mobile platform receives the movement restriction information sent by the control terminal, it activates the movement area restriction function, obtains its stored target area information, and determines the target area according to the obtained target area information. In the subsequent execution of the training task, the control movable platform can only execute the target training task in the target area.
对于目标区域信息是控制终端发送给可移动平台的情况,控制终端在向可移动平台发送控制信息之前,或者在第一次向可移动平台发送控制信息的同时,将目标区域信息携带在移动限制信息中发送给可移动平台,该移动限制信息用于限制可移动平台在目标区域内移动。其中,可移动平台在接收到控制终端发送的移动限制信息之后,启动移动区域限制功能,并获取移动限制信息包括的目标区域信息,根据获取到的目标区域信息确定出目标区域。在后续执行训练任务的过程中,控制可移动平台只能在目标区域内执行目标训练任务。For the case where the target area information is sent by the control terminal to the movable platform, the control terminal shall carry the target area information in the movement restriction before sending the control information to the movable platform, or when sending the control information to the movable platform for the first time. The information is sent to the movable platform, and the movement restriction information is used to restrict the movable platform from moving within the target area. Wherein, after receiving the movement restriction information sent by the control terminal, the movable platform activates the movement area restriction function, acquires the target area information included in the movement restriction information, and determines the target area according to the acquired target area information. In the subsequent execution of the training task, the control movable platform can only execute the target training task in the target area.
在一实施例中,可移动平台在移动区域限制功能开启的情况下,受控制终端的控制执行目标训练任务的过程中,若检测到可移动平台与目标区域的边界之间的距离小于或者等于距离阈值,则控制可移动平台降低移动速度;若检测到可移动平台移动到目标区域的边界处,则控制可移动平台保持不动。采用上述方式,可以确保可移动平台被限制在目标区域内执行目标训练任务。In an embodiment, when the movable platform is under the control of the movement area limitation function, during the process of performing the target training task under the control of the controlled terminal, if it is detected that the distance between the movable platform and the boundary of the target area is less than or equal to The distance threshold is controlled to reduce the moving speed of the movable platform; if the movable platform is detected to move to the boundary of the target area, the movable platform is controlled to remain stationary. With the above method, it can be ensured that the movable platform is restricted to perform the target training task in the target area.
在一实施例中,目标区域信息包括目标区域的几何中心点的位置信息、以及可以用于确定目标区域的范围的目标值,该目标值可以是目标区域的几何形状的边长长度值、对角线长度值、半径值、直径值、几何中心点到顶点的长度值、区域面积和区域周长中的至少一种。可移动平台基于该几何中心点的位置信息以及该目标值确定出目标区域。其中,目标区域的几何中心点包括可移动平台的初始位置点、可移动平台的当前位置点和控制终端的位置点中的至少一种。In an embodiment, the target area information includes position information of the geometric center point of the target area, and a target value that can be used to determine the range of the target area. The target value may be a side length value of the geometric shape of the target area, At least one of the angle length value, the radius value, the diameter value, the length value from the geometric center point to the vertex, the area area, and the area circumference. The movable platform determines the target area based on the position information of the geometric center point and the target value. The geometric center point of the target area includes at least one of the initial position point of the movable platform, the current position point of the movable platform, and the position point of the control terminal.
在一实施例中,目标区域可以为圆形区域、椭圆形区域、或者长方形区域等。当目标区域为圆形区域时,目标区域信息包括圆形区域的几何中心点的位置信息、以及圆形区域的半径值或者直径值,该半径值例如是1m;可移动平台基于该几何中心点的位置信息以及该半径值或者直径值确定出目标区域。当目标区域为椭圆形区域时,目标区域信息包括椭圆形区域的几何中心点的位置信息、以及椭圆形区域的长半轴长度值和短半轴长度值,可移动平台基于该几何中心点的位置信息、该长半轴长度值和短半轴长度值确定出目标区域。当目 标区域为长方形形区域时,目标区域信息包括长方形区域的几何中心点的位置信息、以及长方形区域的长度值和宽度值,可移动平台基于该几何中心点的位置信息、该长度值和宽度值确定出目标区域。In an embodiment, the target area may be a circular area, an elliptical area, or a rectangular area. When the target area is a circular area, the target area information includes the position information of the geometric center point of the circular area, and the radius value or diameter value of the circular area, the radius value is, for example, 1 m; the movable platform is based on the geometric center point The location information and the radius or diameter value determine the target area. When the target area is an elliptical area, the target area information includes the position information of the geometric center point of the elliptical area, as well as the length of the major semi-axis and the length of the minor semi-axis of the elliptical area. The movable platform is based on the geometric center point. The position information, the length of the major semi-axis and the length of the minor axis determine the target area. When the target area is a rectangular area, the target area information includes the position information of the geometric center point of the rectangular area, and the length value and width value of the rectangular area. The movable platform is based on the position information of the geometric center point, the length value and the width The value determines the target area.
在一实施例中,控制终端显示目标区域所对应的区域图标,获取可移动平台在目标区域中的当前位置点,并根据可移动平台的当前位置点和目标区域信息,在该区域图标中显示用于指示可移动平台的当前位置点的图标。其中,该区域图标对应的几何形状可以是圆形、椭圆形、长方形中的任意一种。请一并参见图5,为本发明第三实施例提供的一种控制界面的示意图。图5所示的控制界面较之图3所示的控制界面,控制界面中还包括目标区域所对应的区域图标307。如图5所示,区域图标307的几何形状为圆形,区域图标307中显示有用于指示可移动平台的当前位置点的图标3071。采用上述方式,可以在控制可移动平台移动的过程中为用户提供位置参考和路径导航。在一实施例中,可移动平台上配置有定位装置,该定位装置可以是视觉惯性里程计,控制终端可以通过可移动平台上配置的视觉惯性里程计获取可移动平台的位置点。利用视觉惯性里程计来对可移动平台进行定位,定位误差较小,可以提高定位的精确性。In one embodiment, the control terminal displays the area icon corresponding to the target area, obtains the current position point of the movable platform in the target area, and displays the area icon in the area icon according to the current position point of the movable platform and the target area information The icon used to indicate the current position of the movable platform. Wherein, the geometric shape corresponding to the area icon can be any of a circle, an ellipse, and a rectangle. Please also refer to FIG. 5, which is a schematic diagram of a control interface provided by the third embodiment of the present invention. Compared with the control interface shown in FIG. 3, the control interface shown in FIG. 5 also includes an area icon 307 corresponding to the target area. As shown in FIG. 5, the geometric shape of the area icon 307 is a circle, and an icon 3071 for indicating the current position of the movable platform is displayed in the area icon 307. By adopting the above method, it is possible to provide users with position reference and route navigation in the process of controlling the movement of the movable platform. In one embodiment, a positioning device is configured on the movable platform, and the positioning device may be a visual inertial odometer, and the control terminal can obtain the position of the movable platform through the visual inertial odometer configured on the movable platform. Using the visual inertial odometer to locate the movable platform, the positioning error is small, and the accuracy of the positioning can be improved.
在一实施例中,控制终端输出目标训练任务提示信息之后,输出控制操作提示信息。控制终端可以采用文字形式、视频形式、动画形式、和音频形式中的至少一种来输出该控制操作提示信息。其中,该控制操作提示信息用于向用户指示控制可移动平台执行目标训练任务的输入控制操作。举例来说,假设目标训练任务包括控制可移动平台旋转360度,该控制操作提示信息可以用于提示用户执行触发旋转控制按键的操作,并且可以向用户提示旋转控制按键所在的位置、以及触发旋转控制按键的时长等。In an embodiment, after the control terminal outputs the target training task prompt information, it outputs the control operation prompt information. The control terminal may use at least one of a text format, a video format, an animation format, and an audio format to output the control operation prompt information. Wherein, the control operation prompt information is used to indicate to the user an input control operation for controlling the movable platform to perform the target training task. For example, assuming that the target training task includes controlling the movable platform to rotate 360 degrees, the control operation prompt information can be used to prompt the user to perform the operation of triggering the rotation control button, and can prompt the user where the rotation control button is located and trigger rotation The duration of the control button, etc.
在一实施例中,控制终端将用户输入的目标控制操作所对应的控制信息发送给可移动平台之后,检测可移动平台是否执行完当前的目标训练任务;若检测到可移动平台已执行完当前的目标训练任务,则在控制终端的交互界面上输出下一项目标训练任务的提示信息,或者在该交互界面上输出可移动平台执行完当前的目标训练任务的提示信息,或者在该交互界面上输出下一项目标训练任务的介绍信息。在另一实施例中,控制终端将用户输入的目标控制操作所对应的控制信息发送给可移动平台之后,检测可移动平台是否执行完目标训练任 务中的当前训练任务;若检测到可移动平台已执行完目标训练任务中的当前训练任务,则在控制终端的交互界面上输出目标训练任务中的下一项目标训练任务的提示信息或者介绍信息。In one embodiment, after the control terminal sends the control information corresponding to the target control operation input by the user to the mobile platform, it detects whether the mobile platform has completed the current target training task; if it is detected that the mobile platform has completed the current target training task; For the target training task, the prompt information for the next target training task is output on the interactive interface of the control terminal, or the prompt information for the mobile platform to complete the current target training task is output on the interactive interface, or on the interactive interface The introduction information of the next target training task is output on the top. In another embodiment, after the control terminal sends the control information corresponding to the target control operation input by the user to the movable platform, it detects whether the movable platform has completed the current training task in the target training task; if the movable platform is detected After the current training task in the target training task has been executed, the prompt information or introduction information of the next target training task in the target training task is output on the interactive interface of the control terminal.
本发明实施例中,先输出目标训练任务提示信息,以指示用户控制可移动平台执行目标训练任务,然后检测用户输入的目标控制操作,并将目标控制操作所对应的控制信息发送给可移动平台,以控制可移动平台在目标区域内执行目标训练任务,采用上述方式,不仅可以通过训练任务来指示用户控制可移动平台,从而降低用户上手的难度,还可以通过限制可移动平台的移动区域来提高操作可移动平台的安全性。In the embodiment of the present invention, the target training task prompt information is first output to instruct the user to control the movable platform to perform the target training task, and then the target control operation input by the user is detected, and the control information corresponding to the target control operation is sent to the movable platform , To control the movable platform to perform the target training task in the target area. In the above method, not only can the user be instructed to control the movable platform through the training task, thereby reducing the difficulty for the user to get started, but also by restricting the movement area of the movable platform. Improve the safety of operating mobile platforms.
请参阅图6,为本发明第二实施例提供的一种可移动平台的控制方法的流程示意图。本发明实施例中所描述的可移动平台的控制方法,应用于如图1所示可移动平台控制***中的控制终端,该可移动平台的控制方法可以包括:Please refer to FIG. 6, which is a schematic flowchart of a method for controlling a movable platform according to a second embodiment of the present invention. The control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the control system of the movable platform as shown in FIG. 1. The control method of the movable platform may include:
S601、控制终端输出目标训练任务提示信息,其中,所述目标训练任务提示信息用于指示用户控制可移动平台执行目标训练任务,所述目标训练任务包括移动至目标位置点的任务,所述可移动平台被限制在目标区域内移动。S601. The control terminal outputs target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform a target training task. The target training task includes a task to move to a target location. The mobile platform is restricted to move within the target area.
本发明实施例中,目标区域是可移动平台根据目标区域信息确定出的。目标位置点所在的位置也处于目标区域内,目标位置点可以是一个或者多个。控制终端可以是将与可移动平台初始位置点间隔第一预设距离的点确定为目标位置点;目标位置点也可以是控制终端根据目标区域信息随机确定出的。In the embodiment of the present invention, the target area is determined by the movable platform according to the target area information. The location where the target location point is located is also within the target area, and there may be one or more target location points. The control terminal may determine a point separated by a first preset distance from the initial position point of the movable platform as the target position point; the target position point may also be randomly determined by the control terminal according to the target area information.
S602、所述控制终端显示所述目标区域所对应的区域图标,在所述区域图标中显示所述目标位置点的第一位置点图标,根据所述可移动平台的当前位置点和所述目标区域信息,在所述区域图标中显示用于指示所述可移动平台的当前位置点的第二位置点图标。S602. The control terminal displays the area icon corresponding to the target area, and displays the first position point icon of the target position point in the area icon, and according to the current position point of the movable platform and the target Area information, displaying a second position point icon for indicating the current position point of the movable platform in the area icon.
本发明实施例中,在区域图标中显示目标位置点的第一位置点图标以及可移动平台的当前位置点的第二位置点图标,可以让用户了解到训练任务中需要控制可移动平台移动至的终点位置,并且可以让用户了解并确定控制可移动平台从当前位置点移动至目标位置点的大致路径。In the embodiment of the present invention, the first location point icon of the target location point and the second location point icon of the current location point of the movable platform are displayed in the area icon, which can let the user know that the movable platform needs to be controlled to move to The end position of the terminal, and allows the user to understand and determine the approximate path that controls the movable platform to move from the current position to the target position.
在一实施例中,控制终端在区域图标中显示从第二位置点图标到第一位置点图标的轨迹,该轨迹用于指示控制可移动平台从当前位置点移动至目标位置 点的目标路径。其中,该目标路径可以是控制可移动平台从当前位置点移动至目标位置点的最短路径,该目标路径也可以是控制终端根据可移动平台的当前位置点以及目标位置点随机规划的一条路径。请一并参见图7,为本发明第四实施例提供的一种控制界面的示意图,图7所示的控制界面较之图5所述的控制界面,控制界面中的区域图标307中还显示有目标位置点的图标,以及从可移动平台的当前位置点的图标到目标位置点的图标的轨迹。如图7所示,可移动平台的当前位置点的图标为区域图标307中的第二位置点图标3071,目标位置点的图标为区域图标307中的第一位置点图标3072,从第二位置点图标3071到第一位置点图标3072的轨迹为3073,用于指示从第二位置点图标3071到第一位置点图标3072的最短路径,也即是用于指示控制可移动平台从当前位置点移动至目标位置点的最短路径。In an embodiment, the control terminal displays a trajectory from the second location point icon to the first location point icon in the area icon, and the trajectory is used to indicate a target path for controlling the movable platform to move from the current location point to the target location point. The target path may be the shortest path for controlling the movable platform to move from the current location point to the target location point, and the target path may also be a path randomly planned by the control terminal according to the current location point and the target location point of the movable platform. Please also refer to FIG. 7, which is a schematic diagram of a control interface provided by the fourth embodiment of the present invention. Compared with the control interface described in FIG. 5, the control interface shown in FIG. 7 also displays the area icon 307 in the control interface. There are the icon of the target location point, and the trajectory from the icon of the current location point of the movable platform to the icon of the target location point. As shown in Fig. 7, the icon of the current position point of the movable platform is the second position point icon 3071 in the area icon 307, and the icon of the target position point is the first position point icon 3072 in the area icon 307. The trajectory of the point icon 3071 to the first position point icon 3072 is 3073, which is used to indicate the shortest path from the second position point icon 3071 to the first position point icon 3072, that is, to indicate the control of the movable platform from the current position point The shortest path to move to the target location point.
S603、所述控制终端检测用户输入的移动控制操作,并将所述移动控制操作所对应的控制信息发送给所述可移动平台,其中,所述移动控制操作所对应的控制信息用于控制所述可移动平台在所述目标区域内从所述当前位置点移动至所述目标位置点。S603. The control terminal detects the movement control operation input by the user, and sends the control information corresponding to the movement control operation to the movable platform, wherein the control information corresponding to the movement control operation is used to control the mobile platform. The movable platform moves from the current position point to the target position point in the target area.
举例来说,请一并参见图7,如图7所示,目标位置点对应的第一位置点图标3072位于可移动平台当前位置点对应的第二位置点图标3071的左侧,则通过控制可移动平台左移即可控制可移动平台从当前位置点移动至目标位置点。如果控制终端检测到用户针对第一控制区域301中的控制区域3012输入的触控操作,则确定检测到用户输入了左移控制操作。然后将左移控制操作所对应的左移控制信息发送给移动平台。可移动平台接收到左移控制信息之后,控制可移动平台向左移动,以在目标区域内从当前位置点移动至目标位置点。For example, please refer to FIG. 7 together. As shown in FIG. 7, the first position point icon 3072 corresponding to the target position point is located on the left side of the second position point icon 3071 corresponding to the current position point of the movable platform. Move the movable platform to the left to control the movable platform to move from the current position to the target position. If the control terminal detects the touch operation input by the user on the control area 3012 in the first control area 301, it is determined that the user has input the left shift control operation. Then the left shift control information corresponding to the left shift control operation is sent to the mobile platform. After receiving the left shift control information, the movable platform controls the movable platform to move to the left to move from the current position point to the target position point in the target area.
在一实施例中,控制终端检测用户输入的移动控制操作之前,输出移动控制操作提示信息,控制终端可以采用文字形式、视频形式、动画形式、和音频形式中的至少一种来输出该移动控制操作提示信息。其中,该移动控制操作提示信息用于向用户指示控制可移动平台从当前位置点移动至目标位置点的输入移动控制操作。举例来说,假设目标位置点位于可移动平台的当前位置点的右侧,则该移动控制操作提示信息可以用于提示用户执行触发右移按键或右移控制区域的操作,并且可以向用户提示右移按键或右移控制区域所在的位置。In one embodiment, before the control terminal detects the movement control operation input by the user, it outputs the movement control operation prompt information, and the control terminal can output the movement control in at least one of text form, video form, animation form, and audio form Operation prompt information. Wherein, the movement control operation prompt information is used to indicate to the user an input movement control operation for controlling the movable platform to move from the current position point to the target position point. For example, assuming that the target location point is on the right side of the current location point of the movable platform, the movement control operation prompt information can be used to prompt the user to perform the operation of triggering the right-shift button or the right-shift control area, and can prompt the user Move the button right or move the position of the control area right.
S604、当确定所述可移动平台移动至所述目标位置点时,所述控制终端检测用户输入的拍摄控制操作,并将所述拍摄控制操作所对应的控制信息发送给所述可移动平台,其中,所述目标训练任务还包括拍照任务或者录像任务,所述拍摄控制操作所对应的控制信息用于控制所述可移动平台在所述目标位置点执行拍照任务或者录像任务。S604. When it is determined that the movable platform has moved to the target location point, the control terminal detects the shooting control operation input by the user, and sends control information corresponding to the shooting control operation to the movable platform. Wherein, the target training task also includes a photographing task or a video recording task, and the control information corresponding to the photographing control operation is used to control the movable platform to perform a photographing task or a video recording task at the target location point.
本发明实施例中,控制终端在将拍摄控制操作所对应的控制信息发送给移动平台之后,获取可移动平台执行拍照任务过程中拍照得到的目标图像,或者,获取可移动平台执行录像任务过程中录像得到的目标视频;并在控制终端的交互界面中显示该目标图像或者播放该目标视频。In the embodiment of the present invention, after the control terminal sends the control information corresponding to the shooting control operation to the mobile platform, it obtains the target image obtained by the mobile platform during the photographing task, or obtains the mobile platform during the recording task. Record the target video; and display the target image or play the target video in the interactive interface of the control terminal.
在一实施例中,控制终端检测用户输入的拍摄控制操作之前,输出拍摄控制操作提示信息,控制终端可以采用文字形式、视频形式、动画形式、和音频形式中的至少一种来输出该拍摄控制操作提示信息。其中,该拍摄控制操作提示信息用于向用户指示控制可移动平台拍照或者录像的拍摄控制操作。该拍摄控制操作提示信息可以用于提示用户执行触发拍照按键操作,或者执行触发录像按键操作,并且可以向用户提示拍照按键或者录像按键所在的位置。触发拍照按键可以是按下物理拍照按键,也可以是点击虚拟拍照按键。触发录像按键可以是按下物理录像按键,也可以是点击虚拟录像按键。In one embodiment, before the control terminal detects the shooting control operation input by the user, it outputs the shooting control operation prompt information. The control terminal may output the shooting control in at least one of text form, video form, animation form, and audio form. Operation prompt information. Wherein, the shooting control operation prompt information is used to instruct the user to control the shooting control operation of the movable platform to take pictures or video. The shooting control operation prompt information can be used to prompt the user to perform the operation of triggering the camera button or the operation of triggering the video button, and can prompt the user where the camera button or the video button is located. The camera button can be triggered by pressing the physical camera button or by clicking the virtual camera button. The recording button can be triggered by pressing the physical recording button or clicking the virtual recording button.
在一实施例中,当拍摄控制操作所对应的控制信息用于控制可移动平台在目标位置点执行录像任务时,拍摄控制操作所对应的控制信息还用于控制可移动平台在执行录像任务的过程中调整可移动平台的拍摄姿态。具体地,当控制终端检测到用户执行了触发录像按键操作,则确定检测到用户输入了录像控制操作,并将录像控制操作所对应的控制信息发送给可移动平台。录像控制操作所对应的控制信息用于控制可移动平台在目标位置点执行录像任务,并用于控制可移动平台在执行录像任务的过程中按照预设规则调整拍摄姿态。预设规则是指:控制可移动平台沿预设方向旋转预设角度,或者控制可移动平台配置的用于搭载拍摄装置的云台的目标轴旋转到预设位置。其中,预设方向可以是顺时针方向或者逆时针方向,目标轴可以是该云台的偏航轴、俯仰轴或者横滚轴,预设位置为目标轴的关节角为预定角度。在一实施例中,预设角度可以为30度至360度,预定角度可以为目标轴的关节角为30度至120度。In one embodiment, when the control information corresponding to the shooting control operation is used to control the movable platform to perform the video recording task at the target location, the control information corresponding to the shooting control operation is also used to control the movable platform to perform the video recording task. Adjust the shooting posture of the movable platform during the process. Specifically, when the control terminal detects that the user has performed a video triggering button operation, it is determined that the user has input a video control operation, and the control information corresponding to the video control operation is sent to the movable platform. The control information corresponding to the video control operation is used to control the movable platform to perform the video recording task at the target position, and to control the movable platform to adjust the shooting posture according to preset rules during the process of performing the video task. The preset rule refers to: controlling the movable platform to rotate a preset angle in a preset direction, or controlling the target axis of a pan/tilt equipped with a camera configured on the movable platform to rotate to a preset position. Wherein, the preset direction may be a clockwise direction or a counterclockwise direction, the target axis may be the yaw axis, pitch axis or roll axis of the pan/tilt head, and the joint angle of the preset position as the target axis is a predetermined angle. In an embodiment, the predetermined angle may be 30 degrees to 360 degrees, and the predetermined angle may be the joint angle of the target axis of 30 degrees to 120 degrees.
在另一实施例中,目标训练任务还包括拍摄任务和调整可移动平台的拍摄姿态,该拍摄任务可以是拍照任务或者录像任务。当确定可移动平台移动至目标位置点时,控制终端检测用户输入的拍摄控制操作和旋转控制操作,并将拍摄控制操作和旋转控制操作分别对应的控制信息发送给可移动平台。其中,拍摄控制操作所对应的控制信息用于控制可移动平台在目标位置点执行拍摄任务时,旋转控制操作所对应的控制信息用于控制可移动平台在执行拍摄任务的过程中调整拍摄姿态。旋转控制操作所对应的控制信息具体用于控制可移动平台按照预设规则调整拍摄姿态。预设规则是指:控制可移动平台沿预设方向旋转预设角度,或者,控制可移动平台配置的用于搭载拍摄装置的云台的目标轴旋转到预设位置。In another embodiment, the target training task further includes a shooting task and adjusting the shooting posture of the movable platform. The shooting task may be a photographing task or a video recording task. When it is determined that the movable platform moves to the target position point, the control terminal detects the shooting control operation and the rotation control operation input by the user, and sends the control information corresponding to the shooting control operation and the rotation control operation to the movable platform. Wherein, the control information corresponding to the shooting control operation is used to control the movable platform to perform the shooting task at the target location point, and the control information corresponding to the rotation control operation is used to control the movable platform to adjust the shooting posture during the execution of the shooting task. The control information corresponding to the rotation control operation is specifically used to control the movable platform to adjust the shooting posture according to a preset rule. The preset rule refers to: controlling the movable platform to rotate a preset angle in a preset direction, or controlling the target axis of a pan/tilt equipped with a camera configured on the movable platform to rotate to a preset position.
请参阅图8,为本发明第三实施例提供的一种可移动平台的控制方法的流程示意图。本发明实施例中所描述的可移动平台的控制方法,应用于如图1所示可移动平台控制***中的控制终端,该可移动平台的控制方法可以包括:Refer to FIG. 8, which is a schematic flowchart of a method for controlling a movable platform according to a third embodiment of the present invention. The control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the control system of the movable platform as shown in FIG. 1. The control method of the movable platform may include:
S801、控制终端输出目标训练任务提示信息,其中,所述目标训练任务提示信息用于指示用户控制可移动平台执行目标训练任务,所述目标训练任务包括翻转任务,所述可移动平台被限制在目标区域内移动。S801. The control terminal outputs target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the target training task includes a flip task, and the movable platform is restricted to Move within the target area.
本发明实施例中,目标区域是可移动平台根据目标区域信息确定出的。In the embodiment of the present invention, the target area is determined by the movable platform according to the target area information.
S802、所述控制终端检测用户输入的翻转控制操作,并将所述翻转控制操作所对应的控制信息发送给所述可移动平台,其中,所述翻转控制操作所对应的控制信息用于控制所述可移动平台在所述目标区域内执行翻转任务。S802. The control terminal detects the flip control operation input by the user, and sends the control information corresponding to the flip control operation to the movable platform, wherein the control information corresponding to the flip control operation is used to control the The movable platform performs a turnover task in the target area.
举例来说,请一并参见图9,为本发明第五实施例提供的一种控制界面的示意图,图9所示的控制界面相对于图5所示的控制界面,控制界面中的第四控制区域中包括有轨迹区域3041,轨迹区域3041用于指示用户输入的手势操作。如图9所示,轨迹区域3041指示用户输入的手势操作为向右滑动。如果控制终端检测到用户针对第四控制区域304中输入的手势操作为向右滑动,并且向右滑动的距离大于第二预设距离,则确定检测到用户输入了向右翻转控制操作;然后将向右翻转控制操作所对应的向右翻转控制信息发送给可移动平台。可移动平台接收到向右翻转控制信息之后,控制可移动平台在目标区域内执行向右翻转任务。For example, please also refer to FIG. 9, which is a schematic diagram of a control interface provided by the fifth embodiment of the present invention. Compared with the control interface shown in FIG. 5, the control interface shown in FIG. The control area includes a track area 3041, and the track area 3041 is used to indicate gesture operations input by the user. As shown in FIG. 9, the track area 3041 indicates that the gesture operation input by the user is sliding to the right. If the controlling terminal detects that the user's gesture operation input in the fourth control area 304 is sliding to the right, and the sliding distance to the right is greater than the second preset distance, it is determined that the user has input the right flip control operation; The right turning control information corresponding to the right turning control operation is sent to the movable platform. After the movable platform receives the right flip control information, it controls the movable platform to perform a right flip task in the target area.
在一实施例中,控制终端检测用户输入的翻转控制操作之前,输出翻转控制操作提示信息,控制终端可以采用文字形式、视频形式、动画形式、和音频形式中的至少一种来输出该翻转控制操作提示信息。其中,该翻转控制操作提示信息用于向用户指示控制可移动平台执行沿预设方向的翻转任务的输入翻转控制操作。翻转任务可以包括向前翻转、向后翻转、向左翻转、向右翻转中的任意一种。举例来说,假设目标训练任务包括向前翻转任务,则该翻转控制操作提示信息可以用于提示用户在手势控制区域输入向上滑动的手势操作,并且可以在手势控制区域向用户演示向上滑动的手势操作。该翻转控制操作提示信息还可以用于提示用户执行触发前翻控制按键的操作,并且可以向用户提示前翻控制按键所在的位置。In an embodiment, the control terminal outputs the prompt information of the flip control operation before detecting the flip control operation input by the user, and the control terminal may output the flip control in at least one of text, video, animation, and audio formats. Operation prompt information. Wherein, the flip control operation prompt information is used to instruct the user to control the movable platform to perform the input flip control operation of the flip task along the preset direction. The flip task can include any one of forward flip, backward flip, left flip, and right flip. For example, assuming that the target training task includes a forward flip task, the flip control operation prompt information can be used to prompt the user to enter an upward sliding gesture operation in the gesture control area, and the upward sliding gesture can be shown to the user in the gesture control area operating. The flip control operation prompt information can also be used to prompt the user to perform an operation that triggers the forward flip control button, and can prompt the user where the forward flip control button is located.
在一实施例中,控制终端检测用户输入的翻转控制操作之前,控制可移动平台进入翻转模式,并显示目标区域所对应的区域图标,在区域图标中显示可移动平台所对应的移动平台图标。该移动平台图标可以位于区域图标中的几何中心点位置。进一步地,在区域图标中按照预设显示方式显示目标对象图标,并在按照预设显示方式显示目标对象图标的过程中,检测用户输入的翻转控制操作,并将翻转控制操作所对应的控制信息发送给可移动平台,以控制可移动平台在目标区域内执行翻转任务。其中,在区域图标中按照预设显示方式显示目标对象图标是指:在区域图标中按照预设移动方向移动显示目标对象图标,并且目标对象图标在移动显示过程中会经过该移动平台图标的显示位置。该预设移动方向包括由下至上、由上至下、由左至右或者由右至左中的任意一种。在移动平台执行翻转任务的过程中,在区域图标中不显示该移动平台图标;若在区域图标中不显示该移动平台图标的过程中,检测到目标对象图标移动经过移动平台执行翻转任务前该移动平台图标在区域图标中的显示位置,则确定可移动平台成功躲避目标对象,并确定可移动平台完成翻转任务。In one embodiment, before detecting the flip control operation input by the user, the control terminal controls the movable platform to enter the flip mode and displays the area icon corresponding to the target area, and the mobile platform icon corresponding to the movable platform is displayed in the area icon. The mobile platform icon may be located at the geometric center point of the area icon. Further, the target object icon is displayed in the area icon according to a preset display mode, and in the process of displaying the target object icon according to the preset display mode, the flip control operation input by the user is detected, and the control information corresponding to the flip control operation is detected Sent to the movable platform to control the movable platform to perform flipping tasks in the target area. Among them, displaying the target object icon in the area icon according to the preset display mode means: moving and displaying the target object icon in the area icon according to the preset moving direction, and the target object icon will pass through the display of the mobile platform icon during the moving display process position. The preset moving direction includes any one of bottom to top, top to bottom, left to right, or right to left. In the process of the mobile platform performing the flip task, the mobile platform icon is not displayed in the area icon; if the mobile platform icon is not displayed in the area icon, the target object icon is detected to move through the mobile platform before performing the flip task. The display position of the mobile platform icon in the area icon determines that the movable platform successfully avoids the target object, and it is determined that the movable platform completes the flip task.
需要说明的是,图8和图6所示实施例中部分步骤的具体实现方式可参考图2所示实施例中的描述,此处不再赘述。It should be noted that the specific implementation of some steps in the embodiment shown in FIG. 8 and FIG. 6 can refer to the description in the embodiment shown in FIG. 2, and will not be repeated here.
请参阅图10,为本发明实施例提供的一种控制终端的结构示意图。本发明实施例中所描述的控制终端包括:处理器1001、通信接口1002、用户接口1003和存储器1004。其中,处理器1001、通信接口1002、用户接口1003和存储器1004 可通过总线或其他方式连接,本发明实施例以通过总线连接为例。Refer to FIG. 10, which is a schematic structural diagram of a control terminal provided by an embodiment of the present invention. The control terminal described in the embodiment of the present invention includes a processor 1001, a communication interface 1002, a user interface 1003, and a memory 1004. Among them, the processor 1001, the communication interface 1002, the user interface 1003, and the memory 1004 may be connected by a bus or other methods. The embodiment of the present invention takes the connection by a bus as an example.
所述处理器1001可以是中央处理器(central processing unit,CPU),也可以是多核CPU中用于实现通信标识绑定的核。所述处理器1001可以是硬件芯片。所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)或其组合。所述PLD可以是复杂可编程逻辑器件(complex programmable logic device,CPLD),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)或其任意组合。The processor 1001 may be a central processing unit (CPU), or a core used to implement communication identification binding in a multi-core CPU. The processor 1001 may be a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL) or any combination thereof.
所述通信接口1002可用于收发信息或信令的交互,以及信号的接收和传递,所述通信接口1002可选的可以包括标准的无线接口(如Wi-Fi、移动通信接口等)。所述用户接口1003是实现用户与控制终端进行交互和信息交换的媒介,其具体体现可以包括用于输出的显示屏(Display)和扬声器,用于输入的按键、摇杆、触控屏和马克风等等;需要说明的是,此处的按键、摇杆既可以为实体的,也可以为虚拟的。所述存储器1004可主要包括存储程序区和存储数据区,其中,存储程序区可存储操作***、至少一个功能所需的存储程序(比如文字存储功能、位置存储功能等);存储数据区可存储根据装置的使用所创建的数据(比如图像数据、文字数据)等,并可以包括应用存储程序等。此外,存储器1004可以包括高速随机存取存储器,还可以包括非易失性存储器,例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。The communication interface 1002 may be used for the interaction of sending and receiving information or signaling, as well as the reception and transmission of signals. The communication interface 1002 may optionally include a standard wireless interface (such as Wi-Fi, mobile communication interface, etc.). The user interface 1003 is a medium for realizing interaction and information exchange between the user and the control terminal. The specific embodiment may include a display and a speaker for output, and keys, a joystick, a touch screen and a mark for input. Wind, etc.; it should be noted that the buttons and joysticks here can be either physical or virtual. The memory 1004 may mainly include a storage program area and a storage data area. The storage program area can store an operating system and a storage program required by at least one function (such as a text storage function, a location storage function, etc.); the storage data area can store Data (such as image data, text data) created according to the use of the device, etc., and may include application storage programs, etc. In addition, the memory 1004 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
所述存储器1004还用于存储程序指令。所述处理器1001,用于执行所述存储器1004存储的程序指令,当所述程序指令被执行时,所述处理器1001用于:通过所述用户接口1003输出目标训练任务提示信息,其中,所述目标训练任务提示信息用于指示用户控制可移动平台执行目标训练任务,所述可移动平台被限制在目标区域内移动,所述目标区域是所述可移动平台根据目标区域信息确定出的;检测用户输入的目标控制操作,并根据检测到的目标控制操作确定出所述可移动平台的控制信息;通过所述通信接口将所述控制信息发送给所述可移动平台,其中,所述控制信息用于控制所述可移动平台在所述目标区域内执行所述目标训练任务。The memory 1004 is also used to store program instructions. The processor 1001 is configured to execute program instructions stored in the memory 1004. When the program instructions are executed, the processor 1001 is configured to: output target training task prompt information through the user interface 1003, where: The target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the movable platform is restricted to move within the target area, and the target area is determined by the movable platform according to the target area information Detect the target control operation input by the user, and determine the control information of the movable platform according to the detected target control operation; send the control information to the movable platform through the communication interface, wherein the The control information is used to control the movable platform to perform the target training task in the target area.
本发明实施例中处理器执行的方法均从处理器的角度来描述,可以理解的 是,本发明实施例中处理器要执行上述方法需要其他硬件结构的配合。本发明实施例对具体的实现过程不作详细描述和限制。The methods executed by the processor in the embodiment of the present invention are all described from the perspective of the processor. It is understandable that the processor in the embodiment of the present invention needs the cooperation of other hardware structures to execute the foregoing method. The embodiments of the present invention do not make detailed descriptions and restrictions on the specific implementation process.
在一实施例中,所述处理器1001还用于:通过所述通信接口1002向所述可移动平台发送移动限制信息,其中,所述移动限制信息用于限制所述可移动平台在所述目标区域内移动。In an embodiment, the processor 1001 is further configured to send movement restriction information to the movable platform through the communication interface 1002, where the movement restriction information is used to restrict the movable platform from being Move within the target area.
在一实施例中,所述移动限制信息包括所述目标区域信息。在一实施例中,所述目标区域信息包括所述目标区域的几何中心点的位置信息。在一实施例中,所述几何中心点包括所述可移动平台的初始位置点、所述可移动平台的当前位置点和所述控制终端的位置点中的至少一种。在一实施例中,所述目标区域为圆形区域,所述目标区域信息包括所述圆形区域的半径值或者直径值。在一实施例中,所述目标训练任务包括移动至目标位置点的任务、拍照任务、录像任务、调整所述可移动平台的拍摄姿态和翻转任务中的至少一种。In an embodiment, the movement restriction information includes the target area information. In an embodiment, the target area information includes position information of a geometric center point of the target area. In an embodiment, the geometric center point includes at least one of an initial position point of the movable platform, a current position point of the movable platform, and a position point of the control terminal. In an embodiment, the target area is a circular area, and the target area information includes a radius value or a diameter value of the circular area. In an embodiment, the target training task includes at least one of a task of moving to a target location point, a photographing task, a video recording task, adjusting the shooting posture of the movable platform, and a flipping task.
在一实施例中,所述处理器1001还用于:通过所述用户接口1003显示所述目标区域所对应的区域图标;根据所述可移动平台的当前位置点和所述目标区域信息,通过所述用户接口1003在所述区域图标中显示用于指示所述可移动平台的当前位置点的图标。In an embodiment, the processor 1001 is further configured to: display the area icon corresponding to the target area through the user interface 1003; according to the current position of the movable platform and the target area information, pass The user interface 1003 displays an icon for indicating the current position of the movable platform in the area icon.
在一实施例中,所述可移动平台的位置点是根据所述可移动平台配置的视觉惯性里程计确定出的。In an embodiment, the position of the movable platform is determined according to a visual inertial odometer configured on the movable platform.
在一实施例中,所述处理器1001通过所述用户接口1003输出目标训练任务提示信息之后,所述处理器1001还用于:通过所述用户接口1003输出控制操作提示信息,其中,所述控制操作提示信息用于向用户指示控制所述可移动平台执行所述目标训练任务的输入控制操作。In an embodiment, after the processor 1001 outputs the target training task prompt information through the user interface 1003, the processor 1001 is further configured to: output control operation prompt information through the user interface 1003, where the The control operation prompt information is used to indicate to the user an input control operation for controlling the movable platform to perform the target training task.
在一实施例中,所述目标训练任务包括移动至目标位置点的任务,所述处理器1001检测用户输入的目标控制操作之前,所述处理器1001还用于:通过所述用户接口1003显示所述目标区域所对应的区域图标,在所述区域图标中显示所述目标位置点的第一位置点图标;根据所述可移动平台的当前位置点和所述目标区域信息,通过所述用户接口1003在所述区域图标中显示用于指示所述可移动平台的当前位置点的第二位置点图标;其中,所述处理器1001检测用户输入的目标控制操作时,具体用于:检测用户输入的移动控制操作,其中,所述 移动控制操作所对应的控制信息用于控制所述可移动平台在所述目标区域内从所述当前位置点移动至所述目标位置点。In an embodiment, the target training task includes a task of moving to a target location point. Before the processor 1001 detects the target control operation input by the user, the processor 1001 is further configured to: display through the user interface 1003 The area icon corresponding to the target area, the first position point icon of the target position point is displayed in the area icon; according to the current position point of the movable platform and the target area information, through the user The interface 1003 displays the second position point icon indicating the current position point of the movable platform in the area icon; wherein, when the processor 1001 detects the target control operation input by the user, it is specifically used to: detect the user The input movement control operation, wherein the control information corresponding to the movement control operation is used to control the movable platform to move from the current position point to the target position point in the target area.
在一实施例中,所述处理器1001还用于:通过所述用户接口1003在所述区域图标中显示从所述第二位置点图标到所述第一位置点图标的轨迹,其中,所述轨迹用于指示所述可移动平台从所述当前位置点移动至所述目标位置点的目标路径。In an embodiment, the processor 1001 is further configured to display a trajectory from the second position point icon to the first position point icon in the area icon through the user interface 1003, wherein The track is used to indicate a target path for the movable platform to move from the current position point to the target position point.
在一实施例中,所述处理器1001还用于:通过所述用户接口1003输出移动控制操作提示信息,其中,所述移动控制操作提示信息用于向用户指示控制所述可移动平台从所述当前位置点移动至所述目标位置点的输入移动控制操作。In an embodiment, the processor 1001 is further configured to: output movement control operation prompt information through the user interface 1003, wherein the movement control operation prompt information is used to indicate to the user to control the movable platform from all directions. The input movement control operation of moving the current position point to the target position point.
在一实施例中,所述目标训练任务还包括拍照任务或者录像任务,所述处理器1001还用于:当确定所述可移动平台移动至所述目标位置点时,检测用户输入的拍摄控制操作;其中,所述拍摄控制操作所对应的控制信息用于控制所述可移动平台在所述目标位置点执行拍照任务或者录像任务。In an embodiment, the target training task further includes a photographing task or a video recording task, and the processor 1001 is further configured to: when it is determined that the movable platform has moved to the target position point, detect the photographing control input by the user Operation; wherein the control information corresponding to the shooting control operation is used to control the movable platform to perform a photographing task or a video recording task at the target location point.
在一实施例中,当所述拍摄控制操作所对应的控制信息用于控制所述可移动平台在所述目标位置点执行录像任务时,所述拍摄控制操作所对应的控制信息还用于控制所述可移动平台在执行录像任务的过程中调整所述可移动平台的拍摄姿态。In an embodiment, when the control information corresponding to the shooting control operation is used to control the movable platform to perform a video recording task at the target location, the control information corresponding to the shooting control operation is also used to control The movable platform adjusts the shooting posture of the movable platform during the execution of the video recording task.
在一实施例中,所述目标训练任务包括翻转任务,所述处理器1001检测用户输入的目标控制操作时,具体用于:检测用户输入的翻转控制操作,其中,所述翻转控制操作所对应的控制信息用于控制所述可移动平台在所述目标区域内执行翻转任务。In an embodiment, the target training task includes a flip task. When the processor 1001 detects a target control operation input by a user, it is specifically configured to: detect a flip control operation input by the user, wherein the flip control operation corresponds to The control information is used to control the movable platform to perform a flipping task in the target area.
在一实施例中,所述处理器1001还用于:通过所述用户接口1003输出翻转控制操作提示信息,其中,所述翻转控制操作提示信息用于向用户指示控制所述可移动平台执行沿预设方向的翻转任务的输入翻转控制操作。In one embodiment, the processor 1001 is further configured to: output tipping control operation prompt information through the user interface 1003, wherein the tipping control operation prompt information is used to instruct the user to control the movable platform to execute the edge The input flip control operation of the flip task in the preset direction.
在一实施例中,所述处理器1001通过所述用户接口1003输出目标训练任务提示信息之前,所述处理器1001还用于:通过所述用户接口1003输出所述目标训练任务的介绍信息,其中,所述介绍信息包括所述目标训练任务的类型、难度指数、预计训练时长、和所述目标训练任务所对应的输入控制操作中的至少一种。In an embodiment, before the processor 1001 outputs the target training task prompt information through the user interface 1003, the processor 1001 is further configured to: output the introduction information of the target training task through the user interface 1003, Wherein, the introduction information includes at least one of the type of the target training task, the difficulty index, the expected training duration, and the input control operation corresponding to the target training task.
在一实施例中,所述处理器1001通过所述通信接口将所述控制信息发送给所述可移动平台之后,所述处理器1001还用于:检测所述可移动平台是否执行完当前的目标训练任务;若是,则在交互界面上输出下一项目标训练任务的提示信息,或者在所述交互界面上输出所述可移动平台执行完所述当前的目标训练任务的提示信息,或者在所述交互界面上输出所述下一项目标训练任务的介绍信息。In an embodiment, after the processor 1001 sends the control information to the movable platform through the communication interface, the processor 1001 is further configured to: detect whether the movable platform has finished executing the current Target training task; if yes, output prompt information for the next target training task on the interactive interface, or output prompt information on the interactive interface that the movable platform has completed the current target training task, or The introduction information of the next target training task is output on the interactive interface.
在一实施例中,所述可移动平台为无人机或移动机器人。In an embodiment, the movable platform is a drone or a mobile robot.
具体实现中,本发明实施例中所描述的处理器1001、通信接口1002、用户接口1003和存储器1004可执行本发明实施例提供的一种可移动平台的控制方法中所描述的实现方式,在此不再赘述。In specific implementation, the processor 1001, the communication interface 1002, the user interface 1003, and the memory 1004 described in the embodiment of the present invention can execute the implementation described in the method for controlling a movable platform provided by the embodiment of the present invention. This will not be repeated here.
本发明实施例还提供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计算机程序,所述计算机程序被处理器执行时实现上述方法实施例所述的可移动平台的控制方法。An embodiment of the present invention also provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method for controlling the movable platform described in the foregoing method embodiment is implemented .
本发明实施例还提供一种包含指令的计算机程序产品,当其在计算机上运行时,使得计算机执行上述方法实施例所述的可移动平台的控制方法。The embodiment of the present invention also provides a computer program product containing instructions, which when running on a computer, causes the computer to execute the control method of the movable platform described in the above method embodiment.
需要说明的是,对于前述的各个方法实施例,为了简单描述,故将其都表述为一系列的动作组合,但是本领域技术人员应该知悉,本发明并不受所描述的动作顺序的限制,因为依据本发明,某一些步骤可以采用其他顺序或者同时进行。其次,本领域技术人员也应该知悉,说明书中所描述的实施例均属于优选实施例,所涉及的动作和模块并不一定是本发明所必须的。It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described sequence of actions. Because according to the present invention, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the involved actions and modules are not necessarily required by the present invention.
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成,该程序可以存储于一计算机可读存储介质中,存储介质可以包括:闪存盘、只读存储器(Read-Only Memory,ROM)、随机存取器(Random Access Memory,RAM)、磁盘或光盘等。A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and the storage medium can include: Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.
以上对本发明实施例所提供的一种可移动平台的控制方法及控制终端进行了详细介绍,本文中应用了具体个例对本发明的原理及实施方式进行了阐述,以上实施例的说明只是用于帮助理解本发明的方法及其核心思想;同时,对于本领域的一般技术人员,依据本发明的思想,在具体实施方式及应用范围上均会有改变之处,综上所述,本说明书内容不应理解为对本发明的限制。The control method and control terminal of a movable platform provided by the embodiments of the present invention are described in detail above. Specific examples are used in this article to explain the principles and implementation of the present invention. The description of the above embodiments is only for Help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification It should not be understood as a limitation to the present invention.
Claims (41)
- 一种可移动平台的控制方法,其特征在于,应用于控制终端,所述方法包括:A control method of a movable platform, characterized in that it is applied to a control terminal, and the method includes:输出目标训练任务提示信息,其中,所述目标训练任务提示信息用于指示用户控制可移动平台执行目标训练任务,所述可移动平台被限制在目标区域内移动,所述目标区域是所述可移动平台根据目标区域信息确定出的;Output target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the movable platform is restricted to move within the target area, and the target area is the Determined by the mobile platform based on the target area information;检测用户输入的目标控制操作,并根据检测到的目标控制操作确定出所述可移动平台的控制信息;Detecting the target control operation input by the user, and determining the control information of the movable platform according to the detected target control operation;将所述控制信息发送给所述可移动平台,其中,所述控制信息用于控制所述可移动平台在所述目标区域内执行所述目标训练任务。The control information is sent to the movable platform, wherein the control information is used to control the movable platform to perform the target training task in the target area.
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:The method of claim 1, wherein the method further comprises:向所述可移动平台发送移动限制信息,其中,所述移动限制信息用于限制所述可移动平台在所述目标区域内移动。Sending movement restriction information to the movable platform, wherein the movement restriction information is used to restrict the movable platform from moving within the target area.
- 根据权利要求2所述的方法,其特征在于,所述移动限制信息包括所述目标区域信息。The method according to claim 2, wherein the movement restriction information includes the target area information.
- 根据权利要求1至3中任一项所述的方法,其特征在于,所述目标区域信息包括所述目标区域的几何中心点的位置信息。The method according to any one of claims 1 to 3, wherein the target area information includes position information of a geometric center point of the target area.
- 根据权利要求4所述的方法,其特征在于,所述几何中心点包括所述可移动平台的初始位置点、所述可移动平台的当前位置点和所述控制终端的位置点中的至少一种。The method according to claim 4, wherein the geometric center point includes at least one of an initial position point of the movable platform, a current position point of the movable platform, and a position point of the control terminal Kind.
- 根据权利要求1至5中任一项所述的方法,其特征在于,所述目标区域为圆形区域,所述目标区域信息包括所述圆形区域的半径值或者直径值。The method according to any one of claims 1 to 5, wherein the target area is a circular area, and the target area information includes a radius value or a diameter value of the circular area.
- 根据权利要求1至6中任一项所述的方法,其特征在于,所述目标训练 任务包括移动至目标位置点的任务、拍照任务、录像任务、调整所述可移动平台的拍摄姿态和翻转任务中的至少一种。The method according to any one of claims 1 to 6, wherein the target training task includes a task of moving to a target location, a task of taking pictures, a task of recording, adjusting the shooting posture of the movable platform and turning At least one of the tasks.
- 根据权利要求1至7中任一项所述的方法,其特征在于,所述方法还包括:The method according to any one of claims 1 to 7, wherein the method further comprises:显示所述目标区域所对应的区域图标;Displaying the area icon corresponding to the target area;根据所述可移动平台的当前位置点和所述目标区域信息,在所述区域图标中显示用于指示所述可移动平台的当前位置点的图标。According to the current position point of the movable platform and the target area information, an icon for indicating the current position point of the movable platform is displayed in the area icon.
- 根据权利要求8所述的方法,其特征在于,所述可移动平台的位置点是根据所述可移动平台配置的视觉惯性里程计确定出的。The method according to claim 8, wherein the position of the movable platform is determined according to a visual inertial odometer configured on the movable platform.
- 根据权利要求1至9中任一项所述的方法,其特征在于,所述输出目标训练任务提示信息之后,所述方法还包括:The method according to any one of claims 1 to 9, characterized in that, after the output of the target training task prompt information, the method further comprises:输出控制操作提示信息,其中,所述控制操作提示信息用于向用户指示控制所述可移动平台执行所述目标训练任务的输入控制操作。Output control operation prompt information, wherein the control operation prompt information is used to indicate to the user an input control operation for controlling the movable platform to perform the target training task.
- 根据权利要求1至10中任一项所述的方法,其特征在于,所述目标训练任务包括移动至目标位置点的任务,所述检测用户输入的目标控制操作之前,所述方法还包括:The method according to any one of claims 1 to 10, wherein the target training task includes a task of moving to a target location point, and before the detecting the target control operation input by the user, the method further comprises:显示所述目标区域所对应的区域图标;Displaying the area icon corresponding to the target area;在所述区域图标中显示所述目标位置点的第一位置点图标;Displaying the first location point icon of the target location point in the area icon;根据所述可移动平台的当前位置点和所述目标区域信息,在所述区域图标中显示用于指示所述可移动平台的当前位置点的第二位置点图标;According to the current location point of the movable platform and the target area information, displaying a second location point icon for indicating the current location point of the movable platform in the area icon;所述检测用户输入的目标控制操作,包括:The detection of the target control operation input by the user includes:检测用户输入的移动控制操作,其中,所述移动控制操作所对应的控制信息用于控制所述可移动平台在所述目标区域内从所述当前位置点移动至所述目标位置点。The movement control operation input by the user is detected, wherein the control information corresponding to the movement control operation is used to control the movable platform to move from the current position point to the target position point in the target area.
- 根据权利要求11所述的方法,其特征在于,所述方法还包括:The method of claim 11, wherein the method further comprises:在所述区域图标中显示从所述第二位置点图标到所述第一位置点图标的轨迹,其中,所述轨迹用于指示所述可移动平台从所述当前位置点移动至所述目标位置点的目标路径。A trajectory from the second location point icon to the first location point icon is displayed in the area icon, wherein the trajectory is used to instruct the movable platform to move from the current location point to the target The target path of the location point.
- 根据权利要求11或12所述的方法,其特征在于,所述方法还包括:The method according to claim 11 or 12, wherein the method further comprises:输出移动控制操作提示信息,其中,所述移动控制操作提示信息用于向用户指示控制所述可移动平台从所述当前位置点移动至所述目标位置点的输入移动控制操作。Output movement control operation prompt information, where the movement control operation prompt information is used to indicate to the user an input movement control operation for controlling the movable platform to move from the current position point to the target position point.
- 根据权利要求11至13中任一项所述的方法,其特征在于,所述目标训练任务还包括拍照任务或者录像任务,所述方法还包括:The method according to any one of claims 11 to 13, wherein the target training task further comprises a photographing task or a video recording task, and the method further comprises:当确定所述可移动平台移动至所述目标位置点时,检测用户输入的拍摄控制操作;其中,所述拍摄控制操作所对应的控制信息用于控制所述可移动平台在所述目标位置点执行拍照任务或者录像任务。When it is determined that the movable platform moves to the target position point, the user inputted shooting control operation is detected; wherein, the control information corresponding to the shooting control operation is used to control the movable platform at the target position point Perform photo task or video task.
- 根据权利要求14所述的方法,其特征在于,当所述拍摄控制操作所对应的控制信息用于控制所述可移动平台在所述目标位置点执行录像任务时,所述拍摄控制操作所对应的控制信息还用于控制所述可移动平台在执行录像任务的过程中调整所述可移动平台的拍摄姿态。The method according to claim 14, wherein when the control information corresponding to the shooting control operation is used to control the movable platform to perform a video recording task at the target location point, the shooting control operation corresponds to The control information is also used to control the movable platform to adjust the shooting posture of the movable platform during the process of performing the video recording task.
- 根据权利要求1至10中任一项所述的方法,其特征在于,所述目标训练任务包括翻转任务,所述检测用户输入的目标控制操作,包括:The method according to any one of claims 1 to 10, wherein the target training task includes a flip task, and the detecting a target control operation input by a user includes:检测用户输入的翻转控制操作,其中,所述翻转控制操作所对应的控制信息用于控制所述可移动平台在所述目标区域内执行翻转任务。Detecting a turning control operation input by a user, wherein the control information corresponding to the turning control operation is used to control the movable platform to perform a turning task in the target area.
- 根据权利要求16所述的方法,其特征在于,所述方法还包括:The method of claim 16, wherein the method further comprises:输出翻转控制操作提示信息,其中,所述翻转控制操作提示信息用于向用户指示控制所述可移动平台执行沿预设方向的翻转任务的输入翻转控制操作。Outputting the flip control operation prompt information, wherein the flip control operation prompt information is used to instruct the user to control the movable platform to perform the flip task input in the preset direction.
- 根据权利要求1至17中任一项所述的方法,其特征在于,所述输出目标训练任务提示信息之前,所述方法还包括:The method according to any one of claims 1 to 17, wherein before the output of the target training task prompt information, the method further comprises:输出所述目标训练任务的介绍信息,其中,所述介绍信息包括所述目标训练任务的类型、难度指数、预计训练时长、和所述目标训练任务所对应的输入控制操作中的至少一种。Outputting introduction information of the target training task, wherein the introduction information includes at least one of the type of the target training task, the difficulty index, the estimated training duration, and the input control operation corresponding to the target training task.
- 根据权利要求1至18中任一项所述的方法,其特征在于,所述将所述控制信息发送给所述可移动平台之后,所述方法还包括:The method according to any one of claims 1 to 18, wherein after the sending the control information to the movable platform, the method further comprises:检测所述可移动平台是否执行完当前的目标训练任务;Detecting whether the movable platform has completed the current target training task;若是,则在交互界面上输出下一项目标训练任务的提示信息,或者在所述交互界面上输出所述可移动平台执行完所述当前的目标训练任务的提示信息,或者在所述交互界面上显示所述下一项目标训练任务的介绍信息。If yes, output prompt information for the next target training task on the interactive interface, or output prompt information on the interactive interface that the mobile platform has completed the current target training task, or output on the interactive interface The above shows the introduction information of the next target training task.
- 根据权利要求1至19中任一项所述的方法,其特征在于,所述可移动平台为无人机或移动机器人。The method according to any one of claims 1 to 19, wherein the movable platform is a drone or a mobile robot.
- 一种控制终端,其特征在于,包括:存储器、通信接口和处理器,A control terminal, which is characterized by comprising: a memory, a communication interface and a processor,所述存储器,用于存储程序指令;The memory is used to store program instructions;所述通信接口受所述处理器的控制用于收发信息;The communication interface is controlled by the processor for sending and receiving information;所述处理器,用于执行所述存储器存储的程序指令,当所述程序指令被执行时,所述处理器用于:The processor is configured to execute program instructions stored in the memory, and when the program instructions are executed, the processor is configured to:输出目标训练任务提示信息,其中,所述目标训练任务提示信息用于指示用户控制可移动平台执行目标训练任务,所述可移动平台被限制在目标区域内移动,所述目标区域是所述可移动平台根据目标区域信息确定出的;Output target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the movable platform is restricted to move within the target area, and the target area is the Determined by the mobile platform based on the target area information;检测用户输入的目标控制操作,并根据检测到的目标控制操作确定出所述可移动平台的控制信息;Detecting the target control operation input by the user, and determining the control information of the movable platform according to the detected target control operation;通过所述通信接口将所述控制信息发送给所述可移动平台,其中,所述控制信息用于控制所述可移动平台在所述目标区域内执行所述目标训练任务。The control information is sent to the movable platform through the communication interface, where the control information is used to control the movable platform to perform the target training task in the target area.
- 根据权利要求21所述的控制终端,其特征在于,所述处理器还用于:The control terminal according to claim 21, wherein the processor is further configured to:通过所述通信接口向所述可移动平台发送移动限制信息,其中,所述移动限制信息用于限制所述可移动平台在所述目标区域内移动。Sending movement restriction information to the movable platform through the communication interface, where the movement restriction information is used to restrict the movable platform from moving within the target area.
- 根据权利要求22所述的控制终端,其特征在于,所述移动限制信息包括所述目标区域信息。The control terminal according to claim 22, wherein the movement restriction information includes the target area information.
- 根据权利要求21至23中任一项所述的控制终端,其特征在于,所述目标区域信息包括所述目标区域的几何中心点的位置信息。The control terminal according to any one of claims 21 to 23, wherein the target area information includes position information of a geometric center point of the target area.
- 根据权利要求24所述的控制终端,其特征在于,所述几何中心点包括所述可移动平台的初始位置点、所述可移动平台的当前位置点和所述控制终端的位置点中的至少一种。The control terminal according to claim 24, wherein the geometric center point comprises at least one of the initial position point of the movable platform, the current position point of the movable platform, and the position point of the control terminal One kind.
- 根据权利要求21至25中任一项所述的控制终端,其特征在于,所述目标区域为圆形区域,所述目标区域信息包括所述圆形区域的半径值或者直径值。The control terminal according to any one of claims 21 to 25, wherein the target area is a circular area, and the target area information includes a radius value or a diameter value of the circular area.
- 根据权利要求21至26中任一项所述的控制终端,其特征在于,所述目标训练任务包括移动至目标位置点的任务、拍照任务、录像任务、调整所述可移动平台的拍摄姿态和翻转任务中的至少一种。The control terminal according to any one of claims 21 to 26, wherein the target training task includes a task of moving to a target location point, a photographing task, a video recording task, adjusting the shooting posture of the movable platform, and At least one of the flipped tasks.
- 根据权利要求21至27中任一项所述的控制终端,其特征在于,所述处理器还用于:The control terminal according to any one of claims 21 to 27, wherein the processor is further configured to:显示所述目标区域所对应的区域图标;Displaying the area icon corresponding to the target area;根据所述可移动平台的当前位置点和所述目标区域信息,在所述区域图标中显示用于指示所述可移动平台的当前位置点的图标。According to the current position point of the movable platform and the target area information, an icon for indicating the current position point of the movable platform is displayed in the area icon.
- 根据权利要求28所述的控制终端,其特征在于,所述可移动平台的位置点是根据所述可移动平台配置的视觉惯性里程计确定出的。The control terminal according to claim 28, wherein the position of the movable platform is determined according to a visual inertial odometer configured on the movable platform.
- 根据权利要求21至29中任一项所述的控制终端,其特征在于,所述处理器输出目标训练任务提示信息之后,所述处理器还用于:The control terminal according to any one of claims 21 to 29, wherein after the processor outputs the target training task prompt information, the processor is further configured to:输出控制操作提示信息,其中,所述控制操作提示信息用于向用户指示控制所述可移动平台执行所述目标训练任务的输入控制操作。Output control operation prompt information, wherein the control operation prompt information is used to indicate to the user an input control operation for controlling the movable platform to perform the target training task.
- 根据权利要求21至30中任一项所述的控制终端,其特征在于,所述目标训练任务包括移动至目标位置点的任务,所述处理器检测用户输入的目标控制操作之前,所述处理器还用于:The control terminal according to any one of claims 21 to 30, wherein the target training task includes a task of moving to a target location point, and before the processor detects the target control operation input by the user, the processing The device is also used for:显示所述目标区域所对应的区域图标;Displaying the area icon corresponding to the target area;在所述区域图标中显示所述目标位置点的第一位置点图标;Displaying the first location point icon of the target location point in the area icon;根据所述可移动平台的当前位置点和所述目标区域信息,在所述区域图标中显示用于指示所述可移动平台的当前位置点的第二位置点图标;According to the current location point of the movable platform and the target area information, displaying a second location point icon for indicating the current location point of the movable platform in the area icon;所述处理器检测用户输入的目标控制操作时,具体用于:When the processor detects the target control operation input by the user, it is specifically used for:检测用户输入的移动控制操作,其中,所述移动控制操作所对应的控制信息用于控制所述可移动平台在所述目标区域内从所述当前位置点移动至所述目标位置点。The movement control operation input by the user is detected, wherein the control information corresponding to the movement control operation is used to control the movable platform to move from the current position point to the target position point in the target area.
- 根据权利要求31所述的控制终端,其特征在于,所述处理器还用于:The control terminal according to claim 31, wherein the processor is further configured to:在所述区域图标中显示从所述第二位置点图标到所述第一位置点图标的轨迹,其中,所述轨迹用于指示所述可移动平台从所述当前位置点移动至所述目标位置点的目标路径。A trajectory from the second location point icon to the first location point icon is displayed in the area icon, wherein the trajectory is used to instruct the movable platform to move from the current location point to the target The target path of the location point.
- 根据权利要求31或32所述的控制终端,其特征在于,所述处理器还用于:输出移动控制操作提示信息,其中,所述移动控制操作提示信息用于向用户指示控制所述可移动平台从所述当前位置点移动至所述目标位置点的输入移动控制操作。The control terminal according to claim 31 or 32, wherein the processor is further configured to: output movement control operation prompt information, wherein the movement control operation prompt information is used to instruct a user to control the movable An input movement control operation for the platform to move from the current position point to the target position point.
- 根据权利要求31至33中任一项所述的控制终端,其特征在于,所述目标训练任务还包括拍照任务或者录像任务,所述处理器还用于:The control terminal according to any one of claims 31 to 33, wherein the target training task further includes a photographing task or a video recording task, and the processor is further configured to:当确定所述可移动平台移动至所述目标位置点时,检测用户输入的拍摄控制操作;其中,所述拍摄控制操作所对应的控制信息用于控制所述可移动平台在所述目标位置点执行拍照任务或者录像任务。When it is determined that the movable platform moves to the target position point, the user inputted shooting control operation is detected; wherein, the control information corresponding to the shooting control operation is used to control the movable platform at the target position point Perform photo task or video task.
- 根据权利要求34所述的控制终端,其特征在于,当所述拍摄控制操作所对应的控制信息用于控制所述可移动平台在所述目标位置点执行录像任务时,所述拍摄控制操作所对应的控制信息还用于控制所述可移动平台在执行录像任务的过程中调整所述可移动平台的拍摄姿态。The control terminal according to claim 34, wherein when the control information corresponding to the shooting control operation is used to control the movable platform to perform a video recording task at the target location, the shooting control operation The corresponding control information is also used to control the movable platform to adjust the shooting posture of the movable platform in the process of performing the video recording task.
- 根据权利要求21至30中任一项所述的控制终端,其特征在于,所述目标训练任务包括翻转任务,所述处理器检测用户输入的目标控制操作时,具体用于:The control terminal according to any one of claims 21 to 30, wherein the target training task includes a flip task, and when the processor detects the target control operation input by the user, it is specifically configured to:检测用户输入的翻转控制操作,其中,所述翻转控制操作所对应的控制信息用于控制所述可移动平台在所述目标区域内执行翻转任务。Detecting a turning control operation input by a user, wherein the control information corresponding to the turning control operation is used to control the movable platform to perform a turning task in the target area.
- 根据权利要求36所述的控制终端,其特征在于,所述处理器还用于:The control terminal according to claim 36, wherein the processor is further configured to:输出翻转控制操作提示信息,其中,所述翻转控制操作提示信息用于向用户指示控制所述可移动平台执行沿预设方向的翻转任务的输入翻转控制操作。Outputting the flip control operation prompt information, wherein the flip control operation prompt information is used to instruct the user to control the movable platform to perform the flip task input in the preset direction.
- 根据权利要求21至37中任一项所述的控制终端,其特征在于,所述处理器输出目标训练任务提示信息之前,所述处理器还用于:The control terminal according to any one of claims 21 to 37, wherein before the processor outputs the target training task prompt information, the processor is further configured to:输出所述目标训练任务的介绍信息,其中,所述介绍信息包括所述目标训练任务的类型、难度指数、预计训练时长、和所述目标训练任务所对应的输入控制操作中的至少一种。Outputting introduction information of the target training task, wherein the introduction information includes at least one of the type of the target training task, the difficulty index, the estimated training duration, and the input control operation corresponding to the target training task.
- 根据权利要求21至38中任一项所述的控制终端,其特征在于,所述处 理器通过所述通信接口将所述控制信息发送给所述可移动平台之后,所述处理器还用于:The control terminal according to any one of claims 21 to 38, wherein after the processor sends the control information to the movable platform through the communication interface, the processor is further configured to :检测所述可移动平台是否执行完当前的目标训练任务;Detecting whether the movable platform has completed the current target training task;若是,则在交互界面上输出下一项目标训练任务的提示信息,或者在所述交互界面上输出所述可移动平台执行完所述当前的目标训练任务的提示信息,或者在所述交互界面上输出所述下一项目标训练任务的介绍信息。If yes, output prompt information for the next target training task on the interactive interface, or output prompt information on the interactive interface that the mobile platform has completed the current target training task, or output on the interactive interface The introductory information of the next target training task described above is output.
- 根据权利要求21至39中任一项所述的控制终端,其特征在于,所述可移动平台为无人机或移动机器人。The control terminal according to any one of claims 21 to 39, wherein the movable platform is a drone or a mobile robot.
- 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计算机程序,其特征在于:所述计算机程序被处理器执行时实现如权利要求1至20中任一项所述方法的步骤。A computer-readable storage medium having a computer program stored in the computer-readable storage medium, wherein the computer program implements the steps of the method according to any one of claims 1 to 20 when the computer program is executed by a processor .
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EP3232287A1 (en) * | 2016-04-15 | 2017-10-18 | ZEROTECH (Shenzhen) Intelligence Robot Co., Ltd. | Method for controlling a uav using a remote control terminal |
WO2018094670A1 (en) * | 2016-11-24 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Control method for agricultural unmanned aerial vehicle, and ground control end and storage medium |
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CN104111861A (en) * | 2014-07-07 | 2014-10-22 | 中国人民解放军军械工程学院 | Unmanned aerial vehicle simulation training system and control method thereof |
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CN109154828A (en) * | 2017-11-29 | 2019-01-04 | 深圳市大疆创新科技有限公司 | The control method and controlling terminal of unmanned plane |
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