WO2023283922A1

WO2023283922A1 - Method and apparatus for controlling movable object to track target

Info

Publication number: WO2023283922A1
Application number: PCT/CN2021/106709
Authority: WO
Inventors: 茹智孚
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2023-01-19
Also published as: CN117616357A

Abstract

A method and apparatus (16) for controlling a movable object (100), an unmanned aerial vehicle (100), unmanned aerial vehicle kit, and a computer-readable storage medium. The method for controlling a movable object (100) comprises: obtaining a restricted area (200) configured by a user in a space (S102); and controlling a movable object (100) to track a target (400) under the restrictions of the restricted area (200) (S104). The method and apparatus (16) for controlling a movable object (100) to track a target (400) can ensure the safety of the movable object (100) when the movable object (100) is tracking the target (400).

Description

控制可移动物体跟踪目标物的方法和装置Method and device for controlling a movable object to track a target

技术领域technical field

本申请公开的实施例总体上涉及可移动物体，具体涉及一种控制可移动物体跟踪目标物的方法、装置、无人飞行器、无人飞行器套件和计算机可读存储介质。The embodiments disclosed in the present application generally relate to movable objects, and specifically relate to a method and device for controlling a movable object to track a target, an unmanned aerial vehicle, an unmanned aerial vehicle kit, and a computer-readable storage medium.

背景技术Background technique

越来越多的可移动物体，例如无人机、无人车、无人船等，已经具备了自主活动的功能，自主活动是指可移动物体根据周围环境自主活动，以在用户不进行主动控制的情况下完成自主跟随、自主环绕等任务。这样的可移动物体通常配置有自主避障功能，以保证自主活动过程中的安全，然而在一些较为复杂的环境中，可移动物体的自主活动仍然存在较高的碰撞风险。More and more movable objects, such as drones, unmanned vehicles, unmanned ships, etc., already have the function of autonomous activities. Autonomous activities refer to the autonomous activities of movable objects according to the surrounding environment, so that users do not actively Under control, complete tasks such as autonomous follow and autonomous surround. Such movable objects are usually equipped with autonomous obstacle avoidance functions to ensure safety during autonomous activities. However, in some more complex environments, autonomous activities of movable objects still have a high risk of collision.

发明内容Contents of the invention

本申请实施例提出一种控制可移动物体跟踪目标物的方法、装置，无人飞行器、无人飞行器套件和计算机可读存储介质。Embodiments of the present application provide a method and device for controlling a movable object to track a target, an unmanned aerial vehicle, an unmanned aerial vehicle kit, and a computer-readable storage medium.

第一个方面，本申请的实施例提供了一种控制可移动物体跟踪目标物的方法，包括：获取空间中用户设置的限制区域；获取可移动物体与所述限制区域的边界的距离；根据所述距离确定所述可移动物体远离所述限制区域的边界时，控制所述可移动物体使用第一跟踪策略跟踪所述目标物；根据所述距离确定所述可移动物体靠近所述限制区域的边界时，控制所述可移动物体使用第二跟踪策略跟踪所述目标物，以避免所述可移动物体跨越所述边界。In the first aspect, the embodiment of the present application provides a method for controlling a movable object to track a target, including: obtaining a restricted area set by a user in space; obtaining the distance between the movable object and the boundary of the restricted area; according to When the distance determines that the movable object is far away from the boundary of the restricted area, controlling the movable object to track the target using a first tracking strategy; determining that the movable object is close to the restricted area according to the distance When the boundary of , the movable object is controlled to use the second tracking strategy to track the target object, so as to prevent the movable object from crossing the boundary.

第二个方面，本申请的实施例提供了一种用于控制可移动物体跟踪目标物的装置，包括：一个或多个处理器，所述一个或多个处理器被配置成：获取空间中用户设置的限制区域；获取可移动物体与所述限制区域的边界的距离；根据所述距离确定所述可移动物体远离所述限制区域的边界时，控制所述可移动物体使用第一跟踪策略跟踪所述目标物；根据所述距离确定所述可移动物体靠近所述限制区域的边界时，控制所述可移动物体使用第二跟踪策略跟踪所述目标物，以避免所述可移动物体跨越所述边界。In the second aspect, the embodiment of the present application provides an apparatus for controlling a movable object to track a target, including: one or more processors, and the one or more processors are configured to: acquire A restricted area set by the user; obtaining the distance between the movable object and the boundary of the restricted area; and controlling the movable object to use the first tracking strategy when it is determined according to the distance that the movable object is far away from the boundary of the restricted area tracking the target object; when it is determined according to the distance that the movable object is close to the boundary of the restricted area, control the movable object to track the target object using a second tracking strategy, so as to prevent the movable object from crossing the border.

第三个方面，本申请的实施例提供了一种无人飞行器，其配置有如第七个方面所述的用于控制可移动物体的装置。In a third aspect, embodiments of the present application provide an unmanned aerial vehicle configured with the device for controlling a movable object as described in the seventh aspect.

第四个方面，本申请的实施例提供了一种无人飞行器套件，包括：无人飞行器和遥控装置，所述遥控装置能够与所述无人飞行器通信连接并控制所述无人飞行器，其中，所述无人飞行器和/或所述遥控装置配置有如第七个方面所述的用于控制可移动物体的装置。In a fourth aspect, an embodiment of the present application provides an unmanned aerial vehicle kit, including: an unmanned aerial vehicle and a remote control device, the remote control device can communicate with the unmanned aerial vehicle and control the unmanned aerial vehicle, wherein , the unmanned aerial vehicle and/or the remote control device are configured with the device for controlling a movable object as described in the seventh aspect.

第五个方面，本申请的实施例提供了一种计算机可读存储介质，其上存储有计算机指令，所述计算机指令在被计算机执行时，实现第一个方面所述的方法。In a fifth aspect, embodiments of the present application provide a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed by a computer, the method described in the first aspect is implemented.

本申请提供的控制可移动物体跟踪目标物的方法、装置，无人飞行器、无人飞行器套件和计算机可读存储介质能够保证可移动物体在自主活动过程中的安全。The method and device for controlling a movable object to track a target, the unmanned aerial vehicle, the unmanned aerial vehicle kit and the computer-readable storage medium provided by the present application can ensure the safety of the movable object during autonomous activities.

附图说明Description of drawings

图1为根据本申请实施例的控制可移动物体的方法示意图；FIG. 1 is a schematic diagram of a method for controlling a movable object according to an embodiment of the present application;

图2为根据本申请实施例的限制区域的示意图；FIG. 2 is a schematic diagram of a restricted area according to an embodiment of the present application;

图3为根据本申请又一实施例的限制区域的示意图；Fig. 3 is a schematic diagram of a restricted area according to another embodiment of the present application;

图4为根据本申请再一实施例的限制区域的示意图；Fig. 4 is a schematic diagram of a restricted area according to yet another embodiment of the present application;

图5为根据本申请实施例的获取空间中用户设置的限制区域的示意图；FIG. 5 is a schematic diagram of acquiring a restricted area set by a user in a space according to an embodiment of the present application;

图6为根据本申请实施例的遥控装置的示意图；FIG. 6 is a schematic diagram of a remote control device according to an embodiment of the present application;

图7为根据本申请实施例的边界点和边界线示意图；FIG. 7 is a schematic diagram of boundary points and boundary lines according to an embodiment of the present application;

图8为根据本申请又一实施例的边界点和边界线示意图；Fig. 8 is a schematic diagram of boundary points and boundary lines according to another embodiment of the present application;

图9为根据本申请实施例的控制可移动物体自主跟随目标物运动的方法示意图；FIG. 9 is a schematic diagram of a method for controlling a movable object to autonomously follow a target object according to an embodiment of the present application;

图10为根据本申请实施例的可移动物体自主跟随目标物运动的示意图；FIG. 10 is a schematic diagram of a movable object autonomously following a target object according to an embodiment of the present application;

图11为根据本申请实施例的第二方向控制指令指向的方向示意图；FIG. 11 is a schematic diagram of a direction pointed by a second direction control command according to an embodiment of the present application;

图12为根据本申请实施例的过渡曲线示意图；FIG. 12 is a schematic diagram of a transition curve according to an embodiment of the present application;

图13为根据本申请实施例的用于控制可移动物体的装置的示意图；FIG. 13 is a schematic diagram of an apparatus for controlling a movable object according to an embodiment of the present application;

图14为根据本申请实施例的控制可移动物体跟踪目标物的方法的示意图；FIG. 14 is a schematic diagram of a method for controlling a movable object to track a target according to an embodiment of the present application;

图15为根据本申请实施例的确定可移动物体与限制区域的边界的距离的示意图；Fig. 15 is a schematic diagram of determining the distance between a movable object and the boundary of a restricted area according to an embodiment of the present application;

图16为根据本申请实施例的用于控制可移动物体跟踪目标物的装置的示意图。Fig. 16 is a schematic diagram of an apparatus for controlling a movable object to track a target according to an embodiment of the present application.

具体实施方式detailed description

为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请实施例的附图，对本申请的技术方案进行清楚、完整地描述。显然，所描述的实施例是本申请的一个实施例，而不是全部的实施例。基于所描述的本申请的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Apparently, the described embodiment is one embodiment of the present application, but not all of the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

需要说明的是，除非另外定义，本申请使用的技术术语或者科学术语应当为本申请所属领域内具有一般技能的人士所理解的通常意义。若全文中涉及“第一”、“第二”等描述，则该“第一”、“第二”等描述仅用于区别类似的对象，而不能理解为指示或暗示其相对重要性、先后次序或者隐含指明所指示的技术特征的数量，应该理解为“第一”、“第二”等描述的数据在适当情况下可以互换。若全文中出现“和/或”，其含义为包括三个并列方案，以“A和/或B”为例，包括A方案，或B方案，或A和B同时满足的方案。It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the application shall have the usual meanings understood by those skilled in the art to which the application belongs. If the descriptions such as "first" and "second" are involved in the whole text, the descriptions such as "first" and "second" are only used to distinguish similar objects, and cannot be understood as indicating or implying their relative importance, sequence, etc. The order or the number of technical features indicated by implicit indication should be understood as "first", "second" and other described data can be interchanged under appropriate circumstances. If "and/or" appears throughout the text, it means to include three parallel plans, taking "A and/or B" as an example, including plan A, or plan B, or a plan that satisfies both A and B.

本申请公开的控制可移动物体的方法、装置能够减少可移动物体在自主活动过程中发生碰撞的风险。本文所描述的可移动物体可以是无人飞行器(UAV)、无人车、无人船等，虽然本文许多实施方式是参照无人飞行器描述的，但应理解的是，参考是非限制性的，并且这些实施方式同样适用于任何可移动物体。The method and device for controlling a movable object disclosed in the present application can reduce the risk of collision of the movable object during autonomous activities. The movable objects described herein may be unmanned aerial vehicles (UAVs), unmanned vehicles, unmanned ships, etc. Although many embodiments herein are described with reference to unmanned aerial vehicles, it should be understood that the reference is not limiting, And these embodiments are equally applicable to any movable object.

可移动物体配置有自主活动的功能，自主活动可以泛指可移动物体完全或至少部分地在控制***(例如一个或多个处理器)的智能控制下进行运动的场景，例如，自主活动可以包括跟踪目标物进行移动，又例如，自主活动可以包括智能环绕、自主巡航、自主探测等。The movable object is equipped with the function of autonomous activities, and the autonomous activities may generally refer to the scene where the movable object moves completely or at least partially under the intelligent control of the control system (such as one or more processors). For example, the autonomous activities may include Track the target to move, and for example, autonomous activities can include intelligent surround, autonomous cruise, autonomous detection, etc.

除了自主活动模式外，可移动物体还可以配置有遥控模式，在遥控模式下可移动物体可以接收并按照用户发送的指令来进行活动。例如，可移动物体可以经由与可移动物体通信连接的遥控装置来接收用户发送的指令。In addition to the autonomous activity mode, the movable object can also be configured with a remote control mode. In the remote control mode, the movable object can receive and perform activities according to instructions sent by the user. For example, the movable object may receive instructions sent by the user via a remote control device communicatively connected with the movable object.

在一些实施方式中，无人飞行器或其他可移动物体可以配置成搭载一个或多个传感器，所述一个或多个传感器可以被配置成用于收集相关数据，如与可移动物体的状态、周围环境或者环境中的物体和障碍物相关的信息。这些信息可以用于生成控制信号，以引导可移动物体进行自主活动。适于与本文所申请的这些实施方式一起使用的示例性传感器包括：位置传感器(例如，全球定位***(GPS)传感器、能够实现位置三角测量的移动装置发射器)、视觉传感器(例如，能够检测可见光、红外光或紫外光的成像装置，如相机)、接近或范围传感器(例如，超声波传感器、激光雷达、飞行时间或深度相机)、惯性传感器(例如，加速度计、陀螺仪、惯性测量单元(IMU))、高度传感器、姿态传感器(例如，罗盘)、压力传感器(例如，气压计)、音频传感器(例如，麦克风)或场传感器(例如，磁力计、电磁传感器)。In some embodiments, an unmanned aerial vehicle or other movable object can be configured to carry one or more sensors that can be configured to collect relevant data, such as related to the state of the movable object, surrounding Information about the environment or objects and obstacles in the environment. This information can be used to generate control signals to guide movable objects to perform autonomous activities. Exemplary sensors suitable for use with the embodiments claimed herein include: location sensors (e.g., global positioning system (GPS) sensors, mobile device transmitters capable of location triangulation), vision sensors (e.g., capable of detecting Visible, infrared, or ultraviolet imaging devices such as cameras), proximity or range sensors (e.g., ultrasonic sensors, lidar, time-of-flight, or depth cameras), inertial sensors (e.g., accelerometers, gyroscopes, inertial measurement units ( IMU)), altitude sensor, attitude sensor (eg, compass), pressure sensor (eg, barometer), audio sensor (eg, microphone), or field sensor (eg, magnetometer, electromagnetic sensor).

可移动物体在某些环境下进行自主活动时可能具有较高的碰撞风险，例如，可移动物体可能被用于在体育场馆中进行跟踪拍摄，又例如，可移动物体可能被用于在山区进行巡航检查，这些环境中可能存在较多的固定障碍物，即使可移动物体配置有自主避障***，仍有较高的碰撞风险，为此，本申请的实施例首先提供了一种控制可移动物体的方法，参照图1，根据本申请实施例的控制可移动物体的方法包括：Movable objects may have a higher risk of collision when performing autonomous activities in certain environments, for example, a movable object may be used for tracking shots in a sports stadium, or for example, a movable object may be used for Cruise inspection, there may be many fixed obstacles in these environments. Even if the movable object is equipped with an autonomous obstacle avoidance system, there is still a high risk of collision. Therefore, the embodiment of this application first provides a control movable object The method for an object, referring to FIG. 1, the method for controlling a movable object according to an embodiment of the present application includes:

步骤S102：获取空间中用户设置的限制区域；Step S102: Obtain the restricted area set by the user in the space;

步骤S104：控制所述可移动物体在所述限制区域的限制下自主活动。Step S104: controlling the movable object to move autonomously under the restriction of the restriction area.

限制区域200可以被用于限制可移动物体100在自主活动时的活动范围，使得可移动物体100在进行自主活动时能够始终处于安全的区域，避开障碍物较多的危险区域，例如，当可移动物体在体育场馆中进行自主活动时，通过设置限制区域200，期望可移动物体100能够避开体育场馆中的墙壁和观众区。又例如，当可移动物体100在山区中进行自主活动时，通过设置限制区域200，期望可移动物体100能够远离树林、河流、悬崖等危险区域。The restricted area 200 can be used to limit the range of motion of the movable object 100 during voluntary activities, so that the movable object 100 can always be in a safe area when performing voluntary activities, avoiding dangerous areas with many obstacles, for example, when When the movable object performs autonomous activities in the stadium, by setting the restricted area 200, it is expected that the movable object 100 can avoid walls and audience areas in the stadium. For another example, when the movable object 100 performs autonomous activities in a mountainous area, it is expected that the movable object 100 can stay away from dangerous areas such as forests, rivers, and cliffs by setting the restricted area 200 .

限制区域200可以仅在水平范围内对可移动物体100的自主活动进行限制，以经纬度坐标系为例，当可移动物体的当前位置的经纬度坐标没有受到限制区域200的限制时，可移动物体100可以在当前位置自由的进行垂直运动。在一些实施方式中，限制区域200可以同时在水平范围和垂直范围内对可移动物体100的自主活动进行限制。The restricted area 200 can only limit the autonomous activities of the movable object 100 within the horizontal range. Taking the latitude and longitude coordinate system as an example, when the latitude and longitude coordinates of the current position of the movable object are not restricted by the restricted area 200, the movable object 100 You can freely move vertically at the current position. In some implementations, the restricted area 200 can restrict the voluntary activities of the movable object 100 in both the horizontal range and the vertical range.

下面将对步骤S102中获取空间中用户设置的限制区域的方法进行详细的描述。The method for obtaining the restricted area set by the user in the space in step S102 will be described in detail below.

步骤S102可以在可移动物体100开始自主活动前进行，还可以是在可移动物体100自主活动的过程中进行，例如，可以在可移动物体100自主活动的过程中对当前所使用的限制区域200进行更新。Step S102 can be performed before the movable object 100 starts autonomous activities, and can also be performed during the autonomous activities of the movable object 100, for example, the currently used restricted area 200 can be to update.

控制可移动物体100在限制区域200的限制下自主活动能够减轻可移动物体100的避障压力，并减少了可移动物体100在自主活动时发生碰撞的风险，提高了可移动物体100自主活动的安全性。Controlling the movable object 100 to move autonomously under the restriction of the restricted area 200 can reduce the obstacle avoidance pressure of the movable object 100, and reduce the risk of collision of the movable object 100 during autonomous activities, and improve the mobility of the movable object 100 autonomously. safety.

在一些实施方式中，参照图2，限制区域200可以是允许可移动物体100活动的区域，在这样的实施方式中，控制可移动物体100在限制区域200的限制下自主活动可以是控制可移动物体100在限制区域200的范围内进行自主活动。In some embodiments, referring to FIG. 2 , the restricted area 200 may be an area where the movable object 100 is allowed to move. The object 100 performs voluntary activities within the confines of the restricted area 200 .

在一些实施方式中，参照图3，限制区域200可以是禁止可移动物体100活动的区域，在这样的实施方式中，控制可移动物体100在限制区域200的限制下自主活动可以是控制可移动物体100在限制区域200的范围外进行自主活动。In some implementations, referring to FIG. 3 , the restricted area 200 may be an area where the movable object 100 is prohibited from moving. The object 100 performs voluntary activities outside the confines of the restricted area 200 .

限制区域200被设置成允许还是禁止可移动物体100活动可以由本领域技术人员根据可移动物体100具体的工作环境进行选择，例如，当工作环境为体育场馆等范围较小的空间时，将体育场馆内部较为空旷的区域设置成允许可移动物体100活动的限制区域200是较为容易实现的，当工作环境为山区等范围较大的空间时，将其中的危险区域设置为禁止可移动物体100活动的限制区域200是较为容易实现的。 Restricted area 200 is set to allow or prohibit movable object 100 activities can be selected by those skilled in the art according to the specific working environment of movable object 100, for example, when the working environment is a small space such as a gymnasium, the gymnasium It is relatively easy to realize that the relatively open area inside is set as the restricted area 200 that allows the movable object 100 to move. The restricted area 200 is relatively easy to implement.

在一些实施方式中，参照图4，限制区域200可以包括第一限制区域201和第二限制区域202，第一限制区域201可以是禁止可移动物体100活动的区域，第二限制区域202可以是允许可移动物体100活动的区域，第一限制区域201可以设置在第二限制区域202内部。在这样的实施方式中，可以控制可移动物体100在第二限制区域202内、第一限制区域201外进行活动。这样的实施方式能够适用于更加复杂的工作环境，例如，可移动物体100需要在体育场馆内自主活动以进行活动现场的拍摄，体育场馆内部的边缘区域可能为观众区，中央区域可能为舞台区，第二限制区域202可以是体育场馆中观众区内侧的区域，第一限制区域201可以是体育场馆中的舞台区，从而可移动物体100能够在观众区和舞台区之间的安全区域进行活动。在一些实施方式中，第二限制区域202的内部可以设置多个第一限制区域201，以进一步保证可移动物体100能够活动在安全的区域。In some implementations, referring to FIG. 4 , the restricted area 200 may include a first restricted area 201 and a second restricted area 202, the first restricted area 201 may be an area where the movable object 100 is prohibited from moving, and the second restricted area 202 may be In the area where the movable object 100 is allowed to move, the first restricted area 201 can be set inside the second restricted area 202 . In such an embodiment, the movable object 100 can be controlled to move within the second restricted area 202 and outside the first restricted area 201 . Such an embodiment can be applied to a more complex working environment. For example, the movable object 100 needs to move autonomously in the sports venue to shoot the scene of the event. The edge area inside the stadium may be the audience area, and the central area may be the stage area. , the second restricted area 202 can be the area inside the audience area in the stadium, and the first restricted area 201 can be the stage area in the stadium, so that the movable object 100 can move in a safe area between the audience area and the stage area . In some implementations, multiple first restricted areas 201 may be set inside the second restricted area 202 to further ensure that the movable object 100 can move in a safe area.

在一些实施方式中，参照图5-7，步骤S102中获取空间中用户设置的限制区域可以进一步包括：In some implementations, referring to FIGS. 5-7 , obtaining the restricted area set by the user in the space in step S102 may further include:

步骤S1022：获取空间中的多个边界点的位置信息；Step S1022: Acquiring position information of multiple boundary points in space;

步骤S1024：根据多个边界点的位置信息确定限制区域在水平方向的范围。Step S1024: Determine the range of the restricted area in the horizontal direction according to the location information of the plurality of boundary points.

图7和图8中给出了示例性的边界点203的分布图，边界点203用于组成限制区域200的边界，为了保证限制区域200能够将可移动物体100的自主活动限制在安全区域内，可以根据区域中主要障碍的位置来选择合适的边界点203，而后获取边界点203的位置信息。Fig. 7 and Fig. 8 show the distribution diagrams of exemplary boundary points 203, the boundary points 203 are used to form the boundary of the restricted area 200, in order to ensure that the restricted area 200 can limit the autonomous activities of the movable object 100 in the safe area , an appropriate boundary point 203 can be selected according to the position of the main obstacle in the area, and then the position information of the boundary point 203 can be obtained.

在一些实施方式中，在步骤S1022中，可以控制可移动物体100移动到多个边界点203，并接收可移动物体100的传感器获取的多个边界点203的位置信息。例如，可移动物体100上可以配置有GPS等位置传感器，当控制可移动物体100移动到期望的边界点203时，由该位置传感器获取当前的位置信息来作为边界点203的位置信息。这样的设置方式较为简单，并且能够确保可移动物体100在处于该边界点203时不会有发生碰撞的危险。In some implementations, in step S1022, the movable object 100 may be controlled to move to multiple boundary points 203, and the position information of the multiple boundary points 203 acquired by the sensor of the movable object 100 may be received. For example, the movable object 100 may be equipped with a position sensor such as GPS. When the movable object 100 is controlled to move to the desired boundary point 203 , the current position information is acquired by the position sensor as the position information of the boundary point 203 . Such a setting method is relatively simple, and can ensure that the movable object 100 will not have the risk of collision when it is at the boundary point 203 .

在一些实施方式中，步骤S1022中可以通过遥控装置300来获取空间中的多个边界点203的位置信息，参照图6，遥控装置300与可移动物体100通信连接。遥控装置300可以泛指能够与可移动物体100进行通信的装置，除了通常意义上可移动物体100所配置的遥控器外，遥控装置300还可以是例如手机、电脑、平板电脑、手表等智能终端。遥控装置300可以通过合适的无线通信协议与可移动物体100通信连接，也可以通过移动通信网络与可移动物体100通信连接。在一些实施方式中，遥控装置300还可以通过有线连接的方式与可移动物体100进行通信连接。通过遥控装置300来获取边界点203的位置信息可以节省可移动物体100的电量，并且较为省时。In some implementations, in step S1022 , the remote control device 300 may be used to acquire the location information of multiple boundary points 203 in space. Referring to FIG. 6 , the remote control device 300 is connected to the movable object 100 in communication. The remote control device 300 can generally refer to a device capable of communicating with the movable object 100. In addition to the remote control configured by the movable object 100 in the general sense, the remote control device 300 can also be a smart terminal such as a mobile phone, a computer, a tablet computer, a watch, etc. . The remote control device 300 can communicate with the movable object 100 through a suitable wireless communication protocol, or communicate with the movable object 100 through a mobile communication network. In some implementations, the remote control device 300 can also communicate with the movable object 100 through a wired connection. Obtaining the location information of the boundary point 203 through the remote control device 300 can save the power of the movable object 100 and save time.

在这样的实施方式中，步骤S1024可以在可移动物体100处完成，遥控装置300可以将多个边界点203的位置信息发送至可移动物体100，由可移动物体100根据多个边界点203的位置信息来确定限制区域在水平方向的范围。步骤S1024也可以在遥控装置300处完成，遥控装置300确定限制区域在水平方向的范围后，将其发送至可移动物体100。In such an embodiment, step S1024 can be completed at the movable object 100, and the remote control device 300 can send the position information of the plurality of boundary points 203 to the movable object 100, and the movable object 100 can The location information is used to determine the range of the restricted area in the horizontal direction. Step S1024 can also be completed at the remote control device 300 , and the remote control device 300 sends it to the movable object 100 after determining the range of the restricted area in the horizontal direction.

在一些实施方式中，可以在遥控装置300置于多个边界点203时通过遥控装置300的传感器获取多个边界点203的位置信息。例如，用户可以手持遥控装置300移动到期望的边界点203的实际位置，而后遥控装置300可以使用例如GPS传感器等能够获取位置信息的传感器来获取边界点203的位置信息。这样的实施方式能够更加准确地对期望的边界点203进行定位，例如可以准确地在某一障碍物的边缘区域确定边界点203并对其进行定位。In some implementations, when the remote control device 300 is placed on the multiple boundary points 203 , the location information of the multiple boundary points 203 can be acquired through sensors of the remote control device 300 . For example, the user can hold the remote control device 300 to move to the actual location of the desired boundary point 203, and then the remote control device 300 can use a sensor capable of obtaining location information such as a GPS sensor to obtain the location information of the boundary point 203. Such an implementation manner can more accurately locate the desired boundary point 203, for example, the boundary point 203 can be accurately determined and positioned in an edge region of an obstacle.

在一些实施方式中，可以通过遥控装置300接收用户输入以获取边界点203的位置信息。这些实施方式中用户无需手持遥控装置300移动到相应的位置来获取边界点203的位置信息，从而较为方便和省时In some implementations, the remote control device 300 may receive user input to obtain the location information of the boundary point 203 . In these embodiments, the user does not need to hold the remote control device 300 to move to the corresponding position to obtain the position information of the boundary point 203, which is more convenient and time-saving

用户输入可以是点选输入，例如，在一些实施方式中，可以在遥控装置300上显示电子地图，并接收用户对电子地图上的点的点选输入，将该点选输入指向的多个位置的信息作为边界点203的位置信息。The user input can be a click input. For example, in some implementations, an electronic map can be displayed on the remote control device 300, and the user's click input on a point on the electronic map can be received, and the click input can be directed to multiple locations. The information of is used as the position information of the boundary point 203.

在一些实施方式中，还可以在遥控装置300上提供多个候选位置信息，并接收用户对候选位置信息的点选输入，将点选输入指向的多个候选位置信息作为多个边界点203的位置信息。候选位置信息可以从服务器获得，也可以从遥控装置300的内部存储器获得，候选位置信息可以是一套边界点203的模板，候选位置信息可以是针对某一特定区域中的障碍物所设计的多个边界点203的位置信息，或者由其他曾经在该区域处飞行过的用户所使用过的边界点203，或者该用户曾经所使用过的边界点203的历史记录。用户可以根据实际的需求选择候选位置信息进行选择来作为边界点203的位置信息。这样的获取方法中用户只需从候选的多个位置信息中来选择位置信息作为边界点203的位置信息，更加地方便，并且这样的位置信息通常经过了数次飞行的验证，或者经过了专业的计算，安全性具有更好的保证。In some implementations, a plurality of candidate position information can also be provided on the remote control device 300, and a user's click input on the candidate position information can be received, and the plurality of candidate position information pointed to by the click input can be used as the plurality of boundary points 203. location information. Candidate location information can be obtained from the server, and can also be obtained from the internal memory of the remote control device 300. The candidate location information can be a set of templates for the boundary points 203, and the candidate location information can be a set of templates designed for obstacles in a specific area. The location information of a boundary point 203, or the boundary point 203 used by other users who have flown in this area, or the history record of the boundary point 203 used by this user. The user may select candidate location information according to actual requirements to be used as the location information of the boundary point 203 . In such an acquisition method, the user only needs to select the position information from multiple candidate position information as the position information of the boundary point 203, which is more convenient, and such position information has usually been verified by several flights, or has been professionally verified. Computing, security has a better guarantee.

用户输入还可以具有其他的形式，在一些实施方式中，可以通过遥控装置300接收用户输入的多个位置坐标作为多个边界点203的位置信息，这样的实施方式中可能需要用户从其他渠道来获取边界点203的位置坐标。例如用户确定了期望避开的障碍物后，通过查找地图等方式获取到该障碍物周围的边界点203的位置坐标并输入到遥控装置300中，这样的实施方式中，遥控装置300中可以无需存储电子地图或者配置传感器来获取位置信息，节省了成本。The user input can also have other forms. In some implementations, the multiple location coordinates input by the user can be received through the remote control device 300 as the location information of the multiple boundary points 203. In such implementations, the user may be required to come from other channels. The position coordinates of the boundary point 203 are acquired. For example, after the user determines the obstacle that he wants to avoid, he obtains the position coordinates of the boundary point 203 around the obstacle by searching the map and other means and inputs it into the remote control device 300. In such an embodiment, the remote control device 300 may not need Store electronic maps or configure sensors to obtain location information, saving costs.

用户输入还可以是对方向和距离的输入，在一些实施方式中，可以获取到遥控装置300的位置信息，而后接收用户输入的多个指定方向和对应的指定距离，根据遥控装置300的位置信息以及多个指定方向和对应的指定距离来确定多个边界点203的位置信息，即，以遥控装置300当前的位置信息为原点，由用户指定方向和距离来确定边界点203。在一些实施方式中，可以不局限于以遥控装置300当前的位置作为原点，还可以由用户输入位置坐标作为原点。在一些实施方式中，用户在指定方向时，可以输入期望的角度来确定方向，或者，用户可以手持遥控装置300，并将遥控装置300的指向期望的方向，(例如将遥控装置300的天线对准某一方向)，由遥控装置300上配置的传感器来检测遥控装置300当前的姿态，进而确定用户所指向的方向。这样的实施方式中，用户无需输入较为复杂的边界点203的位置坐标，而只需要输入简单的方向和距离即可，进一步降低了用户的操作难度。The user input can also be the input of direction and distance. In some embodiments, the position information of the remote control device 300 can be obtained, and then multiple specified directions and corresponding specified distances input by the user can be received. According to the position information of the remote control device 300 and a plurality of designated directions and corresponding designated distances to determine the location information of the plurality of boundary points 203, that is, the current location information of the remote control device 300 is used as the origin, and the direction and distance designated by the user are used to determine the boundary points 203. In some implementations, the current location of the remote control device 300 may be used as the origin, and the location coordinates input by the user may also be used as the origin. In some implementations, when specifying a direction, the user can input a desired angle to determine the direction, or the user can hold the remote control device 300 and point the remote control device 300 to the desired direction, (for example, pointing the antenna of the remote control device 300 to A certain direction), the sensor configured on the remote control device 300 detects the current posture of the remote control device 300, and then determines the direction the user is pointing at. In such an embodiment, the user does not need to input the relatively complicated position coordinates of the boundary point 203, but only needs to input simple directions and distances, which further reduces the difficulty of the user's operation.

在一些实施方式中，用户输入还可以改变原有的边界点203的位置信息，例如，当可移动物体100在某一限制区域200的限制下进行自主活动的过程中，或者已经确定了某一限制区域200在水平方向的范围后，用户仍可以改变该限制区域200的边界点203的位置信息，以对该限制区域200在水平方向上的范围进行调整。用户可以向遥控装置300输入以指定需要调整的边界点203，并输入调整后的边界点203的位置信息，或者遥控装置300可以显示电子地图并标识当前的边界点203，用户可以直接对边界点203的图标进行拖拽来改变边界点203的位置。In some implementations, the user input can also change the position information of the original boundary point 203, for example, when the movable object 100 is performing autonomous activities within a certain restricted area 200, or has determined a certain After the range of the restricted area 200 is in the horizontal direction, the user can still change the position information of the boundary point 203 of the restricted area 200 to adjust the range of the restricted area 200 in the horizontal direction. The user can input to the remote control device 300 to specify the boundary point 203 that needs to be adjusted, and input the position information of the adjusted boundary point 203, or the remote control device 300 can display an electronic map and identify the current boundary point 203, and the user can directly adjust the boundary point 203. 203 icon to change the position of the boundary point 203 .

在一些实施方式中，可以通过遥控装置300来接收位置获取装置所获取的位置信息作为边界点203的位置信息。位置获取装置可以泛指任何具有位置获取功能的装置，例如，位置获取装置可以是具有定位功能的智能终端，例如手机、手表、电脑等，位置获取装置还可以是被专门配置成用于获取位置的装置，本申请对位置获取装置不进行具体的限定，只需其能够获取自身或空间中某一指定点的位置即可。位置获取装置可以被置于期望的边界点203处并与遥控装置300通信连接，从而能够获取自身位置作为边界点203的位置信息并将其发送至遥控装置300。在一些实施方式中，位置获取装置可以直接与可移动物体100通信连接，并将位置信息发送至可移动物体100，由可移动物体100根据边界点203的位置信息确定限制区域在水平方向上的范围。In some implementations, the remote control device 300 may receive the position information acquired by the position acquisition device as the position information of the boundary point 203 . A location acquisition device can generally refer to any device with a location acquisition function. For example, a location acquisition device can be a smart terminal with a positioning function, such as a mobile phone, a watch, a computer, etc. The location acquisition device can also be specially configured to acquire a location device, the present application does not specifically limit the position obtaining device, as long as it can obtain the position of itself or a specified point in space. The position acquisition device can be placed at the desired boundary point 203 and communicated with the remote control device 300 , so as to acquire its own position as the position information of the boundary point 203 and send it to the remote control device 300 . In some implementations, the position acquisition device can be directly connected to the movable object 100 in communication, and send the position information to the movable object 100, and the movable object 100 can determine the horizontal direction of the restricted area according to the position information of the boundary point 203. scope.

再次参照图7和图8，根据多个边界点的位置信息来确定限制区域在水平方向的范围时，可以将多个边界点203连接形成边界线204，将边界线204一侧的范围作为限制区域200在水平方向的范围。Referring again to Figure 7 and Figure 8, when determining the range of the restricted area in the horizontal direction according to the position information of multiple boundary points, multiple boundary points 203 can be connected to form a boundary line 204, and the range on one side of the boundary line 204 can be used as a limit The range of the area 200 in the horizontal direction.

将多个边界点203连接形成边界线204时，可以根据用户指定顺序来将边界点203进行连接，例如，用户可以为多个边界点203进行编号，然后可以根据边界点203的编号依次将各个边界点203进行连接以形成边界线204。在一些实施方式中，可以在获取边界点203的位置信息时一并指定边界点203的编号。在一些实施方式中，可以由处理器自动将多个边界点203连接形成边界线204。将多个边界点203连接形成边界线204时，可以使用直线将多个边界点203进行连接，也可以使用平滑的曲线进行连接，对此不做具体的限定。When connecting a plurality of boundary points 203 to form a boundary line 204, the boundary points 203 can be connected according to the order specified by the user. For example, the user can number a plurality of boundary points 203, and then according to the numbers of the boundary points 203, each The boundary points 203 are connected to form a boundary line 204 . In some implementation manners, the serial number of the boundary point 203 may be specified together when acquiring the position information of the boundary point 203 . In some implementations, the processor can automatically connect the multiple boundary points 203 to form the boundary line 204 . When connecting multiple boundary points 203 to form the boundary line 204, the multiple boundary points 203 may be connected using a straight line, or may be connected using a smooth curve, which is not specifically limited.

在一些实施方式中，参照图7，多个边界点203连接可以形成封闭的边界线204，此时限制区域200在水平方向上的范围可以是边界线204内侧的范围，也可以是边界线204外侧的范围。封闭的边界线204可以适用于在一些室内场所或者具有固定的空间范围的场所中设置限制区域200。In some implementations, referring to FIG. 7 , a plurality of boundary points 203 can be connected to form a closed boundary line 204. At this time, the range of the restricted area 200 in the horizontal direction can be the range inside the boundary line 204, or it can be the boundary line 204. Outer range. The closed boundary line 204 may be suitable for setting the restricted area 200 in some indoor places or places with a fixed spatial range.

在一些实施方式中，参照图8，多个边界点203连接也可以形成开放的边界线204，此时，限制区域200在水平方向上的范围可以是该边界线204一侧的范围，也可以是该边界线204以及该边界线204的延长线一侧的范围。尽管图8中示出的边界线204的延长线205与边界线204末端之间大致成180度，实际上边界线204还可以自边界线204的端点出发沿其他方向进行延伸，例如沿用户指定的方向进行延伸。可以理解地，这样的实施方式中，实际上限制区域200在水平方向上的范围为半开放的范围，因此使用于在较为广阔的空间中设置限制区域200，例如在山区中，山体集中在一侧，另一侧为开放区域，则可以通过上述方式将山体一侧的范围作为限制区域200在水平方向的范围。In some implementations, referring to FIG. 8 , the connection of multiple boundary points 203 can also form an open boundary line 204. At this time, the range of the restricted area 200 in the horizontal direction can be the range on one side of the boundary line 204, or is the boundary line 204 and the range on one side of the extension line of the boundary line 204 . Although the extension line 205 of the borderline 204 shown in FIG. 8 is approximately 180 degrees from the end of the borderline 204, in fact the borderline 204 can also extend in other directions from the endpoint of the borderline 204, such as along the direction specified by the user. direction to extend. It can be understood that in such an embodiment, the range of the restricted area 200 in the horizontal direction is actually a semi-open range, so it is used to set the restricted area 200 in a relatively wide space, such as in a mountainous area, where the mountains are concentrated One side and the other side is an open area, then the range on one side of the mountain can be taken as the range of the restricted area 200 in the horizontal direction in the above manner.

在一些实施方式中，步骤S102中获取空间中用户设置的限制区域还包括步骤S1026：确定限制区域在垂直方向的范围。In some implementations, acquiring the restricted area set by the user in the space in step S102 further includes step S1026: determining the range of the restricted area in the vertical direction.

如上文中相关部分所提及的，限制区域200可以在垂直方向上对可移动物体的移动进行限制，例如，当可移动物体200在室内场所进行自主活动时，可能需要限制其在垂直方向上能够安全活动的范围，以避免其碰撞屋顶或地面。As mentioned in the relevant part above, the restricted area 200 can restrict the movement of the movable object in the vertical direction. For example, when the movable object 200 performs autonomous activities in an indoor place, it may be necessary to restrict its The range of safe movement to avoid hitting the roof or the ground.

在一些场景中，在不同的高度处，可移动物体能够在水平方向上活动的范围可能并不相同，例如，在具有开放顶棚的体育场所中，可移动物体在体育场顶棚以下的高度范围内自主活动时，将会存在与观众区、舞台区等发生碰撞的风险，而在顶棚以上的高度范围内自主活动时，将不会受到观众区、舞台区的影响，但可能仍存在其他障碍物的干扰，此时，可以设置多个限制区域200，其中每个限制区域200在水平方向上范围和在垂直方向上的范围均不相同，例如，50-100m高度范围内的限制区域相较于0-50m高度范围内的限制区域在水平方向上具有更大的范围，从而在保证可移动物体安全的前提下尽可能的扩大可移动物体能够活动的范围。In some scenarios, at different heights, the range in which movable objects can move in the horizontal direction may not be the same. During activities, there will be a risk of collision with the audience area, stage area, etc., while autonomous activities within the height range above the ceiling will not be affected by the audience area, stage area, but there may still be other obstacles Interference, at this time, a plurality of restricted areas 200 can be set, wherein each restricted area 200 has a different range in the horizontal direction and a different range in the vertical direction, for example, the restricted area within the height range of 50-100m is compared to 0 The restricted area within the height range of -50m has a larger range in the horizontal direction, so as to expand the movable range of the movable object as much as possible under the premise of ensuring the safety of the movable object.

在一些实施方式中，限制区域200在垂直方向上的范围也可以通过遥控装置300来确定，例如，可以通过遥控装置300接收用户输入的高度范围作为限制区域200在垂直方向上的范围。In some implementations, the vertical range of the restricted area 200 can also be determined by the remote control device 300 , for example, the remote control device 300 can receive the height range input by the user as the vertical range of the restricted area 200 .

在一些实施方式中，可以控制可移动物体100在垂直方向上进行运动，将可移动物体100移动的最高点和/或最低点作为垂直方向的范围的端点。例如，可以指定垂直方向范围的最低点，而后以可移动物体100移动的最高点作为垂直方向范围的最高点，或者将可移动物体100移动的最高点和最低点作为垂直方向范围的最低点。可移动物体100可以通过气压计、GPS传感器等获取自身的高度。In some implementations, the movable object 100 can be controlled to move in the vertical direction, and the highest point and/or the lowest point of the movable object 100 can be used as the endpoint of the range in the vertical direction. For example, the lowest point of the vertical range can be specified, and then the highest point of the movable object 100 can be used as the highest point of the vertical range, or the highest point and the lowest point of the movable object 100 can be used as the lowest point of the vertical range. The movable object 100 can obtain its own altitude through a barometer, a GPS sensor, and the like.

在一些实施方式中，可以将可移动物体100开始运动时的高度作为垂直方向的范围的一个端点。例如，可移动物体100为无人机，其起飞的位置作为垂直方向的范围的最低点，又例如，可移动物体100为无人潜水船，其起航的位置作为垂直方向的范围的最高点。In some implementations, the height of the movable object 100 when it starts to move can be used as an endpoint of the range in the vertical direction. For example, the movable object 100 is an unmanned aerial vehicle, and its take-off position is the lowest point of the vertical range. For example, the movable object 100 is an unmanned diving boat, and its launch position is the highest point of the vertical range.

可以理解地，尽管上述各实施方式中所提供的方法均能够独立地获取空间中用户设置的限制区域200，但是本领域技术人员仍可以对上述实施方式中所描述的方法进行自由的组合，例如多个边界点203 中的部分边界点203的位置信息可以通过上述一种实施方式中描述的方法确定，另一部分边界点203的位置信息可以通过另一种实施方式中描述的方法确定。It can be understood that although the methods provided in the above embodiments can independently obtain the restricted area 200 set by the user in the space, those skilled in the art can freely combine the methods described in the above embodiments, for example The location information of some of the boundary points 203 among the plurality of boundary points 203 may be determined by the method described in one embodiment above, and the location information of another part of the boundary points 203 may be determined by the method described in another embodiment.

本领域技术人员还可以选择其他合适的方式来获取空间中用户设置的限制区域200，例如，如上文所描述的，可移动物体100可以直接接收由遥控装置300设置好的限制区域200，又例如，可移动物体100还可以直接通过云端的服务器或者本地的存储器来获取已经构建好的限制区域200，或者，可以根据活动场所的平面模型或三维模型来构建限制区域200等等。Those skilled in the art can also choose other suitable ways to obtain the restricted area 200 set by the user in the space. For example, as described above, the movable object 100 can directly receive the restricted area 200 set by the remote control device 300, and for example In other words, the movable object 100 can also directly obtain the constructed restricted area 200 through a cloud server or a local storage, or the restricted area 200 can be constructed according to a planar model or a three-dimensional model of the activity place, and the like.

在一些实施方式中，在获取了空间中用户设置的限制区域200后，可以将所获取到的限制区域的信息，例如多个边界点的位置信息、限制区域在水平方向的范围、限制区域在垂直方向上的范围中的一个或多个存储至可移动物体100的内部存储装置中，以便可移动物体100再次在相同的地点自主活动时直接调用上述信息来获取限制区域200。In some implementations, after obtaining the restricted area 200 set by the user in the space, the acquired information of the restricted area, such as the position information of multiple boundary points, the range of the restricted area in the horizontal direction, the range of the restricted area in the One or more of the ranges in the vertical direction are stored in the internal storage device of the movable object 100 , so that the movable object 100 can directly call the above information to acquire the restricted area 200 when it moves autonomously at the same place again.

在一些实施方式中，上述信息可以被上传至云端的服务器，以便其他用户能够从云端服务器获取上述信息，在一些实施方式中，上述信息还可以直接被发送到其他的一个或多个可移动物体，或者被发送到与其他的一个或多个可移动物体通信连接的遥控装置。In some implementations, the above information can be uploaded to a cloud server so that other users can obtain the above information from the cloud server. In some implementations, the above information can also be directly sent to one or more other movable objects , or be sent to a remote control device communicatively linked to one or more other movable objects.

控制可移动物体100在限制区域200的限制下自主活动可以包括控制可移动物体100在限制区域200的限制下自主跟踪目标物移动。下面将基于自主跟踪目标物移动这一场景，对可移动物体100在限制区域200的限制下的运动方式进行详细的描述，本领域技术人员可以理解地，在其他自主活动的场景中，即使不存在目标物，也仍然可以参照以下所描述的实施方式来控制可移动物体100，尤其是在可移动物体100自主活动过程中移动到靠近限制区域200的边界位置时，仍可以根据下文中所描述的方法来控制可移动物体100避开限制区域200的边界。Controlling the movable object 100 to autonomously move under the restriction of the restricted area 200 may include controlling the movable object 100 to autonomously track the movement of the target under the restriction of the restricted area 200 . Based on the scenario of autonomously tracking the movement of the target object, the movement mode of the movable object 100 under the restriction of the restricted area 200 will be described in detail below. Those skilled in the art can understand that in other autonomous activity scenarios, even without Even if there is a target, the movable object 100 can still be controlled with reference to the embodiments described below, especially when the movable object 100 moves to a position close to the boundary of the restricted area 200 during autonomous activities, it can still be controlled according to the following described method to control the movable object 100 to avoid the boundary of the restricted area 200 .

参照图9和图10，控制可移动物体100在限制区域200的限制下自主跟踪目标物移动可以包括：Referring to FIG. 9 and FIG. 10 , controlling the movable object 100 to autonomously track the movement of the target under the restriction of the restricted area 200 may include:

步骤S902：获取目标物与可移动物体的相对位置；Step S902: Obtain the relative position of the target object and the movable object;

步骤S904：根据相对位置生成第一控制指令，第一控制指令可以包括：第一方向控制指令和第一速度控制指令；Step S904: Generate a first control instruction according to the relative position, the first control instruction may include: a first direction control instruction and a first speed control instruction;

步骤S906：根据可移动物体当前的位置信息和第一控制指令生成可移动物体在接下来的预定时间内的移动路线；Step S906: Generate a moving route of the movable object within the next predetermined time according to the current position information of the movable object and the first control instruction;

步骤S908：确定移动路线未跨越限制区域的边界时，使用第一控制指令控制可移动物体移动。Step S908: When it is determined that the moving route does not cross the boundary of the restricted area, use the first control instruction to control the movement of the movable object.

参照图10，步骤S902中获取目标物400与可移动物体100的相对位置可以是通过测距装置(例如激光测距装置、超声测距装置)、雷达装置等直接获取目标物400与可移动物体100的相对方向和距离，在一些实施方式中，可移动物体100可能承载有或者配置有成像装置500，可以借助成像装置500获取目标物400的图像并借助该图像获取目标物400与可移动物体100的相对位置。在一些实施方式中，目标物400可以配置有定位装置，可移动物体100可以接收目标物400的位置，并结合自身的位置确定目标物与可移动物体100的相对位置。Referring to FIG. 10 , obtaining the relative positions of the target object 400 and the movable object 100 in step S902 may be obtained by directly obtaining the target object 400 and the movable object 100 through a distance measuring device (such as a laser distance measuring device, an ultrasonic distance measuring device), a radar device, etc. 100, in some embodiments, the movable object 100 may carry or be equipped with an imaging device 500, and the imaging device 500 may be used to obtain an image of the target object 400, and the image of the target object 400 and the movable object may be obtained using the image. The relative position of 100. In some implementations, the target 400 may be configured with a positioning device, and the movable object 100 may receive the position of the target 400 and determine the relative position of the target and the movable object 100 in combination with its own position.

目标物400与可移动物体100的相对位置可以被用于在步骤S904中生成第一控制指令，第一控制指令可以包括第一方向控制指令和第一速度控制指令。第一控制指令可以被用于将目标物400和可移动物体的相对位置维持在期望的范围。例如，目标物400可以是移动的，第一控制指令可以使得可移动物体100跟随目标物400移动并在移动过程中保持期望的距离，或者使可移动物体100与目标物400大致保持相对静止。又例如，目标物400可能是静止的或者在至少部分时间是静止的，第一控制指令可以使得可移动物体100环绕该目标物400进行移动，或者以预定的轨迹相对于该目标物400进行移动。再例如，可移动物体100可能在跟随目标物400移动的过程中对目标物400进行拍摄，第一控制指令中的第一方向控制指令可以使可移动物体100在跟随的过程中调整可移动物体100的朝向使得目标物400成像在可移动物体100的成像装置的视野中，第一速度控制指令可以进一步调整可移动物体100与目标物400之间的相对距离使得目标物400与可移动物体100保持期望的像距，以便能够进行清晰的成像。The relative positions of the target object 400 and the movable object 100 may be used to generate a first control command in step S904, and the first control command may include a first direction control command and a first speed control command. The first control command may be used to maintain the relative position of the target 400 and the movable object within a desired range. For example, the target 400 may be moving, and the first control instruction may make the movable object 100 follow the target 400 and keep a desired distance during the movement, or keep the movable object 100 and the target 400 relatively stationary. For another example, the target object 400 may be stationary or stationary at least part of the time, the first control instruction may cause the movable object 100 to move around the target object 400, or move relative to the target object 400 with a predetermined trajectory . For another example, the movable object 100 may take pictures of the target object 400 during the process of following the target object 400, and the first direction control instruction in the first control instruction can make the movable object 100 adjust the movable object during the following process. The orientation of 100 makes the target object 400 imaged in the field of view of the imaging device of the movable object 100, and the first speed control command can further adjust the relative distance between the movable object 100 and the target object 400 so that the target object 400 and the movable object 100 Maintain the desired image distance to enable sharp imaging.

在生成第一控制指令后，在步骤S906中生成可移动物体100在接下来预定时间内的移动路线，并判断该移动路线是否跨越了限制区域200的边界。在一些实施方式中，该预定时间可以是根据可移动物体100的性能而预先设计的安全时间，例如，根据可移动物体100的转向性能、急停性能、调速性能等来设计，也可以是用于根据安全需求而预先设计的安全时间。在一些实施方式中，由于第一控制指令的生成频率可能与目标物400的位置变化频率或目标物400与可移动物体100件相对位置的变化频率相关，此时可以根据第一控制指令的生成频率来调整该预定时间，例如第一控制指令的生成频率较高时，可以将预定时间设定的相对较短。在一些实施方式中，可以根据第一控制指令中第一速度控制指令的值来确定预定时间，例如第一速度控制指令所确定的速度较高时，预定时间可以相对较长，以保证可移动物体100与限制区域200的边界之间具有足够的安全距离。After the first control instruction is generated, in step S906 , the moving route of the movable object 100 within the next predetermined time is generated, and it is determined whether the moving route crosses the boundary of the restricted area 200 . In some embodiments, the predetermined time may be a safety time pre-designed according to the performance of the movable object 100, for example, designed according to the steering performance, emergency stop performance, speed regulation performance, etc. of the movable object 100, or it may be It is used for the pre-designed safety time according to the safety requirements. In some implementations, since the generation frequency of the first control instruction may be related to the frequency of position change of the target object 400 or the frequency of change of the relative position of the target object 400 and the movable object 100, at this time, the generation frequency of the first control instruction can be The predetermined time may be adjusted according to the frequency. For example, when the frequency of generation of the first control instruction is high, the predetermined time may be set relatively short. In some implementations, the predetermined time can be determined according to the value of the first speed control command in the first control command. For example, when the speed determined by the first speed control command is high, the predetermined time can be relatively long to ensure that the movable There is a sufficient safety distance between the object 100 and the boundary of the restricted area 200 .

在一些实施方式中，作为替代地，步骤S906中可以获取可移动物体100与限制区域200的边界之间的距离，例如可以获取可移动物体100与限制区域200的边界之间的最短直线距离，或者可移动物体100在当前移动方向上与限制区域200的边界之间的距离，而后判断该距离是否大于安全距离，并且，在步骤S908中，当该距离大于安全距离时则确定移动路线未跨越限制区域的边界，这样的实施方式将在下文的相关部分中进行详细地描述。In some implementations, as an alternative, the distance between the movable object 100 and the boundary of the restricted area 200 may be obtained in step S906, for example, the shortest straight-line distance between the movable object 100 and the boundary of the restricted area 200 may be obtained, Or the distance between the movable object 100 in the current moving direction and the boundary of the restricted area 200, and then judge whether the distance is greater than the safety distance, and, in step S908, when the distance is greater than the safety distance, it is determined that the moving route does not cross Such an embodiment will be described in detail in the relevant part below.

在步骤S908中，如果确定移动路线未跨越限制区域的边界，则使用第一控制指令控制可移动物体100的移动。In step S908, if it is determined that the moving route does not cross the boundary of the restricted area, the movement of the movable object 100 is controlled using the first control instruction.

在一些实施方式中，步骤S902中获取目标物400与可移动物体100的相对位置可以是实时地获取，而步骤S904中可以根据相对位置的变化生成第一控制指令。可以理解地，这样的实施方式中根据目标物400与可移动物体100之间的相对位置的变化来控制可移动物体100的移动，从而能够在跟随的过程中将可移动物体100与目标物400之间的相对位置保持在期望的范围内。实时地获取目标物400与可移动物体100的相对距离可以是每间隔一个较短的时间获取一次相对距离，或者以预定频率来获取相对距离，本领域技术人员可以根据实际需求来确定以怎样的频率来实时获取该相对距离。In some implementations, the acquisition of the relative position of the target object 400 and the movable object 100 in step S902 may be acquired in real time, and the first control instruction may be generated according to the change of the relative position in step S904. It can be understood that in such an embodiment, the movement of the movable object 100 is controlled according to the change of the relative position between the target object 400 and the movable object 100, so that the movable object 100 and the target object 400 can be connected in the following process. The relative position between them remains within the desired range. The real-time acquisition of the relative distance between the target object 400 and the movable object 100 may be to acquire the relative distance every short time interval, or to acquire the relative distance at a predetermined frequency, and those skilled in the art can determine the method according to actual needs. Frequency to obtain the relative distance in real time.

在一些实施方式中，步骤S902中获取目标物与可移动物体的相对位置可以包括：In some implementation manners, acquiring the relative positions of the target object and the movable object in step S902 may include:

步骤S9022：通过成像装置获取包括所述目标物的图像；Step S9022: Obtain an image including the target object by an imaging device;

步骤S9024：根据目标物400在图像中的位置确定目标物与可移动物体的相对位置。Step S9024: Determine the relative position of the target object and the movable object according to the position of the target object 400 in the image.

在步骤S9022中，成像装置500由可移动物体100承载，成像装置500可以安装在可移动物体的内部或者外部，成像装置500可以有多个并分别安装在可移动物体100的不同部位，成像装置500可以与可移动物体100直接连接，也可以通过云台与可移动物体100连接，云台可以用于支撑该成像装置500并维持和/或调整成像装置500的姿态，例如，云台可以在两个自由度、三个自由度或更多的自由度上调整成像装置500的姿态。In step S9022, the imaging device 500 is carried by the movable object 100, and the imaging device 500 can be installed inside or outside the movable object. 500 can be directly connected with the movable object 100, and can also be connected with the movable object 100 through a pan-tilt, which can be used to support the imaging device 500 and maintain and/or adjust the attitude of the imaging device 500, for example, the pan-tilt can be in The attitude of the imaging device 500 is adjusted in two degrees of freedom, three degrees of freedom, or more.

在一些实施方式中，通过成像装置500获取包括目标物400的图像可能需要预先调整成像装置500的姿态和/或可移动物体100的姿态，使得目标物400处于成像装置500的视野中。可移动物体100可以配置有雷达装置、激光测距装置、超声测距装置等辅助装置，这些装置可以用于辅助可移动物体100对目标物400进行定位，进而使得成像装置500能够获取到包括目标物400的图像。在一些实施方式中，还可由用户在可移动物体100开始进行自主跟随运动前，控制可移动物体100进行移动，使得目标物400成像在成像装置500的视野中，并指示可移动物体100锁定该目标物400并开始进行自主跟随运动，可移动物体100可以根据本文相关部分所描述的方法进行跟随并将目标物400始终保持在成像装置500的视野中，在一些实施方式中，可移动物体100可以在失去目标物400的视野后自动退出自主跟随模式。In some embodiments, acquiring an image including the target object 400 by the imaging device 500 may require pre-adjusting the pose of the imaging device 500 and/or the pose of the movable object 100 so that the target object 400 is in the field of view of the imaging device 500 . The movable object 100 can be equipped with auxiliary devices such as radar devices, laser ranging devices, and ultrasonic ranging devices. An image of object 400. In some implementations, the user can also control the movable object 100 to move before the movable object 100 starts to follow the autonomous movement, so that the target object 400 is imaged in the field of view of the imaging device 500, and instructs the movable object 100 to lock on the object. The target object 400 starts to follow the movement autonomously. The movable object 100 can follow according to the method described in the relevant part of this paper and keep the target object 400 in the field of view of the imaging device 500. In some embodiments, the movable object 100 The autonomous following mode can be automatically exited after losing sight of the target object 400 .

可移动物体100可以通过例如特征点分析、机器学习等方法来识别所获取的图像中的目标物400，在步骤S9024中，可以根据目标物400在成像装置500所获取的图像中的位置来确定目标物400与可移动物体100的相对方向，并根据目标物400的景深信息来确定目标物400与可移动物体100的相对距离。在一些实施方式中，可以借助其他定位装置，例如激光测距装置、超声测距装置和雷达装置等来综合地确定目标物400与可移动物体100的相对位置，本领域技术人员可以根据实际需求进行合理的选择。在一些实施方式中，目标物400可以是多个，可以综合多个目标物400在图像中的位置来获取可移动物体与目标物400群之间的相对位置，并进一步生成第一控制指令。目标物400可以是某一特定类型的物体，例如，可移动物体100可以识别图像中的人物并将其作为目标物400进行跟踪。The movable object 100 can identify the target object 400 in the acquired image through methods such as feature point analysis, machine learning, etc., and in step S9024, it can be determined according to the position of the target object 400 in the image acquired by the imaging device 500 The relative direction of the target object 400 and the movable object 100 is determined, and the relative distance between the target object 400 and the movable object 100 is determined according to the depth information of the target object 400 . In some embodiments, the relative position of the target object 400 and the movable object 100 can be determined comprehensively by means of other positioning devices, such as laser ranging devices, ultrasonic ranging devices and radar devices, and those skilled in the art can Make sensible choices. In some implementations, there may be multiple targets 400, and the positions of multiple targets 400 in the image may be integrated to obtain the relative position between the movable object and the group of targets 400, and further generate a first control command. The target object 400 may be a certain type of object, for example, the movable object 100 may recognize a person in an image and track it as the target object 400 .

在一些实施方式中，第一控制指令还包括第一焦距控制指令和/或第一姿态控制指令，第一焦距控制指令用于控制成像装置500的焦距，以便能够调整成像装置500的视野大小，和/或调整目标物400在成像的清晰度。第一姿态控制指令用于控制成像装置500的姿态，以便能够将目标物400始终保持在成像装置500的视野中，并在一些跟踪拍摄场景中，进一步地将目标物400保持在成像装置500的视野中的期望的位置，例如保持在成像装置500的画面中心或者画面中的黄金分割位置等。成像装置500可以由云台支撑，第一姿态控制指令可以是用于调整云台的控制指令。第一姿态控制指令还可以是控制可移动物体100的姿态的指令，从而间接地控制成像装置500的姿态，例如当可移动物体100为无人飞行器时，第一姿态控制指令可以调整无人飞行器的横滚角、俯仰角等。在一些实施方式中，第一姿态控制指令可以同时控制可移动物体100的姿态以及云台的姿态，来对成像装置500的姿态进行更加灵活的调整。在一些实施方式中，第一姿态控制指令可以与第一方向控制指令相配合来调整成像装置500的姿态，例如，在需要调整成像装置500的朝向时，可以通过第一姿态控制指令控制云台的姿态，使成像装置500进行旋转，在此过程中，还可以同时通过第一方向控制指令来改变可移动物体100的运动方向。In some implementations, the first control instruction further includes a first focus control instruction and/or a first attitude control instruction, the first focus control instruction is used to control the focal length of the imaging device 500 so that the field of view of the imaging device 500 can be adjusted, And/or adjust the sharpness of the target object 400 in imaging. The first posture control instruction is used to control the posture of the imaging device 500, so that the target object 400 can always be kept in the field of view of the imaging device 500, and in some tracking shooting scenes, the target object 400 can be further kept within the imaging device 500 The desired position in the field of view is kept, for example, at the center of the screen of the imaging device 500 or at the golden section position on the screen. The imaging device 500 may be supported by a pan-tilt, and the first attitude control command may be a control command for adjusting the pan-tilt. The first attitude control instruction can also be an instruction to control the attitude of the movable object 100, thereby indirectly controlling the attitude of the imaging device 500. For example, when the movable object 100 is an unmanned aerial vehicle, the first attitude control instruction can adjust the unmanned aerial vehicle. roll angle, pitch angle, etc. In some implementations, the first attitude control instruction can simultaneously control the attitude of the movable object 100 and the attitude of the gimbal, so as to adjust the attitude of the imaging device 500 more flexibly. In some implementations, the first attitude control command can cooperate with the first direction control command to adjust the attitude of the imaging device 500, for example, when the orientation of the imaging device 500 needs to be adjusted, the pan/tilt can be controlled by the first attitude control command The posture of the imaging device 500 is rotated, and in the process, the moving direction of the movable object 100 can also be changed through the first direction control command at the same time.

上文的实施方式中描述了在某一时间点生成第一控制指令的具体方法，然而可以理解地，在整个自主跟踪目标物移动的过程中，上述第一控制指令的生成步骤将会被执行多次，例如当实时地获取目标物与可移动物体100的相对位置时，相对位置发生变化则会相应地更新第一控制指令。又例如，可以每间隔预定时间更新一次第一控制指令。在一些实施方式中，第一控制指令可以在某一段时间内没有发生变化，然而可移动物体100在移动过程中当前的位置信息将会不断变化，因此移动路线的生成步骤以及判断移动路线是否跨越限制区域的边界这一步骤仍需要持续地进行，例如，可以每间隔预定时间执行一次上述步骤。The specific method of generating the first control command at a certain point in time is described in the above embodiment, however, it can be understood that the above-mentioned first control command generation step will be executed during the entire process of autonomously tracking the movement of the target object Multiple times, for example, when the relative position of the target object and the movable object 100 is obtained in real time, the first control instruction will be updated accordingly if the relative position changes. For another example, the first control instruction may be updated every predetermined time interval. In some implementations, the first control command may not change within a certain period of time, but the current position information of the movable object 100 will continue to change during the moving process, so the steps of generating the moving route and judging whether the moving route crosses The step of restricting the boundary of the region still needs to be performed continuously, for example, the above step can be performed at predetermined intervals.

在一些实施方式中，控制可移动物体100在限制区域200的限制下自主跟踪目标物移动还可以包括：In some implementations, controlling the movable object 100 to autonomously track the movement of the target under the restriction of the restricted area 200 may also include:

步骤S910：确定移动路线跨越所述限制区域的边界时，生成第二控制指令；以及，使用第二控制指令控制可移动物体移动，以避免可移动物体跨越限制区域的边界。Step S910: When it is determined that the moving route crosses the border of the restricted area, generate a second control instruction; and use the second control instruction to control the movement of the movable object, so as to prevent the movable object from crossing the border of the restricted area.

无论限制区域200是允许可移动物体100活动的区域还是限制可移动物体100活动的区域，由于默认了可移动物体100从能够活动的区域出发，因此，跨越限制区域200的边界意味着可移动物体100将会进入禁止活动的区域，需要避免这种情况的发生。Regardless of whether the restricted area 200 is an area where the movable object 100 is allowed to move or an area where the movable object 100 is restricted, since the movable object 100 starts from the area where the movable object can move by default, crossing the boundary of the restricted area 200 means that the movable object 100 will enter an area where activities are prohibited and this needs to be avoided.

当移动路线跨越了限制区域200的边界时，通常意味着可移动物体100已经十分靠近限制区域200的边界，或者，距离限制区域200的边界的距离已经小于安全距离，此时，需要通过第二控制指令来控制可移动物体100移动以避免其跨越限制区域的边界。第二控制指令可以控制可移动物体100停止在当前位置不再继续运动，例如当可移动物体100是无人飞行器时，第二控制指令可以是悬停指令或降落指令。第二控制指令可以同时使可移动物体100退出自主跟随模式，由用户控制可移动物体100进行后续的移动。第二控制指令还可以是返航指令，即，控制可移动物体100返回出发点。When the moving route crosses the border of the restricted area 200, it usually means that the movable object 100 is very close to the border of the restricted area 200, or the distance from the border of the restricted area 200 is less than the safety distance. The control instructions are used to control the movement of the movable object 100 to prevent it from crossing the boundary of the restricted area. The second control command can control the movable object 100 to stop at the current position and stop moving. For example, when the movable object 100 is an unmanned aerial vehicle, the second control command can be a hovering command or a landing command. The second control instruction can cause the movable object 100 to exit the autonomous following mode at the same time, and the user controls the movable object 100 to move subsequently. The second control instruction may also be a return-to-home instruction, that is, to control the movable object 100 to return to the starting point.

在一些实施方式中，参照图11，第二控制指令可以包括第二方向控制指令，第二方向控制指令指向与限制区域200的边界平行的方向或背离限制区域200的边界的方向。例如，目标物400可以沿着箭头1101指向的方向进行运动，此时为了跟随目标物400进行移动，所生成第一控制指令中的第一方向控制指令可以指向图中箭头1102 指向的方向，当判定了第一控制指令所生成的移动路线跨越了限制区域200的边界时，生成第二方向控制指令，图11中箭头1103和1104指向的方向为第二方向控制指令指向的方向的示例，第二方向控制指令可以如箭头1103示出的，指向与限制区域200的边界大致平行的方向，或者如箭头1104所示出的，指向背离限制区域200的边界的方向。这样的实施方式中，第二方向控制指令能够使得可移动物体100在不跨越限制区域200的边界的前提下继续进行自主活动。In some embodiments, referring to FIG. 11 , the second control instruction may include a second direction control instruction pointing in a direction parallel to the boundary of the restricted area 200 or a direction away from the boundary of the restricted area 200 . For example, the target object 400 can move along the direction pointed by the arrow 1101. At this time, in order to follow the target object 400 to move, the first direction control command in the generated first control command can point to the direction pointed by the arrow 1102 in the figure. When it is determined that the movement route generated by the first control instruction crosses the boundary of the restricted area 200, a second direction control instruction is generated. The directions pointed by

arrows

1103 and 1104 in FIG. 11 are examples of the directions pointed by the second direction control instructions. The two-direction control command may point to a direction approximately parallel to the boundary of the restricted area 200 as shown by the arrow 1103 , or point to a direction away from the boundary of the restricted area 200 as shown by the arrow 1104 . In such an embodiment, the second direction control command can enable the movable object 100 to continue to perform autonomous activities without crossing the boundary of the restricted area 200 .

在使用第二方向控制指令控制可移动物体100进行活动时，由于仍然处于自主活动模式，因此仍然可以重复上述步骤S902-S910，即，仍然可以根据目标物400与可移动物体100之间的相对位置来生成第一控制指令，并判断第一控制指令的移动路线是否跨越了限制区域200的边界，当确定第一控制指令的移动路线跨越了限制区域200的边界时，继续使用第二方向控制指令控制可移动物体100移动，当确定第一控制指令的移动路线不再跨越限制区域200的边界时，即，可移动物体100已经远离了限制区域200的边界回到了安全位置，则可以重新使用此时的第一控制指令来控制可移动物体100进行移动。When using the second direction control command to control the movable object 100 to carry out activities, since it is still in the autonomous activity mode, the above steps S902-S910 can still be repeated, that is, the relative distance between the target object 400 and the movable object 100 can still be position to generate the first control instruction, and judge whether the movement route of the first control instruction has crossed the boundary of the restricted area 200; The instruction controls the movement of the movable object 100, and when it is determined that the movement route of the first control instruction no longer crosses the boundary of the restricted area 200, that is, the movable object 100 has moved away from the boundary of the restricted area 200 and returned to a safe position, then it can be reused At this time, the first control instruction controls the movable object 100 to move.

从另一个角度而言，第一控制指令实际上是以跟踪为目的生成的指令，在下文的一些示例中，使用第一控制指令控制可移动物体100又被称为使用第一跟踪策略进行跟踪，第二控制指令实际上是以远离限制区域200的边界为目的生成的指令，在下文的一些示例中，使用第二控制指令控制可移动物体100又被称为使用第二跟踪策略进行跟踪，可移动物体100在靠近了限制区域200的边界时(第一控制指令的移动路线跨越了边界时，或者，在下文的一些示例中，与限制区域的边界之间的距离小于安全距离时)，使用第二控制指令控制可移动物体100移动以保证安全，在远离了限制区域200的边界时，使用第一控制指令控制可移动物体100移动以进行跟踪。From another perspective, the first control instruction is actually an instruction generated for the purpose of tracking. In some examples below, using the first control instruction to control the movable object 100 is also called tracking using the first tracking strategy. , the second control instruction is actually an instruction generated for the purpose of staying away from the boundary of the restricted area 200. In some examples below, using the second control instruction to control the movable object 100 is also called tracking using the second tracking strategy, When the movable object 100 approaches the boundary of the restricted area 200 (when the moving route of the first control instruction crosses the boundary, or, in some examples below, when the distance from the boundary of the restricted area is less than the safety distance), The second control instruction is used to control the movement of the movable object 100 to ensure safety, and the first control instruction is used to control the movement of the movable object 100 to perform tracking when it is far away from the boundary of the restricted area 200 .

在一些实施方式中，使用第二方向控制指令可控制可移动物体100移动时，可以保持可移动物体100原有的速度或将可移动物体100调整至适合转向的速度，而后使得可移动物体100逐渐转向第二方向控制指令指向的方向。在一些实施方式中，可以使可移动物体100在当前位置悬停后原地转向至第二方向控制指令指向的方向，而后重新开始运动。In some implementations, when the movable object 100 can be controlled to move using the second direction control command, the original speed of the movable object 100 can be maintained or the movable object 100 can be adjusted to a speed suitable for turning, and then the movable object 100 can Gradually turn to the direction pointed by the second direction control command. In some implementations, the movable object 100 can be turned to the direction pointed by the second direction control instruction after hovering at the current position, and then start moving again.

在一些实施方式中，第二方向控制指令使可移动物体100沿过渡曲线移动后转向第二方向控制指令指向的方向。即，第二方向控制指令不仅指示了方向，还指示了可移动物体100在接下来一段时间的移动路线，以确保可移动物体100能够远离限制区域200的边界。这样的实施方式中，在可移动物体100沿过渡曲线100的移动时，可以不再进行上述步骤S902-S910，而在可移动物体100成功转向了第二方向控制指令指向的方向以后，再获取第一控制指令，以使可移动物体100继续跟踪目标物400移动。这样的实施方式能够使得可移动物体100较为平滑地完成移动方向的调整，保证了移动的安全性，并且，在跟踪拍摄等场景中，能够保证拍摄画面较为平稳地进行过渡，获得更好的跟踪拍摄效果。In some implementations, the second direction control instruction causes the movable object 100 to move along the transition curve and then turn to the direction pointed by the second direction control instruction. That is, the second direction control instruction not only indicates the direction, but also indicates the moving route of the movable object 100 in the next period of time, so as to ensure that the movable object 100 can stay away from the boundary of the restricted area 200 . In such an embodiment, when the movable object 100 moves along the transition curve 100, the above-mentioned steps S902-S910 may not be performed, and after the movable object 100 successfully turns to the direction pointed by the second direction control instruction, obtain The first control instruction is to make the movable object 100 continue to track the movement of the target object 400 . Such an embodiment can enable the movable object 100 to complete the adjustment of the moving direction relatively smoothly, ensuring the safety of the movement, and, in scenes such as tracking shooting, can ensure a relatively smooth transition of the shooting picture and obtain better tracking. Shooting effect.

在一些实施方式中，参照图12，过渡曲线可以是与限制区域200的边界的平行线相切的圆的一部分。平行线2001距离限制区域200的边界的距离可以是本领域技术人员预先设定的，例如根据可移动物体100的体积、最大行驶速度、安全性能等来进行设定，确保可移动物体100在沿着过渡曲线2002进行移动的过程中，即使发生轻微的路径偏移也不会跨越限制区域200的边界。过渡曲线2002是与平行线2001相切的圆，如图12所示的，可移动物体100当前正在以箭头1201指向的方向进行运动，当接到第二方向控制指令时，无论其指向箭头1202示出的与限制区域200的边界平行的方向，还是箭头1203、1204示出的与背离限制区域200的边界的方向，均能够使用同一条过渡曲线2002来进行过渡。过渡曲线2002的半径同样可以是预先设定的，或者，过渡曲线2002的半径可以与可移动物体100当前的移动速度成预定的比例，使得可移动物体100当前移动速度较快时，过渡曲线2002相应地变长，保证可移动物体100转向过程中的安全。In some embodiments, referring to FIG. 12 , the transition curve may be a portion of a circle tangent to a parallel line of the boundary of the confinement area 200 . The distance between the parallel line 2001 and the boundary of the restricted area 200 can be preset by those skilled in the art, for example, it is set according to the volume of the movable object 100, the maximum driving speed, safety performance, etc., so as to ensure that the movable object 100 can move along the In the process of moving along the transition curve 2002, even a slight path deviation will not cross the boundary of the restricted area 200. The transition curve 2002 is a circle tangent to the parallel line 2001. As shown in FIG. 12, the movable object 100 is currently moving in the direction pointed by the arrow 1201. The indicated direction parallel to the boundary of the restricted area 200 or the direction indicated by the

arrows

1203 , 1204 away from the bounded area 200 can be transitioned using the same transition curve 2002 . The radius of the transition curve 2002 can also be preset, or the radius of the transition curve 2002 can be in a predetermined ratio with the current moving speed of the movable object 100, so that when the current moving speed of the movable object 100 is faster, the transition curve 2002 Correspondingly longer, to ensure the safety of the movable object 100 in the turning process.

在一些实施方式中，过渡曲线2002还可以是与平行线2001相切的椭圆或其他曲线，其曲率半径可以与可移动物体100当前的移动速度成预定比例，使得可移动物体100当前移动速度较快时，过渡曲线较为平滑，从而保证可移动物体100转向过程中的安全。本领域技术人员还可以选择其他合适的方式来规划过渡曲线，在此不再赘述。In some implementations, the transition curve 2002 can also be an ellipse or other curve tangent to the parallel line 2001, and its curvature radius can be in a predetermined ratio with the current moving speed of the movable object 100, so that the current moving speed of the movable object 100 is relatively fast. When the speed is fast, the transition curve is relatively smooth, so as to ensure the safety of the movable object 100 during the turning process. Those skilled in the art can also choose other suitable ways to plan the transition curve, which will not be repeated here.

在一些实施方式中，生成第二控制指令还可以包括：生成第二速度控制指令，第二速度控制指令使可移动物体的移动速度降低。第二速度控制指令可以与第二方向控制指令相配合，如前文中所提及的，使得可移动物体100的速度降低后再转向第二方向控制指令指向的方向，从而保证转向过程中的安全性。In some implementations, generating the second control instruction may further include: generating a second speed control instruction, the second speed control instruction reduces the moving speed of the movable object. The second speed control command can cooperate with the second direction control command, as mentioned above, so that the speed of the movable object 100 decreases before turning to the direction pointed by the second direction control command, so as to ensure safety during the turning process sex.

在一些实施方式中，可以仅生成第二速度控制指令，即，仅使得可移动物体100的速度降低，而不生成第二方向控制指令使可移动物体100的移动方向改变。此时，第二方向控制指令可以是使得可移动物体100的速度逐渐降低，直至悬停在靠近限制区域200的边界的位置。In some implementations, only the second speed control instruction may be generated, that is, only the speed of the movable object 100 is reduced, and the second direction control instruction is not generated to change the moving direction of the movable object 100 . At this time, the second direction control instruction may be such that the speed of the movable object 100 gradually decreases until it hovers at a position close to the boundary of the restricted area 200 .

在一些实施方式中，第二控制指令还包括生成第二姿态控制指令和/或第二焦距控制指令，已将目标物400保持在成像装置500的视野内。可以理解地，第二方向控制指令和第二速度控制指令均是为了保证可移动物体100的安全，在使用第二方向控制指令和/或第二速度控制指令控制可移动物体100的过程中，可能会存在目标物400脱离成像装置500的视野的风险，导致可移动物体100回到远离限制区域200的边界的位置后，可能需要重新获取到目标物400的视野才能够继续进行跟踪。同时，在进行跟踪拍摄的场景中，这样的视野丢失将会使得拍摄质量降低。In some implementations, the second control instruction further includes generating a second attitude control instruction and/or a second focus control instruction to keep the target object 400 within the field of view of the imaging device 500 . It can be understood that both the second direction control command and the second speed control command are used to ensure the safety of the movable object 100. During the process of controlling the movable object 100 using the second direction control command and/or the second speed control command, There may be a risk that the target object 400 is out of the field of view of the imaging device 500 , and after the movable object 100 returns to a position away from the boundary of the restricted area 200 , it may need to regain the field of view of the target object 400 to continue tracking. At the same time, in the scene of tracking shooting, such a loss of field of view will reduce the shooting quality.

为此，可以生成第二姿态控制指令和/或第二焦距控制指令来调整成像装置500的视野，第二姿态控制指令和第二焦距控制指令控制成像装置500的具体实现方法可以参照第一姿态控制指令和第一焦距控制指令，第二姿态控制指令可以通过调整云台的角度来改变成像装置500的视野，例如可以通过云台的伸缩来使得成像装置500相对靠近目标物400以方便进行追踪，或者使成像装置500相对远离目标物400以获得更大的视野，或者在可移动物体100转向的过程中相应地调整成像装置500的镜头朝向，以便将目标物400保持在视野范围内。在上述实施方式中，还可以相应地使用第二焦距控制指令来进一步的改变成像装置500的视野范围。To this end, the second posture control command and/or the second focus control command can be generated to adjust the field of view of the imaging device 500. The specific implementation method of the second posture control command and the second focus control command to control the imaging device 500 can refer to the first posture The control command and the first focus control command and the second attitude control command can change the field of view of the imaging device 500 by adjusting the angle of the pan-tilt, for example, the imaging device 500 can be relatively close to the target 400 through the expansion and contraction of the pan-tilt to facilitate tracking , or make the imaging device 500 relatively far away from the target object 400 to obtain a larger field of view, or adjust the lens orientation of the imaging device 500 accordingly during the turning process of the movable object 100 so as to keep the target object 400 within the field of view. In the above implementation manners, the second focal length control instruction may be used correspondingly to further change the field of view of the imaging device 500 .

在一些实施方式中，如果可移动物体100是能够在垂直方向上运动的物体，例如无人飞行器、无人船等，则生成第二控制指令还可以包括生成高度控制指令，高度控制指令控制可移动物体100在垂直方向运动以改变可移动物体100的高度。为了尽可能的将目标物400保持在成像装置500的视野中，可以选择在限制区域200的垂直方向范围的限制下，提升或降低可移动物体100的高度，使得可移动物体100能够获得目标物400所在平面的更大的视野，从而能够更加容易地将目标物400维持在成像装置500的视野中。In some implementations, if the movable object 100 is an object capable of moving in the vertical direction, such as an unmanned aerial vehicle, an unmanned ship, etc., then generating the second control command may also include generating a height control command, and the height control command may control The moving object 100 moves in the vertical direction to change the height of the movable object 100 . In order to keep the target object 400 in the field of view of the imaging device 500 as much as possible, the height of the movable object 100 can be raised or lowered under the limitation of the vertical range of the restricted area 200, so that the movable object 100 can obtain the target object. The larger field of view of the plane where the imaging device 400 is located makes it easier to maintain the target object 400 in the field of view of the imaging device 500 .

在一些实施方式中，高度控制指令可以和第二速度控制指令相配合，即，使得可移动物体100的速度逐渐降低并逐渐升高或下降。当目标物400始终处于靠近限制区域200的边界的位置时，即，在一段较长的时间内都无法使用第一控制指令控制可移动物体100时，第二速度控制指令和高度控制指令可以使可移动物体100上升或下降一定高度后悬停，直到目标物400移动到了能够使用第一控制指令进行跟踪的位置(例如目标物400开始向背离限制区域200的边界的反方向运动)，此时生成的第一控制指令中也可以包括高度控制指令，即，可以控制可移动物体100回到原来的高度并继续进行追踪。In some implementations, the height control command can cooperate with the second speed control command, that is, make the speed of the movable object 100 gradually decrease and gradually increase or decrease. When the target object 400 is always at a position close to the boundary of the restricted area 200, that is, when the first control command cannot be used to control the movable object 100 for a long period of time, the second speed control command and height control command can make The movable object 100 hovers after rising or falling to a certain height until the target object 400 moves to a position where the first control command can be used for tracking (for example, the target object 400 starts to move in the opposite direction away from the boundary of the restricted area 200), at this time The generated first control instruction may also include a height control instruction, that is, the movable object 100 may be controlled to return to the original height and continue tracking.

在一些实施方式中，当可移动物体100在垂直方向上运动时，相应地根据可移动物体10的运动方向来调整成像装置500的朝向，例如，当可移动物体100向上移动时，可以在例如俯仰角上调整成像装置500的姿态，使得成像装置500的镜头方向指向目标物400所在的平面。在一些实施方式中，还可以通过第二焦距控制指令来使得成像装置500的焦距变小，从而获得更大的视野范围。In some implementations, when the movable object 100 moves in the vertical direction, the orientation of the imaging device 500 is adjusted accordingly according to the moving direction of the movable object 10, for example, when the movable object 100 moves upward, it can be, for example, The attitude of the imaging device 500 is adjusted in the pitch angle so that the lens direction of the imaging device 500 points to the plane where the target object 400 is located. In some implementations, the focal length of the imaging device 500 may also be reduced through the second focal length control instruction, so as to obtain a larger field of view.

本申请的实施例还提供一种用于控制可移动物体的装置1300，参照图13，包括：一个或多个处理器1301，一个或多个处理器1301被配置成：获取空间中用户设置的限制区域；控制可移动物体在限制区域的限制下自主活动。The embodiment of the present application also provides an apparatus 1300 for controlling a movable object. Referring to FIG. 13 , it includes: one or more processors 1301, and the one or more processors 1301 are configured to: acquire the Restricted area; control movable objects to move autonomously under the restriction of the restricted area.

在一些实施方式中，限制区域可以使允许可移动物体活动的区域。在这样的实施方式中，一个或多个处理器1301在控制可移动物体在限制区域的限制下自主活动时，可以具体被配置成控制可移动物体在限制区域的范围内自主活动。In some embodiments, the restricted area may be an area where movable objects are allowed to move. In such an embodiment, when the one or more processors 1301 control the autonomous movement of the movable object within the restriction of the restriction area, it may be specifically configured to control the autonomous movement of the movable object within the range of the restriction area.

在一些实施方式中，限制区域可以是禁止可移动物体进入的区域。在这样的实施方式中，一个或多个处理器1301在控制可移动物体在限制区域的限制下自主活动时，可以具体被配置成：控制可移动物体在限制区域的范围外自主活动。In some embodiments, the restricted area may be an area where movable objects are prohibited from entering. In such an embodiment, when the one or more processors 1301 control the autonomous movement of the movable object within the limitation of the restricted area, it may be specifically configured to: control the autonomous movement of the movable object outside the restricted area.

在一些实施方式中，一个或多个处理器1301在获取空间中用户设置的限制区域时，可以具体被配置成：获取空间中用户设置的多个边界点的位置信息；根据多个边界点的位置信息确定限制区域在水平方向的范围。In some implementations, when one or more processors 1301 acquire the restricted area set by the user in the space, they may be specifically configured to: acquire the position information of multiple boundary points set by the user in the space; The location information determines the extent of the restricted area in the horizontal direction.

在一些实施方式中，一个或多个处理器1301在获取空间中的多个边界点的位置信息时，可以具体被配置成：控制可移动物体移动到多个边界点；接收可移动物体的传感器获取的多个边界点位置信息。In some implementations, when one or more processors 1301 acquire position information of multiple boundary points in space, they may be specifically configured to: control the movable object to move to multiple boundary points; receive the sensor information of the movable object The obtained location information of multiple boundary points.

在一些实施方式中，用于控制可移动物体的装置1300可以借助与可移动物体通信连接的遥控装置来获取多个边界点的位置信息，例如，一个或多个处理器1301在获取空间中的多个边界点的位置信息时，可以具体被配置成：通过遥控装置获取的空间中的多个边界点的位置信息，遥控装置与可移动物体通信连接。In some implementations, the device 1300 for controlling a movable object can obtain the position information of multiple boundary points by means of a remote control device communicatively connected with the movable object, for example, the position information of one or more processors 1301 in the acquisition space The position information of multiple boundary points may be specifically configured as: the position information of multiple boundary points in the space is acquired by the remote control device, and the remote control device communicates with the movable object.

在一些实施方式中，一个或多个处理器1301在通过遥控装置获取的空间中的多个边界点的位置信息时，可以具体被配置成：接收遥控装置被置于多个边界点时，由遥控装置的传感器获取的多个边界点的位置信息。In some implementations, when the one or more processors 1301 obtain the location information of multiple boundary points in the space through the remote control device, they may be specifically configured to: when the remote control device is placed at multiple boundary points, the The position information of multiple boundary points acquired by the sensor of the remote control device.

在一些实施方式中，一个或多个处理器1301在通过遥控装置获取的空间中的多个边界点的位置信息时，可以具体被配置成：通过遥控装置接收用户输入以获取边界点的位置信息。In some implementations, when the one or more processors 1301 obtain the location information of multiple boundary points in the space through the remote control device, they may be specifically configured to: receive user input through the remote control device to obtain the location information of the boundary points .

在一些实施方式中，一个或多个处理器1301在通过遥控装置获取的空间中的多个边界点的位置信息时，可以具体被配置成：在遥控装置上显示电子地图；接收用户对电子地图上的位置的点选输入，将点选输入指向的多个位置的信息作为多个边界点的位置信息。In some implementations, the one or more processors 1301 may be specifically configured to: display the electronic map on the remote control device; For the click input of the position above, the information of multiple positions pointed to by the click input is used as the position information of multiple boundary points.

在一些实施方式中，一个或多个处理器1301在通过遥控装置获取的空间中的多个边界点的位置信息时，可以具体被配置成：向用户提供多个候选位置信息；通过遥控装置接收用户对候选位置信息的点选输入，将点选输入指向的多个候选位置信息作为多个边界点的位置信息。In some implementations, when the one or more processors 1301 obtain the position information of multiple boundary points in the space through the remote control device, they may be specifically configured to: provide the user with multiple candidate position information; receive through the remote control device When the user clicks on the candidate position information, the plurality of candidate position information pointed to by the click input is used as the position information of the plurality of boundary points.

在一些实施方式中，一个或多个处理器1301在通过遥控装置获取的空间中的多个边界点的位置信息时，可以具体被配置成：通过遥控装置接收用户输入的多个位置坐标作为多个边界点的位置信息。In some implementations, when the one or more processors 1301 obtain the position information of multiple boundary points in space through the remote control device, they may be specifically configured to: receive multiple position coordinates input by the user through the remote control device as multiple location information of a boundary point.

在一些实施方式中，一个或多个处理器1301在通过遥控装置获取的空间中的多个边界点的位置信息时，可以具体被配置成：获取遥控装置的位置信息；接收用户输入的多个指定方向和对应的指定距离；根据遥控装置的位置信息，以及多个指定方向和对应的指定距离，确定多个边界点的位置信息。In some implementations, when the one or more processors 1301 obtain the location information of multiple boundary points in the space through the remote control device, they may be specifically configured to: acquire the location information of the remote control device; receive multiple A specified direction and a corresponding specified distance; according to the location information of the remote control device, as well as the multiple specified directions and the corresponding specified distances, position information of multiple boundary points is determined.

在一些实施方式中，一个或多个处理器1301在通过遥控装置获取的空间中的多个边界点的位置信息时，可以具体被配置成：通过遥控装置接收位置获取装置获取的位置信息作为多个边界点的位置信息，其中，位置获取装置被置于多个边界点处，并且，位置获取装置与遥控装置通信连接。In some implementations, when the one or more processors 1301 obtain the position information of multiple boundary points in the space through the remote control device, they may be specifically configured to: receive the position information obtained by the position acquisition device through the remote control device as multiple The location information of each boundary point, wherein the location acquisition device is placed at a plurality of boundary points, and the location acquisition device is communicatively connected with the remote control device.

在一些实施方式中，一个或多个处理器1301在根据多个边界点的位置信息确定限制区域在水平方向的范围时，可以具体被配置成：将多个边界点连接形成边界线，将边界线一侧的范围作为限制区域在水平方向的范围。In some implementations, when one or more processors 1301 determine the range of the restricted area in the horizontal direction according to the location information of multiple boundary points, they may be specifically configured to: connect multiple boundary points to form a boundary line, and The range on one side of the line is used as the range of the restricted area in the horizontal direction.

在一些实施方式中，多个边界点连接形成封闭的边界线；或者多个边界点连接形成开放的边界线。In some embodiments, multiple boundary points are connected to form a closed boundary line; or multiple boundary points are connected to form an open boundary line.

在一些实施方式中，一个或多个处理器1301在获取空间中用户设置的限制区域时，还可以被配置成：确定限制区域在垂直方向的范围。In some implementations, when acquiring the restricted area set by the user in the space, the one or more processors 1301 may be further configured to: determine the range of the restricted area in the vertical direction.

在一些实施方式中，一个或多个处理器1301在确定限制区域在垂直方向的范围时，可以具体被配置成：通过遥控装置接收用户输入的高度范围作为限制区域在垂直方向的范围，遥控装置与可移动物体通信连接。In some implementations, when one or more processors 1301 determine the range of the restricted area in the vertical direction, they may be specifically configured to: use the remote control device to receive the height range input by the user as the range of the restricted area in the vertical direction, and the remote control device Communicate with movable objects.

在一些实施方式中，一个或多个处理器1301在确定限制区域在垂直方向的范围时，可以具体被配置成：控制可移动物体在垂直方向运动，将可移动物体在垂直方向运动的最高点和/或最低点的高度作为垂直方向的范围的端点。In some implementations, when one or more processors 1301 determine the range of the restricted area in the vertical direction, they may be specifically configured to: control the movement of the movable object in the vertical direction, and move the movable object to the highest point in the vertical direction and/or the height of the lowest point as the endpoints of the range in the vertical direction.

在一些实施方式中，一个或多个处理器1301在确定限制区域在垂直方向的范围时，可以还被配置成：将可移动物体开始运动时的高度作为垂直方向的范围的端点。In some implementations, when the one or more processors 1301 determine the range of the restricted area in the vertical direction, they may be further configured to: use the height when the movable object starts to move as the endpoint of the range in the vertical direction.

在上述描述的多个实施方式中，由一个或多个处理器1301在获取到了边界点的位置信息后执行限制区域在水平方向和/或垂直方向上的范围的确定步骤。然而在其他的一些实施方式中，也可以由一个或多个处理器1301直接接收来自遥控装置或服务器的限制区域在水平方向和/或垂直方向上的范围信息，在这样的实施方式中，上述根据边界点的位置信息确定水平方向和/或垂直方向上的范围信息的步骤可以在遥控装置获取了多个边界点的位置信息后由遥控装置的处理器来完成。In the multiple implementations described above, one or more processors 1301 execute the step of determining the horizontal and/or vertical range of the restricted area after acquiring the location information of the boundary points. However, in some other implementation manners, one or more processors 1301 may also directly receive the horizontal and/or vertical range information of the restricted area from the remote control device or the server. In such implementation manners, the above-mentioned The step of determining the range information in the horizontal direction and/or vertical direction according to the position information of the boundary points may be completed by the processor of the remote control device after the remote control device acquires the position information of a plurality of boundary points.

在一些实施方式中，一个或多个处理器1301还被配置成：将多个边界点的位置信息、限制区域在水平方向的范围、限制区域在垂直方向的范围中的至少之一存储至可移动物体的内部存储装置。In some implementations, the one or more processors 1301 are further configured to: store at least one of the position information of multiple boundary points, the range of the restricted area in the horizontal direction, and the range of the restricted area in the vertical direction in the available Internal storage of moving objects.

在一些实施方式中，一个或多个处理器1301还被配置成：将多个边界点的位置信息、限制区域在水平方向的范围、限制区域在垂直方向的范围中的至少之一上传至服务器；和/或将多个边界点的位置信息、限制区域在水平方向的范围、限制区域在垂直方向的范围中的至少之一发送至其他一个或多个可移动物体。In some implementations, the one or more processors 1301 are further configured to: upload at least one of the location information of multiple boundary points, the range of the restricted area in the horizontal direction, and the range of the restricted area in the vertical direction to the server ; and/or at least one of the location information of multiple boundary points, the range of the restricted area in the horizontal direction, and the range of the restricted area in the vertical direction is sent to one or more other movable objects.

在一些实施方式中，一个或多个处理器1301在控制可移动物体在限制区域的限制下自主活动时，可以具体被配置成：控制可移动物体在限制区域的限制下自主跟踪目标物移动。In some implementations, when the one or more processors 1301 control the movable object to autonomously move within the restricted area, it may be specifically configured to: control the movable object to autonomously track the movement of the target under the restricted area.

在一些实施方式中，一个或多个处理器1301在控制可移动物体在限制区域的限制下自主跟踪目标物移动时，可以具体被配置成：获取目标物与可移动物体的相对位置；根据相对位置生成第一控制指令，第一控制指令包括：第一方向控制指令和第一速度控制指令；根据可移动物体当前的位置信息和第一控制指令生成可移动物体在接下来的预定时间内的移动路线；确定移动路线未跨越限制区域的边界时，使用第一控制指令控制可移动物体移动。In some implementations, when the one or more processors 1301 control the movable object to autonomously track the movement of the target under the restriction of the restricted area, it may be specifically configured to: obtain the relative position of the target and the movable object; The position generates the first control command, the first control command includes: the first direction control command and the first speed control command; according to the current position information of the movable object and the first control command, the current position of the movable object in the next predetermined time is generated. A moving route: when it is determined that the moving route does not cross the boundary of the restricted area, use the first control instruction to control the movement of the movable object.

在一些实施方式中，一个或多个处理器1301在获取目标物与可移动物体的相对位置时，可以具体被配置成：实时地获取目标物与可移动物体的相对位置；根据相对位置生成第一控制指令包括：根据相对位置的变化生成第一控制指令。In some implementations, when one or more processors 1301 obtain the relative positions of the target and the movable object, they may be specifically configured to: obtain the relative positions of the target and the movable object in real time; generate the first A control instruction includes: generating a first control instruction according to the change of the relative position.

在一些实施方式中，一个或多个处理器1301在获取目标物与可移动物体的相对位置时，可以具体被配置成：通过成像装置获取包括目标物的图像，成像装置由可移动物体承载；根据图像确定目标物与可移动物体的相对位置。In some implementations, when one or more processors 1301 acquire the relative positions of the target and the movable object, they may be specifically configured to: acquire an image including the target through an imaging device, and the imaging device is carried by the movable object; Determine the relative position of the target object and the movable object from the image.

在一些实施方式中，第一控制指令还包括：第一焦距控制指令，用于控制成像装置的焦距；以及第一姿态控制指令，用于控制成像装置的姿态。In some implementations, the first control instruction further includes: a first focus control instruction for controlling the focal length of the imaging device; and a first attitude control instruction for controlling the attitude of the imaging device.

在一些实施方式中，一个或多个处理器1301在控制可移动物体在限制区域的限制下自主跟踪目标物移动时，还被配置成：确定移动路线跨越限制区域的边界时，生成第二控制指令；使用第二控制指令控制可移动物体移动，以避免可移动物体跨越限制区域的边界。In some implementations, when the one or more processors 1301 control the movable object to autonomously track the movement of the target under the restriction of the restriction area, it is further configured to: when it is determined that the moving route crosses the boundary of the restriction area, generate a second control An instruction; using the second control instruction to control the movement of the movable object, so as to prevent the movable object from crossing the boundary of the restricted area.

在一些实施方式中，一个或多个处理器1301在生成第二控制指令时，可以具体被配置成：生成第二方向控制指令，第二方向控制指令指向与限制区域的边界平行的方向或背离限制区域的边界的方向。In some implementations, when one or more processors 1301 generate the second control instruction, they may be specifically configured to: generate a second direction control instruction, and the second direction control instruction points to a direction parallel to or deviates from the boundary of the restricted area The direction of the boundary of the restricted area.

在一些实施方式中，第二方向控制指令使可移动物体沿过渡曲线移动后转向第二方向控制指令指向的方向。In some implementations, the second direction control command causes the movable object to move along the transition curve and then turn to the direction pointed by the second direction control command.

在一些实施方式中，过渡曲线为与限制区域的边界的平行线相切的圆的一部分。In some embodiments, the transition curve is a portion of a circle tangent to a parallel line of the boundary of the restricted area.

在一些实施方式中，一个或多个处理器1301在生成第二控制指令时，还可以被配置成：生成第二速度控制指令，第二控制指令使可移动物体的移动速度降低。In some implementations, when generating the second control instruction, the one or more processors 1301 may be further configured to: generate a second speed control instruction, the second control instruction reduces the moving speed of the movable object.

在一些实施方式中，一个或多个处理器1301在生成第二控制指令时，还可以被配置成：生成第二姿态控制指令和/或第二焦距控制指令，以将目标物保持在成像装置的视野内。In some implementations, when generating the second control instruction, the one or more processors 1301 may also be configured to: generate a second attitude control instruction and/or a second focus control instruction to keep the target object on the imaging device within the field of view.

在一些实施方式中，一个或多个处理器1301在生成第二控制指令时，还可以被配置成：生成高度控制指令，高度控制指令控制可移动物体在垂直方向运动以改变可移动物体的高度。In some implementations, when generating the second control instruction, the one or more processors 1301 may also be configured to: generate a height control instruction, the height control instruction controls the movable object to move in the vertical direction to change the height of the movable object .

在一些实施方式中，第二姿态控制指令可以用于根据可移动物体的运动方向调整成像装置的朝向，以在可移动物体沿垂直方向运动时将目标物保持在成像装置的视野内。In some implementations, the second gesture control command can be used to adjust the orientation of the imaging device according to the moving direction of the movable object, so as to keep the target within the field of view of the imaging device when the movable object moves in the vertical direction.

在一些实施方式中，第二焦距控制指令可以使成像装置的焦距变小，以扩大成像装置的视野。In some implementations, the second focal length control instruction may reduce the focal length of the imaging device to expand the field of view of the imaging device.

在一些实施方式中，可移动物体可以为无人机、无人车、无人船中的一种。In some embodiments, the movable object may be one of a drone, an unmanned vehicle, and an unmanned ship.

上述实施方式中所描述的一个或多个处理器1301在执行上述步骤中的具体细节可以参照上文描述的用于控制可移动物体的方法中的相关部分，在此不再赘述。For specific details of the one or more processors 1301 described in the above embodiments in performing the above steps, reference may be made to relevant parts in the method for controlling a movable object described above, and details are not repeated here.

根据本申请的实施例还提供一种控制可移动物体跟踪目标物的方法，参照图14，包括：According to an embodiment of the present application, there is also provided a method for controlling a movable object to track a target, referring to FIG. 14 , including:

步骤S1402：获取空间中用户设置的限制区域；Step S1402: Obtain the restricted area set by the user in the space;

步骤S1404：获取可移动物体与所述限制区域的边界的距离；Step S1404: Obtain the distance between the movable object and the boundary of the restricted area;

步骤S1406：根据所述距离确定所述可移动物体远离所述限制区域的边界时，控制所述可移动物体使用第一跟踪策略跟踪所述目标物；Step S1406: When it is determined according to the distance that the movable object is far away from the boundary of the restricted area, control the movable object to track the target using a first tracking strategy;

步骤S1408：根据所述距离确定所述可移动物体靠近所述限制区域的边界时，控制所述可移动物体使用第二跟踪策略跟踪所述目标物，以避免所述可移动物体跨越所述边界。Step S1408: When it is determined according to the distance that the movable object is close to the boundary of the restricted area, control the movable object to use a second tracking strategy to track the target, so as to avoid the movable object from crossing the boundary .

步骤S1402中获取空间中用户设置的限制区域的方法可以参照上文所描述的用于控制可移动物体的方法中的相关部分，在此不再赘述。在一些实施方式中，与上文类似的，限制区域可以使允许可移动物体活动的区域，也可以是禁止可移动物体活动的区域。For the method of obtaining the restricted area set by the user in the space in step S1402, reference may be made to relevant parts in the method for controlling a movable object described above, and details are not repeated here. In some implementations, similar to the above, the restricted area may be an area where movable objects are allowed to move, or an area where movable objects are prohibited from moving.

仍以上文中的可移动物体100、限制区域200以及目标物400为例，在步骤S1404中，获取可移动物体100与限制区域200的边界的距离，而后在步骤S1406和步骤S1408中，根据该距离判断可移动物体100是否靠近限制区域200的边界，并根据判断的结果来控制可移动物体100使用不同的跟踪策略来跟踪目标物400移动，从而能够在可移动物体100跟踪目标物400移动的过程中保证可移动物体100的安全。Still taking the movable object 100, the restricted area 200, and the target object 400 as examples above, in step S1404, the distance between the movable object 100 and the boundary of the restricted area 200 is obtained, and then in steps S1406 and S1408, according to the distance Judging whether the movable object 100 is close to the boundary of the restricted area 200, and controlling the movable object 100 to use different tracking strategies to track the movement of the target object 400 according to the judgment result, so that the movable object 100 can track the movement of the target object 400 In this way, the safety of the movable object 100 is ensured.

在一些实施方式中，参照图15，获取可移动物体100与限制区域200的边界的距离可以首先获取可移动物体100当前的位置，而后将可移动物体100当前的位置与限制区域200的边界之间的最短直线距离，即图中的线段1501的长度作为可移动物体100与限制区域200的边界之间的距离。由于该距离为可移动物体100当前与限制区域200的边界之间的最短距离，如果该距离符合安全需求，则意味着无论可移动物体100接下来朝哪个方向进行移动，都能够符合安全需求，因此能够最大限度的保证可移动物体100的安全。In some implementations, referring to FIG. 15 , obtaining the distance between the movable object 100 and the boundary of the restricted area 200 may first obtain the current position of the movable object 100 , and then calculate the distance between the current position of the movable object 100 and the boundary of the restricted area 200 The shortest straight-line distance between , that is, the length of the line segment 1501 in the figure is taken as the distance between the movable object 100 and the boundary of the restricted area 200 . Since this distance is the shortest distance between the movable object 100 and the boundary of the restricted area 200, if this distance meets the safety requirements, it means that no matter which direction the movable object 100 moves next, it can meet the safety requirements. Therefore, the safety of the movable object 100 can be guaranteed to the greatest extent.

在一些实施方式中，还可以获取可移动物体100当前的位置和移动方向，将可移动物体100当前的位置与限制区域200的边界之间在移动方向上的直线距离，即图中线段1502(该线段的方向为可移动物体100当前的移动方向)的长度作为可移动物体100与限制区域200的边界之间的距离。由于该距离是在可移动物体100当前移动方向上的距离，因此能够保证可移动物体100在保持当前移动方向继续移动时能够满足安全需求，从而在保证安全的前提下尽可能的扩大了可移动物体100能够活动的范围，提高了跟踪的效果。In some implementations, the current position and moving direction of the movable object 100 can also be obtained, and the straight-line distance between the current position of the movable object 100 and the boundary of the restricted area 200 in the moving direction, that is, the line segment 1502( The direction of the line segment is the current moving direction of the movable object 100 ) and the length thereof is used as the distance between the movable object 100 and the boundary of the restricted area 200 . Since this distance is the distance in the current moving direction of the movable object 100, it can ensure that the movable object 100 can meet the safety requirements while maintaining the current moving direction and continue to move, thereby expanding the movable object as much as possible under the premise of ensuring safety. The range in which the object 100 can move improves the tracking effect.

在步骤S1406和步骤S1408中，使用安全距离来进行判断，当上述距离大于安全距离时，确定可移动物体100远离限制区域200的边界，当可移动物体100与限制区域200的边界的距离小于安全距离时，确定可移动物体100靠近限制区域200的边界。In steps S1406 and S1408, the safety distance is used for judgment. When the above-mentioned distance is greater than the safety distance, it is determined that the movable object 100 is far away from the boundary of the restricted area 200. When the distance between the movable object 100 and the boundary of the restricted area 200 is less than the safety distance, When determining the distance, it is determined that the movable object 100 is close to the boundary of the restricted area 200 .

安全距离可以是预先设定的距离，无论可移动物体100当前处于怎样的运动状态，都可以使用相同的安全距离，此时安全距离可以由本领域技术人员根据可移动物体100的安全性能、最大行驶速度等预先设定。The safety distance can be a preset distance, no matter what kind of motion state the movable object 100 is currently in, the same safety distance can be used. The speed and so on are pre-set.

在一些实施方式中，安全距离可以根据可移动物体100当前的移动速度来确定。例如可移动物体100的移动速度较快时，则相应地设定较长的安全距离，来确保可移动物体100的安全。In some implementations, the safety distance can be determined according to the current moving speed of the movable object 100 . For example, when the moving speed of the movable object 100 is relatively fast, a correspondingly longer safety distance is set to ensure the safety of the movable object 100 .

如前文中所描述的，这种使用安全距离来判断可移动物体100是否靠近限制区域200的边界的方法，可以作为前文中所描述的根据第一控制指令生成可移动物体在接下来预定时间内的移动路线，并判断该移动路线是否跨域限制区域200的边界的一种替代方法。As described above, this method of using a safe distance to determine whether the movable object 100 is close to the boundary of the restricted area 200 can be used as the method described above to generate the movable object within the next predetermined time according to the first control instruction. An alternative method of determining whether the movement route crosses the border of the domain-restricted area 200 .

在一些实施方式中，如果根据可移动物体100当前的位置和移动方向确定可移动物体100与限制区域200的边界之间的距离，并根据可移动物体100的移动速度设定安全距离，则其效果实际上等同于前文中所描述的根据第一控制指令生成可移动物体100在接下来预定时间内的移动路线并判断该移动路线是否跨越了限制区域200的边界。具体地，当可移动物体100与限制区域200的边界之间的距离小于安全距离时，相当于根据第一控制指令生成的在接下来预定时间内的移动路线跨越了限制区域200的边界，当可移动物体100与限制区域200的边界之间的距离大于安全距离时，相当于根据第一控制指令生成的可移动物体100在接下来的预定时间内的移动路线跨越了限制区域200的边界。In some implementations, if the distance between the movable object 100 and the boundary of the restricted area 200 is determined according to the current position and moving direction of the movable object 100, and the safety distance is set according to the moving speed of the movable object 100, then it The effect is actually equivalent to generating the moving route of the movable object 100 within the next predetermined time according to the first control instruction and judging whether the moving route crosses the boundary of the restricted area 200 as described above. Specifically, when the distance between the movable object 100 and the boundary of the restricted area 200 is less than the safety distance, it means that the movement route generated according to the first control instruction within the next predetermined time crosses the boundary of the restricted area 200, when When the distance between the movable object 100 and the boundary of the restricted area 200 is greater than the safety distance, it means that the moving route of the movable object 100 generated according to the first control instruction in the next predetermined time crosses the boundary of the restricted area 200 .

本领域技术人员可以根据实际需求来选择上述两种方法之一或上述两种方法的组合来完成可移动物体100是否靠近限制区域200的边界的判定，并进一步地完成跟踪策略的选择。Those skilled in the art can choose one of the above two methods or a combination of the above two methods according to actual needs to complete the determination of whether the movable object 100 is close to the boundary of the restricted area 200 and further complete the selection of the tracking strategy.

在一些实施方式中，控制可移动物体使用第一跟踪策略跟踪目标物包括：获取目标物与可移动物体的相对位置；根据相对位置生成第一方向控制指令和第一速度控制指令。In some implementations, controlling the movable object to track the target using the first tracking strategy includes: acquiring the relative position of the target and the movable object; and generating a first direction control command and a first speed control command according to the relative position.

在一些实施方式中，获取可移动物体与目标物的相对位置包括：通过成像装置获取包括目标物的图像，成像装置由可移动物体承载；根据图像确定目标物与可移动物体的相对位置。In some implementations, obtaining the relative positions of the movable object and the target includes: obtaining an image including the target by an imaging device, the imaging device being carried by the movable object; and determining the relative positions of the target and the movable object according to the image.

在一些实施方式中，控制可移动物体使用第一跟踪策略跟踪目标物还包括：根据相对位置生成第一焦距控制指令和/或第一姿态控制指令，第一焦距控制指令用于控制成像装置的焦距，第一姿态控制指令用于控制成像装置的姿态。In some implementations, controlling the movable object to track the target using the first tracking strategy further includes: generating a first focus control instruction and/or a first attitude control instruction according to the relative position, the first focus control instruction is used to control the imaging device Focal length, the first attitude control command is used to control the attitude of the imaging device.

使用第一跟踪策略跟踪目标物的具体细节可以参照上文中第一控制指令生成步骤中的相关内容，在此不再赘述。For specific details of using the first tracking strategy to track the target, reference may be made to relevant content in the first control instruction generation step above, which will not be repeated here.

在一些实施方式中，控制可移动物体使用第二跟踪策略跟踪目标物包括：根据可移动物体当前的移动方向和限制区域的边界方向生成第二方向控制指令，第二方向控制指令指向与限制区域的边界平行的方向或背离限制区域的边界的方向。In some implementations, controlling the movable object to use the second tracking strategy to track the target includes: generating a second direction control instruction according to the current moving direction of the movable object and the boundary direction of the restricted area, and the second direction control instruction points to the restricted area The direction parallel to the boundary of or away from the boundary of the restricted area.

在一些实施方式中，控制可移动物体使用第二跟踪策略跟踪目标物包括：生成第二速度控制指令，第二速度控制指令使可移动物体的移动速度降低。In some implementations, controlling the movable object to track the target using the second tracking strategy includes: generating a second speed control instruction, the second speed control instruction reduces the moving speed of the movable object.

在一些实施方式中，控制可移动物体使用第二跟踪策略跟踪目标物还包括：生成第二姿态控制指令和/或第二焦距控制指令，以使目标物保持在成像装置的视野内。In some implementations, controlling the movable object to track the target using the second tracking strategy further includes: generating a second attitude control command and/or a second focus control command to keep the target within the field of view of the imaging device.

在一些实施方式中，生成第二控制指令还包括：生成高度控制指令，高度控制指令控制可移动物体在垂直方向运动以改变可移动物体的高度。In some implementations, generating the second control instruction further includes: generating a height control instruction, the height control instruction controls the movable object to move in the vertical direction to change the height of the movable object.

在一些实施方式中，第二姿态控制指令用于根据可移动物体的运动方向调整成像装置的朝向，以在可移动物体沿垂直方向运动时将目标物保持在成像装置的视野内。In some implementations, the second gesture control command is used to adjust the orientation of the imaging device according to the moving direction of the movable object, so as to keep the target within the field of view of the imaging device when the movable object moves in a vertical direction.

在一些实施方式中，第二焦距控制指令使成像装置的焦距变小，以扩大成像装置的视野。In some implementations, the second focal length control command makes the focal length of the imaging device smaller, so as to expand the field of view of the imaging device.

使用第二跟踪策略跟踪目标物移动中的一些具体细节可以参照上文中第二控制指令生成步骤中的相关内容，在此不再赘述。For some specific details of using the second tracking strategy to track the movement of the target, reference may be made to the relevant content in the second control command generation step above, and details will not be repeated here.

根据本申请的实施例还提供一种用于控制可移动物体跟踪目标物的装置16，包括：一个或多个处理器1601，一个或多个处理器1601被配置成：获取空间中用户设置的限制区域；获取可移动物体与限制区域的边界的距离；根据所述距离确定可移动物体远离限制区域的边界时，控制可移动物体使用第一跟踪策略跟踪目标物；根据所述距离确定可移动物体靠近限制区域的边界时，控制可移动物体使用第二跟踪策略跟踪目标物，以避免可移动物体跨越边界。According to the embodiment of the present application, there is also provided an apparatus 16 for controlling a movable object to track a target, including: one or more processors 1601, and one or more processors 1601 are configured to: acquire the Restricted area; obtain the distance between the movable object and the boundary of the restricted area; determine according to the distance when the movable object is far away from the boundary of the restricted area, control the movable object to use the first tracking strategy to track the target; determine the movable object according to the distance When the object is close to the boundary of the restricted area, the movable object is controlled to use the second tracking strategy to track the target object, so as to avoid the movable object from crossing the boundary.

在一些实施方式中，限制区域可以为允许可移动物体移动的区域。In some embodiments, the restricted area may be an area where the movable object is allowed to move.

在一些实施方式中，限制区域可以为禁止可移动物体进入的区域。In some implementations, the restricted area may be an area where movable objects are prohibited from entering.

在一些实施方式中，一个或多个处理器1601在获取可移动物体与限制区域的边界的距离时，可以具体被配置成：获取可移动物体当前的位置，将可移动物体当前的位置与限制区域的边界之间的最短直线距离作为可移动物体与限制区域的边界的距离。In some implementations, when one or more processors 1601 obtain the distance between the movable object and the boundary of the restricted area, they may be specifically configured to: obtain the current position of the movable object, and compare the current position of the movable object with the limit The shortest straight-line distance between the boundaries of the areas is taken as the distance between the movable object and the boundaries of the restricted area.

在一些实施方式中，一个或多个处理器1601在获取可移动物体与限制区域的边界的距离时，可以具体被配置成：获取可移动物体当前的位置和移动方向，将可移动物体当前的位置与限制区域的边界之间在移动方向上的直线距离作为可移动物体与限制区域的边界的距离。In some implementations, when acquiring the distance between the movable object and the boundary of the restricted area, the one or more processors 1601 may be specifically configured to: acquire the current position and moving direction of the movable object, and The linear distance in the moving direction between the position and the boundary of the restricted area is taken as the distance of the movable object from the boundary of the restricted area.

在一些实施方式中，一个或多个处理器1601还可以被配置成：获取可移动物体当前的移动速度，根据可移动物体当前的移动速度确定安全距离；其中，当可移动物体与限制区域的边界的距离大于安全距离时，确定可移动物体远离限制区域的边界；当可移动物体与限制区域的边界的距离小于等于安全距离时，确定可移动物体靠近限制区域的边界。In some implementations, one or more processors 1601 may also be configured to: obtain the current moving speed of the movable object, and determine the safety distance according to the current moving speed of the movable object; When the distance of the boundary is greater than the safety distance, it is determined that the movable object is far away from the boundary of the restricted area; when the distance between the movable object and the boundary of the restricted area is less than or equal to the safety distance, it is determined that the movable object is close to the boundary of the restricted area.

在一些实施方式中，一个或多个处理器1601在控制可移动物体使用第一跟踪策略跟踪目标物时，可以具体被配置成：获取目标物与可移动物体的相对位置；根据相对位置生成第一方向控制指令和第一速度控制指令。In some implementations, when the one or more processors 1601 control the movable object to use the first tracking strategy to track the target, it may be specifically configured to: acquire the relative position of the target and the movable object; generate the first tracking strategy according to the relative position A direction control command and a first speed control command.

在一些实施方式中，一个或多个处理器1601在获取目标物与可移动物体的相对位置时，可以具体被配置成：实时地获取目标物与可移动物体的相对位置；根据相对位置生成第一控制指令包括：根据相对位置的变化生成第一控制指令。In some implementations, when one or more processors 1601 acquire the relative positions of the target and the movable object, they may be specifically configured to: acquire the relative positions of the target and the movable object in real time; generate the first A control instruction includes: generating a first control instruction according to the change of the relative position.

在一些实施方式中，一个或多个处理器1601在获取目标物与可移动物体的相对位置时，可以具体被配置成：通过成像装置获取包括目标物的图像，成像装置由可移动物体承载；根据图像确定目标物与可移动物体的相对位置。In some implementations, when one or more processors 1601 acquire the relative positions of the target and the movable object, they may be specifically configured to: acquire an image including the target through an imaging device, and the imaging device is carried by the movable object; Determine the relative position of the target object and the movable object from the image.

在一些实施方式中，第一控制指令还可以包括：第一焦距控制指令，用于控制成像装置的焦距；以及第一姿态控制指令，用于控制成像装置的姿态。In some implementations, the first control instruction may further include: a first focus control instruction for controlling the focal length of the imaging device; and a first attitude control instruction for controlling the attitude of the imaging device.

在一些实施方式中，一个或多个处理器1601在控制可移动物体使用第二跟踪策略跟踪目标物时，可以具体被配置成：根据可移动物体当前的移动方向和限制区域的边界方向生成第二方向控制指令，第二方向控制指令指向与限制区域的边界平行的方向或背离限制区域的边界的方向。In some implementations, when the one or more processors 1601 control the movable object to use the second tracking strategy to track the target, it may be specifically configured to: generate the second tracking strategy according to the current moving direction of the movable object and the boundary direction of the restricted area. Two direction control instructions, the second direction control instruction points to a direction parallel to the boundary of the restricted area or a direction away from the boundary of the restricted area.

在一些实施方式中，一个或多个处理器1601在控制可移动物体使用第二跟踪策略跟踪目标物时，还可以被配置成：生成第二速度控制指令，第二控制指令使可移动物体的移动速度降低。In some implementations, when the one or more processors 1601 control the movable object to use the second tracking strategy to track the target, it may also be configured to: generate a second speed control instruction, the second control instruction makes the movable object Movement speed reduced.

在一些实施方式中，一个或多个处理器1601在控制可移动物体使用第二跟踪策略跟踪目标物时，还可以被配置成：生成第二姿态控制指令和/或第二焦距控制指令，以将目标物保持在成像装置的视野内。In some implementations, when the one or more processors 1601 control the movable object to use the second tracking strategy to track the target, it may also be configured to: generate a second attitude control instruction and/or a second focus control instruction to Keep the target within the field of view of the imaging device.

在一些实施方式中，一个或多个处理器1601在生成第二控制指令时，还可以被配置成：生成高度控制指令，高度控制指令控制可移动物体在垂直方向运动以改变可移动物体的高度。In some implementations, when generating the second control instruction, the one or more processors 1601 may also be configured to: generate a height control instruction, the height control instruction controls the movable object to move in the vertical direction to change the height of the movable object .

在一些实施方式中，可移动物体为可以无人机、无人车、无人船中的一种。In some embodiments, the movable object is one of unmanned aerial vehicles, unmanned vehicles, and unmanned ships.

由一个或多个处理器1601所执行的相关步骤中的具体细节可以参照上文中描述控制可移动物体跟踪目标物的方法中相关部分的内容，在此不再赘述。For specific details of the relevant steps performed by one or more processors 1601, reference may be made to the content of relevant parts in the method described above for controlling a movable object to track a target, and details are not repeated here.

根据本申请的实施例还提供一种无人飞行器，无人飞行器可以配置有上文所描述的用于控制可移动物体的装置1300，或者控制可移动物体跟踪目标物的装置1600，并且，无人飞行器可以作为上文中所描述的任意一个实施例中的可移动物体。According to the embodiment of the present application, an unmanned aerial vehicle is also provided. The unmanned aerial vehicle may be configured with the device 1300 for controlling a movable object described above, or the device 1600 for controlling a movable object to track a target, and without The manned aerial vehicle can be used as the movable object in any of the embodiments described above.

根据本申请的实施例还提供一种无人飞行器套件，除了上述无人飞行器外，无人飞行器套件还可以包括遥控装置，遥控装置可以与无人飞行器通信连接并控制无人飞行器，遥控装置可以作为上述中所描述的任意一个实施例中的遥控装置。According to an embodiment of the present application, there is also provided an unmanned aerial vehicle kit. In addition to the above-mentioned unmanned aerial vehicle, the unmanned aerial vehicle kit can also include a remote control device. The remote control device can communicate with the unmanned aerial vehicle and control the unmanned aerial vehicle. The remote control device can As the remote control device in any one of the embodiments described above.

根据本申请的实施例还提供一种计算机可读存储介质，其上存储有计算机指令，所述计算机指令在被执行时使得计算机的一个或多个处理器执行如上所述的控制可移动物体的方法，或者控制可移动物体跟踪目标物的方法。According to an embodiment of the present application, there is also provided a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed, one or more processors of the computer perform the above-mentioned control of the movable object. method, or a method of controlling a movable object to track a target.

计算机可读存储介质可以包括易失性或非易失性、磁性、半导体、磁带、光学、可移除、不可移除或其他类型的计算机可读存储介质或计算机可读存储装置。例如，如所公开的，计算机可读存储介质可以是其上存储有计算机指令的存储单元或存储模块。在一些实施例中，计算机可读存储介质可以是其上存储有计算机指令的盘或闪存驱动器。Computer readable storage media may include volatile or nonvolatile, magnetic, semiconductor, tape, optical, removable, non-removable, or other types of computer readable storage media or computer readable storage devices. For example, a computer readable storage medium may be a storage unit or a memory module having computer instructions stored thereon, as disclosed. In some embodiments, a computer-readable storage medium may be a disk or flash drive having computer instructions stored thereon.

本领域技术人员还将理解，参考本申请所描述的各种示例性的逻辑块、模块、电路和算法步骤可以被实现为专用电子硬件、计算机软件或二者的组合。例如，模块/单元可以由一个或多个处理器来实现，以使该一个或多个处理器成为一个或多个专用处理器，用于执行存储在计算机可读存储介质中的软件指令以执行模块/单元的专用功能。Those of skill in the art would also appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described with reference to the present application may be implemented as special purpose electronic hardware, computer software, or combinations of both. For example, a module/unit may be implemented by one or more processors, such that the one or more processors become one or more special-purpose processors for executing software instructions stored in a computer-readable storage medium to perform Module/unit-specific functions.

附图中的流程图和框图示出了根据本申请的多个实施例的***和方法的可能实现的***架构、功能和操作。就这一点而言，流程图或框图中的每个框可以表示一个模块、一个程序段或代码的一部分，其中模块、程序段或代码的一部分包括用于实现指定的逻辑功能的一个或多个可执行指令。还应该注意的是，在一些备选实施方式中，框中标记的功能还可以以与附图中标记的顺序不同的顺序发生。例如，实际上可以基本并行地执行两个连续的块，并且有时也可以以相反的顺序执行，这取决于所涉及的功能。框图和/或流程图中的每个框以及框图和/或流程图中的框的组合可以由用于执行相应的功能或操作的专用的基于硬件的***来实现，或者可以通过专用硬件和计算机指令的组合来实现。The flowcharts and block diagrams in the figures illustrate the system architecture, functions and operations of possible implementations of the systems and methods according to various embodiments of the present application. In this regard, each block in a flowchart or block diagram may represent a module, a program segment, or a portion of code that includes one or more Executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two consecutive blocks may, in fact, be executed substantially concurrently, and sometimes in the reverse order, depending upon the functionality involved. Each block in the block diagrams and/or flowcharts and combinations of blocks in the block diagrams and/or flowcharts can be implemented by a dedicated hardware-based system for performing the corresponding function or operation, or can be implemented by dedicated hardware and a computer Combination of instructions to achieve.

如本领域技术人员将理解的，本申请的实施例可以体现为方法、***、或计算机程序产品。因此，本申请的实施例可以采取完全硬件实施例、完全软件实施例或组合了软件和硬件的实施例的形式，以允许专用部件来执行上述功能。此外，本申请的实施例可以采取计算机程序产品的形式，其体现在包含计算机可读程序代码的一个或多个有形和/或非暂时性计算机可读存储介质中。一般形式的非暂时性计算机可读介质包括例如软盘、柔性盘、硬盘、固态驱动器、磁带或其它任何磁性数据存储介质、CD-ROM、任何其它光学数据存储介质、具有孔形式的任何物理介质、RAM、PROM和EPROM、FLASH-EPROM或任何其他闪存存储器、NVRAM、高速缓存、寄存器、任何其他存储芯片或胶卷、以及它们的联网版本。As will be understood by those skilled in the art, embodiments of the present application may be embodied as a method, system, or computer program product. Accordingly, the embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware to allow dedicated components to perform the functions described above. Furthermore, embodiments of the present application may take the form of a computer program product embodied in one or more tangible and/or non-transitory computer-readable storage media embodying computer-readable program code. Common forms of non-transitory computer readable media include, for example, floppy disks, flexible disks, hard disks, solid state drives, magnetic tape, or any other magnetic data storage medium, CD-ROM, any other optical data storage medium, any physical medium having a hole in the form, RAM, PROM and EPROM, FLASH-EPROM or any other flash memory, NVRAM, cache, registers, any other memory chips or rolls, and networked versions of them.

参照根据本申请的实施例的方法、装置(***)和计算机程序产品的流程图和/或框图，来描述本申请的各实施例。应当理解，流程图和/或框图中的每个流程和/或框，以及流程图和/或框图中的多个流程和/或框的组合，可以通过计算机程序指令来实现。这些计算机程序指令可以提供给计算机的处理器、嵌入式处理器或其他可编程数据处理装置以产生专用机器，使得经由计算机的处理器或其他可编程数据处理装置执行的这些指令创建用来实现流程图中的一个或多个流程和/或框图中的一个或多个框中指定的功能的装置。Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and/or block in the flowchart and/or block diagram, and a combination of multiple processes and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a processor of a computer, an embedded processor, or other programmable data processing means to produce a special-purpose machine, such that execution of these instructions via a processor of a computer or other programmable data processing means creates a process for implementing One or more processes in a figure and/or means of a function specified in one or more blocks in a block diagram.

这些计算机程序指令也可以存储在指导计算机或其他可编程数据处理装置以特定方式运行的计算机可读存储器中，使得计算机可读存储器中存储的指令产生包括指令装置的制造产品，该指令装置实现流程图中的一个或多个流程和/或框图中的一个或多个框中指定的功能。These computer program instructions may also be stored in a computer-readable memory that directs a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means that implement the process A function specified in one or more processes in a diagram and/or in one or more boxes in a block diagram.

这些计算机程序指令也可以装载在计算机或其他可编程数据处理装置中，使一系列可操作步骤在计算机或其他可编程装置上执行以产生由计算机实现的处理，使得在计算机或其他可编程装置上执行的指令提供用于实现流程图中的一个或多个流程和/或框图中的一个或多个框中指定的功能的步骤。在典型配置中，计算机装置包括一个或多个中央处理单元(CPU)、输入/输出接口、网络接口和存储器。存储器可以包括易失性存储器、随机存取存储器(RAM)和/或非易失性存储器等形式，例如计算机可读存储介质中的只读存储器(ROM)或闪存RAM。存储器是计算机可读存储介质的示例。These computer program instructions can also be loaded in a computer or other programmable data processing device, so that a series of operable steps can be executed on the computer or other programmable device to produce a process implemented by the computer, so that on the computer or other programmable device The executed instructions provide steps for implementing one or more procedures in the flowcharts and/or the functions specified in one or more blocks in the block diagrams. In a typical configuration, a computer device includes one or more central processing units (CPUs), input/output interfaces, network interfaces and memory. Memory may include forms of volatile memory, random access memory (RAM) and/or nonvolatile memory, such as read only memory (ROM) or flash RAM in a computer readable storage medium. The memory is an example of a computer readable storage medium.

计算机可读存储介质是指可以存储处理器可读的信息或数据的任何类型的物理存储器。因此，计算机可读存储介质可以存储用于由一个或多个处理器执行的指令，包括用于使处理器执行与本文描述的实施例一致的步骤或阶段的指令。计算机可读介质包括非易失性和易失性介质以及可移除和不可移除介质，其中信息存储可以用任何方法或技术来实现。信息可以是计算机可读指令的模块、数据结构和程序、或其他数据。非暂时性计算机可读介质的示例包括但不限于：相变随机存取存储器(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其它类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、闪存或其它存储器技术、光盘只读存储器(CD-ROM)、数字多功能盘(DVD)或其他光存储器、盒式磁带、磁带或磁盘存储器或其他磁存储装置、高速缓存、寄存器或可用于存储能够被计算机装置访问的信息的任何其他非传输介质。计算机可读存储介质是非暂时性的，并且不包括诸如调制数据信号和载波之类的暂时性介质。A computer-readable storage medium refers to any type of physical memory that can store information or data readable by a processor. Accordingly, a computer-readable storage medium may store instructions for execution by one or more processors, including instructions for causing a processor to perform steps or stages consistent with embodiments described herein. Computer-readable media includes nonvolatile and volatile media, and removable and non-removable media, where storage of information may be implemented in any method or technology. The information may be modules of computer readable instructions, data structures and programs, or other data. Examples of non-transitory computer readable media include, but are not limited to, phase change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory ( RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage , cassette, tape or disk storage or other magnetic storage device, cache, register or any other non-transmission medium usable for storing information that can be accessed by a computer device. Computer-readable storage media are non-transitory and do not include transitory media such as modulated data signals and carrier waves.

尽管本文描述了所公开的原理的示例和特征，但是在不脱离所公开的实施例的精神和范围的情况下，可以进行修改、适应性改变和其他实现。此外，词语“包含”、“具有”、“包含有”和“包括”以及其它类似形式旨在在含义上是等同的并且是开放性的，这些词语中的任何一个之后的一个或多个项目并不意在作为这样的一个或多个项目的详尽列表，也并不意在仅限于所列出的一个或多个项目。还必须注意，如本文和所附权利要求书中所使用的，除非上下文另有明确说明，否则单数形式“一”、“一个”和“所述”包括复数指示物。While examples and features of the disclosed principles are described herein, modifications, adaptations, and other implementations can be made without departing from the spirit and scope of the disclosed embodiments. Furthermore, the words "comprises," "having," "comprising," and "including," and other similar forms, are intended to be equivalent in meaning and to be open-ended, and one or more items following any of these words It is not intended to be an exhaustive list of such item or items, nor is it intended to be limited to the item or items listed. It must also be noted that, as used herein and in the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise.

应该理解的是，本申请不限于上面已经描述并在附图中示出的确切结构，并且可以在不脱离本申请范围的情况下进行各种修改和变化。用意在于，本申请的范围应当仅由所附权利要求限定。It should be understood that the application is not limited to the exact constructions which have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope of the application. It is intended that the scope of the application shall be limited only by the appended claims.

Claims

一种控制可移动物体跟踪目标物的方法，包括：A method for controlling a movable object to track a target, comprising:

获取空间中用户设置的限制区域；Obtain the restricted area set by the user in the space;

获取可移动物体与所述限制区域的边界的距离；Obtain the distance between the movable object and the boundary of the restricted area;

根据所述距离确定所述可移动物体远离所述限制区域的边界时，控制所述可移动物体使用第一跟踪策略跟踪所述目标物；When it is determined according to the distance that the movable object is far away from the boundary of the restricted area, controlling the movable object to track the target using a first tracking strategy;

根据所述距离确定所述可移动物体靠近所述限制区域的边界时，控制所述可移动物体使用第二跟踪策略跟踪所述目标物，以避免所述可移动物体跨越所述边界。When it is determined according to the distance that the movable object is close to the boundary of the restricted area, the movable object is controlled to track the target using a second tracking strategy, so as to prevent the movable object from crossing the boundary.
根据权利要求1所述的方法，其中，所述限制区域为允许所述可移动物体移动的区域。The method according to claim 1, wherein the restricted area is an area where the movable object is allowed to move.
根据权利要求1所述的方法，其中，所述限制区域为禁止所述可移动物体进入的区域。The method according to claim 1, wherein the restricted area is an area where the movable object is prohibited from entering.
根据权利要求1所述的方法，其中，所述获取可移动物体与所述限制区域的边界的距离包括：The method according to claim 1, wherein said obtaining the distance between the movable object and the boundary of the restricted area comprises:

获取所述可移动物体当前的位置，将所述可移动物体当前的位置与所述限制区域的边界之间的最短直线距离作为所述可移动物体与所述限制区域的边界的距离。The current position of the movable object is obtained, and the shortest linear distance between the current position of the movable object and the boundary of the restricted area is used as the distance between the movable object and the boundary of the restricted area.
根据权利要求1所述的方法，其中，所述获取可移动物体与所述限制区域的边界的距离包括：The method according to claim 1, wherein said obtaining the distance between the movable object and the boundary of the restricted area comprises:

获取所述可移动物体当前的位置和移动方向，将所述可移动物体当前的位置与所述限制区域的边界之间在所述移动方向上的直线距离作为所述可移动物体与所述限制区域的边界的距离。Obtain the current position and moving direction of the movable object, and use the linear distance between the current position of the movable object and the boundary of the restricted area in the moving direction as the distance between the movable object and the restricted area. The distance from the border of the region.
根据权利要求4或5所述的方法，还包括：The method according to claim 4 or 5, further comprising:

获取所述可移动物体当前的移动速度，根据所述可移动物体当前的移动速度确定安全距离；Obtaining the current moving speed of the movable object, and determining a safety distance according to the current moving speed of the movable object;

其中，当所述可移动物体与所述限制区域的边界的距离大于所述安全距离时，确定所述可移动物体远离所述限制区域的边界；Wherein, when the distance between the movable object and the boundary of the restricted area is greater than the safety distance, it is determined that the movable object is far away from the boundary of the restricted area;

当所述可移动物体与所述限制区域的边界的距离小于等于所述安全距离时，确定所述可移动物体靠近所述限制区域的边界。When the distance between the movable object and the boundary of the restricted area is less than or equal to the safety distance, it is determined that the movable object is close to the boundary of the restricted area.
根据权利要求1-6中任一项所述的方法，其中，所述控制所述可移动物体使用第一跟踪策略跟踪目标物包括：The method according to any one of claims 1-6, wherein the controlling the movable object to track a target using a first tracking strategy comprises:

获取所述目标物与所述可移动物体的相对位置；Acquiring the relative position of the target object and the movable object;

根据所述相对位置生成第一方向控制指令和第一速度控制指令。A first direction control command and a first speed control command are generated based on the relative position.
根据权利要求7所述的方法，其中，所述获取所述目标物与所述可移动物体的相对位置包括：The method according to claim 7, wherein said obtaining the relative position of said target object and said movable object comprises:

实时地获取所述目标物与所述可移动物体的相对位置；Obtaining the relative position of the target object and the movable object in real time;

所述根据所述相对位置生成第一方向控制指令和第一速度控制指令包括：The generating the first direction control command and the first speed control command according to the relative position includes:

根据所述相对位置的变化生成第一方向控制指令。A first direction control command is generated according to the change of the relative position.
根据权利要求7或8所述的方法，其中，所述获取所述可移动物体与所述目标物的相对位置包括：The method according to claim 7 or 8, wherein said acquiring the relative position of said movable object and said target comprises:

通过成像装置获取包括所述目标物的图像，所述成像装置由所述可移动物体承载；acquiring an image including the target object by an imaging device, the imaging device being carried by the movable object;

根据所述图像确定所述目标物与所述可移动物体的相对位置。Relative positions of the target object and the movable object are determined according to the image.
根据权利要求9所述的方法，其中，所述控制所述可移动物体使用第一跟踪策略跟踪目标物还包括：The method according to claim 9, wherein the controlling the movable object to use the first tracking strategy to track the target further comprises:

根据所述相对位置生成第一焦距控制指令和/或第一姿态控制指令，所述第一焦距控制指令用于控制所述成像装置的焦距，所述第一姿态控制指令用于控制所述成像装置的姿态。Generate a first focus control instruction and/or a first attitude control instruction according to the relative position, the first focus control instruction is used to control the focal length of the imaging device, and the first attitude control instruction is used to control the imaging The pose of the device.
根据权利要求1-10中任一项所述的方法，其中，所述控制所述可移动物体使用第二跟踪策略跟踪目标物包括：The method according to any one of claims 1-10, wherein the controlling the movable object to use the second tracking strategy to track the target comprises:

根据所述可移动物体当前的移动方向和所述限制区域的边界方向生成第二方向控制指令，所述第二方向控制指令指向与所述限制区域的边界平行的方向或背离所述限制区域的边界的方向。Generate a second direction control instruction according to the current moving direction of the movable object and the boundary direction of the restricted area, the second direction control instruction points to a direction parallel to the boundary of the restricted area or a direction away from the restricted area The direction of the border.
根据权利要求11所述的方法，其中，所述第二方向控制指令使所述可移动物体沿过渡曲线移动后转向所述第二方向控制指令指向的方向。The method according to claim 11, wherein the second direction control command causes the movable object to move along the transition curve and then turn to the direction pointed by the second direction control command.
根据权利要求12所述的方法，其中，所述过渡曲线为与所述限制区域的边界的平行线相切的圆的一部分。The method of claim 12, wherein the transition curve is a portion of a circle tangent to a parallel line of the boundary of the restricted area.
根据权利要求1-13中任一项所述的方法，其中，所述控制所述可移动物体使用第二跟踪策略跟踪目标物包括：The method according to any one of claims 1-13, wherein the controlling the movable object to use the second tracking strategy to track the target comprises:

生成第二速度控制指令，所述第二速度控制指令使所述可移动物体的移动速度降低。A second velocity control instruction is generated that reduces the velocity of movement of the movable object.
根据权利要求11-14中任一项所述的方法，其中，所述控制所述可移动物体使用第二跟踪策略跟踪目标物还包括：The method according to any one of claims 11-14, wherein the controlling the movable object to use the second tracking strategy to track the target further comprises:

生成第二姿态控制指令和/或第二焦距控制指令，以使所述目标物保持在所述成像装置的视野内。A second attitude control command and/or a second focus control command is generated to keep the object within the field of view of the imaging device.
根据权利要求15所述的方法，其中，所述生成第二控制指令还包括：The method according to claim 15, wherein said generating the second control instruction further comprises:

生成高度控制指令，所述高度控制指令控制所述可移动物体在垂直方向运动以改变所述可移动物体的高度。A height control instruction is generated, the height control instruction controls the movable object to move in the vertical direction to change the height of the movable object.
根据权利要求16所述的方法，其中，所述第二姿态控制指令用于根据所述可移动物体的运动方向调整所述成像装置的朝向，以在所述可移动物体沿垂直方向运动时将所述目标物保持在所述成像装置的视野内。The method according to claim 16, wherein the second gesture control command is used to adjust the orientation of the imaging device according to the moving direction of the movable object, so that when the movable object moves in the vertical direction, the The object remains within the field of view of the imaging device.
根据权利要求16或17所述的方法，其中，所述第二焦距控制指令使所述成像装置的焦距变小，以扩大所述成像装置的视野。The method according to claim 16 or 17, wherein the second focal length control command makes the focal length of the imaging device smaller to expand the field of view of the imaging device.
根据权利要求1-18中任一项所述的方法，其中，所述可移动物体为无人机、无人车、无人船中的一种。The method according to any one of claims 1-18, wherein the movable object is one of a drone, an unmanned vehicle, and an unmanned ship.
根据权利要求1所述的方法，其中，所述获取空间中用户设置的限制区域包括：The method according to claim 1, wherein said obtaining the restricted area set by the user in the space comprises:

获取空间中的多个边界点的位置信息；Obtain the position information of multiple boundary points in the space;

根据所述多个边界点的位置信息确定所述限制区域在水平方向的范围。The range of the restricted area in the horizontal direction is determined according to the position information of the plurality of boundary points.
根据权利要求20所述的方法，其中，所述获取空间中的多个边界点的位置信息包括：The method according to claim 20, wherein said obtaining position information of multiple boundary points in space comprises:

控制所述可移动物体移动到所述多个边界点；controlling the movable object to move to the plurality of boundary points;

通过所述可移动物体的传感器获取所述多个边界点位置信息。The location information of the plurality of boundary points is acquired through a sensor of the movable object.
根据权利要求20所述的方法，其中，所述获取空间中的多个边界点的位置信息包括：The method according to claim 20, wherein said obtaining position information of multiple boundary points in space comprises:

通过遥控装置获取空间中的多个边界点的位置信息，所述遥控装置与所述可移动物体通信连接。The position information of multiple boundary points in the space is obtained through a remote control device, and the remote control device is communicatively connected with the movable object.
根据权利要求22所述的方法，其中，所述通过遥控装置获取空间中的多个边界点的位置信息包括：The method according to claim 22, wherein said obtaining the location information of multiple boundary points in the space through the remote control device comprises:

在所述遥控装置置于所述多个边界点时通过所述遥控装置的传感器获取所述多个边界点的位置信息。When the remote control device is placed at the multiple boundary points, the position information of the multiple boundary points is acquired through a sensor of the remote control device.
根据权利要求22所述的方法，其中，所述通过遥控装置获取空间中的多个边界点的位置信息包括：The method according to claim 22, wherein said obtaining the location information of multiple boundary points in the space through the remote control device comprises:

通过所述遥控装置接收用户输入的边界点位置信息。The position information of the boundary point input by the user is received through the remote control device.
根据权利要求22所述的方法，其中，所述通过遥控装置获取空间中的多个边界点的位置信息包括：The method according to claim 22, wherein said obtaining the location information of multiple boundary points in the space through the remote control device comprises:

在所述遥控装置上显示电子地图；displaying an electronic map on the remote control device;

接收用户对所述电子地图上的位置的点选输入，将所述点选输入指向的多个位置的信息作为所述多个边界点的位置信息。A user's click input on the position on the electronic map is received, and the information of the multiple positions pointed to by the click input is used as the position information of the multiple boundary points.
根据权利要求22所述的方法，其中，所述通过遥控装置获取空间中的多个边界点的位置信息包括：The method according to claim 22, wherein said obtaining the location information of multiple boundary points in the space through the remote control device comprises:

通过所述遥控装置接收用户输入的多个位置坐标作为所述多个边界点的位置信息。A plurality of position coordinates input by the user are received by the remote control device as position information of the plurality of boundary points.
根据权利要求22所述的方法，其中，所述通过遥控装置获取空间中的多个边界点的位置信息包括：The method according to claim 22, wherein said obtaining the location information of multiple boundary points in the space through the remote control device comprises:

向用户提供多个候选位置信息；Provide multiple candidate location information to the user;

通过所述遥控装置接收用户对所述候选位置信息的点选输入，将所述点选输入指向的多个候选位置信息作为所述多个边界点的位置信息。A user's click input on the candidate position information is received by the remote control device, and a plurality of candidate position information pointed to by the click input is used as the position information of the plurality of boundary points.
根据权利要求22所述的方法，其中，所述通过遥控装置获取空间中的多个边界点的位置信息包括：The method according to claim 22, wherein said obtaining the location information of multiple boundary points in the space through the remote control device comprises:

获取所述遥控装置的位置信息；acquiring location information of the remote control device;

接收用户输入的多个指定方向和对应的指定距离；Receive multiple specified directions and corresponding specified distances input by the user;

根据所述遥控装置的位置信息，以及所述多个指定方向和对应的指定距离，确定所述多个边界点的位置信息。Determine the location information of the multiple boundary points according to the location information of the remote control device, the multiple designated directions and the corresponding designated distances.
根据权利要求22所述的方法，其中，所述通过遥控装置获取空间中的多个边界点的位置信息包括：The method according to claim 22, wherein said obtaining the location information of multiple boundary points in the space through the remote control device comprises:

通过所述遥控装置接收位置获取装置获取的位置信息作为所述多个边界点的位置信息，其中，所述位置获取装置被置于所述多个边界点处，并且，所述位置获取装置与所述遥控装置通信连接。The remote control device receives the position information acquired by the position acquisition device as the position information of the plurality of boundary points, wherein the position acquisition device is placed at the plurality of boundary points, and the position acquisition device is connected to the plurality of boundary points. The remote control device is communicatively connected.
根据权利要求20-29中任一项所述的方法，其中，所述根据所述多个边界点的位置信息确定所述限制区域在水平方向的范围包括：The method according to any one of claims 20-29, wherein the determining the range of the restricted area in the horizontal direction according to the location information of the plurality of boundary points comprises:

将所述多个边界点连接形成边界线，将所述边界线一侧的范围作为所述限制区域在水平方向的范围。The plurality of boundary points are connected to form a boundary line, and the range on one side of the boundary line is taken as the range of the restricted area in the horizontal direction.
根据权利要求30所述的方法，其中，所述多个边界点连接形成封闭的边界线；或者The method of claim 30, wherein the plurality of boundary points connect to form a closed boundary line; or

所述多个边界点连接形成开放的边界线。The plurality of boundary points are connected to form an open boundary line.
根据权利要求20-31中任一项所述的方法，其中，所述获取空间中用户设置的限制区域还包括：The method according to any one of claims 20-31, wherein said obtaining the restricted area set by the user in the space further includes:

确定所述限制区域在垂直方向的范围。Determine the range of the restricted area in the vertical direction.
根据权利要求32所述的方法，其中，所述确定所述限制区域在垂直方向的范围包括：The method according to claim 32, wherein said determining the range of the restricted area in the vertical direction comprises:

通过遥控装置接收用户输入的高度范围作为所述限制区域在垂直方向的范围，所述遥控装置与所述可移动物体通信连接。The height range input by the user is received by the remote control device as the vertical range of the restricted area, and the remote control device is communicatively connected with the movable object.
根据权利要求32所述的方法，其中，所述确定所述限制区域在垂直方向的范围包括：The method according to claim 32, wherein said determining the range of the restricted area in the vertical direction comprises:

控制所述可移动物体在垂直方向运动，将所述可移动物体在垂直方向运动的最高点和/或最低点的高度作为所述垂直方向的范围的端点。The movable object is controlled to move in the vertical direction, and the height of the highest point and/or the lowest point of the movable object moving in the vertical direction is taken as the endpoint of the range in the vertical direction.
根据权利要求33或34所述的方法，其中，所述确定所述限制区域在垂直方向的范围还包括：The method according to claim 33 or 34, wherein said determining the range of the restricted area in the vertical direction further comprises:

将所述可移动物体开始运动时的高度作为所述垂直方向的范围的一个端点。The height at which the movable object starts to move is taken as an endpoint of the range in the vertical direction.
根据权利要求20-35中任一项所述的方法，还包括：The method according to any one of claims 20-35, further comprising:

将所述多个边界点的位置信息、所述限制区域在水平方向的范围、所述限制区域在垂直方向的范围中的至少之一存储至所述可移动物体的内部存储装置。At least one of the location information of the plurality of boundary points, the range of the restricted area in the horizontal direction, and the range of the restricted area in the vertical direction is stored in the internal storage device of the movable object.
根据权利要求20-36中任一项所述的方法，还包括：The method according to any one of claims 20-36, further comprising:

将所述多个边界点的位置信息、所述限制区域在水平方向的范围、所述限制区域在垂直方向的范围中的至少之一上传至服务器；和/或uploading at least one of the location information of the plurality of boundary points, the range of the restricted area in the horizontal direction, and the range of the restricted area in the vertical direction to the server; and/or

将所述多个边界点的位置信息、所述限制区域在水平方向的范围、所述限制区域在垂直方向的范围中的至少之一发送至其他一个或多个可移动物体。Sending at least one of the location information of the plurality of boundary points, the range of the restricted area in the horizontal direction, and the range of the restricted area in the vertical direction to other one or more movable objects.
一种用于控制可移动物体跟踪目标物的装置，包括：A device for controlling a movable object to track a target, comprising:

一个或多个处理器，所述一个或多个处理器被配置成：one or more processors configured to:

获取空间中用户设置的限制区域；Obtain the restricted area set by the user in the space;

获取可移动物体与所述限制区域的边界的距离；Obtain the distance between the movable object and the boundary of the restricted area;

根据所述距离确定所述可移动物体远离所述限制区域的边界时，控制所述可移动物体使用第一跟踪策略跟踪所述目标物；When it is determined according to the distance that the movable object is far away from the boundary of the restricted area, controlling the movable object to track the target using a first tracking strategy;

根据所述距离确定所述可移动物体靠近所述限制区域的边界时，控制所述可移动物体使用第二跟踪策略跟踪所述目标物，以避免所述可移动物体跨越所述边界。When it is determined according to the distance that the movable object is close to the boundary of the restricted area, the movable object is controlled to track the target using a second tracking strategy, so as to prevent the movable object from crossing the boundary.
根据权利要求38所述的装置，其中，所述限制区域为允许所述可移动物体移动的区域。The apparatus according to claim 38, wherein the restricted area is an area where the movable object is allowed to move.
根据权利要求38所述的装置，其中，所述限制区域为禁止所述可移动物体进入的区域。The apparatus according to claim 38, wherein the restricted area is an area into which the movable object is prohibited.
根据权利要求38所述的装置，其中，所述一个或多个处理器在获取可移动物体与所述限制区域的边界的距离时，具体被配置成：The apparatus according to claim 38, wherein, when the one or more processors obtain the distance between the movable object and the boundary of the restricted area, it is specifically configured to:

获取所述可移动物体当前的位置，将所述可移动物体当前的位置与所述限制区域的边界之间的最短直线距离作为所述可移动物体与所述限制区域的边界的距离。The current position of the movable object is obtained, and the shortest linear distance between the current position of the movable object and the boundary of the restricted area is used as the distance between the movable object and the boundary of the restricted area.
根据权利要求38所述的装置，其中，所述一个或多个处理器在获取可移动物体与所述限制区域的边界的距离时，具体被配置成：The apparatus according to claim 38, wherein, when the one or more processors obtain the distance between the movable object and the boundary of the restricted area, it is specifically configured to:

获取所述可移动物体当前的位置和移动方向，将所述可移动物体当前的位置与所述限制区域的边界之间在所述移动方向上的直线距离作为所述可移动物体与所述限制区域的边界的距离。Obtain the current position and moving direction of the movable object, and use the linear distance between the current position of the movable object and the boundary of the restricted area in the moving direction as the distance between the movable object and the restricted area. The distance from the border of the region.
根据权利要求41或42所述的装置，所述一个或多个处理器还被配置成：The apparatus of claim 41 or 42, the one or more processors further configured to:

获取所述可移动物体当前的移动速度，根据所述可移动物体当前的移动速度确定安全距离；Obtaining the current moving speed of the movable object, and determining a safety distance according to the current moving speed of the movable object;

其中，当所述可移动物体与所述限制区域的边界的距离大于所述安全距离时，确定所述可移动物体远离所述限制区域的边界；Wherein, when the distance between the movable object and the boundary of the restricted area is greater than the safety distance, it is determined that the movable object is far away from the boundary of the restricted area;

当所述可移动物体与所述限制区域的边界的距离小于等于所述安全距离时，确定所述可移动物体靠近所述限制区域的边界。When the distance between the movable object and the boundary of the restricted area is less than or equal to the safety distance, it is determined that the movable object is close to the boundary of the restricted area.
根据权利要求38-43中任一项所述的装置，其中，所述一个或多个处理器在控制所述可移动物体使用第一跟踪策略跟踪目标物时，具体被配置成：The apparatus according to any one of claims 38-43, wherein, when the one or more processors control the movable object to use the first tracking strategy to track the target, it is specifically configured to:

获取所述目标物与所述可移动物体的相对位置；Acquiring the relative position of the target object and the movable object;

根据所述相对位置生成第一方向控制指令和第一速度控制指令。A first direction control command and a first speed control command are generated based on the relative position.
根据权利要求44所述的装置，其中，所述一个或多个处理器在获取所述目标物与所述可移动物体的相对位置时，具体被配置成：The apparatus according to claim 44, wherein, when the one or more processors obtain the relative position of the target object and the movable object, it is specifically configured to:

实时地获取所述目标物与所述可移动物体的相对位置；Obtaining the relative position of the target object and the movable object in real time;

所述根据所述相对位置生成第一控制指令包括：The generating the first control instruction according to the relative position includes:

根据所述相对位置的变化生成第一控制指令。A first control command is generated according to the change of the relative position.
根据权利要求44或45所述的装置，其中，所述一个或多个处理器在获取所述目标物与所述可移动物体的相对位置时，具体被配置成：The apparatus according to claim 44 or 45, wherein, when the one or more processors obtain the relative position of the target object and the movable object, it is specifically configured to:

通过成像装置获取包括所述目标物的图像，所述成像装置由所述可移动物体承载；acquiring an image including the target object by an imaging device, the imaging device being carried by the movable object;

根据所述图像确定所述目标物与所述可移动物体的相对位置。Relative positions of the target object and the movable object are determined according to the image.
根据权利要求46所述的装置，其中，所述第一控制指令还包括：The apparatus according to claim 46, wherein said first control instruction further comprises:

第一焦距控制指令，用于控制所述成像装置的焦距；以及a first focal length control instruction for controlling the focal length of the imaging device; and

第一姿态控制指令，用于控制所述成像装置的姿态。The first attitude control command is used to control the attitude of the imaging device.
根据权利要求38-47中任一项所述的装置，其中，所述一个或多个处理器在控制所述可移动物体使用第二跟踪策略跟踪目标物时，具体被配置成：The apparatus according to any one of claims 38-47, wherein, when the one or more processors control the movable object to use the second tracking strategy to track the target, it is specifically configured to:

根据所述可移动物体当前的移动方向和所述限制区域的边界方向生成第二方向控制指令，所述第二方向控制指令指向与所述限制区域的边界平行的方向或背离所述限制区域的边界的方向。Generate a second direction control instruction according to the current moving direction of the movable object and the boundary direction of the restricted area, the second direction control instruction points to a direction parallel to the boundary of the restricted area or a direction away from the restricted area The direction of the border.
根据权利要求48所述的装置，其中，所述第二方向控制指令使所述可移动物体沿过渡曲线移动后转向所述第二方向控制指令指向的方向。The apparatus of claim 48, wherein the second direction control command causes the movable object to move along the transition curve and then turn to the direction pointed by the second direction control command.
根据权利要求49所述的装置，其中，所述过渡曲线为与所述限制区域的边界的平行线相切的圆的一部分。49. The apparatus of claim 49, wherein the transition curve is a portion of a circle tangent to a parallel line of the boundary of the restricted area.
根据权利要求48-50中任一项所述的装置，其中，所述一个或多个处理器在控制所述可移动物体使用第二跟踪策略跟踪目标物时，还被配置成：The apparatus according to any one of claims 48-50, wherein the one or more processors, when controlling the movable object to track the target object using the second tracking strategy, are further configured to:

生成第二速度控制指令，所述第二控制指令使所述可移动物体的移动速度降低。A second velocity control instruction is generated that reduces the velocity of movement of the movable object.
根据权利要求48-51中任一项所述的装置，其中，所述一个或多个处理器在控制所述可移动物体使用第二跟踪策略跟踪目标物时，还被配置成：The apparatus according to any one of claims 48-51, wherein, when the one or more processors are controlling the movable object to use the second tracking strategy to track the target, it is further configured to:

生成第二姿态控制指令和/或第二焦距控制指令，以将所述目标物保持在所述成像装置的视野内。A second attitude control command and/or a second focus control command is generated to maintain the object within the field of view of the imaging device.
根据权利要求52所述的装置，其中，所述一个或多个处理器在生成第二控制指令时，还被配置成：The apparatus of claim 52, wherein, when generating the second control instruction, the one or more processors are further configured to:

生成高度控制指令，所述高度控制指令控制所述可移动物体在垂直方向运动以改变所述可移动物体的高度。A height control instruction is generated, the height control instruction controls the movable object to move in the vertical direction to change the height of the movable object.
根据权利要求53所述的装置，其中，所述第二姿态控制指令用于根据所述可移动物体的运动方向调整所述成像装置的朝向，以在所述可移动物体沿垂直方向运动时将所述目标物保持在所述成像装置的视野内。The device according to claim 53, wherein the second gesture control instruction is used to adjust the orientation of the imaging device according to the moving direction of the movable object, so that when the movable object moves in the vertical direction, the The object remains within the field of view of the imaging device.
根据权利要求53或54所述的装置，其中，所述第二焦距控制指令使所述成像装置的焦距变小，以扩大所述成像装置的视野。The apparatus according to claim 53 or 54, wherein the second focus control command makes the focal length of the imaging device smaller to expand the field of view of the imaging device.
根据权利要求38-55中任一项所述的装置，其中，所述可移动物体为无人机、无人车、无人船中的一种。The device according to any one of claims 38-55, wherein the movable object is one of a drone, an unmanned vehicle, and an unmanned ship.
根据权利要求38所述的装置，其中，所述一个或多个处理器在获取空间中用户设置的限制区域时，具体被配置成：The device according to claim 38, wherein when the one or more processors obtain the restricted area set by the user in the space, it is specifically configured to:

获取空间中的多个边界点的位置信息；Obtain the position information of multiple boundary points in the space;

根据所述多个边界点的位置信息确定所述限制区域在水平方向的范围。The range of the restricted area in the horizontal direction is determined according to the position information of the plurality of boundary points.
根据权利要求57所述的装置，其中，所述一个或多个处理器在获取空间中的多个边界点的位置信息时，具体被配置成：The device according to claim 57, wherein, when the one or more processors acquire position information of multiple boundary points in space, they are specifically configured to:

控制所述可移动物体移动到所述多个边界点；controlling the movable object to move to the plurality of boundary points;

接收所述可移动物体的传感器获取的所述多个边界点位置信息。receiving the plurality of boundary point position information obtained by the sensor of the movable object.
根据权利要求57所述的装置，其中，所述一个或多个处理器在获取空间中的多个边界点的位置信息时，具体被配置成：The device according to claim 57, wherein, when the one or more processors acquire position information of multiple boundary points in space, they are specifically configured to:

通过遥控装置获取的空间中的多个边界点的位置信息，所述遥控装置与所述可移动物体通信连接。The position information of multiple boundary points in the space is acquired by a remote control device, and the remote control device is communicatively connected with the movable object.
根据权利要求59所述的装置，其中，所述一个或多个处理器在通过遥控装置获取的空间中的多个边界点的位置信息时，具体被配置成：The device according to claim 59, wherein the one or more processors are specifically configured to:

接收所述遥控装置被置于所述多个边界点时，由所述遥控装置的传感器获取的所述多个边界点的位置信息。receiving position information of the plurality of boundary points obtained by the sensor of the remote control device when the remote control device is placed at the plurality of boundary points.
根据权利要求59所述的装置，其中，所述一个或多个处理器在通过遥控装置获取的空间中的多个边界点的位置信息时，具体被配置成：The device according to claim 59, wherein the one or more processors are specifically configured to:

通过所述遥控装置接收用户输入以获取边界点的位置信息。A user input is received through the remote control device to obtain position information of the boundary points.
根据权利要求61所述的装置，其中，所述一个或多个处理器在通过遥控装置获取的空间中的多个边界点的位置信息时，具体被配置成：The device according to claim 61, wherein the one or more processors are specifically configured to:

在所述遥控装置上显示电子地图；displaying an electronic map on the remote control device;

接收用户对所述电子地图上的位置的点选输入，将所述点选输入指向的多个位置的信息作为所述多个边界点的位置信息。A user's click input on the position on the electronic map is received, and the information of the multiple positions pointed to by the click input is used as the position information of the multiple boundary points.
根据权利要求61所述的装置，其中，所述一个或多个处理器在通过遥控装置获取的空间中的多个边界点的位置信息时，具体被配置成：The device according to claim 61, wherein the one or more processors are specifically configured to:

向用户提供多个候选位置信息；Provide multiple candidate location information to the user;

通过所述遥控装置接收用户对所述候选位置信息的点选输入，将所述点选输入指向的多个候选位置信息作为所述多个边界点的位置信息。A user's click input on the candidate position information is received by the remote control device, and a plurality of candidate position information pointed to by the click input is used as the position information of the plurality of boundary points.
根据权利要求61所述的装置，其中，所述一个或多个处理器在通过遥控装置获取的空间中的多个边界点的位置信息时，具体被配置成：The device according to claim 61, wherein the one or more processors are specifically configured to:

通过所述遥控装置接收用户输入的多个位置坐标作为所述多个边界点的位置信息。A plurality of position coordinates input by the user are received by the remote control device as position information of the plurality of boundary points.
根据权利要求61所述的装置，其中，所述一个或多个处理器在通过遥控装置获取的空间中的多个边界点的位置信息时，具体被配置成：The device according to claim 61, wherein the one or more processors are specifically configured to:

获取所述遥控装置的位置信息；acquiring location information of the remote control device;

接收用户输入的多个指定方向和对应的指定距离；Receive multiple specified directions and corresponding specified distances input by the user;

根据所述遥控装置的位置信息，以及所述多个指定方向和对应的指定距离，确定所述多个边界点的位置信息。Determine the location information of the multiple boundary points according to the location information of the remote control device, the multiple designated directions and the corresponding designated distances.
根据权利要求59所述的装置，其中，所述一个或多个处理器在通过遥控装置获取的空间中的多个边界点的位置信息时，具体被配置成：The device according to claim 59, wherein the one or more processors are specifically configured to:

通过所述遥控装置接收位置获取装置获取的位置信息作为所述多个边界点的位置信息，其中，所述位置获取装置被置于所述多个边界点处，并且，所述位置获取装置与所述遥控装置通信连接。The remote control device receives the position information acquired by the position acquisition device as the position information of the plurality of boundary points, wherein the position acquisition device is placed at the plurality of boundary points, and the position acquisition device is connected to the plurality of boundary points. The remote control device is communicatively connected.
根据权利要求57-66中任一项所述的装置，其中，所述一个或多个处理器在根据所述多个边界点的位置信息确定所述限制区域在水平方向的范围时，具体被配置成：The device according to any one of claims 57-66, wherein when the one or more processors determine the range of the restricted area in the horizontal direction according to the location information of the plurality of boundary points, it is specifically determined by Configured as:

将所述多个边界点连接形成边界线，将所述边界线一侧的范围作为所述限制区域在水平方向的范围。The plurality of boundary points are connected to form a boundary line, and the range on one side of the boundary line is taken as the range of the restricted area in the horizontal direction.
根据权利要求67所述的装置，其中，所述多个边界点连接形成封闭的边界线；或者The apparatus of claim 67, wherein the plurality of boundary points connect to form a closed boundary line; or

所述多个边界点连接形成开放的边界线。The plurality of boundary points are connected to form an open boundary line.
根据权利要求57-68中任一项所述的装置，其中，所述一个或多个处理器在获取空间中用户设置的限制区域时，还被配置成：The apparatus according to any one of claims 57-68, wherein when the one or more processors obtain the restricted area set by the user in the space, they are further configured to:

确定所述限制区域在垂直方向的范围。Determine the range of the restricted area in the vertical direction.
根据权利要求69所述的装置，其中，所述一个或多个处理器在确定所述限制区域在垂直方向的范围时，具体被配置成：The apparatus according to claim 69, wherein when the one or more processors determine the range of the restricted area in the vertical direction, they are specifically configured to:

通过遥控装置接收用户输入的高度范围作为所述限制区域在垂直方向的范围，所述遥控装置与所述可移动物体通信连接。The height range input by the user is received by the remote control device as the vertical range of the restricted area, and the remote control device is communicatively connected with the movable object.
根据权利要求69所述的装置，其中，所述一个或多个处理器在确定所述限制区域在垂直方向的范围时，具体被配置成：The apparatus according to claim 69, wherein when the one or more processors determine the range of the restricted area in the vertical direction, they are specifically configured to:

控制所述可移动物体在垂直方向运动，将所述可移动物体在垂直方向运动的最高点和/或最低点的高度作为所述垂直方向的范围的端点。The movable object is controlled to move in the vertical direction, and the height of the highest point and/or the lowest point of the movable object moving in the vertical direction is taken as the endpoint of the range in the vertical direction.
根据权利要求70或71所述的装置，其中，所述一个或多个处理器在确定所述限制区域在垂直方向的范围时，还被配置成：The apparatus according to claim 70 or 71, wherein when the one or more processors determine the range of the restricted area in the vertical direction, it is further configured to:

将所述可移动物体开始运动时的高度作为所述垂直方向的范围的端点。The height at which the movable object starts to move is taken as the endpoint of the range in the vertical direction.
根据权利要求57-72中任一项所述的装置，所述一个或多个处理器还被配置成：The apparatus of any one of claims 57-72, the one or more processors further configured to:

将所述多个边界点的位置信息、所述限制区域在水平方向的范围、所述限制区域在垂直方向的范围中的至少之一存储至所述可移动物体的内部存储装置。At least one of the location information of the plurality of boundary points, the range of the restricted area in the horizontal direction, and the range of the restricted area in the vertical direction is stored in the internal storage device of the movable object.
根据权利要求57-73中任一项所述的装置，所述一个或多个处理器还被配置成：The apparatus of any one of claims 57-73, the one or more processors further configured to:

将所述多个边界点的位置信息、所述限制区域在水平方向的范围、所述限制区域在垂直方向的范围中的至少之一上传至服务器；和/或uploading at least one of the location information of the plurality of boundary points, the range of the restricted area in the horizontal direction, and the range of the restricted area in the vertical direction to the server; and/or

将所述多个边界点的位置信息、所述限制区域在水平方向的范围、所述限制区域在垂直方向的范围中的至少之一发送至其他一个或多个可移动物体。Sending at least one of the location information of the plurality of boundary points, the range of the restricted area in the horizontal direction, and the range of the restricted area in the vertical direction to other one or more movable objects.
一种无人飞行器，其配置有如权利要求38-74中任意一项所述的用于控制可移动物体跟踪目标物的装置。An unmanned aerial vehicle configured with the device for controlling a movable object to track a target according to any one of claims 38-74.
一种无人飞行器套件，包括：An unmanned aerial vehicle kit comprising:

无人飞行器和遥控装置，所述遥控装置能够与所述无人飞行器通信连接并控制所述无人飞行器，其中，所述无人飞行器配置有如权利要求38-74中任一项所述的用于控制可移动物体的装置。An unmanned aerial vehicle and a remote control device, the remote control device can communicate with the unmanned aerial vehicle and control the unmanned aerial vehicle, wherein the unmanned aerial vehicle is configured with the device according to any one of claims 38-74 Devices for controlling movable objects.
一种计算机可读存储介质，其上存储有计算机指令，所述计算机指令在被计算机执行时，实现权利要求1-37中任一项所述的方法。A computer-readable storage medium, on which computer instructions are stored, and when executed by a computer, the computer instructions implement the method according to any one of claims 1-37.