WO2018045654A1

WO2018045654A1 - Method and system for displaying state of mobile device and control device

Info

Publication number: WO2018045654A1
Application number: PCT/CN2016/109243
Authority: WO
Inventors: 缪宝杰; 张洁明; 陈伟; 杨秉臻
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-09-09
Filing date: 2016-12-09
Publication date: 2018-03-15

Abstract

A method and a corresponding system for use in displaying a state of a mobile device, a control device, and a computer-readable medium. The method comprises: acquiring state information of the mobile device (S1); acquiring state information of a control device (S2); and displaying the state information of the mobile device and of the control device on a same display interface (S3). The state information of the mobile device and the state information of a load thereof are displayed on the display interface, thus allowing a user to learn in real-time the real-time flight state of the mobile device and the operating state of the load, facilitating control for the user, and improving user control experience.

Description

Method, system and control device for displaying the state of a mobile device

Copyright statement

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or patent disclosure contained in the official records and files of the Patent and Trademark Office.

Technical field

The present invention relates to a method, system and control device for displaying the status of a mobile device.

Background technique

In recent years, unmanned aerial vehicles (including fixed-wing drones and rotary-wing drones), motor vehicles, submarines and ships, as well as satellites, space stations, spacecraft, etc., have been widely used for these mobile devices. Manipulation is usually achieved by the user via a remote control. In many applications, a mobile device such as a drone can carry a carrier, for example, some drones are equipped with a pan/tilt carrying a camera or a light to perform aerial photography using a camera.

However, when the user manipulates the movable device through the remote control device, when it is away from the user's location (for example, away from four or five hundred meters), it is difficult to perform manipulation by visual observation. Moreover, when using an unmanned aerial vehicle for aerial photography or the like, the controller often needs to know the relative position of the movable device and the user, and the motion state of the movable device, and operate according to the real-time relative position and motion state. . However, the existing remote control device cannot effectively display the real-time relative position and motion state, etc., which makes the user's control experience poor and easily causes misoperation.

Summary of the invention

An aspect of the present invention provides a method for displaying a state of a movable device, comprising: acquiring state information of the movable device; acquiring state information of the control device, the control device for controlling movement of the movable device; Status information of each of the control device and the movable device is displayed on the same display interface.

Another aspect of the present invention provides a system for displaying a state of a movable device, the system comprising: communication means for acquiring state information of the movable device and state information of the control device, the control device And a storage device configured to execute the computer readable instructions to control display of the respective control device and the movable device on the same display interface Control information.

A further aspect of the present invention provides a control apparatus for displaying a state of a movable device, comprising: a communication interface for acquiring state information of the movable device and state information of the control device, the control device being used for Controlling the removable device; the memory storing computer readable instructions; and a processor for executing the computer readable instructions to control display of respective state information of the control device and the movable device on the same display interface.

Moreover, the present invention is also a computer readable medium having stored thereon computer executable instructions for performing the aforementioned method for displaying a state of a removable device.

DRAWINGS

1A is an application scenario diagram of one embodiment of a system for displaying a state of a movable device of the present invention;

1B is a flow chart of a method for displaying a state of a movable device of the present invention;

2A is a schematic view showing a first embodiment of a display interface in the control device of the present invention;

2B is a schematic view showing a second embodiment of a display interface in the control device of the present invention;

Figure 3 is a schematic illustration of a third embodiment of a display interface in the control device of the present invention;

4A to 4C are schematic views showing a fourth embodiment of a display interface in the control device of the present invention;

Figure 5 is a schematic view showing a fifth embodiment of a display interface in the control device of the present invention;

6 is a schematic structural diagram of a system for displaying a state of a movable device according to the present invention;

Figure 7 is a block diagram showing the construction of a control device for displaying the state of a movable device in accordance with the present invention.

detailed description

For a remotely movable device such as a drone or a driverless car, the present invention mainly considers how to better display the relative position of the movable device and the remote control terminal and the real-time movement state of the movable device on the remote control terminal, so as to facilitate Users can control mobile devices more conveniently, efficiently, or with interest, improving the user's control experience.

In the following, when the solution of the present invention is specifically described, although the description is made by taking an unmanned aerial vehicle as an example, the method, device and system of the present invention are not limited to the field, and any mobile control can be moved by wired or wireless remote control. The present invention can be reasonably utilized in the field of devices, including, for example, various unmanned vehicles, and any application device and application scenarios that do not require humans to operate directly on the device body, such as satellite, robotics, virtual Reality technology, etc.

"Removable" as used in the present invention refers to any relative movement in three-dimensional space, including translation, rotation, and various combinations of translation and rotation, such as movement in different spaces such as flight, road driving, and stealth. ,as well as Different movement modes such as pan, flip, pitch, and tilt.

The "module" and "unit" referred to in the present invention may be any hardware device or component of the device, such as a processor, or a logic module or unit of software. The hardware device or components of the device may also execute the corresponding method in accordance with a computer program stored in a non-transitory computer readable medium stored in the memory.

The "control device" referred to in the present invention means any device capable of operating a movable device by wire or wirelessly. It is usually provided with a button, a handle, etc. for the user to manipulate, so that the user can generate a control signal by manipulation to transmit to the movable device to control the movement state of the mobile device.

In general, the present invention proposes to graphically display status information of the control device and the movable device on the same display interface. The premise of displaying the status information of both is that the control device can acquire the status information of both in real time. The status information may include various information related to the mobile device and the control device, such as location, attitude, load status, and the like.

Displaying the state information of the control device and the movable device in a graphical manner on the same display interface enables the user to intuitively understand the relative relationship between the current mobile device and the control device, and avoids displaying only the state information of the movable device when the display interface is displayed. It is difficult for the user to generate the real feeling of the distance and orientation of the movable device, the user's manipulation feedback is enhanced, and the manipulation experience is improved.

The status information includes location information. The location information of the mobile device can be directly received from the mobile device or provided by a third party platform such as a base station, a satellite, or the like. When the mobile device itself has a location acquisition device (such as a GPS module), it can obtain its real-time location information for transmission to the control device. The position information of the control device can be generated by itself or externally. In a special application, the position can also be fixed, so that the position information can be obtained by direct input. When obtained by itself, it may also be provided with a location acquisition device (e.g., a GPS module).

Although the invention is not limited to a specific graphical display, in a preferred manner, the control device itself may be manipulated with the user, considering that the position of the movable device may occur in any orientation relative to the user's control device. Since the rotation occurs by the action, it is preferable to display the position information of the control device and the movable device in a circular area of the display interface. Thus, regardless of the change in the relative position and orientation of the movable device and the control device, the display effect is not changed in the display region due to the change in the angle. Of course, the circular area as a preferred mode of the present invention indicates that the present invention is not limited to the shape of the display area, and the scheme for simultaneously displaying the movable device and the control device according to the present invention may also be displayed by using other shapes of display areas, such as a square. Or a triangle.

As a way of graphical display, the movable device and the control device can be specified in the display interface Graphical logo to represent. For example, a circle, a triangle, an arrow, or the like may be used to represent a drone, and a control device may be represented by a circle, a square, or the like. Of course, it is also possible to choose to use a more vivid image to indicate that the invention is not limited to the specific logo style.

Still further, the position of the movable device and the control device can be represented using the position of the graphical identification on the display interface. Preferably, the actual spatial geographic location may be represented in an equal scale manner to display the location of the graphical identification of both on an equal scale in the display interface. However, the present invention is not limited to the proportional method, and other correspondences may be used for display. Since the positions of the two are displayed on the same display interface, the relative positional relationship between the two can be clearly understood.

In order to more visually display the state of the movable device, the state information includes posture information of the movable device. The present invention preferably displays the posture information of the movable device on the display interface. The gesture information herein refers to any information that can reflect the posture of the mobile device during the movement process. Taking the drone as an example, the attitude information includes orientation information, pitch angle, roll angle, and the like. The real-time attitude information of the mobile device can be acquired in real time by its own sensor and transmitted to the control device through its communication device.

The pitch angle is an angle at which the head of the drone is tilted or raised in the height direction; the roll angle is an angle at which the drone rotates around the head and the tail line relative to the horizontal plane.

Preferably, the present invention graphically displays the gesture information on a display interface. For example, for a drone, a geometry can be used to represent the drone, and the location of the geometry in the interface represents the location information of the drone. The orientation information, posture information, and the like of the drone can also be represented graphically (for example, a pitch line and a roll angle are indicated by dynamic horizontal lines, which will be described in detail in the following embodiments). However, it should be understood that the present invention is not limited to which graphical information is used to display the above-described state information, and those skilled in the art can carry out various designs under the guidance of the design concept of the present invention to increase the visual experience of the user.

In addition, it is considered that the mobile device of the present invention may carry a load itself, and the load is likely to require the user to pay attention to its working state in real time or to manipulate it to change its working state. Therefore, the present invention is also preferably to simultaneously display status information of the load on the display interface. Similarly, the status information includes any information that reflects the operational status of the load during the move. For example, for a drone, a camera can be mounted on the gimbal for real-time shooting, and the camera needs to change the angle and adjust the posture in real time when shooting. Usually, the camera can be mounted on the head of the drone, and the user can adjust the attitude of the camera and control the camera to shoot by wirelessly controlling the pan/tilt. Therefore, the present invention can graphically display the orientation of the gimbal and the visual range of the camera and the like on the display interface of the control device, thereby reflecting the current posture of the pan/tilt and the camera so that the user can intuitively understand the current working state of the camera. Similarly, the present invention is not limited to graphical representation of the status information of the load. Those skilled in the art can carry out various designs under the guidance of the design concept of the present invention to increase the visual experience of the user.

1A is an application scenario diagram of one embodiment of a system for displaying a state of a mobile device of the present invention. As shown in FIG. 1A, the system is a drone remote control system including a remote control device 1 and a drone 2, and a camera 4 is mounted on the pan/tilt of the drone 2. Wireless communication is possible between the remote control device 1 and the drone 2, so that the user manipulates the remote control device 1 to control the flight of the drone and control the operation of the camera 4. As shown in FIG. 1, the remote control device 1 has a display screen 3, and the display screen 3 has a display interface. The display interface can display the operating status information about the drone and the camera mounted thereon, and the user can view the display 3 to control the drone 2 and the camera 4 mounted thereon in real time.

1B is a flow chart of a method of the present invention for displaying the state of a mobile device. As shown in FIG. 1B, the method includes: S1: acquiring state information of the movable device; S2, acquiring state information of the control device; and S3, displaying state information of each of the control device and the movable device on the same display interface. Steps S1 and S2 generally do not have a fixed sequence. The above steps S1 to S3 can be repeated at a fixed frequency to update the position and/or status information of the remote control device 1 and the drone 2 on the display interface in real time.

2A is a schematic diagram of a first embodiment of a display interface in the control device of the present invention. As shown in FIG. 2A, in this embodiment, the remote control device of the drone is still taken as an example for illustration. Both the movable device (unmanned aerial vehicle) and the control device (remote control device) are displayed as a graphical identifier, that is, the remote control device identification 11 and the drone identification 12, and the remote control identification 11 and the drone identification 12 are displayed in a circle. In the shape area 10. In this embodiment, the remote control identification 11 is always located at the center of the circular area, shown as a circle with a center mark "H", and the drone mark 12 is a smaller circle (Fig. 2A is a The circle of the grid) the drone identifier 12 is correspondingly displayed in the circular area 10 according to the actual distance and orientation of the movable device relative to the remote control device 11 to visually display the drone relative to the user (remote control The direction and distance of the device).

Preferably, the scale of the circular area may vary with the distance between the drone and the remote control to display the two logos on the display interface at an appropriate scale.

In this embodiment, the location information of the drone can be obtained by its own GPS module and transmitted to the control device, the location information of which is either fixed information or obtained by its own GPS module.

2B is a schematic diagram of a second embodiment of a display interface in the control device of the present invention. In the first embodiment, the remote control device identification 11 is always located at the center of the circular area 10, unlike the display mode, in the second embodiment, as shown in Fig. 2B, the center of the circular area 10 indicates a specific Location point. That is, the center cross point of the circular area 10 is used in the display interface to represent the specific address location information. In this implementation In the example, the specific geographic location point is the departure geographic location of the drone 12. In some scenarios, when a person operates a remote control device to control a drone, the remote control device is also carried away from the departure point of the drone, and thus the remote control device is also offset relative to a specific geographic location. In FIG. 2B, as the operator walks, the identification of the remote control device also shifts to the upper left relative to the departure point of the drone in the display interface.

In order to adapt to different application scenarios, the specific geographic location point is not limited to the starting point of the mobile device (unmanned aerial vehicle), and may also be set to any geographical location, such as the destination of the mobile device, the specific set of takeoff and landing. Points or specific geographic locations, etc.

3 is a schematic diagram of a third embodiment of a display interface in the control device of the present invention. In this embodiment, in addition to the elements shown in FIGS. 2A and 2B, the display interface further includes an orientation information auxiliary identifier. The orientation information assisted identification includes any visual identification that can assist the user in determining the orientation of the movable device or control device in the display interface. In this embodiment, the orientation information assistance indicator includes a control device front facing indicator 13, a north north direction identification 14 and a distance auxiliary identification 15. The front face of the control device defines the frontal orientation of the control device (in this embodiment the remote control of the drone), which does not change position in the display interface, in this embodiment directly above the display interface Triangle logo. The north north direction indicator 14 represents the direction of the north direction relative to the control device and may vary accordingly in the display interface as the orientation of the remote control device changes. In this embodiment it is located at the periphery of the circular area. The distance auxiliary mark 15 is a concentric circle composed of a broken line in this embodiment, and is used to indicate a distance index in the display area. Although a particular orientation information assisted logo is displayed in a particular shape and logo pattern in this embodiment, those skilled in the art can make various changes depending on the design needs.

4A to 4C are schematic views of a fourth embodiment of a display interface in the control device of the present invention. As shown in the figure, in this embodiment, in addition to the elements shown in FIG. 3, it also graphically displays the status information of the drone and the status information of the loaded load (including the pan/tilt and the camera).

4A to 4C, an arrow is used to indicate the drone, and reference numeral 16 in the figure is the vertex angle direction of the arrow for representing the flight direction or head orientation of the drone. When the direction of flight of the drone changes, the direction of the arrow changes. Further, reference numeral 17 is a dynamic water level line pattern for representing the flying posture of the drone. The dynamic water level line is located below the circular area and simulates the manner in which water moves in a flat container with a change in flight attitude. In this embodiment, the height of the water line represents the pitch angle of the drone, and the angle of inclination of the water level represents the roll angle of the drone. This method can visually represent the posture information of the current drone, which is convenient for the user to recognize. Fig. 4A shows the case where the pitch angle of the drone is zero, but the roll angle is not zero, and the water line at this time is just at the center of the circle. The water level to the left in the figure indicates that the drone is tilted leftward about the roll axis. Further, as shown in FIG. 4B, when the pitch angle of the drone is not zero, its horizontal plane will be higher than the center of the circular area. Figure 4B It shows that when the drone is swooping down, the center of the water level is higher than the center of the circular area. Similarly, when the drone is lifted up, its level is lower than the center of the circular area. Fig. 4C shows the case where the drone produces an inclination at both the roll direction and the pitch direction.

Figure 5 is a schematic illustration of a fifth embodiment of a display interface in the control device of the present invention. As shown, the state information of the load is also displayed in this embodiment. In this embodiment, the load includes a pan/tilt and a camera on the gimbal. Reference numeral 18 is a sector area for indicating the visual range of the camera. The annular section 19 located around the circular area 10 represents the offset angle of the gimbal. In this embodiment, the visual range 18 has a deflection angle relative to the nose orientation 16 of the drone. For the gimbal, the deflection angle of the gimbal of the drone usually has an allowable range, for example, 0 to 270 degrees. If the allowable range is to be reached or exceeded, the color of the annular section 19 changes in the present embodiment to alert the user. For example, it is displayed in green when it is within the allowable range, turns yellow when it is close to the allowable range, and turns red when it is outside the allowable range.

The above embodiments mainly illustrate an exemplary embodiment of the method for displaying the state of a movable device of the present invention. It should be understood that the above method of the present invention can be implemented by hardware or software. The form that can be achieved by the mode of the present invention is schematically illustrated by way of specific embodiments.

Figure 6 is a block diagram showing the structure of a system for displaying the state of a movable device in accordance with the present invention. As shown, the system 20 includes: a communication device 21 for acquiring current state information of the mobile device and current state information of the control device; and a storage device 22 storing computer readable instructions; The processing device 23 is configured to execute the computer readable instructions to control display of respective state information of the control device and the movable device on the same display interface. In this embodiment, as a system, it may be implemented as a stand-alone device, or may be implemented by a distributed device. Moreover, the display device 24 may or may not be included in the system. For example, the communication device 21 may be implemented by a communication capable sensor (for example, various wireless sensors) to acquire current status information of the movable device. And current status information of the control device. The processing device can be implemented by a computer, a mobile phone, a tablet, or a PLA (Programmable Logic Array) having processing capabilities. The storage device 22 can be implemented as a variety of media such as magnetic recording, semiconductor recording, optical recording, etc., depending on the application environment. Moreover, when the system includes display device 24, it can be a variety of means such as liquid screens, projections, and the like.

Figure 7 is a block diagram showing the construction of a control device for displaying the state of a movable device in accordance with the present invention. As shown, as a physical control device, such as a remote control dedicated to a drone, or a control device 30 implemented by a mobile phone, it includes a communication interface 31, a processor 33, a memory 32, and a display 34. The control device is also an implementation of the system of FIG. 6 , wherein the communication interface 31 is configured to acquire state information before the movable device and state information of the control device; the memory 32 is stored with a computer Read instruction The processor 33 is configured to execute the computer readable instructions to control display of respective state information of the control device and the movable device on the same display interface of the display 34.

The above described method, system or apparatus in accordance with various embodiments of the present invention may be implemented by a computing device capable of executing software comprising computer instructions. The system can include storage to implement the various stores described above. The computing capable electronic device can include a general purpose processor, a digital signal processor, a dedicated processor, a reconfigurable processor, etc., but is not limited thereto. Executing such instructions causes the electronic device to be configured to perform the operations described above in accordance with the present invention. The above methods and/or modules may be implemented in one electronic device or in different electronic devices.

Embodiments of the invention use software, which may be stored in the form of volatile memory or non-volatile storage (such as a storage device such as a ROM), whether erasable or rewritable, or stored as The form of the memory (eg, RAM, memory chip, device, or integrated circuit) is either stored on an optically readable medium or a magnetically readable medium (eg, CD, DVD, magnetic or tape, etc.).

It should be appreciated that the storage device and the storage medium are embodiments of a machine-readable storage device adapted to store one or more programs, the program or programs comprising instructions that, when executed, implement the present invention Methods. Moreover, these programs can be routed via any medium, such as a communication signal carried via a wired connection or a wireless connection, and various embodiments suitably include such programs.

The specific embodiments of the present invention have been described in detail in the foregoing detailed description of the embodiments of the present invention. All modifications, equivalents, improvements, etc., made within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

A method for displaying the status of a mobile device, comprising:

Obtaining state information of the movable device;

Obtaining state information of the control device, the control device is configured to control movement of the movable device;

Status information of each of the control device and the movable device is displayed on the same display interface.
The method of claim 1 wherein

The status information includes location information, and respective location information of the control device and the movable device is displayed in a circular display area of the same display interface.
The method of claim 2 wherein the scale of the circular area varies with distance between the movable device and the remote control.
The method of claim 2 wherein the center of the circular area is set to a particular geographic location point or a real time location of the control device.
The method of claim 4, wherein the particular geographic location comprises any one of a departure point of the mobile device and a destination of the mobile device.
The method of claim 1 wherein the status information of the movable device and the control device is graphically displayed.
The method of claim 6 wherein said movable device and said control device are represented using a graphical identification.
The method of claim 7 wherein said status information comprises location information indicating the actual location of the removable device and the control device using the location of the graphical identification on the display interface.
The method according to claim 8, wherein the display interface further comprises an orientation information auxiliary identifier.
The method of claim 9, wherein the orientation information auxiliary identification comprises at least one of a control device front orientation indicator, a north direction identification, and a distance assistance identification.
The method according to claim 6, wherein the movable device is a drone, the status information includes posture information of the drone, and the posture information is graphically displayed on the display interface.
The method of claim 11, wherein the attitude information comprises at least one of orientation information, pitch angle, and roll angle.
The method of claim 12, wherein the arrow is used to indicate the drone, using the direction of the arrow Indicates the orientation information of the drone.
The method of claim 12 wherein the pitch angle and/or roll angle of the drone is represented using a dynamic water line.
The method of claim 6, wherein the status information comprises load information of the mobile device.
The method of claim 15 wherein said movable means is a drone, said load comprising a head of the drone, and an annular section is used to indicate an offset angle of the head.
The method of claim 16 wherein the change in color of the annular segment is used to alert the user that the gimbal is about to reach or exceed an allowable range.
The method of claim 16 wherein said load further comprises a camera on the platform, using a sector area to represent the visual range of said camera.
A system for displaying the status of a mobile device, the system comprising:

a communication device, configured to acquire state information of the movable device and state information of the control device, where the control device is configured to control the usable device;

a storage device that stores machine readable instructions;

Processing means for executing the computer readable instructions to control display of respective control information of the control device and the movable device on the same display interface.
The system of claim 19, wherein

The status information includes location information, and respective location information of the control device and the movable device is displayed in a circular display area of the same display interface.
The system of claim 20 wherein the scale of the circular area varies with distance between the movable device and the remote control.
The system of claim 20 wherein the center of the circular area is set to a particular geographic location point or a real time location of the control device.
The system of claim 22, wherein the particular geographic location comprises any one of a departure point of the mobile device and a destination of the mobile device.
The system of claim 19 wherein the status information of said movable device and said control device is graphically displayed.
The system of claim 24 wherein said movable device and said control device are represented using a graphical identification.
The system of claim 25 wherein said status information comprises location information indicating the actual location of the removable device and the control device using the location of the graphical identification on the display interface.
The system of claim 26, wherein the display interface further comprises an orientation information auxiliary identification.
The system of claim 27, wherein the orientation information assistance identification comprises at least one of a control device front orientation indicator, a north direction identification, and a distance assistance identification.
The system according to claim 24, wherein said movable device is a drone, said status information includes posture information of the drone, and said posture information is graphically displayed on said display interface.
The system of claim 29, wherein the attitude information comprises at least one of orientation information, pitch angle, and roll angle.
The system according to claim 30, wherein the arrow is used to indicate the drone, and the direction of the arrow is used to indicate the orientation information of the drone.
The system of claim 30 wherein the pitch angle and/or roll angle of the drone is represented using a dynamic water line.
The system of claim 24 wherein said status information comprises load information for the mobile device.
The system of claim 33, wherein said movable device is a drone, said load comprises a gimbal of the drone, and an annular segment is used to indicate an offset angle of the gimbal.
The system of claim 34 wherein the change in color of the annular segment alerts the user that the gimbal is about to reach or exceed an allowable range.
The system of claim 34 wherein said load further comprises a camera on the pan/tilt, using a sector area to represent the visual range of said camera.
A control device for displaying the state of a movable device, comprising:

a communication interface, configured to acquire state information of the movable device and state information of the control device, where the control device is configured to control the movable device;

a memory storing computer readable instructions;

And a processor, configured to execute the computer readable instructions to control display of respective state information of the control device and the movable device on the same display interface.
The control device according to claim 37, further comprising a display for displaying said display interface.
The control device according to claim 38, wherein said status information includes location information, and Position information of each of the control device and the movable device is displayed in a circular display area of the same display interface.
The control device according to claim 39, wherein the scale of the circular area varies with a distance between the movable device and the remote control device.
The control device according to claim 39, wherein the center of the circular area is set to a specific geographical point or a real-time position of the control device.
The control device according to claim 41, wherein said specific geographic location comprises any one of a departure point of the movable device and a destination of the movable device.
The control device according to claim 38, wherein the state information of said movable device and said control device is displayed in a graphical manner.
The control device according to claim 43, wherein said movable device and said control device are represented using a graphical identification.
The control device according to claim 44, wherein said status information includes position information indicating the actual position of the movable device and the control device using the position of the graphical identification on the display interface.
The control device according to claim 45, wherein the display interface further comprises an orientation information auxiliary identifier.
The control device according to claim 46, wherein the orientation information auxiliary identifier comprises at least one of a control device front orientation indicator, a north direction identification, and a distance assistance identifier.
The control device according to claim 43, wherein said movable device is a drone, said state information includes posture information of the drone, and said gesture information is graphically displayed on said display interface .
The control device according to claim 48, wherein the posture information includes at least one of orientation information, pitch angle, and roll angle.
The control device according to claim 49, wherein the arrow is used to indicate the drone, and the direction of the arrow is used to indicate the orientation information of the drone.
The control device according to claim 49, wherein the pitch angle and/or the roll angle of the drone are represented using a dynamic water line.
The control device according to claim 43, wherein said status information comprises load information of the mobile device.
The control apparatus according to claim 52, wherein said movable means is a drone, said load includes a head of the drone, and an annular section is used to indicate an offset angle of the head.
The control device according to claim 53, wherein the change in color of the annular section is used to alert the user that the gimbal is about to reach or exceed an allowable range.
The control apparatus according to claim 53, wherein said load further comprises a camera on the pan/tilt, and a sector area is used to indicate a visual range of said camera.
A computer readable medium having stored thereon computer executable instructions for performing the method of any one of claims 1 to 18.