WO2022134299A1

WO2022134299A1 - Control method, device, system, and computer-readable storage medium

Info

Publication number: WO2022134299A1
Application number: PCT/CN2021/077753
Authority: WO
Inventors: 李博文
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-12-25
Filing date: 2021-02-24
Publication date: 2022-06-30
Also published as: CN114830070A; WO2022134300A1

Abstract

A control method, a device, a system, and a computer-readable storage medium. The method comprises: receiving and displaying a photographed picture of a movable platform (S101); when the movable platform is in a preset working mode, displaying a motion indication icon on the photographed picture, wherein the state of the motion indication icon in the photographed picture is used for indicating a posture change of a somatosensory remote control device (S102); and in response to a posture adjustment operation of a user for the somatosensory remote control device, adjusting the state of the motion indication icon in the photographed picture, wherein the state of the motion indication icon in the photographed picture is used for indicating the motion direction and/or posture of the movable platform (S103). By means of the method, the control convenience of a movable platform and the user experience can be improved.

Description

Control method, apparatus, system, and computer-readable storage medium

technical field

The present application relates to the field of control, and in particular, to a control method, device, system, and computer-readable storage medium.

Background technique

Movable platforms, such as unmanned aerial vehicles, can be used in aerial photography, patrol inspection, forest protection, disaster investigation and pesticide spraying, etc., which makes the mobile platform widely used, but the control of the existing mobile platform is mainly It is operated by remote control device or terminal device (such as mobile phone), for example, the joystick of the remote control device is used to control the operation of the movable platform. Since this control method is more complicated, it is inconvenient for the user to control the movable platform. Therefore, the user experience not good.

SUMMARY OF THE INVENTION

Based on this, the embodiments of the present application provide a control method, device, system, and computer-readable storage medium, which aim to improve the control convenience and user experience of the mobile platform.

In a first aspect, an embodiment of the present application provides a control method, which is applied to a display device, where the display device is used to communicate and connect with a movable platform and a somatosensory remote control device respectively, and the somatosensory remote control device is used to communicate with the movable a platform communication connection for controlling the movable platform, the method comprising:

receiving and displaying the photographed image of the movable platform;

When the movable platform is in a preset working mode, a motion indicator icon is displayed on the shooting screen, and the state of the motion indicator icon in the shooting screen is used to indicate the posture change of the somatosensory remote controller;

In response to the user's gesture adjustment operation on the somatosensory remote control device, the state of the motion indication icon in the shooting screen is adjusted, and the state of the motion indication icon in the shooting screen is used to indicate the movable platform movement direction and/or attitude.

In a second aspect, an embodiment of the present application further provides a control method, which is applied to a control system, where the control system includes a somatosensory remote control device, a display device and a movable platform, the somatosensory remote control device and the display device are respectively connected with The movable platform is connected, and the somatosensory remote control device is used to control the movable platform, and the method includes:

The display device receives and displays the photographing picture of the movable platform, and displays a gesture indicating icon of the somatosensory remote control device on the photographing picture, and the posture indicating icon is used to indicate the posture of the somatosensory remote control device;

The display device adjusts the gesture indication icon according to the current posture information of the somatosensory remote control device in response to the user's gesture adjustment operation on the somatosensory remote control device;

The somatosensory remote controller controls the movable platform according to the current attitude information of the somatosensory remote control device.

In a third aspect, an embodiment of the present application further provides a control method, which is applied to a display device, where the display device is configured to communicate and connect with a somatosensory remote control device and a movable platform respectively, and the somatosensory remote control device is connected to the movable platform. a communication connection for controlling the movable platform, the method comprising:

receiving and displaying the photographed image of the movable platform;

According to the posture information of the somatosensory remote control device, display a posture indication icon of the somatosensory remote control device on the shooting screen, where the posture indication icon is used to indicate the posture of the somatosensory remote control device;

In response to a gesture adjustment operation of the somatosensory remote control device by the user, the gesture indication icon is adjusted according to the current posture information of the somatosensory remote control device.

In a fourth aspect, the embodiments of the present application further provide a control method, which is applied to a somatosensory remote control device, where the somatosensory remote control device is used to communicate with a display device and a movable platform respectively, and the somatosensory remote control device is used to control the A movable platform, the display device is connected in communication with the movable platform, the display device is used to display the photographed picture of the movable platform, and the method includes:

Send the posture information of the somatosensory remote control device to the display device, so that the display device can display the posture indication icon of the somatosensory remote control device on the shooting screen based on the posture information, and the posture indication icon is used for indicating the posture of the somatosensory remote control device;

In response to the user's attitude adjustment operation on the somatosensory remote control device, control the movable platform according to the current attitude information of the somatosensory remote control device;

Sending the current posture information of the somatosensory remote control device to the display device, so that the display device can adjust the posture indication icon based on the current posture information.

In a fifth aspect, an embodiment of the present application further provides a display device, the display device is used for communication and connection with a movable platform and a somatosensory remote control device respectively, and the somatosensory remote control device is used for communication and connection with the movable platform, for controlling the movable platform, the display device includes a display device, a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Display the photographed picture of the movable platform through the display device;

In a sixth aspect, an embodiment of the present application further provides a display device, the display device is configured to communicate with a somatosensory remote control device and a movable platform respectively, and the somatosensory remote control device is communicatively connected with the movable platform for controlling the movable platform, the display device includes a display device, a memory and a processor;

the memory is used to store computer programs;

In a seventh aspect, the embodiments of the present application further provide a somatosensory remote control device, the somatosensory remote control device is used to communicate with a display device and a movable platform respectively, and the somatosensory remote control device is used to control the movable platform, so the The display device is connected in communication with the movable platform, the display device is used to display the shooting picture of the movable platform, and the somatosensory remote control device includes a somatosensory sensor, a memory and a processor;

The somatosensory sensor is used to collect attitude information of the somatosensory remote control device;

the memory is used to store computer programs;

In an eighth aspect, an embodiment of the present application further provides a control system, the control system includes a movable platform, a somatosensory remote control device and the above-mentioned display device, or the control system includes a movable platform, a display device and the above-mentioned display device In the display device, the display device is configured to communicate with a movable platform and a somatosensory remote control device, respectively, and the somatosensory remote control device is configured to communicate with the movable platform for controlling the movable platform.

In a ninth aspect, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned The steps of the control method.

Embodiments of the present application provide a control method, device, system, and computer-readable storage medium. The display device receives and displays the shooting screen of the movable platform. When the movable platform is in a preset working mode, the shooting screen is displayed on the screen. Display the motion indication icon, the state of the motion indication icon in the shooting picture is used to indicate the posture change of the somatosensory remote control device; in response to the user's posture adjustment operation on the somatosensory remote control device, adjust the state of the motion indication icon in the shooting picture, the motion The state of the indication icon in the shooting picture is used to indicate the movement direction and/or posture of the movable platform. It is convenient for the user to accurately know the posture change of the somatosensory remote control device, the movement direction and/or posture of the movable platform through the state of the motion indicator icon in the shooting screen, and it is convenient for the user to control the movable platform by adjusting the posture of the remote control device. The control convenience and user experience of the mobile platform are improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic diagram of a scenario for implementing the control method provided by the embodiment of the present application;

2a is a schematic structural diagram of a somatosensory remote control device provided by an embodiment of the present application;

FIG. 2b is another schematic structural diagram of a somatosensory remote control device provided by an embodiment of the present application;

3 is a schematic diagram of the manipulation of the accelerator trigger of the somatosensory remote control device provided by the embodiment of the present application;

4 is a schematic flowchart of steps of a control method provided by an embodiment of the present application;

5 is a schematic diagram of a shooting page and a motion indicating icon in an embodiment of the present application;

6 is another schematic diagram of a shooting page and a motion indication icon in an embodiment of the present application;

7 is another schematic diagram of a shooting page and a motion indication icon in an embodiment of the present application;

8 is another schematic diagram of a shooting page and a motion indicating icon in an embodiment of the present application;

9 is another schematic diagram of a shooting page and a motion indicating icon in an embodiment of the present application;

10 is a schematic flowchart of steps of another control method provided by an embodiment of the present application;

11 is a schematic diagram of a shooting page and a gesture indicating icon in an embodiment of the present application;

12 is another schematic diagram of a shooting page and a gesture indicating icon in an embodiment of the present application;

Fig. 13 is a schematic diagram of the pitching progress bar and pitching prompt information in the embodiment of the present application;

Fig. 14 is another schematic diagram of the pitching progress bar and pitching prompt information in the embodiment of the present application;

FIG. 15 is a schematic block diagram of a process flow of the somatosensory remote control device in the embodiment of the present application to control the take-off of the drone;

Fig. 16 is another schematic block diagram of the flow of the somatosensory remote control device in the embodiment of the present application to control the take-off of the drone;

FIG. 17 is another schematic block diagram of the flow of the somatosensory remote control device in the embodiment of the present application to control the take-off of the drone;

18 is a schematic block diagram of a process for controlling the hovering of the drone in the embodiment of the present application;

19 is a schematic block diagram of a process for controlling the UAV to return home by the somatosensory remote control device in the embodiment of the present application;

Figure 20 is another schematic block diagram of the flow of the somatosensory remote control device to control the UAV to return in the embodiment of the present application;

FIG. 21 is a schematic block diagram of the flow of the somatosensory remote control device controlling the landing of the drone in the embodiment of the present application;

22 is a schematic diagram of status information displayed by a display device in an embodiment of the present application;

23 is another schematic diagram of status information displayed by a display device in an embodiment of the present application;

24 is another schematic diagram of status information displayed by a display device in an embodiment of the present application;

25 is another schematic diagram of status information displayed by a display device in an embodiment of the present application;

26 is another schematic diagram of status information displayed by a display device in an embodiment of the present application;

27 is another schematic diagram of status information displayed by a display device in an embodiment of the present application;

28 is another schematic diagram of status information displayed by a display device in an embodiment of the present application;

29 is another schematic diagram of status information displayed by a display device in an embodiment of the present application;

30 is another schematic diagram of status information displayed by a display device in an embodiment of the present application;

31 is another schematic diagram of status information displayed by a display device in an embodiment of the present application;

32 is a schematic diagram of a flight teaching page in the embodiment of the present application;

33 is a schematic diagram of a blade inspection guide page in an embodiment of the present application;

FIG. 34 is a schematic diagram of the fuselage orientation inspection guide page in the embodiment of the present application;

35 is a schematic diagram of a flight interface in the embodiment of the present application;

Fig. 36 is another schematic diagram of the flight interface in the embodiment of the present application;

37 is another schematic diagram of the flight interface in the embodiment of the present application;

FIG. 38 is another schematic diagram of the flight interface in the embodiment of the present application;

Fig. 39 is another schematic diagram of the flight interface in the embodiment of the present application;

FIG. 40 is another schematic diagram of the flight interface in the embodiment of the present application;

41 is a schematic diagram of a somatosensory manipulation introduction prompt page in an embodiment of the present application;

42 is a schematic diagram of a function introduction page of the somatosensory remote controller in an embodiment of the present application;

FIG. 43 is another schematic diagram of a function introduction page of the somatosensory remote controller in an embodiment of the present application;

44 is a schematic diagram of a take-off control prompt page in an embodiment of the present application;

FIG. 45 is another schematic diagram of a take-off manipulation prompt page in an embodiment of the present application;

FIG. 46 is another schematic diagram of a take-off manipulation prompt page in an embodiment of the present application;

47 is a schematic diagram of a flight control teaching page in an embodiment of the present application;

FIG. 48 is another schematic diagram of a flight control teaching page in an embodiment of the present application;

FIG. 49 is another schematic diagram of a flight control teaching page in an embodiment of the present application;

Fig. 50 is another schematic diagram of the flight control teaching page in the embodiment of the present application;

Fig. 51 is another schematic diagram of the flight control teaching page in the embodiment of the present application;

Fig. 52 is another schematic diagram of the flight control teaching page in the embodiment of the present application;

Fig. 53 is another schematic diagram of the flight control teaching page in the embodiment of the present application;

FIG. 54 is another schematic diagram of a flight control teaching page in an embodiment of the present application;

FIG. 55 is another schematic diagram of a flight control teaching page in an embodiment of the present application;

56 is a schematic diagram of a trigger pop-up window for free practice of flight control in an embodiment of the present application;

FIG. 57 is a schematic diagram of a free practice page of flight control in an embodiment of the present application;

FIG. 58 is a schematic diagram of a return-to-air teaching prompt page in an embodiment of the present application;

Fig. 59 is another schematic diagram of the return flight teaching prompt page in the embodiment of the present application;

60 is a schematic diagram of a landing teaching prompt page in an embodiment of the present application;

FIG. 61 is a schematic diagram of a return-to-home control prompt page in an embodiment of the present application;

FIG. 62 is another schematic diagram of a return-to-home control prompt page in an embodiment of the present application;

63 is a schematic diagram of a landing manipulation prompt page in an embodiment of the present application;

FIG. 64 is another schematic diagram of a landing manipulation prompt page in an embodiment of the present application;

FIG. 65 is a schematic flowchart of steps of a flight guidance method provided by an embodiment of the present application;

FIG. 66 is a schematic diagram of a plurality of status indication icons in an embodiment of the present application;

FIG. 67 is another schematic diagram of a plurality of status indication icons in an embodiment of the present application;

FIG. 68 is another schematic diagram of a plurality of status indicating icons in an embodiment of the present application;

FIG. 69 is a schematic flowchart of steps of another flight guidance method provided by an embodiment of the present application;

FIG. 70 is a schematic diagram of an indication map in an embodiment of the present application;

FIG. 71 is a schematic flowchart of steps of a motor calibration method provided by an embodiment of the present application;

72 is a schematic diagram of a guide interface for motor steering calibration in an embodiment of the present application;

73 is a schematic diagram of a motor steering calibration page in an embodiment of the present application;

Figure 74 is another schematic diagram of a motor steering calibration page in an embodiment of the present application;

FIG. 75 is a schematic diagram showing the result of motor steering calibration in an embodiment of the present application;

Fig. 76 is another schematic diagram showing the result of the motor steering calibration in the embodiment of the present application;

FIG. 77 is a schematic block diagram of the structure of a display device provided by an embodiment of the present application;

FIG. 78 is a schematic block diagram of the structure of another display device provided by an embodiment of the present application;

79 is a schematic block diagram of the structure of a somatosensory remote control device provided by an embodiment of the present application;

FIG. 80 is a schematic structural block diagram of a control system provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

In order to solve the above problems, embodiments of the present application provide a control method, device, system and computer-readable storage medium, aiming to improve the user's experience of manipulating the mobile platform and the operation security of the mobile platform.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

It should be noted that the control method provided by the embodiments of the present application may be applied to a somatosensory device or a display device. Among them, the display device includes flying glasses, smart phones, tablet computers, etc., and the movable platform includes at least one of drones, manned aerial vehicles, robots and remote control toys, and of course can also be used in other somatosensory control scenarios, such as somatosensory For games, drones can include rotary-wing drones, such as quad-rotor drones, hexa-rotor drones, octa-rotor drones, fixed-wing drones, or rotary-wing and fixed-wing drones. The combination of man and machine is not specifically limited in this embodiment of the present application.

The somatosensory device may include electronic devices such as somatosensory remote control devices, smart phones, tablet computers, or wearable devices. These electronic devices are all provided with attitude sensors for collecting the attitude information of the electronic equipment. The attitude information generates control commands to control the operation of the movable platform. The following somatosensory device is a somatosensory remote control device as an example to introduce.

Please refer to FIG. 1. FIG. 1 is a schematic diagram of a scenario for implementing the control method provided by the embodiment of the present application. As shown in FIG. 1 , the scene includes a movable platform 100, a somatosensory remote control device 200, and a display device 300. The movable platform 100 is connected in communication with the somatosensory remote control device 200 and the display device 300, respectively, and the somatosensory remote control device 200 is used to control the movable platform. 100. The display device 300 may include flying glasses, a smart phone, a tablet computer, and the like. It can be understood that the communication data between the display device 300 and the somatosensory remote control device 200 can be forwarded through the movable platform 100. Of course, a communication link between the display device 300 and the somatosensory remote control device 200 can also be established. The link realizes the communication between the display device 300 and the somatosensory remote control device 200 .

The movable platform 100 includes a platform body 110 , a power system 120 and a control device (not shown in FIG. 1 ) disposed on the platform body 110 , and the power system 120 is used to provide moving power for the platform body 110 . The power system 120 may include one or more propellers 121 , one or more motors 122 corresponding to the one or more propellers, and one or more electronic governors (referred to as ESCs for short). The motor 122 is connected between the electronic governor and the propeller 121, and the motor 122 and the propeller 121 are arranged on the platform body 110 of the movable platform 100; the electronic governor is used for receiving the driving signal generated by the control device, and according to the driving signal A driving current is provided to the motor 122 to control the rotational speed of the motor 122 . The motor 122 is used to drive the propeller 121 to rotate, thereby providing power for the movement of the movable platform 100, and the power enables the movable platform 100 to achieve one or more degrees of freedom movement. In certain embodiments, the movable platform 100 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor.

Wherein, the control device may include a controller and a sensing system. The sensing system is used to measure the attitude information of the movable platform, that is, the position information and state information of the movable platform 100 in space, such as 3D position, 3D angle, 3D velocity, 3D acceleration and 3D angular velocity. For example, the sensing system may include at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, a barometer, and other sensors. For example, the global navigation satellite system may be the Global Positioning System (GPS). The controller is used to control the movement of the movable platform 100, for example, the movement of the movable platform 100 can be controlled according to the attitude information measured by the sensing system. It should be understood that the controller can control the movable platform 100 according to pre-programmed instructions.

In one embodiment, the display device 300 receives and displays the shooting picture of the movable platform; when the movable platform 100 is in a preset working mode, a motion indicating icon is displayed on the shooting picture, and the motion indicating icon is displayed in the shooting picture. The state is used to indicate the posture change of the somatosensory remote control 200; in response to the user's posture adjustment operation on the somatosensory remote control device 200, the state of the motion indication icon in the shooting picture is adjusted, and the state of the motion indication icon in the shooting picture is used to indicate that the The movement direction and/or attitude of the mobile platform. It is convenient for the user to accurately know the posture change of the somatosensory remote control device through the state of the motion indicator icon in the shooting screen, and it is convenient for the user to control the movable platform by adjusting the posture of the remote control device, which greatly improves the control convenience of the movable platform and the user. experience.

In one embodiment, the display device 300 receives and displays the photographing image of the movable platform, and displays a gesture indicating icon of the somatosensory remote control device 200 on the photographing image, and the gesture indicating icon is used to indicate the attitude of the somatosensory remote control device 200; display The device 300 adjusts the gesture indication icon according to the current posture information of the somatosensory remote control device 200 in response to the user's posture adjustment operation on the somatosensory remote control device 200 ; the somatosensory remote control device 200 controls the movable platform 100 according to the current posture information of the somatosensory remote control device 200 . The gesture indication icon facilitates the user to accurately know the gesture change of the somatosensory remote control device, facilitates the user to control the movable platform by adjusting the gesture of the remote control device, and greatly improves the control convenience and user experience of the movable platform.

Before introducing the control method of the movable platform, the structure and control principle of the somatosensory remote control device 200 are introduced. Specifically, as shown in FIGS. 2a to 2b, the somatosensory remote control device 200 includes: a first control part 210, a second control part 220, a third control part 230, a fourth control part 240, a fifth control part 250, a sixth control part Part 260 and the seventh control part 270, the first control part 210 can be the accelerator trigger, the second control part 220 can be the lock button (add and unlock button), the third control part 230 can be the emergency stop button, the fourth control part 240 It can be a shooting button, the fifth control part 250 can be a pan/tilt control button, the sixth control part 260 can be a mode switching button, and the seventh control part 270 can be a power button. Different control components have different functions when the somatosensory remote control device 200 is in different working modes, as shown in Table 1. The different working modes include at least a first working mode and a second working mode. Specifically, the first working mode may include an A/P/M mode, and the second working mode may include a flashlight mode. The A mode is the attitude mode, the P mode is the GPS mode, and the M mode is the manual mode. In the flashlight mode, the drone flies along the direction of the somatosensory remote control device 200 .

Table 1 shows the functions of different buttons of the somatosensory remote control device 200 in different working modes

It should be noted that the ground and air in "ground click" and "air click" in Table 1 respectively refer to the drones controlled by the somatosensory remote control device 200 located on the ground and in the air, and "aircraft" refers to the drones , the mode in "switching mode" may be the working mode of the somatosensory remote control device 200, or other modes, such as different flight modes of the drone.

It should also be noted that the buttons of the somatosensory remote control device 200 are not limited to the functions of Table 1. For example, the power button 270 can also realize part or all of the functions of the lock button 220; or it can be said that the functions of Table 1 can also be implemented in other ways. To achieve, for example, the automatic take-off triggering method can be "after starting the paddle, press the throttle trigger 210 to the neutral position and above".

The control strategy of the somatosensory remote control device 200 is different in different working modes, and the control strategies under different gears in the same working mode are also different, as shown in Table 2.

Table 2 is the control strategy of the somatosensory remote control device in different gears

It should be noted that, in Table 2, "remote control device" refers to the somatosensory remote control device 200, and "airplane" is an unmanned aerial vehicle. As shown in Fig. 3, according to the position of the accelerator trigger 210, it can be divided into "low position" and "middle position". " and "high", corresponding to position 1, position 2 and position 3 respectively, represent different throttle amounts, and of course can be divided into more or less levels to indicate different throttle amounts. It should be noted that the main difference between the A gear and the P gear is that the P gear release lever (accelerator trigger) can hover, but the A gear release lever (accelerator trigger) cannot, which is the same as the ordinary remote control device.

Hereinafter, the control method of the movable platform provided by the embodiments of the present application will be described in detail with reference to the scene in FIG. 1 . It should be noted that the scenario in FIG. 1 is only used to explain the control method of the movable platform provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the control method of the mobile platform provided by the embodiment of the present application.

Please refer to FIG. 4 , which is a schematic flowchart of steps of a control method provided by an embodiment of the present application. The control method is applied to a display device, the display device is used for communicating with a movable platform and a somatosensory remote control device respectively, and the somatosensory remote control device is used for communicating with the movable platform for controlling the movable platform, so as to improve the movable platform. control convenience and user experience.

As shown in FIG. 4 , the control method includes steps S101 to S103.

Step S101 , receiving and displaying the photographed image of the movable platform.

Wherein, the photographed image of the movable platform includes a FPV image from a first-person perspective, and the FPV image changes with the attitude of the movable platform or the attitude of the gimbal of the movable platform.

Step S102: When the movable platform is in a preset working mode, display a motion indication icon on the shooting screen, and the state of the motion indication icon in the shooting screen is used to indicate the motion of the somatosensory remote control. Posture change.

Wherein, when the movable platform is in the preset working mode, the movable platform only moves in one direction. For example, the movable platform is a drone. When the drone is in a preset working mode, the somatosensory remote control device can only control the drone to fly forward during the flight of the drone. It should be noted that the somatosensory remote controller has different working modes, and the different working modes include at least a first working mode and a second working mode. Specifically, the first working mode may include the A/P/M mode, and the second working mode may Including the flashlight mode, when the somatosensory remote control device enters the flashlight mode, the drone enters the preset working mode, so that the drone can fly forward under the control of the somatosensory remote control device.

In one embodiment, when the movable platform is in the preset working mode, the display device displays a motion indication icon on the shooting screen, and the state of the motion indication icon in the shooting screen is used to indicate the posture change of the somatosensory remote controller. The state of the motion indicating icon in the shooting picture includes the position and/or rotation angle of the motion indicating icon in the shooting picture. Further, the position of the movement indication icon in the shooting picture is used to indicate the movement direction and/or posture of the movable platform.

In one embodiment, the state of the motion indication icon in the photographing picture includes the position and rotation angle of the motion indication icon in the photographing picture.

In one embodiment, the position of the motion indication icon in the shooting picture corresponds to the posture of the somatosensory remote controller. The up and down movement of the motion indication icon in the shooting picture is related to the steering of the pitch axis of the somatosensory remote control; the left and right movement of the motion indicating icon in the shooting picture is related to the steering of the yaw axis of the somatosensory remote control.

In one embodiment, the rotation angle of the motion indication icon in the shooting picture corresponds to the posture of the somatosensory remote controller. The rotation angle of the motion indication icon in the shooting picture is related to the rotation of the roll axis of the somatosensory remote controller.

Step S103: In response to the user's posture adjustment operation on the somatosensory remote control device, adjust the state of the motion indication icon in the shooting screen, where the state of the motion indication icon in the shooting screen is used to indicate the The movement direction and/or attitude of the movable platform.

The state of the motion indication icon in the shooting picture and the posture of the movable platform can change with the change of the posture of the somatosensory remote control device, that is, after adjusting the posture of the somatosensory remote control device, the position of the motion indication icon in the shooting picture The state changes accordingly, and the pose of the movable platform changes accordingly.

In one embodiment, the somatosensory remote control device can control the movable platform to move according to the movement direction indicated by the movement indication icon. In another embodiment, the somatosensory remote control device includes a first control component, the first control component may include a throttle trigger, and the somatosensory remote control device controls the movable platform to move along the motion indication icon on the shooting screen according to the user's manipulation parameters of the throttle trigger The state in indicates the direction of movement and/or the attitude of the movable platform for movement. Wherein, the manipulation parameter includes the throttle lever amount. Since the somatosensory remote control device can control the movable platform to move along the movement direction and/or posture of the movable platform indicated by the state of the movement indication icon in the shooting screen according to the user's control parameters of the accelerator trigger, the controllable movable platform can be realized. The platform moves according to the movement direction and/or posture expected by the user, which greatly improves the control convenience and user experience of the movable platform.

In one embodiment, when the yaw angle of the somatosensory remote control device changes, the movement indication icon is adjusted to move left or right in the shooting screen, wherein the movement indication icon can be moved to the left or right in the process of moving to the left or right. When the heading angle of the mobile platform is correspondingly deflected, the corresponding PPV screen will change; when the pitch angle of the somatosensory remote control device changes, adjust the motion indicator icon to move up or down in the shooting screen, where the motion indicator icon is up or down. In the process of moving down or moving down, the gimbal of the movable platform rotates up or down along the pitch direction, and the corresponding PPV screen will change; when the roll angle of the somatosensory remote control device is not zero, adjust the motion indicator icon Rotate left or right, wherein, when the motion indication icon rotates left or right, the movable platform rotates left or right along the yaw direction according to the angular velocity corresponding to the current roll angle of the somatosensory remote control device, then the corresponding The PPV screen will change.

In one embodiment, the motion indicating icons include shapes such as circles, squares, light spots, and the like. The position of the motion indication icon in the FPV picture is mapped with the flight direction of the drone in the world coordinate system.

In one embodiment, the motion indication icon includes a horizontal line segment, a first line segment and a second line segment. When the roll angle of the somatosensory remote control device is zero, the first line segment and the second line segment are both parallel to the horizontal line segment. Wherein, the horizontal line segment does not change with the change of the roll angle of the somatosensory remote control device. Exemplarily, as shown in FIG. 5 , the motion indicating icon includes a horizontal line segment 11, a first line segment 12, a second line segment 13 and a circular icon 14, and the first line segment 12 and the second line segment 13 are respectively associated with the circular icon. 14 connections.

In one embodiment, when the roll angle of the somatosensory remote control device is not zero, the adjustment motion indicating icon is rotated to the left or right so that the first line segment and the second line segment are not parallel to the horizontal line segment. Exemplarily, please refer to FIG. 6 . FIG. 6 is a schematic diagram of a page after the motion indicator icon is rotated to the left or right in the embodiment of the present application. As shown in FIG. 6 , the first line segment 12 and the second line segment 13 and the horizontal line The segments 11 are not parallel, and the motion indicating icon in FIG. 6 can be reached by rotating the motion indicating icon in FIG. 5 by a certain angle to the right.

In one embodiment, when the roll angle of the somatosensory remote control device is not zero, a mark corresponding to the current roll angle of the somatosensory remote control device is displayed on the outer contour of the motion indication icon, wherein the roll angle of the somatosensory remote control device is When it is zero, the mark is not displayed on the outer contour of the motion indicator icon, and the size of the mark displayed on the outer contour of the motion indicator icon is positively correlated with the roll angle of the somatosensory remote control device, that is, the roll of the somatosensory remote control device. The larger the angle is, the larger the mark displayed on the outer contour of the motion indication icon is, and the smaller the roll angle of the somatosensory remote control device is, the smaller the mark displayed on the outer contour of the motion indication icon is It is an arc segment, and of course it can also be other icons, which are not specifically limited in this embodiment of the present application. Exemplarily, as shown in FIG. 7 , an arc segment 16 corresponding to the current roll angle of the somatosensory remote control device is displayed on the outer contour 15 of the motion indication icon.

In one embodiment, in response to the user's adjustment operation on the pitch angle of the somatosensory remote control device, it is determined whether the pitch angle of the gimbal of the movable platform reaches the limit pitch angle; if the pitch angle of the gimbal reaches the limit pitch angle, then Displaying the first control area and/or the second control area, and controlling the motion indicating icon to move toward the first control area or the second control area. In another embodiment, in the process of adjusting the pitch angle of the somatosensory remote control device, if the pitch angle of the gimbal reaches the first limit pitch angle, the first control area is superimposed and displayed on the shooting page, and the motion indicator icon is controlled. Move to the first control area, if the pitch angle of the gimbal reaches the second limit pitch angle, the second control area will be displayed superimposed on the shooting page, and the motion indicator icon will be controlled to move to the second control area. Wherein, the first limit pitch angle is greater than the second limit pitch angle. In one embodiment, the first control area is located above the screen, and the second control area is located below the screen.

In one embodiment, during the adjustment operation of the pitch angle of the somatosensory remote control device, when the position of the motion indicating icon in the shooting picture exceeds the horizontal median line, the first control area and/or the second control area are displayed. area.

In one embodiment, during the operation of adjusting the pitch angle of the somatosensory remote control device, if the pitch angle of the gimbal and the position of the motion indication icon on the shooting screen are continuously adjusted, the shooting screen will continue to change. . When the changing speed of the shooting picture is lower than the changing speed of the position of the motion indicating icon in the shooting picture, the moving indicating icon will exceed the horizontal median line.

In one embodiment, the first control area is located at the top of the screen, and the second control area is located at the bottom of the screen. During the continuous change of the shooting screen, when the motion indicating icon moves to the same level as the first control area or the second control area When the two control areas overlap, the movable platform is controlled to enter a preset manipulation mode.

In one embodiment, when the motion indication icon is located in the first control area, the movable platform is controlled to enter a preset first control mode, wherein, in the first control mode, the somatosensory remote control device can control the movable platform along the first control mode. Movement in one direction, further, in the first control mode, the somatosensory remote control device controls the movable platform to move in the first direction in response to the user's manipulation of the accelerator trigger in the somatosensory remote control device. When the movement indication icon is located in the second control area, the movable platform is controlled to enter a preset second manipulation mode, wherein, in the second manipulation mode, the somatosensory remote control device can control the movable platform to move in the second direction, and further , in the second control mode, the somatosensory remote control device controls the movable platform to move along the second direction in response to the user's manipulation of the accelerator trigger in the somatosensory remote control device.

In one embodiment, a first direction icon is displayed in the first control area, the first direction icon is used to indicate that the moving direction of the movable platform is the first direction, and a second direction icon is displayed in the second control area, and the second direction icon is displayed in the second control area. The direction icon is used to indicate that the moving direction of the movable platform is the second direction, and the first direction is opposite to the second direction, for example, the first direction is vertical upward and the second direction is vertical downward.

Exemplarily, as shown in FIG. 8 , the first control area 21 is located above the motion indication icon 10 , the second control area 23 is located below the motion indication icon 10 , and the first control area 21 displays the first direction icon 22 , the first The direction icon 22 is used to indicate that when the motion indication icon 10 is located in the first control area 21, the somatosensory remote control device can control the movable platform to fly vertically upward, and the second control area 23 displays a second direction icon 24, and the second direction icon 24 It is used to indicate that when the motion indicating icon 10 is located in the second control area 23, the somatosensory remote control device can control the movable platform to fly vertically downward. As shown in FIG. 9 , the motion indication icon 10 is located in the first control area 21 . At this time, the somatosensory remote control device controls the movable platform to fly vertically upward in response to the user's manipulation of the throttle trigger in the somatosensory remote control device.

In one embodiment, the display device further displays a third control area and/or a fourth control area, and when the motion indicating icon is located in the third control area, the movable platform is controlled to enter a preset third control area. Control mode, wherein, in the third control mode, the somatosensory remote control device can control the movable platform to move along the third direction; when the motion indication icon is located in the fourth control area, control the movable platform to enter the preset fourth control mode , wherein, in the fourth manipulation mode, the somatosensory remote control device can control the movable platform to move along the fourth direction. The third direction is opposite to the fourth direction. For example, the third direction is the left side of the movable platform, and the fourth direction is the right side of the movable platform.

Please refer to FIG. 10. FIG. 10 is a schematic flowchart of steps of another control method provided by an embodiment of the present application. The control method is applied to a control system, the control system includes a somatosensory remote control device, a display device and a movable platform, the somatosensory remote control device and the display device are respectively connected with the movable platform, and the somatosensory remote control device is used to control the movable platform to improve the availability Control convenience and user experience for mobile platforms.

As shown in FIG. 10 , the control method includes steps S201 to S203.

Step S201, the display device receives and displays the photographing image of the movable platform, and displays a gesture indicating icon of the somatosensory remote control device on the photographing image, where the gesture indicating icon is used to indicate the somatosensory remote control device attitude;

Step S202, the display device adjusts the posture indication icon according to the current posture information of the somatosensory remote control device in response to the user's posture adjustment operation on the somatosensory remote control device;

Step S203, the somatosensory remote controller controls the movable platform according to the current posture information of the somatosensory remote control device.

The camera screen of the movable platform and the gesture indication icon used to indicate the posture information of the somatosensory remote control device are displayed on the display device, and the somatosensory remote control device changes the gesture indication icon in response to the user's posture adjustment operation on the somatosensory remote control device, and according to the The current attitude information of the somatosensory remote control device controls the movable platform. The gesture indication icon facilitates the user to accurately know the posture change of the somatosensory remote control device, and facilitates the user to control the movable platform by adjusting the posture of the somatosensory remote control device, which greatly improves the control convenience and user experience of the movable platform.

In one embodiment, the gesture indication icon changes with the posture of the somatosensory remote control device, the gesture indication icon includes a slider and a first icon, and the position of the slider in the gesture indication icon is used to indicate the somatosensory remote control. The horizontal rotation direction of the device, and the position of the first icon in the gesture indicating icon is used to indicate the tilt direction of the somatosensory remote control device in the pitch direction and the roll direction. The first icon may be a dot, and certainly may be other shapes, which are not specifically limited in this embodiment of the present application.

Wherein, when the horizontal rotation direction of the somatosensory remote control device changes, the position of the slider in the gesture indication icon also changes accordingly, that is, the slider can change in the attitude with the change of the horizontal rotation direction of the somatosensory remote control device. Swipe left and right in the indication icon. When the tilt direction of the somatosensory remote control device changes in the pitch direction and/or the roll direction, the position of the first icon in the gesture indication icon also changes, that is, the first icon You can slide up and down in the attitude indication icon with the change of the tilt direction of the somatosensory remote control device in the pitch direction, and you can also slide up and down in the attitude indication icon with the change of the tilt direction of the somatosensory remote control device in the roll direction. Swipe left and right.

In one embodiment, the gesture indicating icon further includes a slider, the slider is located on the slider, and the slider and the slider are used to indicate the position in the icon to indicate the horizontal rotation direction (yaw) of the somatosensory remote control device. direction). Wherein, the slider can slide left and right in the slider along with the change of the horizontal rotation direction of the somatosensory remote control device, the gesture indicating icon further includes a first area, and the position of the first icon in the first area is used to indicate the somatosensory The tilt direction of the remote control device in the pitch direction and the roll direction, the slider is located in the first area, or there is a gap between the slider and the first area.

In one embodiment, the gesture indicating icon further includes a second area, the second area is located in the center of the first area, and when the first icon is located in the second area, the first icon is used to indicate the roll angle of the somatosensory remote control device. And the pitch angle is zero, when the roll angle and pitch angle of the somatosensory remote control device are zero, it can be determined that the posture of the somatosensory remote control device is in a horizontal state.

In one embodiment, when the first icon is located in the second area, the display device changes the display colors of the second area and the first icon, and by changing the display colors of the second area and the first icon, to prompt the user that the The control part of the somatosensory remote control device is used to control the movable platform to start. Further, the movable platform includes a drone, and when the first icon is located in the second area, the second area and the first icon are used to prompt the user that the first control part of the somatosensory remote control device can be manipulated to control the drone to take off.

In one embodiment, the gesture indicating icon further includes a second icon for indicating that the movable platform does not move or stops moving. Alternatively, a second icon is displayed on one side of the gesture indicating icon, and the second icon is used to indicate that the movable platform does not move or stops moving. For example, if the movable platform is a drone, when the drone has not taken off, the display device will display a second icon to indicate that the drone has not taken off, or when the drone is flying, the user operates the emergency stop button and no one The drone hovers, and the display device displays a second icon at this time to indicate that the drone is in a hovering state.

Exemplarily, as shown in FIG. 11 , the gesture indicating icons include a slider 31 , a slider 36 located on the slider 31 , a first area 32 , a second area 35 , a first icon 33 and a second icon 34 . It can be seen from the gesture indication icon in FIG. 11 that since the slider 36 on the slider 31 is located on the right side of the slider 31, it can be determined that the user controls the somatosensory remote control device to rotate to the right, that is, the somatosensory remote control device is deflected to the right. If the first icon 34 is located in the upper left area of the first area 32, it can be determined that the user controls the somatosensory remote control device to roll left and look up. As shown in FIG. 12 , if the first icon 33 is located in the second area 35 , it means that the roll angle and pitch angle of the somatosensory remote control device are both zero, and the somatosensory remote control device is in a horizontal state.

Among them, the yaw angle of the somatosensory remote control device can control the yaw angle of the movable platform, the roll angle of the somatosensory remote control device can control the left and right lateral translation movement of the movable platform, and the pitch angle of the somatosensory remote control device can control the front and rear translation movement of the movable platform . For example, if the movable platform is a UAV, the somatosensory remote control device can turn Yaw to control the rotation of the UAV Yaw. The Roll of the somatosensory remote control device controls the Roll axis of the UAV. Pitch controls the Pitch axis of the drone, and the drone flies forward and backward. For example, before the posture of the somatosensory remote control device is adjusted, the posture indication icon is as shown in Figure 11, and after the posture of the somatosensory remote control device is adjusted, the posture indication icon is as shown in Figure 12. Therefore, the roll angle and pitch of the somatosensory remote control device are If the angle is zero, but the yaw angle is not zero, it does not control the left and right lateral translation movement of the movable platform, nor does it control the front and rear translation movement of the movable platform, but controls the movable platform to turn to the right.

In one embodiment, the somatosensory remote control device controls the drone to start the paddle in response to the user's triggering operation on the second control part; the display device displays the manipulation prompt information of the first control part, and the manipulation prompt information is used to prompt the user to control the first control part. A control component; the somatosensory remote control device obtains the user's control parameters of the first control component, and controls the drone to take off according to the control parameters. Wherein, the first control component may be an accelerator trigger, and the second control component may be a lock button (add/unlock button), and the control parameter includes the amount of the accelerator lever. By outputting the control prompt information of the throttle trigger after the drone starts to paddle, the user can be prompted to control the throttle trigger to control the drone to take off, which improves the control convenience and user experience of the drone.

In one embodiment, in response to the user's first triggering operation on the second control component, the display device displays a paddle-up progress bar and paddle-up prompt information, and the paddle-up prompt information is used to prompt the user to control the drone to paddle; somatosensory The remote control device controls the drone to start the paddle in response to the user's second trigger operation on the second control component; the display device updates the paddle progress bar in response to the user's second trigger operation on the second control component. The bar is used to indicate the UAV's paddle progress. By displaying the paddle prompt information, the user can be prompted to control the drone to start the paddle, and by displaying the paddle progress bar, it is convenient for the user to know the drone's paddle progress, which greatly improves the convenience of controlling the drone's paddle. and user experience.

The first triggering operation and the second triggering operation may be the same or different. For example, the first triggering operation is that the user presses the second control part for a short time, and the second triggering operation is that the user presses the second control part for a long time. Exemplarily, as shown in FIG. 13 , the display device displays a pitching progress bar 41 and pitching prompt information 42 . After the user presses the unlock button for a long time, the paddle-up progress bar 41 starts to update, and the updated paddle-up progress bar 41 can be as shown in FIG. %.

In one embodiment, the somatosensory remote control device determines whether the somatosensory remote control device is in a horizontal state in response to a third trigger operation of the second control component by the user; if the somatosensory remote control device is in a horizontal state, the somatosensory remote control device controls the drone to start a paddle. ; If the somatosensory remote control device is not in a horizontal state, the display device displays horizontal prompt information, and the horizontal prompt information is used to prompt the user to keep the somatosensory remote control device in a horizontal state. Wherein, the third trigger manipulation includes the user's double-click operation on the second control component, and may of course also include other operations, which are not specifically limited in this embodiment of the present application. Since the somatosensory remote control device is in a horizontal state, it can be determined that the UAV is in a horizontal state. Therefore, by controlling the UAV to start the paddle when the somatosensory remote control device is in a horizontal state, that is, when the UAV is in a horizontal state, it can ensure that no one is unmanned. The paddle of the aircraft is safe.

In one embodiment, if the user's control parameters for the first control component are greater than the preset control parameters, the somatosensory remote control device controls the drone to take off according to the user's control parameters for the first control component. Further, it is determined whether the somatosensory remote control device is in a horizontal state, and if the somatosensory remote control device is in a horizontal state, the somatosensory remote control device controls the drone to take off according to the user's control parameters for the first control component. Among them, if the somatosensory remote control device is in a horizontal state, it can be determined that the drone is in a horizontal state. Therefore, by controlling the drone to take off when the somatosensory remote control device is in a horizontal state, that is, when the drone is in a horizontal state, it can ensure that no one is unmanned. Take off safely.

In one embodiment, in the process of controlling the drone to start the paddle, if a fourth trigger operation by the user on the third control component is detected, the somatosensory remote control device controls the drone to stop the paddle. The third control component includes an emergency stop button, and the fourth trigger operation includes a user's single-click operation on the third control component, and of course other operations may also be included, which are not specifically limited in this embodiment of the present application. By providing the function of controlling the drone to stop and start the paddle, it is convenient for the user to quickly control the drone to stop the paddle and improve the user experience.

Please refer to FIG. 15. FIG. 15 is a schematic block diagram of a process for controlling the take-off of a drone by a somatosensory remote control device in an embodiment of the present application. As shown in Figure 15, when the drone is locked and not taking off, control the buttons other than the unlock button, and the display device prompts the user to unlock. After dialing the unlock button, the display device receives the aircraft take-off and landing push, and the display device pops up to prompt the user to press the accelerator. Trigger, to judge whether the throttle trigger is over the neutral position, if the throttle trigger is not over the neutral position, the drone will not respond, it is always in the state of paddle, and the display device prompts that the throttle trigger is not over the neutral position, if the throttle trigger is over the neutral position, it is judged Whether the somatosensory remote control device is kept level, if the somatosensory remote control device is kept level, the drone will be controlled to take off, and the prompt of pressing the accelerator trigger will disappear.

Please refer to FIG. 16 . FIG. 16 is a schematic block diagram of another process for controlling the take-off of a drone by the somatosensory remote control device in the embodiment of the present application. As shown in Figure 16, the drone is locked and not taking off. Press the plus-unlock button to display the paddle-up progress bar and the paddle-up prompt information. Press and hold the plus-unlock button to move the paddle-up progress bar. If the duration of pressing the plus-unlock button is less than 3 seconds, the drone will not be able to paddle, and the paddle-up progress bar and the paddle-up prompt information will disappear. If the duration of pressing the unlock button is greater than or equal to 3 seconds, the paddle-up progress bar and the paddle-up prompt information will disappear, and the throttle trigger will be displayed. Press the prompt to judge whether the throttle trigger is over the neutral position. If the throttle trigger is not at the neutral position, the drone will not respond and will always be in the state of starting the paddle, and will prompt that the throttle trigger is not over the neutral position. The man-machine takes off, and the prompt to press the accelerator trigger disappears. Further, as shown in Figure 17, if the accelerator trigger is in the middle position, it is judged whether the somatosensory remote control device is kept horizontal. If it is not kept level, please keep the somatosensory remote control device level.

In one embodiment, in the process of controlling the flight of the drone, if the somatosensory remote control device detects the fifth trigger operation of the third control component by the user, the somatosensory remote control device controls the drone to hover; and controls the somatosensory remote control device In somatosensory locking mode, in somatosensory locking mode, the somatosensory remote control device will not send control commands to the drone when its own posture changes. The third control component includes an emergency stop button, and the fifth trigger operation by the user on the third control component includes a single-click operation, and of course other operations, which are not specifically limited in this embodiment of the present application. Through the emergency stop button, the drone can be controlled to hover during the flight of the drone, and the somatosensory remote control device can be controlled to be in the somatosensory lock mode, which can ensure the flight safety of the drone and improve the user experience.

In one embodiment, when the somatosensory remote control device is in the somatosensory lock mode, the somatosensory remote control device obtains the user's control parameters for the first control component; if the control parameters are greater than the preset control parameters, the somatosensory remote control device continues to control according to the control parameters. The drone flies and controls the somatosensory remote control device to exit the somatosensory lock mode. Among them, after the somatosensory remote control device exits the somatosensory lock mode, when the somatosensory remote control device changes its own posture, the somatosensory remote control device sends control instructions to the movable platform based on the current posture information to control the movable platform.

Please refer to FIG. 18 . FIG. 18 is a schematic block diagram of a process for controlling the hovering of the drone in the embodiment of the present application. As shown in Figure 18, in the process of controlling the flight of the drone, click the emergency stop button to control the drone to hover, and control the somatosensory remote control device to be in the somatosensory lock mode, and push the hovering prompt information to the display device to inform the user. The drone has hovered and is prompted to press the accelerator trigger to unlock, and judge whether the throttle trigger is over the neutral position. If the throttle trigger is over the neutral position, it is judged whether the somatosensory remote control device is kept level. If the somatosensory remote control device is kept level, the drone is controlled to fly. , and control the somatosensory remote control device to exit the somatosensory lock mode. If the somatosensory remote control device is not kept level, it will prompt to keep the somatosensory remote control device level.

In one embodiment, the somatosensory remote control device controls the drone to return to home in response to the sixth trigger operation of the third control component by the user; during the process of controlling the drone to return, the display device displays the return progress prompt information of the drone. , the return progress prompt information is used to remind the user of the return progress of the drone. Wherein, the sixth triggering operation of the user on the third control component includes a long-press operation, and of course other operations may also be included, which is not specifically limited in this embodiment of the present application. By displaying the return progress prompt information, it is convenient for the user to know the return progress of the drone, so that the user can control the return of the drone more conveniently and improve the user experience.

In one embodiment, after the UAV returns to home, if the flatness of the ground below the UAV is greater than or equal to the preset flatness, the somatosensory remote control device controls the UAV to land. If the flatness of the ground below the drone is less than the preset flatness, the display device will display a landing confirmation prompt message to prompt the user whether to confirm the landing; the somatosensory remote control device responds to the user's seventh trigger operation on the second control component, controls The drone is landed, or, in response to an eighth triggering operation of the third control component by the user, the drone is controlled to hover. The seventh trigger operation includes the user's pressing operation on the second control component, the eighth trigger operation includes the user's click operation on the third control component, and of course other operations may also be included, which are not specifically limited in this embodiment of the present application . Wherein, if the seventh trigger operation of the user on the second control part is detected, it can be determined that the user confirms the landing of the drone, and if the eighth trigger operation of the user on the third control part is detected, it can be determined to cancel the drone The preset flatness may be set based on the actual situation, which is not specifically limited in this embodiment of the present application.

Please refer to FIG. 19 . FIG. 19 is a schematic block diagram of a process for controlling a drone to return home by a somatosensory remote control device in an embodiment of the present application. As shown in Figure 19, the drone is flying normally, long press the emergency stop button, the somatosensory remote control device controls the drone to return, the display device receives the return progress of the drone, and displays the return progress prompt information according to the return progress. In the middle, click the emergency stop button to cancel the return, control the drone to hover, and enter the landing process after the return, to determine whether the ground is uneven, if the ground is level, control the drone to land, and the motor stops after landing, if the ground is uneven , it will prompt whether to land. If you click the lock button (add and unlock button) to confirm the landing, the drone will be controlled to land, and the motor will stop after landing. If you click the emergency stop button, the landing will be canceled, and no one will be controlled. Machine hovers.

In one embodiment, if the somatosensory remote control device is in the first control mode or the second control mode, the somatosensory remote control device controls itself to be in the third control mode in response to the sixth triggering operation of the third control component by the user, and Control the drone to return home. Among them, the first control mode includes the M mode, the second control includes the S mode (torch control mode), and the third control mode includes the P mode. In the P mode, when the user releases the accelerator trigger, the drone can hover and stabilize itself. In M mode, the user releases the accelerator trigger, and the drone does not hover and stabilize.

In one embodiment, after the UAV returns to home, if the flatness of the ground under the UAV is greater than or equal to the preset flatness, the somatosensory remote control device controls the UAV to land; The somatosensory remote control device controls itself to be in the first control mode or the second control mode. If the flatness of the ground below the drone is less than the preset flatness, the display device will display a landing confirmation prompt message to prompt the user whether to confirm the landing; the somatosensory remote control device responds to the user's seventh trigger operation on the second control component, controls The drone is landed; after the drone is landed, the somatosensory remote control device controls itself to be in the first control mode or the second control mode. In one embodiment, the somatosensory remote control device controls the drone to hover in response to the user's eighth triggering operation on the third control component; the display device displays mode switching prompt information, and the mode switching prompt information is used to prompt the user to place the somatosensory remote control device. The control mode is switched to the first control mode or the second control mode.

Please refer to FIG. 20 . FIG. 20 is a schematic block diagram of another process of controlling the drone to return home by the somatosensory remote control device in the embodiment of the present application. As shown in Figure 20, the drone is flying in the M mode/S mode, long press the emergency stop button, the somatosensory remote control device controls the drone to return, and the device displays the return progress of the drone, and automatically switches to the P mode. And according to the return progress, it will display the return progress prompt information. During the return process, click the emergency stop button to cancel the return, control the drone to hover, and the M mode/S mode switching prompt will pop up. After the return, it will enter the landing process and judge the ground. Whether it is uneven, if the ground is level, control the drone to land, the motor will stop after landing, if the ground is uneven, it will prompt whether to land, if you click the lock button (add and unlock button), that is to confirm the landing, then control the drone to land , after landing, the motor stops and automatically switches to M mode/S mode. If you click the emergency stop button, it is determined to cancel the landing, then control the drone to hover, and the M mode/S mode switching prompt will pop up.

In one embodiment, the somatosensory remote control device controls the drone to land in response to the user's ninth trigger operation on the second control component; the display device displays landing prompt information in response to the user's ninth trigger operation on the second control component, The landing prompt information is used to remind the user that the drone is landing; in the process of controlling the landing of the drone, if the flatness of the ground below the drone is less than the preset flatness, the display device will display the landing confirmation prompt message to prompt Whether the user confirms the landing; the somatosensory remote control device controls the drone to continue to land in response to the user's tenth trigger operation on the second control component, or controls the drone to hover in response to the user's eighth trigger operation on the third control component. stop. Wherein, the ninth trigger operation includes the user's dial-down operation on the second control component, the tenth trigger operation includes the user's click operation on the second control component, and of course other operations may also be included, which are not specifically described in this embodiment of the present application. limited.

In one embodiment, the somatosensory remote control device controls the somatosensory remote control device to be in a somatosensory lock mode while controlling the drone to land. The machine sends control commands.

Please refer to FIG. 21 . FIG. 21 is a schematic block diagram of the process of controlling the landing of the drone by the somatosensory remote control device in the embodiment of the present application. As shown in Figure 21, the drone is flying normally, press the lock button (add the unlock button), the drone lands, the display device receives the landing push from the drone, the landing prompt message pops up, and the somatosensory remote control device is locked, click Emergency stop button, cancel the landing, the drone hovers to determine whether the ground is uneven, if the ground is level, control the drone to land, the motor stops after landing, if the ground is uneven, it will prompt whether to land, if you press the lock button ( Press the unlock button), that is, to confirm the landing, then control the drone to land, and the motor stops after landing. If the emergency stop button is clicked, the landing is confirmed to be canceled, and the drone is controlled to hover.

In one embodiment, the display device displays the state information of the movable platform, the state information of the somatosensory remote control device and the state information of the display device. Among them, the display device includes flying glasses, and the flying glasses include a five-dimensional button, a shooting button and a return button. You can scroll the interface menu by pressing the five-dimensional button forward, backward, left, and right. Press to confirm, and the flying glasses display the status information of the movable platform, all the When describing the status information of the somatosensory remote control device and the status information of the display device, press the five-dimensional button to call up the menu bar, toggle left and right to adjust the screen brightness, toggle back and forth to adjust the volume, and short press to take a photo or start/end video recording. Long press to switch photo/video mode, press to return to the previous menu or exit the current mode.

For example, as shown in Figure 22, an obstacle prompt bar 1 is displayed superimposed on the shooting page. The obstacle prompt bar is used to indicate the distance between the movable platform and the obstacle in different directions. The display of the obstacle prompt bar 1 The color is determined based on the distance between the movable platform and the obstacle, for example, red, orange, gray in order indicate the relative distance to the obstacle from near to far. The microSD card information 2 is also displayed, that is, it displays the remaining number of photos or the recording time of the current microSD card of the movable platform or the goggles, and the recording time flashes when recording. The gimbal pitch angle 3 is also displayed. When the gimbal pitch control dial is turned, the current gimbal pitch angle is displayed.

Prompt information 4 is also displayed, including state switching information such as gear switching, low battery prompt, and various alarm information. Also displays the remaining charge of the current goggles' battery5. When the battery is too low, the buzzer will give an alarm and support the display of third-party battery voltage. GPS status 6 is also displayed to indicate the strength of the GPS signal. It also displays the signal strength of the control link between the remote controller and the aircraft, and the signal strength of the video link between the goggles and the aircraft7. The status icon of the forward vision system is also displayed. If the status of the forward vision system is different, the color of the status icon will be different. For example, if the status icon is green, the vision system is working normally, and if the status icon is red, the vision system is not turned on or working abnormally. , it cannot automatically decelerate when encountering an obstacle.

The runtime of the movable platform 9 is also shown, and Figure 22 shows a runtime of 25 minutes and 2 seconds. The remaining power 10 of the battery of the movable platform is also displayed, and the remaining power 10 of the battery of the movable platform shown in FIG. 22 is 15%. The ground distance 11 is also displayed, that is, when the height of the movable platform from the ground is less than a preset height (for example, 10 meters), the ground distance is displayed, and the ground distance shown in FIG. 22 is 2.5 meters. It also displays the movement information 12 of the movable platform, for example, the distance between the movable platform and the home point in the horizontal direction D1000m, the distance between the movable platform and the home point in the vertical direction H 100m, the flight speed of the movable platform in the horizontal direction 9m/s, The flight speed of the movable platform in the vertical direction is 6m/s. Also shown is the gear 13 of the movable platform, eg the flight gear of the drone. The location 14 of the home point is also displayed.

In one embodiment, the user presses the five-dimensional button of the flight goggles to call up the menu bar. The menu bar includes menu options such as status, photo album, image transmission, and settings. The user can switch the menus in the menu bar by toggling the five-dimensional button. options. Among them, as shown in Figure 23, when the user selects the status menu option by dialing the five-dimensional button, the detailed information of various current status warning prompts is displayed. If the IMU or compass is abnormal, calibration can be performed. As shown in Figure 24, when the user selects the album menu option by dialing the five-dimensional button, the photos or videos stored on the flight goggles microSD are displayed, and the preview can be previewed after selecting the file and confirming. As shown in Figure 25, when the user selects the image transmission menu option by dialing the five-dimensional button, the image transmission setting page is displayed. The image transmission setting page includes the pilot submenu option and the audience submenu option. After selecting the pilot submenu option After that, the user can set the image transmission settings of the current mobile platform, for example, set the screen broadcast 1, image transmission ratio 2, focus 3, channel mode 4, image transmission frequency band 5, bandwidth 6, etc., after selecting the audience submenu option After that, you can view the nearby video transmission equipment and signal strength, and select the channel to view the corresponding video transmission screen.

When the user selects the setting menu option by dialing the five-dimensional button, the security submenu, the manipulation submenu, the shooting submenu, the display submenu and the about submenu can be displayed, as shown in Figure 26, when selecting the security submenu, the user can Set safety parameters such as maximum altitude, farthest distance, and return-to-home altitude, support updating the home point, enable or disable obstacle deceleration, check the compass and IMU status and calibrate, etc. As shown in Figure 27, after selecting the control submenu, the user can set the control parameters such as the color and lighting method of the nose/arm lights of the drone, the pitch speed of the gimbal, and the roll control (S gear). , supports PTZ calibration, and can also set the remote control. As shown in Figure 28, after selecting the remote control settings submenu, the user can customize the buttons, including the custom button C1, the custom switch C2 and the custom gear, and the joystick mode can be selected from American, Japanese or Chinese It also supports adjusting the control feel of the remote control in the M position and the calibration of the remote control.

As shown in Figure 29, after selecting the shooting sub-menu, the user can adjust camera parameters such as ISO, shutter, EV, saturation and white balance, set image transmission specifications, video specifications, video format, auxiliary lines, enable screen center point and Format SD card, etc. As shown in Figure 30, after selecting the display submenu, the user can adjust the screen brightness, screen zoom, and choose whether to display the home point, etc. As shown in Figure 31, after selecting the About submenu, you can view the firmware version, serial number and other information of the flight goggles and the devices connected to them, select the interface language of the flight goggles, and restore factory settings.

In one embodiment, the display device displays a flight teaching page of the drone, and the flight teaching page includes introduction information such as the introduction of the flight interface, somatosensory control, and return-to-home landing; in response to the user's operation on the flight guidance page, the drone is displayed. The teaching page of the pre-flight safety inspection, which includes the guidance information of the pre-flight safety inspection, which is used to guide the user to carry out the pre-flight safety inspection of the drone. The pre-flight safety inspection includes checking the blades of the drone and check the fuselage orientation; in response to the user's operation on the teaching page of the safety check before takeoff, the flight interface is displayed, and the interface description information is displayed in the pop-up window on the flight interface, and the interface description information is used to describe each element in the flight interface function.

After the introduction of the flight interface is completed, the function introduction page of the somatosensory remote control is displayed. The function introduction page includes the function introduction information of the somatosensory remote control and the simulated somatosensory remote control; in response to the user's operation on the function introduction page, the somatosensory remote control is displayed. This teaching page displays the take-off control prompt information, and the take-off control prompt information is used to prompt the user to control the somatosensory remote controller to control the take-off operation of the drone; the somatosensory remote controller responds to the user's paddle. Control operation, control the drone to start the paddle, and control the drone to take off in response to the user's take-off control operation; after the drone is controlled to take off, the landing teaching page of the drone is displayed, and the landing teaching page includes the landing control prompt information , the landing control prompt information is used to instruct the user to control the somatosensory remote control to control the landing of the drone; the somatosensory remote control controls the drone to land in response to the user's landing control operation; displays the drone's flight control teaching page, the flight The control teaching page includes flight control instruction information, which is used to instruct the user to control the somatosensory remote controller to control the operation of the drone to ascend, descend, hover, turn right, turn left, move forward, backward, move left or move right. ;The somatosensory remote control obtains the user's operation on the somatosensory remote control, if the operation is to control the drone to ascend, descend, hover, turn right, turn left, forward, backward, move left or move right as indicated by the flight control instruction information operation, control the drone to ascend, descend, hover, turn right, turn left, forward, backward, move left or move right, and display the updated flight control indication information of the device, and the updated flight control indication information is used to indicate The drone completes ascending, descending, hovering, turning right, turning left, forward, backward, left or right.

After completing the flight control teaching of the drone, the trigger pop-up window of the free exercise of the flight control is displayed, and in response to the user's confirmation operation on the trigger pop-up window, the free exercise page of the flight control of the drone is displayed, and the free exercise page includes Free practice countdown; when the free practice countdown becomes zero, the free practice of flight control ends, and the UAV's return-to-home teaching page is displayed. The return-to-home teaching page includes the return-to-home control prompt information, which is used to instruct the user to control the somatosensory remote control. The somatosensory remote control obtains the user's operation on the somatosensory remote control, and if the operation is an operation indicated by the return control prompt information, it controls the drone to return or land.

Exemplarily, as shown in Figure 32, the flight teaching page includes the introduction of the flight interface, the somatosensory control, and the return-to-home landing menu. When the user clicks or focuses on the next step icon in Figure 32 or waits for 5 seconds, the display device displays Figure 33. The blade inspection guide page shown, the blade inspection guide page includes the next step icon, a schematic diagram of the installation of the blade, and the guide information of the blade inspection "Confirm the blade is intact and check the installation position of the white marked and unmarked blades. Whether it is correct or not, the wrong installation position will cause the aircraft to overturn when taking off”, the schematic diagram of the blade installation is used to indicate the installation of the blade.

When the user clicks or focuses on the next step icon in Fig. 33, the display device displays the fuselage orientation check guide page as shown in Fig. 34. The fuselage orientation check guide page includes the start actual combat teaching icon, the fuselage orientation diagram and the fuselage orientation. Check the guidance information "the tail of the aircraft is facing you, and keep a safe distance of 5m from the aircraft". When the user clicks or focuses on the actual combat teaching icon in Figure 34, the display device displays the flight interface shown in Figure 35. The flight interface includes Interface introduction prompt to remind the user to enter the flight interface introduction process below, and then display the interface description information in the flight interface pop-up window, as shown in Figure 36, the pop-up window displays the description information of the take-off position "During flight, you can judge the take-off according to this point. "Point Position", when the user clicks or focuses on the next step icon in Figure 36, the pop-up window continues to display the description information of the next element, as shown in Figure 37, the pop-up window displays the upper part of the flight interface. The description information "Prompt forward obstacles, when the distance from the obstacle is less than 6 meters, the obstacle prompt bar will be displayed", when the user clicks or focuses on the pop-up window in Figure 37, the flight interface is shown in Figure 38, and the pop-up window displays The description information of the prompt map "Restricted flight area prompt, when the aircraft is near the limited flight area, a prompt map will appear to help you fly away from the restricted flight area". When the user clicks or focuses on the pop-up window in Figure 38, the flight interface is shown in Figure 39 As shown, the pop-up window displays the description information of the element of the aircraft status prompt "click the five-dimensional button of the glasses to enter the menu to view the details of the aircraft status", when the user clicks the five-dimensional button of the glasses, the flight interface is shown in Figure 40, showing the drone The description information of the aircraft status list of "Click the Back button of the glasses to collapse the menu panel".

After the introduction of the flight interface is completed, the somatosensory control introduction prompt as shown in Figure 41 is displayed to remind the user to enter the somatosensory control introduction later, and then the function introduction page of the somatosensory remote controller as shown in Figure 42 is displayed, including the simulated somatosensory Remote control, the function of the emergency stop button: long press when not taking off: take off with one button, click when flying: emergency stop and lock the aircraft, long press when flying: return, land, the function of the gear switch button: click: normal gear ( P), sports gear (S), cool flying gear (H), long press: manual gear (M). When clicking or focusing on the next step icon in Figure 42, the function introduction page of the somatosensory remote control shown in Figure 43 is displayed. As can be seen from Figure 43, the somatosensory remote control tilts back and forth to control the drone to move forward and backward, and the accelerator trigger is pressed. Control the drone to ascend, descend and hover, tilt the somatosensory remote control left and right, control the drone to move left and right, turn the somatosensory remote control left and right, and control the drone to turn left and right.

When the user clicks or focuses on the next step icon in Figure 43, the take-off control prompt message as shown in Figure 44 is displayed, "Long press the emergency stop button to start the paddle, then tap the accelerator to take off, please pay attention to safety". After pressing the emergency stop button, the somatosensory remote controller controls the drone to start the paddle, and the display device displays the paddle-off progress bar as shown in Figure 45. The paddle-off progress bar is used to indicate the drone's paddle-off progress. After the drone completes the paddle, the display device displays the take-off control prompt as shown in Figure 46: "The paddle has been started, tap the accelerator to take off, and press the emergency stop button to stop the rotation". After the drone takes off, the display device displays the drone's flight control teaching page, as shown in Figure 47, the upper left corner of the flight interface displays a pop-up window for controlling the drone to ascend. The pop-up window includes the ascent control legend and the ascent. The control prompt message "Tap the throttle to let the aircraft rise 10m", if the user controls the aircraft to rise 10m by operating the somatosensory remote controller, the color of the display area where the ascent control prompt information is displayed will be changed to inform the user that the aircraft has risen 10m.

After that, as shown in Figure 48, the upper left corner of the flight interface displays the prompt pop-up window for controlling the descent of the drone. The prompt pop-up window includes the descending control legend and the descending control prompt message "Slowly release the throttle to let the aircraft descend 1m". Control the somatosensory remote controller to control the aircraft to descend by 1m, then change the color of the display area where the descent control prompt information is located to inform the user that the aircraft has descended by 1m. After that, as shown in Figure 49, the upper left corner of the flight interface displays the prompt pop-up window for controlling the hovering of the drone. The prompt pop-up window includes the hovering control legend and the hovering control prompt message "Keep the throttle at the neutral position to let the aircraft hover. ”, if the user controls the aircraft to hover by manipulating the somatosensory remote controller, change the color of the display area where the manipulation prompt information is located to inform the user that the aircraft has completed hovering.

After that, as shown in Figure 50, the upper left corner of the flight interface displays the prompt pop-up window for controlling the left turn of the drone. The prompt pop-up window includes the left turn control legend and the left turn control prompt message "Turn the remote control left to make the aircraft turn left. 1s", if the user controls the aircraft to turn left for 1s by manipulating the somatosensory remote controller, the color of the display area where the manipulation prompt information is located will be changed to inform the user that the aircraft has turned left for 1s. After that, as shown in Figure 51, the upper left corner of the flight interface displays the prompt pop-up window for controlling the UAV to turn right. 1s", if the user controls the aircraft to turn right for 1s by manipulating the somatosensory remote controller, change the color of the display area where the manipulation prompt information is located to inform the user that the aircraft has turned right for 1s.

After that, as shown in Figure 52, the upper left corner of the flight interface displays the prompt pop-up window for controlling the UAV to move forward. The prompt pop-up window includes the forward control legend and the forward control prompt information "tilt the remote controller forward to move the aircraft forward for 1s". The user controls the aircraft to move forward for 1s by manipulating the somatosensory remote controller, and then changes the color of the display area where the manipulation prompt information is located to inform the user that the aircraft has moved forward for 1s. After that, as shown in Figure 53, the upper left corner of the flight interface displays the prompt pop-up window for controlling the UAV to go back. The prompt pop-up window includes the back control legend and the back control prompt message "Tilt the remote control back to make the aircraft back for 1s". If The user controls the aircraft to move backward for 1s by manipulating the somatosensory remote controller, and then changes the color of the display area where the control prompt information is located to inform the user that the aircraft has moved backwards for 1s.

After that, as shown in Figure 54, the upper left corner of the flight interface displays the prompt pop-up window for controlling the left movement of the drone. The prompt pop-up window includes the left movement control legend and the left movement control prompt message "Left the remote control to make the aircraft move left for 1s. ”, if the user controls the aircraft to move left for 1s by manipulating the somatosensory remote controller, change the color of the display area where the manipulation prompt information is located to inform the user that the aircraft has moved left for 1s. After that, as shown in Figure 55, the upper left corner of the flight interface displays the prompt pop-up window for controlling the drone to move to the right. The prompt pop-up window includes the right-move control legend and the right-move control prompt message "Tilt the remote controller right to move the aircraft to the right for 1s. ”, if the user controls the aircraft to move to the right for 1s by manipulating the somatosensory remote controller, change the color of the display area where the manipulation prompt information is located to inform the user that the aircraft has moved to the right for 1s.

After completing the flight control teaching of the drone, the trigger pop-up window for the free practice of flight control as shown in Figure 56 is displayed. In this case, click the emergency stop button, and the aircraft will stop and lock.” When the user clicks or the eyes focus on the continue button, the free practice page for flight control is displayed as shown in Figure 57. After the free practice countdown is zero, the page of the return-to-home teaching prompt as shown in Figure 58 is displayed to prompt the user to introduce the UAV's return-to-home control teaching. As shown in Figure 59, the return home teaching prompt page includes the next step button and the return control prompt information "When the aircraft is 5-20m away from the home point, press and hold the emergency stop button, it will fly straight to the home point at the current altitude", "the plane is 5-20m away from the home point" When the point is greater than 20m, long press the emergency stop button, it will rise to the specified altitude, and then fly straight to the home point." When you click or focus on the next button in Figure 59, the landing teaching prompt page as shown in Figure 60 is displayed. The landing control prompt page includes the previous button, the next button and the landing control prompt message "The aircraft is within 5m of the return point. , long press the emergency stop button, the aircraft will automatically descend from the current position, please pay attention to whether the nearby buildings and the descending position are level, if there is an emergency, please stop the landing.”

When you click or focus on the next button in Figure 60, the return-to-home control prompt page as shown in Figure 61 is displayed. Landing, please pay attention to safety", when the user controls the drone to return to home, the return-to-home progress bar as shown in Figure 62 is displayed, and the return-to-home and landing progress bar is used to indicate the return progress of the drone. After that, the landing control prompt page as shown in Figure 63 is displayed. The landing control prompt page includes the landing control prompt message "Long press the emergency stop button to land". When the user controls the drone to land, the display as shown in Figure 64 is displayed. The landing progress bar is used to indicate the landing progress of the drone.

The embodiment of the present application also provides a control method, which is applied to a display device. The display device is used for communication and connection with a somatosensory remote control device and a movable platform, respectively. The somatosensory remote control device is communicated with the movable platform and is used for controlling the movable platform. The display device receives and displays the shooting picture of the movable platform; according to the posture information of the somatosensory remote control device, the posture indication icon of the somatosensory remote control device is displayed on the shooting screen, and the posture indicating icon is used to indicate the posture of the somatosensory remote control device; The posture adjustment operation of the somatosensory remote control device adjusts the posture indication icon according to the current posture information of the somatosensory remote control device. It should be noted that, for the specific implementation process of the control method provided in this embodiment, reference may be made to the corresponding process in the foregoing embodiment, and details are not described herein again.

The embodiment of the present application also provides a control method, which is applied to a somatosensory remote control device, where the somatosensory remote control device is used to communicate with a display device and a movable platform respectively, the somatosensory remote control device is used to control the movable platform, and the display device communicates with the movable platform connected, the display device is used to display the shooting screen of the movable platform, and the somatosensory remote control device sends the attitude information of the somatosensory remote control device to the display device, so that the display device can display the attitude indicator icon of the somatosensory remote control device on the shooting screen based on the attitude information, The posture indication icon is used to indicate the posture of the somatosensory remote control device; in response to the user's attitude adjustment operation on the somatosensory remote control device, control the movable platform according to the current posture information of the somatosensory remote control device; send the current posture information of the somatosensory remote control device to the display device , for the display device to adjust the gesture indication icon based on the current gesture information. It should be noted that, for the specific implementation process of the control method provided in this embodiment, reference may be made to the corresponding process in the foregoing embodiment, and details are not described herein again.

Please refer to FIG. 65. FIG. 65 is a schematic flowchart of steps of a flight guidance method provided by an embodiment of the present application. The flight guidance method is applied to a display device, and the display device is used for communication and connection with the UAV, and receives and displays the shooting images of the UAV in real time.

As shown in FIG. 65 , the control method of the movable platform includes steps S301 to S303.

Step S301, displaying the photographing page of the drone.

Wherein, the shooting picture includes a first-person view FPV picture of the drone, and the FPV picture will change with the attitude of the drone or the attitude of the gimbal of the drone.

Step S302 , according to the current state information and control information of the UAV, obtain the predicted state information of the UAV within a preset time period after the current system time.

Among them, the current state information of the UAV includes the current speed information, attitude information, and position information of the UAV, and the current control information of the UAV includes the attitude control amount and/or the speed control amount. The attitude control amount is controlled by the somatosensory remote control device. The attitude change is determined, and the speed control amount is determined by the position of the accelerator trigger in the somatosensory remote control device. The predicted state information includes the predicted flight speed, predicted attitude information and/or predicted position information of the UAV within a preset time period after the current system time. The preset time period may be set based on the actual situation, which is not specifically limited in this embodiment of the present application, for example, the preset time period is 5 seconds.

Step S303: Display a plurality of status indication icons on the shooting screen according to the predicted status information, where the plurality of status indication icons are used to indicate the predicted flight trajectory and/or predicted attitude information of the UAV.

In one embodiment, the status indication icon is used to indicate the predicted position information and the predicted attitude information of the drone, and the distance between two adjacent status indication icons is used to indicate the size of the predicted flight speed of the drone. Among them, the distance between two adjacent status indication icons is positively correlated with the predicted flight speed of the drone, that is, the greater the predicted flight speed of the drone, the greater the distance between the two adjacent status indication icons. The larger the distance, the smaller the predicted flight speed of the drone, and the smaller the distance between two adjacent status indication icons. One status indication icon can indicate the predicted position information and predicted attitude information of the UAV, therefore, the predicted flight trajectory and/or the predicted attitude information of the UAV can be indicated through a plurality of status indicating icons.

In one embodiment, the tilt angle of the status indication icon in the shooting page is used to indicate the roll angle or pitch angle of the drone. Among them, the tilt angle of the status indicator icon in the shooting page is positively correlated with the roll angle or pitch angle of the drone, that is, the larger the roll angle or pitch angle of the drone, the status indicator icon in the shooting page. The larger the inclination angle of the drone, the smaller the roll or pitch angle of the drone, and the smaller the inclination angle of the status indicator icon in the shooting page.

In one embodiment, the plurality of status indication icons are of different colors. In another embodiment, the plurality of status indication icons are of different sizes. Further, the shapes of the plurality of status indication icons are the same, and the size of the status indication icons is related to the prediction time at which the status indication icons are used to indicate the predicted position information and the predicted attitude information of the drone. Wherein, the shorter the prediction time is from the current system time, the larger the size of the corresponding status indication icon, and the longer the prediction time is from the current system time, the smaller the corresponding state indication icon is.

In one embodiment, the colors of the plurality of status indication icons are the same, and the transparency of the plurality of status indication icons is different. Among them, the transparency of the status indicator icon is related to the prediction time used by the status indicator icon to indicate the predicted position information and predicted attitude information of the UAV, that is, the shorter the prediction time is from the current system time, the lower the transparency of the corresponding status indicator icon. , the longer the predicted time is from the current system time, the higher the transparency of the corresponding status indication icon. In another embodiment, two adjacent state indicating icons partially overlap.

In one embodiment, the status indication icons are centrally symmetric, and a plurality of status indication icons are used to indicate the predicted flight trajectory of the drone; or, the status indication icons are centrally symmetric, and the plurality of status indication icons are used to indicate that there is no one The predicted flight trajectory and predicted attitude information of the UAV; or, the status indication icon is non-centrally symmetrical, and multiple status indication icons are used to indicate the predicted flight trajectory and predicted attitude information of the UAV.

For example, as shown in Figure 66, there are 5 status indication icons superimposed on the shooting page, and these 5 status indication icons are all circular. At this time, these 5 status indication icons can indicate the predicted flight trajectory of the drone.

For another example, as shown in Figure 67, 5 status indication icons are displayed superimposed on the shooting page, and these 5 status indication icons are all squares. At this time, these 5 status indication icons can indicate the predicted flight trajectory and Predict pose information.

For another example, as shown in Figure 68, there are 5 status indication icons superimposed on the shooting page, and these 5 status indication icons are all direction pointing icons. At this time, these 5 status indication icons can indicate the predicted flight of the drone. Trajectory and predicted pose information.

The flight guidance method provided by the above-mentioned embodiment, by superimposing and displaying a plurality of status indication icons for indicating the predicted flight trajectory and/or the predicted attitude information of the UAV in the shooting screen, it is convenient for the user to follow the predicted flight trajectory and the UAV of the UAV. / or predict the attitude information to accurately control the flight of the drone, which can improve the flight safety and user experience of the drone.

Please refer to FIG. 69. FIG. 69 is a schematic flowchart of steps of another flight guidance method provided by an embodiment of the present application. The flight guidance method is applied to a display device, and the display device is used for communication and connection with the UAV, and receives and displays the shooting images of the UAV in real time.

As shown in FIG. 69, the control method includes steps S401 to S402.

Step S401 , displaying the photographed picture of the drone.

Step S402: During the flight of the UAV, if a preset flight area exists within the preset distance of the UAV, display an indication map of the preset flight area in the shooting screen, so The indication map is used to prompt the user that the preset flight area exists near the UAV.

In one embodiment, the indication map displays a azimuth icon of the drone, the distance between the preset flight area closest to the drone and the drone, a polyline frame corresponding to at least one preset flight area, and a north direction. The pin icon and the azimuth icon are used to indicate one or more of the nose orientations of the drone. The preset flight areas include restricted flight areas and no-fly areas. For example, as shown in FIG. 70 , an indication map 50 is displayed superimposed on the upper left corner of the shooting page, and the indication map 50 displays a polyline frame 51 corresponding to the first restricted area, a polyline frame 52 corresponding to the second restricted area, and an orientation icon. 53. The distance 54 between the first restricted flight area closest to the drone and the drone is 20 meters and the compass icon 55.

In one embodiment, the polyline frame corresponding to the preset flight area is related to the shape of the preset flight area. The size of the polyline frame corresponding to the preset flight area is related to the size of the preset flight area, that is, the larger the preset flight area, the larger the polyline frame corresponding to the preset flight area, and the smaller the preset flight area, the preset The smaller the polyline frame corresponding to the flying area. The color of the bearing icon is different from the color of the polyline frame corresponding to the preset flight area.

In one embodiment, if the distance between the drone and the preset flight area is less than the first distance threshold, the color of the border indicating the map is changed and/or the border indicating the map is controlled to flash. Further, the color of the bearing icon is changed so that the color of the bearing icon is the same as the color of the border indicating the map. The first distance threshold may be set based on the actual situation, which is not specifically limited in this embodiment of the present application. By changing the color of the border indicating the map and/or controlling the flashing of the border indicating the map when the distance between the UAV and the preset flight area is close, the user is prompted that the UAV is closer to the preset flight area , which can facilitate the user to control the drone away from the preset flight area and improve the user experience.

In one embodiment, the distance between the UAV and the preset flight area is obtained; if the distance between the UAV and the preset flight area is less than or equal to the second distance threshold, it is determined that there is a preset near the UAV. Flight area; if the distance between the drone and the preset flight area is greater than the second distance threshold, it is determined that there is no preset flight area near the drone. The second distance threshold may be set based on the actual situation, which is not specifically limited in this embodiment of the present application, and the second distance threshold is greater than the first distance threshold.

In one embodiment, after the indication map of the preset flight area is displayed superimposed on the photographing page, if the distance between the drone and the preset flight area is greater than the second distance threshold, the indication map is hidden. Only when the distance between the UAV and the preset flight area is less than the second distance threshold, that is, when there is a preset flight area near the UAV, the indication map of the preset flight area is superimposed and displayed on the shooting page, which can facilitate the user to read , to improve the user experience.

In one embodiment, the current position information of the UAV and the preset position information of the preset flight area are acquired; the distance between the UAV and the preset flight area is determined according to the current position information and the preset position information. Specifically, the display device obtains the current position information of the UAV sent by the UAV; obtains the preset position information of the preset flight area sent by the UAV, or obtains the preset position information of the preset flight area from the memory of the display device. Set location information. Wherein, the current position information of the UAV can be determined according to the positioning device of the UAV, and the preset position information of the preset flight area can be stored in the UAV or in the memory of the display device.

In one embodiment, the detection result of the nearby area sent by the drone is obtained, and the detection result of the nearby area is determined by the drone according to the current position information of the drone and the preset position information of the preset flight area; If the area detection result is that the distance between the UAV and the preset flight area is less than or equal to the second distance threshold, it is determined that there is a preset flight area near the UAV; if the nearby area detection result is that the UAV and the preset flight area If the distance between the areas is greater than the second distance threshold, it is determined that there is no preset flight area near the drone.

In one embodiment, when the display device receives the information of the preset flight area sent by the drone, it displays an indication map of the preset flight area; wherein, the information of the preset flight area is detected by the drone. Generated when a preset flight area exists within the set distance.

In the flight guidance method provided by the above-mentioned embodiment, during the flight of the drone, if there is a preset flight area within the preset distance of the drone, an indication map of the preset flight area is displayed in the shooting screen, so that the user can It can know that there is a preset flight area near the drone, which is convenient for the user to control the drone to avoid the preset flight area, ensure the flight safety of the drone and improve the user experience.

Please refer to FIG. 71. FIG. 71 is a schematic flowchart of steps of a motor calibration method provided by an embodiment of the present application.

As shown in FIG. 71 , the motor calibration method includes steps S501 to S503.

Step S501, displaying a guide interface for motor steering calibration of the drone, where the guide interface includes steering icons of multiple motors;

Step S502, in response to the user's first operation on the guidance interface, controlling the rotation of a plurality of the motors of the drone;

Step S503, in the process of controlling the rotation of a plurality of the motors of the unmanned aerial vehicle, in response to a second operation of the steering icon of one of the motors by the user, control the corresponding motors to reverse.

In one embodiment, the UAV is a multi-rotor UAV, the guidance interface for motor steering calibration further includes a nose orientation icon and a steering icon number of the UAV, the steering icon number is located in the steering icon, and the steering icon Used to indicate the current direction of rotation of the motor. Wherein, the guide interface further includes guide prompt information for the motor steering calibration, where the guide prompt information is used to prompt the user how to perform the motor steering calibration.

As shown in Figure 72, the guidance interface for motor steering calibration includes a steering icon 61, a steering icon 62, a steering icon 63, a steering icon 64, a start icon, and guidance prompt information, and the guidance interface also includes a nose orientation icon of the drone 65 and the steering icon number, and the steering icon numbers of the steering icon 61, the steering icon 62, the steering icon 63, and the steering icon 64 are 1, 2, 3, and 4, respectively. It can be seen from Figure 72 that when the motor that controls the drone rotates , the motor corresponding to the steering icon 61 rotates clockwise, the motor corresponding to the steering icon 62 rotates counterclockwise, the motor corresponding to the steering icon 63 rotates clockwise, and the motor corresponding to the steering icon 64 rotates counterclockwise.

In one embodiment, the user's first operation on the guidance interface includes a user's touch operation on a start icon in the guidance interface, a user's eye focusing operation on the start icon in the guidance interface, and a user's turning icon on one of the motors. The second operation includes the user's touch operation on the steering icon of one of the motors, the focusing operation of the user's eyes on the steering icon of one of the motors, and the user's selection confirmation operation on the steering icon of one of the motors. It is the user's pressing operation on the five-dimensional keys of the flying glasses.

In one embodiment, after the corresponding motor is controlled to be reversed, the steering icon of the corresponding motor is changed. For example, when the user's second operation on the steering icon 62 in FIG. 72 is detected, the motor corresponding to the steering icon 62 on the drone is controlled to be reversed, that is, the motor corresponding to the steering icon 62 is controlled to rotate in a clockwise direction, After the motor corresponding to the steering icon 62 is controlled to rotate in a clockwise direction, the direction icon in the steering icon 62 is changed.

In one embodiment, a guidance interface for steering calibration of the motors of the drone is displayed, the guidance interface includes steering icons of a plurality of motors; in response to a user's first operation on the guidance interface, the plurality of motors of the drone are controlled to rotate ; Display the motor steering calibration page, the motor steering calibration page includes steering calibration buttons of multiple motors; in the process of controlling the rotation of multiple motors of the drone, in response to the third operation of the steering calibration button of one of the motors by the user , control the corresponding motor to reverse. The third operation performed by the user on the steering calibration button of one of the motors includes the user's touch operation on the steering calibration button of one of the motors, the focusing operation of the user's eyes on the steering calibration button of one of the motors, and the user's operation on the steering calibration button of one of the motors. The selection and confirmation operation of the steering calibration button of the device is specifically the user's pressing operation on the five-dimensional button of the flying glasses.

For example, as shown in Figure 73, the motor steering calibration page includes steering calibration buttons 66 corresponding to motor 1, steering calibration buttons 67 corresponding to motor 2, steering calibration buttons 68 corresponding to motor 3, and steering calibration buttons 69 corresponding to motor 4. If the third operation of the steering calibration button 67 by the user is detected, the motor 2 is controlled to be reversed, that is, the motor 2 corresponding to the steering icon 62 is controlled to rotate in a clockwise direction, and the switch ball of the steering calibration button 67 in FIG. Swipe to the right to change to the steering calibration button 67 in FIG. 74. Similarly, if the third operation of the steering calibration button 69 by the user is detected, the motor 4 is controlled to reverse, that is, the motor 4 corresponding to the steering icon 64 is controlled according to the Rotate it clockwise, and the switch ball of the steering calibration button 69 in FIG. 73 slides to the right, changing to the steering calibration button 69 in FIG. 74 .

In one embodiment, the motor steering calibration page further includes a completion icon, and when a fourth operation by the user on the completion icon is detected, the motor steering calibration result is displayed. As shown in Figure 75, the motor steering calibration is successful, as shown in Figure 76, the motor steering calibration fails. The fourth operation performed by the user on the completion icon includes the user's touch operation on the completion icon, the user's eye focusing operation on the completion icon, and the user's pressing operation on the five-dimensional key.

In the motor calibration method provided by the above-mentioned embodiments, the guidance interface for the motor steering calibration of the drone is displayed, and the guidance interface includes the steering icons of a plurality of motors; in response to the user's first operation on the guidance interface, a plurality of The motor rotates; in the process of controlling the rotation of multiple motors of the drone, in response to the user's second operation on the steering icon of one of the motors, the corresponding motor is controlled to reverse, which can facilitate the user to calibrate the motor of the drone Turn to improve user experience.

Please refer to FIG. 77. FIG. 77 is a schematic structural block diagram of a display device provided by an embodiment of the present application. The display device is used for communicating with the movable platform and the somatosensory remote control device respectively, and the somatosensory remote control device is used for communicating with the movable platform for controlling the movable platform. As shown in FIG. 77 , the display device 400 includes a processor 401, a memory 402, and a display device 403. The processor 401, the memory 402, and the display device 403 are connected through a bus 404, such as an I2C (Inter-integrated Circuit) bus. . The display device 403 may be a liquid crystal display screen or a touch display screen.

Specifically, the processor 401 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 402 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, and the like.

Wherein, the processor 401 is used for running the computer program stored in the memory 402, and implements the following steps when executing the computer program:

Display the photographed image of the movable platform through the display device 403;

In one embodiment, the photographed picture of the movable platform includes a first-person perspective FPV picture, and the FPV picture will occur with the change of the posture of the movable platform or the posture of the gimbal of the movable platform. Variety.

In one embodiment, the position of the movement indication icon in the shooting picture is used to indicate the movement direction and/or posture of the movable platform.

In one embodiment, the state of the motion indicating icon in the shooting picture and the posture of the movable platform can be changed with the posture of the somatosensory remote control device.

In one embodiment, the processor is further configured to implement the following steps:

When the yaw angle of the somatosensory remote control device changes, adjust the motion indication icon to move left or right in the shooting picture, wherein the motion indication icon is in the process of moving left or right , the heading angle of the movable platform is correspondingly deflected;

When the pitch angle of the somatosensory remote control device changes, the movement indication icon is adjusted to move up or down in the shooting picture, wherein, during the movement of the movement indication icon up or down, the The gimbal of the movable platform rotates up or down along the pitch direction;

When the roll angle of the somatosensory remote control device is not zero, adjust the motion indicating icon to rotate left or right, wherein, when the motion indicating icon rotates left or right, the movable platform is rotated according to The angular velocity corresponding to the current roll angle of the somatosensory remote control device rotates left or right along the yaw direction.

In one embodiment, the motion indication icon includes a horizontal line segment, a first line segment and a second line segment, and when the roll angle of the somatosensory remote control device is zero, the first line segment and the second line segment are are all parallel to the horizontal line segment, and the processor is further configured to implement the following steps:

When the roll angle of the somatosensory remote control device is not zero, adjust the motion indicating icon to rotate left or right, so that the first line segment and the second line segment are not parallel to the horizontal line segment.

When the roll angle of the somatosensory remote control device is not zero, a mark corresponding to the current roll angle of the somatosensory remote control device is displayed on the outer contour of the motion indication icon, wherein, on the horizontal axis of the somatosensory remote control device When the roll angle is zero, the mark is not displayed on the outer contour of the motion indicating icon.

In one embodiment, the somatosensory remote control device can control the movable platform to move according to the movement direction indicated by the movement indication icon.

In one embodiment, the somatosensory remote control device can control the movable platform to move according to the motion direction indicated by the motion indication icon according to the user's manipulation parameters of the first control component in the somatosensory remote control device.

In response to the user's adjustment operation on the pitch angle of the somatosensory remote control device, determining whether the pitch angle of the gimbal of the movable platform reaches a limit pitch angle;

If the pitch angle of the gimbal reaches the limit pitch angle, the first control area and/or the second control area are displayed, and the movement indication icon is controlled to move toward the first control area or the second control area.

When the motion indicating icon is located in the first control area, the movable platform is controlled to enter a preset first manipulation mode, wherein, in the first manipulation mode, the somatosensory remote control device can control the the movable platform moves along the first direction;

When the motion indicating icon is located in the second control area, the movable platform is controlled to enter a preset second manipulation mode, wherein, in the second manipulation mode, the somatosensory remote control device can control the The movable platform moves in the second direction.

In one embodiment, the first direction is opposite to the second direction.

In one embodiment, a first direction icon is displayed in the first control area, the first direction icon is used to indicate that the moving direction of the movable platform is the first direction, and the second control area is displayed. There is a second direction icon, and the second direction icon is used to indicate that the moving direction of the movable platform is the second direction.

In an embodiment, the display device further displays a third control area and/or a fourth control area, and the processor is further configured to implement the following steps:

When the motion indicating icon is located in the third control area, the movable platform is controlled to enter a preset third manipulation mode, wherein, in the third manipulation mode, the somatosensory remote control device can control the The movable platform moves in a third direction;

When the motion indicating icon is located in the fourth control area, the movable platform is controlled to enter a preset fourth manipulation mode, wherein, in the fourth manipulation mode, the somatosensory remote control device can control the The movable platform moves in a fourth direction.

In one embodiment, the third direction is opposite to the fourth direction.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the display device described above, reference may be made to the corresponding process in the foregoing control method embodiments, which will not be repeated here. .

Please refer to FIG. 78. FIG. 78 is a schematic structural block diagram of a display device provided by an embodiment of the present application. The display device is used for communicating with the movable platform and the somatosensory remote control device respectively, and the somatosensory remote control device is used for communicating with the movable platform for controlling the movable platform. As shown in FIG. 78 , the display device 500 includes a processor 501, a memory 502, and a display device 503. The processor 501, the memory 502, and the display device 503 are connected by a bus 504, such as an I2C (Inter-integrated Circuit) bus. . The display device 503 may be a liquid crystal display screen or a touch display screen.

Specifically, the processor 501 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 502 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, and the like.

Wherein, the processor 501 is used for running the computer program stored in the memory 502, and implements the following steps when executing the computer program:

display the photographed image of the movable platform through the display device 503;

In one embodiment, the gesture indicating icon includes a slider and a first icon, the position of the slider in the gesture indicating icon is used to indicate the horizontal rotation direction of the somatosensory remote control device, and the first icon The position in the gesture indication icon is used to indicate the tilt direction of the somatosensory remote control device in the pitch direction and the roll direction.

The slider can slide left and right in the gesture indication icon along with the change of the horizontal rotation direction of the somatosensory remote control device.

In one embodiment, the gesture indicating icon further includes a slider, the slider is located on the slider, and the slider and the slider are used to indicate the position in the icon to indicate the somatosensory remote control device. the horizontal rotation direction.

In one embodiment, the slider can slide left and right in the slider as the horizontal rotation direction of the somatosensory remote control device changes.

In an embodiment, the gesture indication icon further includes a first area, and the position of the first icon in the first area is used to indicate the tilt of the somatosensory remote control device in the pitch direction and the roll direction. direction.

In one embodiment, the slider is located in the first area, or there is a gap between the slider and the first area.

In an embodiment, the gesture indicating icon further includes a second area, the second area is located in the center of the first area, and the processor is further configured to implement the following steps:

When the roll angle and the pitch angle of the somatosensory remote control device are zero, the first icon is moved into the second area.

When the roll angle and pitch angle of the somatosensory remote control device are zero, the first icon is moved into the second area, and the display colors of the second area and the first icon are changed.

In one embodiment, the movable platform includes a drone, and when the first icon is located in the second area, the second area and the first icon are used to prompt the user that the The first control part of the somatosensory remote control device is used to control the drone to take off.

In one embodiment, the gesture indicating icon further includes a second icon, or a second icon is displayed on one side of the gesture indicating icon, and the second icon is used to indicate that the movable platform does not move or stops moving. .

The state information of the movable platform, the state information of the somatosensory remote control device and the state information of the display device are displayed.

Please refer to FIG. 79. FIG. 79 is a schematic structural block diagram of a somatosensory remote control device provided by an embodiment of the present application. The somatosensory remote control device is used to communicate with a display device and a movable platform respectively, the somatosensory remote control device is used to control the movable platform, the display device is communicatively connected to the movable platform, and the display device is used for A shooting screen of the movable platform is displayed.

As shown in FIG. 79, the somatosensory remote control device 600 includes a processor 601, a memory 602, and a somatosensory sensor 603. The processor 601, the memory 602, and the somatosensory sensor 603 are connected through a bus 604, such as an I2C (Inter-integrated Circuit) bus. . The somatosensory sensor 603 is used to collect the posture information of the somatosensory remote control device 600 .

Specifically, the processor 601 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.

Specifically, the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

Wherein, the processor 601 is used for running the computer program stored in the memory 602, and implements the following steps when executing the computer program:

In one embodiment, the movable platform includes an unmanned aerial vehicle, the somatosensory remote control device includes a first control part and a second control part, the first control part is used to control the unmanned aerial vehicle to take off, the The processor is also used to implement the following steps:

In response to a user's triggering operation on the second control component, controlling the UAV to take off the paddle;

The user's manipulation parameters of the first control component are acquired, and the drone is controlled to take off according to the manipulation parameters.

In one embodiment, when the processor controls the drone to take off the paddle in response to a triggering operation of the second control component by the user, the processor is configured to:

In response to a third triggering operation of the second control component by the user, determining whether the somatosensory remote control device is in a horizontal state;

If the somatosensory remote control device is in a horizontal state, the drone is controlled to take off the paddle.

In one embodiment, the controlling the UAV to take off according to the manipulation parameters includes:

If the manipulation parameter is greater than the preset manipulation parameter, the drone is controlled to take off according to the manipulation parameter.

In one embodiment, before controlling the UAV to take off according to the manipulation parameters, the processor is further configured to:

determining whether the somatosensory remote control device is in a horizontal state;

If the somatosensory remote control device is in a horizontal state, the drone is controlled to take off according to the manipulation parameter.

In one embodiment, the somatosensory remote control device includes a third control component, and the third control component is used to control the drone to hover or stop the paddle, and the processor is further used to implement the following steps:

In the process of controlling the drone to start the paddle, if a fourth triggering operation of the third control component by the user is detected, the drone is controlled to stop the paddle.

In the process of controlling the UAV to fly, if a fifth triggering operation of the third control component by the user is detected, the UAV is controlled to hover; and

The somatosensory remote control device is controlled to be in a somatosensory lock mode, and in the somatosensory lock mode, the somatosensory remote control device does not send a control instruction to the drone when its own posture changes.

When the somatosensory remote control device is in the somatosensory lock mode, acquiring the manipulation parameters of the first control component by the user;

If the control parameter is greater than the preset control parameter, according to the control parameter, continue to control the drone to fly, and control the somatosensory remote control device to exit the somatosensory lock mode.

In response to the sixth trigger operation of the third control component by the user, controlling the UAV to return, wherein, in the process of controlling the UAV to return, the display device displays the return progress prompt information of the UAV, The return-to-home progress prompt information is used to prompt the user of the return-to-home progress of the drone.

After the UAV returns to home, if the flatness of the ground below the UAV is greater than or equal to a preset flatness, the UAV is controlled to land.

If the flatness of the ground under the UAV is less than the preset flatness, control the UAV to land in response to the user's seventh trigger operation on the second control component, or control the UAV to land in response to the user's third control The eighth trigger operation of the component controls the drone to hover.

If the somatosensory remote control device is in the first control mode or the second control mode, control the somatosensory remote control device to be in the third control mode and control the unmanned Return flight.

After the UAV returns to home, if the flatness of the ground below the UAV is greater than or equal to the preset flatness, controlling the UAV to land;

After the landing of the drone is completed, the somatosensory remote control device controls itself to be in the first control mode or the second control mode.

If the flatness of the ground under the UAV is less than the preset flatness, controlling the UAV to land in response to a seventh trigger operation of the second control component by the user;

If the flatness of the ground under the UAV is less than the preset flatness, the UAV is controlled to hover in response to an eighth triggering operation of the third control component by the user.

In one embodiment, the movable platform includes an unmanned aerial vehicle, and the processor is further configured to implement the following steps:

In response to the user's ninth trigger operation on the second control component, controlling the drone to land;

In the process of controlling the landing of the unmanned aerial vehicle, if the flatness of the ground under the unmanned aerial vehicle is smaller than the preset flatness, the unmanned aerial vehicle is controlled in response to the tenth triggering operation of the second control component by the user. The drone continues to land, or the drone is controlled to hover in response to an eighth triggering operation of the third control component by the user.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the somatosensory remote control device described above, reference may be made to the corresponding process in the foregoing control method embodiment, which is not repeated here. Repeat.

Please refer to FIG. 80. FIG. 80 is a schematic structural block diagram of a control system provided by an embodiment of the present application. As shown in FIG. 80 , the control system 700 includes a movable platform 710, a display device 720, and a somatosensory remote control device 730. The display device 720 is used to communicate with the movable platform 710 and the somatosensory remote control device 730 respectively, and the somatosensory remote control device 730 is used to communicate with The movable platform 710 is communicatively connected for controlling the movable platform 710 . The display device 720 may be the display device shown in FIG. 77 or FIG. 88 , and the somatosensory remote control device 730 may be the somatosensory remote control device shown in FIG. 79 .

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the control system described above, reference may be made to the corresponding process in the foregoing control method embodiments, which will not be repeated here. .

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments. control method, flight director method, or motor steering calibration method.

The computer-readable storage medium may be an internal storage unit of the display device or the somatosensory remote control device described in any of the foregoing embodiments, such as a hard disk or memory of the display device or the somatosensory remote control device. The computer-readable storage medium may also be an external storage device of the display device or the somatosensory remote control device, such as a plug-in hard disk equipped on the display device or the somatosensory remote control device, a smart memory card (Smart Media Card, SMC) , Secure Digital (Secure Digital, SD) card, flash memory card (Flash Card) and so on.

It should be understood that the terms used in the specification of the present application herein are for the purpose of describing particular embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A control method, characterized in that it is applied to a display device, the display device is used to communicate with a movable platform and a somatosensory remote control device respectively, the somatosensory remote control device is used to communicate with the movable platform, and is used for Controlling the movable platform, the method includes:

receiving and displaying the photographed image of the movable platform;

When the movable platform is in a preset working mode, a motion indicator icon is displayed on the shooting screen, and the state of the motion indicator icon in the shooting screen is used to indicate the posture change of the somatosensory remote controller;

In response to the user's gesture adjustment operation on the somatosensory remote control device, the state of the motion indication icon in the shooting screen is adjusted, and the state of the motion indication icon in the shooting screen is used to indicate the movable platform movement direction and/or attitude.
The control method according to claim 1, wherein the photographed picture of the movable platform includes a first-person perspective FPV picture, and the FPV picture will follow the posture of the movable platform or the movement of the movable platform. Changes in the posture of the gimbal.
The control method according to claim 1, wherein the position of the movement indication icon in the shooting picture is used to indicate the movement direction and/or posture of the movable platform.
The control method according to claim 1, wherein the state of the motion indicating icon in the shooting picture and the posture of the movable platform can be changed with the posture of the somatosensory remote control device. .
The control method according to claim 1, wherein the method further comprises:

When the yaw angle of the somatosensory remote control device changes, adjust the motion indication icon to move left or right in the shooting picture, wherein the motion indication icon is in the process of moving left or right , the heading angle of the movable platform is correspondingly deflected;

When the pitch angle of the somatosensory remote control device changes, the movement indication icon is adjusted to move up or down in the shooting picture, wherein, during the movement of the movement indication icon up or down, the The gimbal of the movable platform rotates up or down along the pitch direction;

When the roll angle of the somatosensory remote control device is not zero, adjust the motion indicating icon to rotate left or right, wherein, when the motion indicating icon rotates left or right, the movable platform is rotated according to The angular velocity corresponding to the current roll angle of the somatosensory remote control device rotates left or right along the yaw direction.
The control method according to claim 5, wherein the motion indicating icon comprises a horizontal line segment, a first line segment and a second line segment, and when the roll angle of the somatosensory remote control device is zero, the first Both the line segment and the second line segment are parallel to the horizontal line segment, and the method further includes:

When the roll angle of the somatosensory remote control device is not zero, adjust the motion indicating icon to rotate left or right, so that the first line segment and the second line segment are not parallel to the horizontal line segment.
The control method according to claim 5, wherein the method further comprises:

When the roll angle of the somatosensory remote control device is not zero, a mark corresponding to the current roll angle of the somatosensory remote control device is displayed on the outer contour of the motion indication icon, wherein, on the horizontal axis of the somatosensory remote control device When the roll angle is zero, the mark is not displayed on the outer contour of the motion indicating icon.
The control method according to claim 1, wherein the somatosensory remote control device can control the movable platform to move according to the movement direction indicated by the movement indication icon.
The control method according to claim 8, wherein the somatosensory remote control device is capable of controlling the movable platform according to the motion indicating icon according to a user's manipulation parameters of the first control component in the somatosensory remote control device Move in the direction of motion indicated.
The control method according to any one of claims 1-9, wherein the method further comprises:

In response to the user's adjustment operation on the pitch angle of the somatosensory remote control device, determining whether the pitch angle of the gimbal of the movable platform reaches a limit pitch angle;

If the pitch angle of the gimbal reaches the limit pitch angle, the first control area and/or the second control area are displayed, and the movement indication icon is controlled to move toward the first control area or the second control area.
The control method according to claim 10, wherein the method further comprises:

When the motion indicating icon is located in the first control area, the movable platform is controlled to enter a preset first manipulation mode, wherein, in the first manipulation mode, the somatosensory remote control device can control the the movable platform moves along the first direction;

When the motion indicating icon is located in the second control area, the movable platform is controlled to enter a preset second manipulation mode, wherein, in the second manipulation mode, the somatosensory remote control device can control the The movable platform moves in the second direction.
The control method according to claim 11, wherein the first direction is opposite to the second direction.
The control method according to claim 10, wherein a first direction icon is displayed in the first control area, and the first direction icon is used to indicate that the moving direction of the movable platform is the first direction, A second direction icon is displayed in the second control area, and the second direction icon is used to indicate that the movement direction of the movable platform is the second direction.
The control method according to any one of claims 1-9, wherein the display device further displays a third control area and/or a fourth control area, and the method further includes:

When the motion indicating icon is located in the third control area, the movable platform is controlled to enter a preset third manipulation mode, wherein, in the third manipulation mode, the somatosensory remote control device can control the The movable platform moves in a third direction;

When the motion indicating icon is located in the fourth control area, the movable platform is controlled to enter a preset fourth manipulation mode, wherein, in the fourth manipulation mode, the somatosensory remote control device can control the The movable platform moves in a fourth direction.
The control method according to claim 14, wherein the third direction is opposite to the fourth direction.
A control method, characterized in that it is applied to a control system, the control system includes a somatosensory remote control device, a display device and a movable platform, the somatosensory remote control device and the display device are respectively connected to the movable platform, The somatosensory remote control device is used to control the movable platform, and the method includes:

The display device receives and displays the photographing picture of the movable platform, and displays a gesture indicating icon of the somatosensory remote control device on the photographing picture, where the posture indicating icon is used to indicate the posture of the somatosensory remote control device;

The display device adjusts the gesture indication icon according to the current posture information of the somatosensory remote control device in response to the user's gesture adjustment operation on the somatosensory remote control device;

The somatosensory remote controller controls the movable platform according to the current attitude information of the somatosensory remote control device.
The control method according to claim 16, wherein the gesture indicating icon comprises a slider and a first icon, and the position of the slider in the gesture indicating icon is used to indicate the level of the somatosensory remote control device Rotation direction, the position of the first icon in the gesture indication icon is used to indicate the tilt direction of the somatosensory remote control device in the pitch direction and the roll direction.
The control method according to claim 17, wherein the slider can slide left and right in the gesture indication icon along with the change of the horizontal rotation direction of the somatosensory remote control device.
The control method according to claim 17, wherein the gesture indicating icon further comprises a slider, the slider is located on the slider, and the slider and the slider are used to indicate the position in the icon It is used to indicate the horizontal rotation direction of the somatosensory remote control device.
The control method according to claim 19, wherein the slider can slide left and right in the slider along with the change of the horizontal rotation direction of the somatosensory remote control device.
The control method according to claim 19, wherein the gesture indicating icon further comprises a first area, and the position of the first icon in the first area is used to indicate that the somatosensory remote control device is in a pitch direction and the tilt direction in the roll direction.
The control method according to claim 21, wherein the slider is located in the first area, or there is a gap between the slider and the first area.
The control method according to claim 21, wherein the gesture indicating icon further comprises a second area, the second area is located in the center of the first area, and the method further comprises:

When the roll angle and the pitch angle of the somatosensory remote control device are zero, the first icon is moved into the second area.
The control method according to claim 23, wherein the method further comprises:

When the roll angle and pitch angle of the somatosensory remote control device are zero, the display device moves the first icon into the second area, and changes the display colors of the second area and the first icon .
The control method according to claim 24, wherein the movable platform comprises an unmanned aerial vehicle, and when the first icon is located in the second area, the second area and the first icon The first control component for prompting the user to operate the somatosensory remote control device to control the drone to take off.
The control method according to claim 17, wherein the gesture indicating icon further comprises a second icon or a second icon is displayed on one side of the gesture indicating icon, and the second icon is used to indicate the The movable platform did not move or stopped moving.
The control method according to any one of claims 16-26, wherein the movable platform comprises an unmanned aerial vehicle, the somatosensory remote control device comprises a first control part and a second control part, the first control part The control component is used to control the drone to take off, and the method further includes:

The somatosensory remote control device controls the UAV to start the paddle in response to the user's triggering operation on the second control component;

The display device displays manipulation prompt information of the first control component, where the manipulation prompt information is used to prompt a user to manipulate the first control component;

The somatosensory remote control device acquires the user's manipulation parameters of the first control component, and controls the drone to take off according to the manipulation parameters.
The control method according to claim 27, wherein the method further comprises:

The display device, in response to the user's first triggering operation on the second control component, displays a pitching progress bar and pitching prompt information, where the pitching prompt information is used to prompt the user to control the UAV to pitch;

The somatosensory remote control device controls the UAV to start a paddle in response to a second trigger operation of the second control component by the user;

The display device updates the pitching progress bar in response to a second triggering operation of the second control component by the user, where the pitching progress bar is used to indicate the pitching progress of the drone.
The control method according to claim 27, wherein the somatosensory remote control device, in response to a user's triggering operation on the second control component, controls the drone to start a paddle, comprising:

The somatosensory remote control device determines whether the somatosensory remote control device is in a horizontal state in response to a third trigger operation of the second control component by the user;

If the somatosensory remote control device is in a horizontal state, the somatosensory remote control device controls the drone to start a paddle.
The control method according to claim 29, wherein the method further comprises:

If the somatosensory remote control device is not in a horizontal state, the display device displays horizontal prompt information, and the horizontal prompt information is used to prompt the user to keep the somatosensory remote control device in a horizontal state.
The control method according to claim 27, wherein the somatosensory remote control device controls the drone to take off according to the control parameters, comprising:

If the manipulation parameter is greater than the preset manipulation parameter, the somatosensory remote control device controls the drone to take off according to the manipulation parameter.
The control method according to claim 27, wherein before the somatosensory remote control device controls the drone to take off according to the manipulation parameter, the method further comprises:

The somatosensory remote control device determines whether the somatosensory remote control device is in a horizontal state;

If the somatosensory remote control device is in a horizontal state, the somatosensory remote control device controls the drone to take off according to the manipulation parameter.
The control method according to claim 27, wherein the somatosensory remote control device comprises a third control component, and the third control component is used to control the drone to hover or stop the paddle, and the method further comprises: include:

In the process of controlling the drone to start the paddle, if the somatosensory remote control device detects the fourth trigger operation of the third control component by the user, the somatosensory remote control device controls the drone to stop the paddle. .
The control method according to claim 27, wherein the method further comprises:

In the process of controlling the drone to fly, if the somatosensory remote control device detects a fifth triggering operation of the third control component by the user, the somatosensory remote control device controls the drone to hover; and

The somatosensory remote control device is controlled to be in a somatosensory lock mode, and in the somatosensory lock mode, the somatosensory remote control device does not send a control command to the drone when its own posture changes.
The control method according to claim 34, wherein the method further comprises:

When the somatosensory remote control device is in the somatosensory lock mode, the somatosensory remote control device obtains the manipulation parameters of the first control component by the user;

If the manipulation parameter is greater than the preset manipulation parameter, the somatosensory remote control device continues to control the drone to fly according to the manipulation parameter, and controls the somatosensory remote control device to exit the somatosensory lock mode.
The control method according to claim 27, wherein the method further comprises:

The somatosensory remote control device controls the drone to return to home in response to the sixth triggering operation of the third control component by the user;

In the process of controlling the return of the drone, the display device displays the return progress prompt information of the drone, and the return progress prompt information is used to prompt the user of the return progress of the drone.
The control method according to claim 36, wherein the method further comprises:

After the drone returns to home, if the flatness of the ground below the drone is greater than or equal to a preset flatness, the somatosensory remote control device controls the drone to land.
The control method according to claim 37, wherein the method further comprises:

If the flatness of the ground below the drone is less than the preset flatness, the display device displays a landing confirmation prompt message to prompt the user whether to confirm the landing;

The somatosensory remote control device controls the drone to land in response to the seventh triggering operation of the second control part by the user, or controls the drone to hang in response to the eighth triggering operation of the third control part by the user. stop.
The control method according to claim 36, wherein the method further comprises:

If the somatosensory remote control device is in the first control mode or the second control mode, the somatosensory remote control device controls itself to be in the third control mode in response to the sixth triggering operation of the third control component by the user, and controls the The man-machine returns.
The control method according to claim 39, wherein the method further comprises:

After the UAV returns to home, if the flatness of the ground below the UAV is greater than or equal to the preset flatness, the somatosensory remote control device controls the UAV to land;

After the landing of the drone is completed, the somatosensory remote control device controls itself to be in the first control mode or the second control mode.
The control method according to claim 40, wherein the method further comprises:

If the flatness of the ground below the drone is less than the preset flatness, the display device displays a landing confirmation prompt message to prompt the user whether to confirm the landing;

The somatosensory remote control device controls the drone to land in response to a seventh triggering operation of the second control component by the user;

After the drone is landed, the somatosensory remote control device controls itself to be in the first control mode or the second control mode.
The control method according to claim 41, wherein the display device displays the landing confirmation prompt information to prompt the user whether to confirm the landing, further comprising:

The somatosensory remote control device controls the drone to hover in response to the user's eighth trigger operation on the third control component;

The display device displays mode switching prompt information, where the mode switching prompt information is used to prompt the user to switch the control mode of the somatosensory remote control device to the first control mode or the second control mode.
The control method according to any one of claims 16-26, wherein the movable platform comprises an unmanned aerial vehicle, and the method further comprises:

The somatosensory remote control device controls the drone to land in response to a ninth triggering operation of the second control component by the user;

The display device displays landing prompt information in response to a ninth trigger operation of the second control component by the user, where the landing prompt information is used to prompt the user that the drone is landing;

In the process of controlling the landing of the drone, if the flatness of the ground below the drone is less than the preset flatness, the display device displays a landing confirmation prompt message to prompt the user whether to confirm the landing;

The somatosensory remote control device controls the UAV to continue to land in response to the tenth trigger operation of the second control part by the user, or controls the UAV in response to the eighth trigger operation of the third control part by the user hover.
The control method according to claim 43, wherein the method further comprises:

The somatosensory remote control device controls the somatosensory remote control device to be in the somatosensory lock mode while controlling the drone to land. The drone sends control commands.
The control method according to any one of claims 16-26, wherein the method further comprises:

The display device displays the state information of the movable platform, the state information of the somatosensory remote control device and the state information of the display device.
A control method, characterized in that it is applied to a display device, the display device is used to communicate with a somatosensory remote control device and a movable platform respectively, and the somatosensory remote control device is communicatively connected to the movable platform for controlling all The movable platform, the method includes:

receiving and displaying the photographed image of the movable platform;

According to the posture information of the somatosensory remote control device, the gesture indication icon of the somatosensory remote control device is displayed on the shooting screen, and the posture indication icon is used to indicate the posture of the somatosensory remote control device;

In response to a gesture adjustment operation of the somatosensory remote control device by the user, the gesture indication icon is adjusted according to the current posture information of the somatosensory remote control device.
The control method according to claim 46, wherein the gesture indicating icon comprises a slider and a first icon, and the position of the slider in the gesture indicating icon is used to indicate the level of the somatosensory remote control device Rotation direction, the position of the first icon in the gesture indication icon is used to indicate the tilt direction of the somatosensory remote control device in the pitch direction and the roll direction.
The control method according to claim 47, wherein the slider can slide left and right in the gesture indication icon along with the change of the horizontal rotation direction of the somatosensory remote control device.
The control method according to claim 47, wherein the gesture indicating icon further comprises a slider, the slider is located on the slider, and the slider and the slider are used to indicate the position in the icon It is used to indicate the horizontal rotation direction of the somatosensory remote control device.
The control method according to claim 49, wherein the slider can slide left and right in the slider along with the change of the horizontal rotation direction of the somatosensory remote control device.
The control method according to claim 49, wherein the gesture indicating icon further comprises a first area, and the position of the first icon in the first area is used to indicate that the somatosensory remote control device is in a pitch direction and the tilt direction in the roll direction.
The control method according to claim 51, wherein the slider is located in the first area, or there is a gap between the slider and the first area.
The control method according to claim 51, wherein the gesture indicating icon further comprises a second area, the second area is located in the center of the first area, and the method further comprises:

When the roll angle and the pitch angle of the somatosensory remote control device are zero, the first icon is moved into the second area.
The control method according to claim 53, wherein the method further comprises:

When the roll angle and pitch angle of the somatosensory remote control device are zero, the first icon is moved into the second area, and the display colors of the second area and the first icon are changed.
The control method according to claim 54, wherein the movable platform comprises an unmanned aerial vehicle, and when the first icon is located in the second area, the second area and the first icon The first control component for prompting the user to operate the somatosensory remote control device to control the drone to take off.
The control method according to claim 47, wherein the gesture indicating icon further comprises a second icon or a second icon is displayed on one side of the gesture indicating icon, and the second icon is used to indicate the The movable platform did not move or stopped moving.
The control method according to any one of claims 46-56, wherein the method further comprises:

The state information of the movable platform, the state information of the somatosensory remote control device and the state information of the display device are displayed.
A control method, characterized in that it is applied to a somatosensory remote control device, the somatosensory remote control device is used to communicate with a display device and a movable platform respectively, the somatosensory remote control device is used to control the movable platform, the display The device is connected in communication with the movable platform, and the display device is used to display the shooting picture of the movable platform, and the method includes:

Send the posture information of the somatosensory remote control device to the display device, so that the display device can display the posture indication icon of the somatosensory remote control device on the shooting screen based on the posture information, and the posture indication icon is used for indicating the posture of the somatosensory remote control device;

In response to the user's attitude adjustment operation on the somatosensory remote control device, control the movable platform according to the current attitude information of the somatosensory remote control device;

Sending the current posture information of the somatosensory remote control device to the display device, so that the display device can adjust the posture indication icon based on the current posture information.
The control method according to claim 58, wherein the movable platform comprises an unmanned aerial vehicle, and the somatosensory remote control device comprises a first control part and a second control part, and the first control part is used to control all the The UAV takes off, and the method further includes:

In response to a user's triggering operation on the second control component, controlling the UAV to take off the paddle;

The user's manipulation parameters of the first control component are acquired, and the drone is controlled to take off according to the manipulation parameters.
The control method according to claim 59, wherein, in response to a triggering operation of the second control component by a user, controlling the unmanned aerial vehicle to take up a paddle comprises:

In response to a third triggering operation of the second control component by the user, determining whether the somatosensory remote control device is in a horizontal state;

If the somatosensory remote control device is in a horizontal state, the drone is controlled to take off the paddle.
The control method according to claim 59, wherein the controlling the drone to take off according to the manipulation parameter comprises:

If the manipulation parameter is greater than the preset manipulation parameter, the drone is controlled to take off according to the manipulation parameter.
The control method according to claim 59, characterized in that, before the control of the UAV to take off according to the control parameter, further comprises:

determining whether the somatosensory remote control device is in a horizontal state;

If the somatosensory remote control device is in a horizontal state, the drone is controlled to take off according to the manipulation parameter.
The control method according to claim 59, wherein the somatosensory remote control device comprises a third control component, and the third control component is used to control the drone to hover or stop the paddle, and the method further comprises: include:

In the process of controlling the drone to start the paddle, if a fourth triggering operation of the third control component by the user is detected, the drone is controlled to stop the paddle.
The control method according to claim 59, wherein the method further comprises:

In the process of controlling the UAV to fly, if a fifth triggering operation of the third control component by the user is detected, the UAV is controlled to hover; and

The somatosensory remote control device is controlled to be in a somatosensory lock mode, and in the somatosensory lock mode, the somatosensory remote control device does not send a control command to the drone when its own posture changes.
The control method according to claim 64, wherein the method further comprises:

When the somatosensory remote control device is in the somatosensory lock mode, acquiring the manipulation parameters of the first control component by the user;

If the manipulation parameter is greater than the preset manipulation parameter, the drone is controlled to fly according to the manipulation parameter, and the somatosensory remote control device is controlled to exit the somatosensory locking mode.
The control method according to claim 59, wherein the method further comprises:

In response to the sixth trigger operation of the third control component by the user, controlling the UAV to return, wherein, in the process of controlling the UAV to return, the display device displays the return progress prompt information of the UAV, The return-to-home progress prompt information is used to prompt the user of the return-to-home progress of the drone.
The control method according to claim 66, wherein the method further comprises:

After the UAV returns to home, if the flatness of the ground below the UAV is greater than or equal to a preset flatness, the UAV is controlled to land.
The control method according to claim 67, wherein the method further comprises:

If the flatness of the ground under the UAV is less than the preset flatness, control the UAV to land in response to the user's seventh triggering operation on the second control component, or control the UAV to land in response to the user's third control The eighth trigger operation of the component controls the drone to hover.
The control method according to claim 66, wherein the method further comprises:

If the somatosensory remote control device is in the first control mode or the second control mode, control the somatosensory remote control device to be in the third control mode and control the unmanned Return flight.
The control method according to claim 69, wherein the method further comprises:

After the UAV returns to home, if the flatness of the ground below the UAV is greater than or equal to the preset flatness, controlling the UAV to land;

After the landing of the drone is completed, the somatosensory remote control device controls itself to be in the first control mode or the second control mode.
The control method according to claim 70, wherein the method further comprises:

If the flatness of the ground under the UAV is less than the preset flatness, controlling the UAV to land in response to a seventh trigger operation of the second control component by the user;

After the landing of the drone is completed, the somatosensory remote control device controls itself to be in the first control mode or the second control mode.
The control method according to claim 71, wherein the method further comprises:

If the flatness of the ground under the UAV is less than the preset flatness, the UAV is controlled to hover in response to an eighth triggering operation of the third control component by the user.
The control method according to claim 58, wherein the movable platform comprises an unmanned aerial vehicle, and the method further comprises:

In response to the user's ninth trigger operation on the second control component, controlling the drone to land;

In the process of controlling the landing of the unmanned aerial vehicle, if the flatness of the ground under the unmanned aerial vehicle is smaller than the preset flatness, the unmanned aerial vehicle is controlled in response to the tenth triggering operation of the second control component by the user. The drone continues to land, or the drone is controlled to hover in response to an eighth triggering operation of the third control component by the user.
A display device, characterized in that the display device is used to communicate with a movable platform and a somatosensory remote control device respectively, and the somatosensory remote control device is used to communicate with the movable platform for controlling the movable platform. a platform, the display device includes a display device, a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Display the photographed picture of the movable platform through the display device;

When the movable platform is in a preset working mode, a motion indicator icon is displayed on the shooting screen, and the state of the motion indicator icon in the shooting screen is used to indicate the posture change of the somatosensory remote controller;

In response to the user's gesture adjustment operation of the somatosensory remote control device, adjust the state of the motion indication icon in the shooting screen, where the state of the motion indication icon in the shooting screen is used to indicate the movable platform movement direction and/or attitude.
The display device according to claim 74, wherein the photographed picture of the movable platform includes a first-person perspective FPV picture, and the FPV picture will follow the posture of the movable platform or the movement of the movable platform. Changes in the posture of the gimbal.
The display device according to claim 74, wherein the position of the movement indication icon in the shooting picture is used to indicate the movement direction and/or posture of the movable platform.
The display device according to claim 74, wherein the state of the motion indicating icon in the shooting picture and the posture of the movable platform can be changed with the posture of the somatosensory remote control device. .
The display device of claim 74, wherein the processor is further configured to implement the following steps:

When the yaw angle of the somatosensory remote control device changes, adjust the motion indication icon to move left or right in the shooting picture, wherein the motion indication icon is in the process of moving left or right , the heading angle of the movable platform is correspondingly deflected;

When the pitch angle of the somatosensory remote control device changes, the movement indication icon is adjusted to move up or down in the shooting picture, wherein, during the movement of the movement indication icon up or down, the The gimbal of the movable platform rotates up or down along the pitch direction;

When the roll angle of the somatosensory remote control device is not zero, adjust the motion indicating icon to rotate left or right, wherein, when the motion indicating icon rotates left or right, the movable platform is rotated according to The angular velocity corresponding to the current roll angle of the somatosensory remote control device rotates left or right along the yaw direction.
The display device according to claim 78, wherein the motion indication icon comprises a horizontal line segment, a first line segment and a second line segment, and when the roll angle of the somatosensory remote control device is zero, the first line segment is zero. Both the line segment and the second line segment are parallel to the horizontal line segment, and the processor is further configured to implement the following steps:

When the roll angle of the somatosensory remote control device is not zero, adjust the motion indicating icon to rotate left or right, so that the first line segment and the second line segment are not parallel to the horizontal line segment.
The display device of claim 78, wherein the processor is further configured to implement the following steps:

When the roll angle of the somatosensory remote control device is not zero, a mark corresponding to the current roll angle of the somatosensory remote control device is displayed on the outer contour of the motion indication icon, wherein, on the horizontal axis of the somatosensory remote control device When the roll angle is zero, the mark is not displayed on the outer contour of the motion indication icon.
The display device according to claim 74, wherein the somatosensory remote control device can control the movable platform to move according to the movement direction indicated by the movement indication icon.
The display device according to claim 81, wherein the somatosensory remote control device is capable of controlling the movable platform to follow the motion indicating icon according to a user's manipulation parameters of the first control component in the somatosensory remote control device Move in the direction of motion indicated.
The display device according to any one of claims 74-82, wherein the processor is further configured to implement the following steps:

In response to the user's adjustment operation on the pitch angle of the somatosensory remote control device, determining whether the pitch angle of the gimbal of the movable platform reaches a limit pitch angle;

If the pitch angle of the gimbal reaches the limit pitch angle, the first control area and/or the second control area are displayed, and the movement indication icon is controlled to move toward the first control area or the second control area.
The display device according to claim 83, wherein the processor is further configured to implement the following steps:

When the motion indicating icon is located in the first control area, the movable platform is controlled to enter a preset first manipulation mode, wherein, in the first manipulation mode, the somatosensory remote control device can control the the movable platform moves along the first direction;

When the motion indicating icon is located in the second control area, the movable platform is controlled to enter a preset second manipulation mode, wherein, in the second manipulation mode, the somatosensory remote control device can control the The movable platform moves in the second direction.
84. The display device of claim 84, wherein the first direction is opposite to the second direction.
The display device according to claim 83, wherein a first direction icon is displayed in the first control area, and the first direction icon is used to indicate that the moving direction of the movable platform is the first direction, A second direction icon is displayed in the second control area, and the second direction icon is used to indicate that the movement direction of the movable platform is the second direction.
The display device according to any one of claims 74-82, wherein the display device further displays a third control area and/or a fourth control area, and the processor is further configured to implement the following steps:

When the motion indicating icon is located in the third control area, the movable platform is controlled to enter a preset third manipulation mode, wherein, in the third manipulation mode, the somatosensory remote control device can control the The movable platform moves in a third direction;

When the motion indicating icon is located in the fourth control area, the movable platform is controlled to enter a preset fourth manipulation mode, wherein, in the fourth manipulation mode, the somatosensory remote control device can control the The movable platform moves in a fourth direction.
87. The display device of claim 87, wherein the third direction is opposite to the fourth direction.
A display device, characterized in that the display device is used to communicate with a somatosensory remote control device and a movable platform respectively, and the somatosensory remote control device is communicatively connected to the movable platform for controlling the movable platform, The display device includes a display device, a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Display the photographed picture of the movable platform through the display device;

According to the posture information of the somatosensory remote control device, display a posture indication icon of the somatosensory remote control device on the shooting screen, where the posture indication icon is used to indicate the posture of the somatosensory remote control device;

In response to a gesture adjustment operation of the somatosensory remote control device by the user, the gesture indication icon is adjusted according to the current posture information of the somatosensory remote control device.
The display device according to claim 89, wherein the gesture indicating icon comprises a slider and a first icon, and the position of the slider in the gesture indicating icon is used to indicate the level of the somatosensory remote control device Rotation direction, the position of the first icon in the gesture indication icon is used to indicate the tilt direction of the somatosensory remote control device in the pitch direction and the roll direction.
The display device according to claim 90, wherein the slider can slide left and right in the gesture indication icon along with the change of the horizontal rotation direction of the somatosensory remote control device.
The display device according to claim 90, wherein the gesture indicating icon further comprises a slider, the slider is located on the slider, and the slider and the slider are used to indicate a position in the icon It is used to indicate the horizontal rotation direction of the somatosensory remote control device.
The display device according to claim 92, wherein the slider can slide left and right in the slider as the horizontal rotation direction of the somatosensory remote control device changes.
The display device according to claim 92, wherein the gesture indicating icon further comprises a first area, and the position of the first icon in the first area is used to indicate that the somatosensory remote control device is in a pitch direction and the tilt direction in the roll direction.
The display device according to claim 94, wherein the slider is located in the first area, or there is a gap between the slider and the first area.
The display device according to claim 94, wherein the gesture indicating icon further comprises a second area, the second area is located in the center of the first area, and the processor is further configured to implement the following steps:

When the roll angle and the pitch angle of the somatosensory remote control device are zero, the first icon is moved into the second area.
The display device according to claim 96, wherein the processor is further configured to implement the following steps:

When the roll angle and pitch angle of the somatosensory remote control device are zero, the first icon is moved into the second area, and the display colors of the second area and the first icon are changed.
97. The display device of claim 97, wherein the movable platform comprises a drone, the second area and the first icon when the first icon is located within the second area The first control component for prompting the user to operate the somatosensory remote control device to control the drone to take off.
The display device according to claim 90, wherein the gesture indicating icon further comprises a second icon or a second icon is displayed on one side of the gesture indicating icon, and the second icon is used to indicate the The movable platform did not move or stopped moving.
The display device according to any one of claims 89-99, wherein the processor is further configured to implement the following steps:

The state information of the movable platform, the state information of the somatosensory remote control device and the state information of the display device are displayed.
A somatosensory remote control device, characterized in that the somatosensory remote control device is used to communicate with a display device and a movable platform respectively, the somatosensory remote control device is used to control the movable platform, and the display device is connected to the movable platform. The mobile platform is communicatively connected, the display device is used to display the shooting picture of the movable platform, and the somatosensory remote control device includes a somatosensory sensor, a memory and a processor;

The somatosensory sensor is used to collect attitude information of the somatosensory remote control device;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Send the posture information of the somatosensory remote control device to the display device, so that the display device can display the posture indication icon of the somatosensory remote control device on the shooting screen based on the posture information, and the posture indication icon is used for indicating the posture of the somatosensory remote control device;

In response to the user's attitude adjustment operation on the somatosensory remote control device, control the movable platform according to the current attitude information of the somatosensory remote control device;

Sending the current posture information of the somatosensory remote control device to the display device, so that the display device can adjust the posture indication icon based on the current posture information.
The somatosensory remote control device according to claim 101, wherein the movable platform comprises an unmanned aerial vehicle, the somatosensory remote control device comprises a first control part and a second control part, and the first control part is used for controlling The UAV takes off, and the processor is further configured to implement the following steps:

In response to a user's triggering operation on the second control component, controlling the UAV to take off the paddle;

The user's manipulation parameters of the first control component are acquired, and the drone is controlled to take off according to the manipulation parameters.
The somatosensory remote control device according to claim 102, wherein, when the processor controls the drone to start a paddle in response to a triggering operation of the second control component by a user, the processor is configured to:

In response to a third triggering operation of the second control component by the user, determining whether the somatosensory remote control device is in a horizontal state;

If the somatosensory remote control device is in a horizontal state, the drone is controlled to take off the paddle.
The somatosensory remote control device according to claim 102, wherein the controlling the drone to take off according to the manipulation parameter comprises:

If the manipulation parameter is greater than the preset manipulation parameter, the drone is controlled to take off according to the manipulation parameter.
The somatosensory remote control device according to claim 102, wherein before the processor controls the drone to take off according to the control parameters, the processor is further configured to:

determining whether the somatosensory remote control device is in a horizontal state;

If the somatosensory remote control device is in a horizontal state, the drone is controlled to take off according to the manipulation parameter.
The somatosensory remote control device according to claim 102, wherein the somatosensory remote control device comprises a third control component, and the third control component is used to control the drone to hover or stop the paddle, and the processing The device is also used to implement the following steps:

In the process of controlling the drone to start the paddle, if a fourth triggering operation of the third control component by the user is detected, the drone is controlled to stop the paddle.
The somatosensory remote control device according to claim 102, wherein the processor is further configured to implement the following steps:

In the process of controlling the flying of the unmanned aerial vehicle, if the fifth trigger operation of the third control component by the user is detected, the unmanned aerial vehicle is controlled to hover; and

The somatosensory remote control device is controlled to be in a somatosensory lock mode, and in the somatosensory lock mode, the somatosensory remote control device does not send a control command to the drone when its own posture changes.
The somatosensory remote control device according to claim 107, wherein the processor is further configured to implement the following steps:

When the somatosensory remote control device is in the somatosensory lock mode, acquiring the manipulation parameters of the first control component by the user;

If the manipulation parameter is greater than the preset manipulation parameter, the drone is controlled to fly according to the manipulation parameter, and the somatosensory remote control device is controlled to exit the somatosensory locking mode.
The somatosensory remote control device according to claim 102, wherein the processor is further configured to implement the following steps:

In response to the sixth trigger operation of the third control component by the user, controlling the UAV to return, wherein, in the process of controlling the UAV to return, the display device displays the return progress prompt information of the UAV, The return-to-home progress prompt information is used to prompt the user of the return-to-home progress of the drone.
The somatosensory remote control device according to claim 109, wherein the processor is further configured to implement the following steps:

After the UAV returns to home, if the flatness of the ground below the UAV is greater than or equal to a preset flatness, the UAV is controlled to land.
The somatosensory remote control device according to claim 110, wherein the processor is further configured to implement the following steps:

If the flatness of the ground under the UAV is less than the preset flatness, control the UAV to land in response to the user's seventh triggering operation on the second control component, or control the UAV to land in response to the user's third control The eighth trigger operation of the component controls the drone to hover.
The somatosensory remote control device according to claim 109, wherein the processor is further configured to implement the following steps:

If the somatosensory remote control device is in the first control mode or the second control mode, control the somatosensory remote control device to be in the third control mode and control the unmanned Return flight.
The somatosensory remote control device according to claim 112, wherein the processor is further configured to implement the following steps:

After the UAV returns to home, if the flatness of the ground below the UAV is greater than or equal to the preset flatness, controlling the UAV to land;

After the landing of the drone is completed, the somatosensory remote control device controls itself to be in the first control mode or the second control mode.
The somatosensory remote control device according to claim 113, wherein the processor is further configured to implement the following steps:

If the flatness of the ground under the UAV is less than the preset flatness, controlling the UAV to land in response to a seventh trigger operation of the second control component by the user;

After the landing of the drone is completed, the somatosensory remote control device controls itself to be in the first control mode or the second control mode.
The somatosensory remote control device according to claim 114, wherein the processor is further configured to implement the following steps:

If the flatness of the ground under the UAV is less than the preset flatness, the UAV is controlled to hover in response to an eighth triggering operation of the third control component by the user.
The somatosensory remote control device according to claim 101, wherein the movable platform comprises an unmanned aerial vehicle, and the processor is further configured to implement the following steps:

In response to the user's ninth trigger operation on the second control component, controlling the drone to land;

In the process of controlling the landing of the unmanned aerial vehicle, if the flatness of the ground under the unmanned aerial vehicle is smaller than the preset flatness, the unmanned aerial vehicle is controlled in response to the tenth triggering operation of the second control component by the user. The drone continues to land, or the drone is controlled to hover in response to an eighth triggering operation of the third control component by the user.
A control system, characterized in that the control system includes a movable platform, a somatosensory remote control device and the display device according to any one of claims 74-100, or the control system includes a movable platform, a display device and The somatosensory remote control device according to any one of claims 101 to 116, wherein the display device is configured to communicate with a movable platform and a somatosensory remote control device respectively, and the somatosensory remote control device is configured to communicate with the movable platform , for controlling the movable platform.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in any one of claims 1-73. the steps of the control method described.