CN113168341A

CN113168341A - Control method of movable platform, terminal device and storage medium

Info

Publication number: CN113168341A
Application number: CN202080006475.5A
Authority: CN
Inventors: 卢立键; 梁辉愉; 陈欢; 王景怡
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2021-07-23
Also published as: WO2022000348A1

Abstract

A control method of a movable platform includes acquiring a control program file (S110); determining a trigger button for controlling the program file according to the user operation (S120); sending the control program file to the movable platform configuration (S130); displaying a first key identification corresponding to a trigger key of the control program file (S140); and controlling the movable platform to execute the task according to the operation of the user on the trigger key or the first key identifier (S150). A control program can be configured on a movable platform, and a terminal device and a storage medium are also provided.

Description

Control method of movable platform, terminal device and storage medium

Technical Field

The present application relates to the field of mobile platform technologies, and in particular, to a control method for a mobile platform, a terminal device, and a storage medium.

Background

In order to popularize the practical education of the robot, more people are promoted to practice scientific and technological innovation, the practical ability of engineering is cultivated, the team cooperation level is improved, and the confrontation and competition of various movable platforms such as robots and the like can be organized at home and abroad.

In training or participating in a game, it is often necessary to configure a control program on the mobile platform in order to control the mobile platform at the terminal device. However, the current mode of configuring a control program on a movable platform is complicated, and needs to spend a long time before a match, so that the method is difficult to adapt to intensive match demands and match rhythms.

Disclosure of Invention

Based on this, the application provides a control method of a movable platform, a terminal device and a storage medium, which are convenient for configuring a control program on the movable platform.

In a first aspect, an embodiment of the present application provides a method for controlling a movable platform, which is used for a terminal device, where the terminal device includes a plurality of keys; the method comprises the following steps:

acquiring a plurality of control program files;

determining trigger keys of each control program file according to configuration operation of a user, wherein the trigger keys are one or more of the keys;

sending each control program file to the movable platform so that the movable platform configures each control program file;

displaying a first key identification corresponding to a trigger key of each control program file on a display interface of the terminal equipment;

and controlling the movable platform to execute a preset task according to a control program file corresponding to the trigger key according to the trigger operation of the user on the trigger key or the first key identifier.

In a second aspect, an embodiment of the present application provides a terminal device, where the terminal device is capable of carrying an input device, and the input device includes a plurality of keys;

the terminal equipment comprises a memory and a processor;

the memory is used for storing a computer program;

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

acquiring a plurality of control program files;

sending each control program file to a movable platform so that the movable platform can configure each control program file;

In a third aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the above-mentioned method.

The embodiment of the application provides a control method of a movable platform, a terminal device and a storage medium, wherein trigger keys of control program files are determined according to configuration operation of a user, the control program files are sent to the movable platform, so that the movable platform configures the control program files, and a first key identifier corresponding to the trigger keys of the control program files is displayed on a display interface of the terminal device, so that the user can control the movable platform to execute a preset task through the trigger operation of the trigger keys or the first key identifier. The control program can be conveniently configured on the movable platform, and a user can conveniently control the movable platform through the control program file.

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

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flowchart of a method for controlling a movable platform according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a terminal device and a movable platform communication connection;

FIG. 3 is a schematic diagram of a scenario for movable platform control in one embodiment;

FIG. 4 is a diagram of a terminal device setup interface, according to an embodiment;

FIG. 5 is a diagram of a terminal device display interface, according to an embodiment;

FIG. 6 is a schematic diagram showing a first key identification;

FIG. 7 is a schematic diagram showing the current pose of the robotic arm and the identification of a third key;

fig. 8 is a schematic block diagram of a terminal device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

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

Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a method for controlling a movable platform according to an embodiment of the present disclosure. The control method can be applied to terminal equipment and is used for controlling processes such as a movable platform and the like; the terminal equipment can comprise at least one of a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, wearable equipment, a remote controller and the like; illustratively, the movable platform may comprise at least one of an unmanned aerial vehicle, a pan-tilt head, an unmanned vehicle, a robot, and the like. Further, the aircraft can be rotor type unmanned aerial vehicle, for example, quad-rotor unmanned aerial vehicle, hexa-rotor unmanned aerial vehicle, eight-rotor unmanned aerial vehicle, also can be fixed wing unmanned aerial vehicle.

In some embodiments, as shown in FIG. 2, terminal device 100 is communicatively coupled to a mobile platform 200.

Illustratively, the movable platform 200 includes:

the platform body 210 comprises a chassis main body 211 and a holder main body 212 arranged on the chassis main body 211, wherein the holder main body 212 is used for carrying the camera 201;

and the power device 220 is arranged on the chassis main body 211 and is used for providing moving power for the platform body 210.

In some embodiments, the movable platform is provided with a launching device, which may be used to launch the projectile, the size and shape of which are not particularly limited.

Alternatively, as shown in fig. 3, a plurality of movable platforms, such as the movable platform 11 and the movable platform 12, may be engaged by launching a projectile or beam of light by respective launching devices. In addition, each movable platform may correspond to one terminal device, or a plurality of movable platforms correspond to one terminal device, for example, the movable platform 11 corresponds to the terminal device 13, and the movable platform 12 corresponds to the terminal device 14.

Illustratively, the movable platform 200 may be controlled by the terminal device 100 to move, launch a projectile or beam, and so on.

Specifically, the terminal device 100 can be equipped with an input device 110, and the input device 110 includes a plurality of keys 111. It will be appreciated that the terminal device 100 includes a number of keys 111.

Illustratively, the input device 110 may include at least one of a keyboard, a mouse, a touch screen, and a touch pad. The input device 110 is connected to the terminal device 100 in a wired or wireless manner, or the input device 110 is integrally provided in the terminal device 100.

Illustratively, the keys 111 of the terminal device 100 include at least one of: the keyboard comprises keys on a keyboard, keys on a mouse, keys on a touch screen, keys on a touch pad and virtual keys on a display screen of the terminal equipment. For example, the user may click a key on the keyboard, or touch a key on the touch screen with a fingertip to trigger the corresponding key, or the user may move the cursor to a virtual key by moving the mouse, and then click the left button of the mouse to trigger the virtual key.

Illustratively, the user may manipulate the movable platform 200 to perform tasks such as moving, launching a projectile or a beam of light by manipulating the input device 110.

As shown in fig. 1, the method for controlling a movable platform according to the embodiment of the present application includes steps S110 to S150. In an embodiment, the control method is executed by a terminal device 100, and the terminal device 100 is a PC terminal.

And S110, acquiring a plurality of control program files.

In some embodiments, the control program file is used to implement at least one of the following tasks: the method comprises the steps of line walking, hitting a preset target, recognizing an enemy movable platform, tracking the enemy movable platform, maneuvering to avoid hitting, grabbing a target object, and walking to a preset position. For example, when the movable platform hits a predetermined target, for example, a certain number of times or causes a certain damage to the predetermined target, at least one of the addition of the offensive power, the addition of the defensive power, the addition of the blood volume, the upgrade, and the predetermined skill may be obtained.

Illustratively, the control program files may be developed by the user, published by the manufacturer or seller of the mobile platform, obtained from a forum, etc. For example, a user may develop control program files for implementing different tasks, and when the control program files are configured to the movable platform, the movable platform may execute the control program files to implement corresponding tasks, such as identifying an enemy movable platform, hitting a preset target, and the like.

Illustratively, a plurality of locally stored control program files and/or server stored control program files may be obtained. For example, the user may store the control program file on a hard disk of the terminal device, or a storage medium that can be connected to the terminal device, such as a usb disk, a removable hard disk, an SD Card (Secure Digital Memory Card), and the like, so that the terminal device can store the control program file locally. For example, a user may log in to a server on a terminal device and then obtain a control program file stored on a network at the server. It is understood that the terminal device may transfer, store or copy the control program file to its own storage medium, or may obtain file information of the control program file, instead of transferring, store or copy the control program file to its own storage medium, and at this time, may also use the control program file, for example, send the control program file to the removable platform.

For example, as shown in fig. 4, a plurality of control program files may be loaded on the setting interface of the terminal device, for example, one control program file at a time, or a plurality of control program files may be loaded in sequence. For example, a file selection box pops up after the user clicks a "load program" button, and the control program file is acquired according to a selection operation for use in the file selection box. One or more control program files may be retrieved, for example, based on a DSP (Developer Studio Project) file selected by a user. It is understood that loading may indicate acquiring file information of the control program file, such as a file name of the control program file and/or a creation time of the control program file.

In some embodiments, the method further comprises: and generating a program file list according to the control program files, and displaying the program file list on a setting interface of the terminal equipment. The program file list includes file information of the plurality of control program files, and the file information may include file names of the control program files and/or creation times of the control program files, for example.

Illustratively, as shown in fig. 4, the program file list is displayed on a setting interface of the terminal device, and the program file list includes file information of a plurality of control program files, such as alternative program 1 to alternative program 7, and further displays creation time of each control program file, so that a user can distinguish different control program files.

In some embodiments, the method further comprises: and determining the load carried by the movable platform, and displaying the information of the load on the setting interface.

Illustratively, the movable platform is capable of carrying at least one of the following loads: armor, cloud platform, arm, TOF (Timeof Flight) sensor, steering wheel. As shown in fig. 4, the load carried by the movable platform and the state of the load, such as the connection state of the terminal device and the load, may be determined, and the connection of the terminal device and the load may include a direct communication connection between the terminal device and the load, or may include an indirect communication connection between the terminal device and the load through the movable platform. Therefore, the user can know the load type and the load state currently carried by the movable platform, and the user can load the corresponding control program file according to the load and determine whether to configure the control program file to the movable platform.

In some embodiments, the method further comprises: and displaying the network configuration of the movable platform on the setting interface. Illustratively, the network configuration of the movable platform includes at least one of: the connection state of the movable platform and the terminal equipment, the Service Set Identifier (SSID) of the movable platform, the signal strength of the connection of the movable platform and the terminal equipment, and the network delay of the connection of the movable platform and the terminal equipment. The user can predict whether the control program file is configured to the movable platform under the current network condition according to the network configuration of the movable platform. For example, the control program file may be configured to the movable platform when it is determined that the current network conditions are good based on the network configuration of the movable platform.

And S120, determining trigger keys of the control program files according to configuration operation of a user, wherein the trigger keys are one or more of the keys.

For example, by determining a trigger key of each control program file, a user can control the movable platform to execute a task of the corresponding control program file through the trigger key, for example, control the movable platform to identify an enemy movable platform, hit a preset target, and the like.

In some embodiments, the method further comprises: and displaying a key list on the setting interface, wherein the key list comprises first key identifications corresponding to a plurality of trigger keys.

Illustratively, as shown in fig. 4, the key list includes first

key identifiers

1, 2, 3, 4, Q, E, R, T corresponding to a plurality of trigger keys. The user can associate the trigger keys corresponding to the key lists with each control program file in the program file list through configuration operation, so that the task of controlling the movable platform to execute the control program files associated with the trigger keys can be realized through the trigger keys.

Illustratively, the determining the trigger key of each control program file according to the configuration operation of the user includes: determining a trigger key of the control program file according to the operation that a user drags the file information to the position of the first key identification; or determining a trigger key of the control program file according to the operation that the user drags the first key identification to the position of the file information.

Exemplarily, after dragging the file information to the position of the first key identifier, the user releases the mouse to determine a trigger key of the control program file; or the user releases the mouse after dragging the first key identification to the position of the file information to determine the trigger key of the control program file.

For example, the position of the first key identifier may include a display position of the first key identifier, a right side of the first key identifier, a left side of the first key identifier, an upper side of the first key identifier, and a lower side of the first key identifier.

As shown in fig. 4, a user may drag the alternative program 4 in the program file list to a position where the first key identifier 4 in the key list is located, to determine that the trigger key of the control program file corresponding to the alternative program 4 is the trigger key corresponding to the first key identifier 4, so that the user may control the movable platform to execute a task corresponding to the alternative program 4 by using the trigger key corresponding to the first key identifier 4.

In some embodiments, the method further comprises: and if the file information is dragged to the position of the first key identification, displaying the first key identification in a first display mode. As shown in fig. 4, when the file information of the alternative program 1 to the alternative program 4 is dragged to the position where the corresponding key identifier is located, the first

key identifiers

1, 2, 3, and 4 may be highlighted to prompt that the file information of the current user has been dragged to the position where the corresponding key identifier is located, and the mouse may be released to determine the trigger key for controlling the program file.

Illustratively, if the file information is released after being dragged to the position of the first key identifier, the first key identifier is displayed in a first display mode, and the file information is displayed at the position of the first key identifier. As shown in fig. 4, after the user drags the alternative program 2 in the program file list to the position of the first key identifier 3 in the key list, the mouse is released, the first key identifier 3 may be highlighted, and the alternative program 2 is displayed on the right side of the first key identifier to prompt the user that the trigger key of the control program file has been determined, and the key position of the trigger key has loaded the control program file.

Illustratively, if the file information is not dragged to the position of the first key identifier, the first key identifier is displayed in a second display mode. As shown in fig. 4, the first key indicator Q, E, R, T is displayed in the second display mode. The second display mode includes, for example, gray scale display.

In some embodiments, a trigger key may be directly input at a position corresponding to one or more file information in the program file list to determine the trigger key of each of the control program files.

Illustratively, as shown in fig. 4, the program file list further includes a first delete button corresponding to each control program file, and the first delete button is used to delete file information of the corresponding control program file.

Exemplarily, as shown in fig. 4, the key list further includes a second delete button corresponding to each first key identifier, where the second delete button is used to delete the corresponding relationship between the trigger key and the corresponding fund of the control program file.

S130, sending each control program file to the movable platform so that the movable platform can be configured with each control program file.

For example, after the movable platform configures the control program file, a preset task may be executed according to the control program file corresponding to the trigger key.

For example, the control program file and the first key identifier corresponding to the control program file may be sent to the movable platform, so that the movable platform configures the control program file, and stores the first key identifier corresponding to the control program file.

For example, after the mobile platform configures the control program file, the corresponding control program file may be executed according to a trigger key triggered by a user and detected by the terminal device, so as to implement a preset task.

In some embodiments, the method further comprises: and acquiring a configuration process of the movable platform for configuring the control program file, and outputting the configuration process to a user.

Illustratively, the configuration process of the control program file includes at least one of receiving the control program file, checking that the control program file is correct, checking that the control program file is incorrect, configuring the control program file successfully, configuring the control program file unsuccessfully, and configuring the control program file overtime.

For example, if the mobile platform checks the control program file incorrectly, configures the control program file unsuccessfully, or the terminal device does not receive feedback information that the mobile platform configures the control program file successfully after sending the control program file for more than a preset time, the user may be prompted that the control program file configuration is unsuccessful. For example, the user may be prompted to drag the file information of the control program file to the position where the corresponding first key identifier is located again, release the mouse to determine the trigger key of the control program file, and send each control program file to the movable platform, so that the movable platform configures each control program file.

And S140, displaying a first key identification corresponding to the trigger key of each control program file on a display interface of the terminal equipment.

In some embodiments, the display interface of the terminal device is as shown in fig. 5. For example, the user may switch to the display interface shown in fig. 5 by detecting an operation of clicking a "enter first-person perspective" button on the setting interface shown in fig. 4.

As shown in fig. 5, first

key identifiers

1, 2, 3, 4, Q, E, R, T corresponding to a plurality of trigger keys are displayed on the lower right of the display interface. Of course, the first key identifier may also be displayed at other positions of the display interface, such as the left side, the right side, and the like of the display interface. By displaying the first key identification, the user can be prompted about the keys which can be triggered, namely the keys which can control the movable platform to execute the preset tasks. And when the display screen of the terminal equipment has a touch function, the user can also directly trigger the first key identification displayed on the display interface to control the movable platform to execute the preset task.

In some embodiments, the method further comprises: acquiring a real-time image acquired by a shooting device carried by the movable platform; and displaying the real-time image on the display interface.

Illustratively, as shown in fig. 5, a First Person View (FPV) screen is displayed on the display interface, so that the user can experience the environment around the movable platform on the terminal device.

S150, controlling the movable platform to execute a preset task according to a control program file corresponding to the trigger key according to the trigger operation of the user on the trigger key or the first key identifier.

For example, the mobile platform may be controlled to execute a preset task according to a control program file corresponding to a key according to a triggering operation of a user on the key on the keyboard and the key on the touch pad. For example, the movable platform may be controlled to execute a corresponding preset task according to the alternative program 2 according to the user's trigger operation on the key "3" on the keyboard.

For example, the first key identifier may be sent to the movable platform according to a triggering operation of a user on the trigger key or the first key identifier, so that the movable platform executes a corresponding preset task according to a control program file corresponding to the first key identifier.

For example, in the display interface shown in fig. 5, a user may control the movable platform to execute a preset task according to a corresponding control program file by triggering operation of the first key identifier. For example, the movable platform may be controlled to execute a corresponding preset task according to the alternative program 3 according to the triggering operation of the user on the first key identifier 2.

In some embodiments, the preset task includes at least one of: the method comprises the steps of line walking, hitting a preset target, recognizing an enemy movable platform, tracking the enemy movable platform, maneuvering to avoid hitting, grabbing a target object, and walking to a preset position.

The method comprises the steps of determining trigger keys of all control program files according to configuration operation of a user, sending the control program files to a movable platform, enabling the movable platform to configure the control program files, and displaying first key identifications corresponding to the trigger keys of the control program files on a display interface of terminal equipment, so that the user can control the movable platform to execute preset tasks through the trigger operation of the trigger keys or the first key identifications. The control program can be conveniently configured on the movable platform, and a user can conveniently control the movable platform through the control program file.

In some embodiments, the displaying, on a display interface of the terminal device, a first key identifier corresponding to a trigger key of each control program file includes: and displaying a first key identification corresponding to the trigger key on the display interface according to the key state corresponding to the trigger key.

Illustratively, the key state corresponding to the trigger key includes at least one of the following: the state that the control program file corresponding to the trigger key is executed by the movable platform, whether the trigger key corresponds to the control program file, whether the trigger key can be triggered by a user currently, and whether the control program file corresponding to the trigger key is cancelled to be executed.

For example, if the control program file corresponding to one trigger key is being executed by the movable platform, the key states of the remaining trigger keys are currently not triggerable by the user. The movable platform can be made to perform tasks more accurately.

Illustratively, the modes of the first key identifications corresponding to the trigger keys in different key states displayed on the display interface are different. Therefore, the user can determine the key state corresponding to the trigger key according to the display mode of the first key identifier.

As shown in fig. 6, if the trigger Q, E, R, T does not determine the corresponding control program file in step S120, the trigger Q, E, R, T does not correspond to any of the control program files, so that the first key identifier Q, E, R, T can be displayed in grayscale.

As shown in fig. 6, if the trigger button 2 is triggered by the user and then cancelled, the terminal device may send an instruction to terminate the program process to the movable platform, so that the movable platform stops executing the control program file corresponding to the trigger button 2, the control program file corresponding to the trigger button 2 is cancelled, and a countdown flag, such as a shade with a length corresponding to 6S (seconds) and 6S in fig. 6, may be displayed at the position of the first button identifier 2 to prompt the user that the control program file corresponding to the trigger button 2 is cancelled, and may be triggered again after 6 seconds.

As shown in fig. 6, the trigger button 3 is triggered by the user, and when the movable platform executes the preset task according to the alternative program 2, the first button identifier 3 may be highlighted, and the first button identifier 3 may be displayed by flashing of light and shadow breathing, so as to prompt the user that the movable platform is executing the preset task corresponding to the trigger button 3. If the trigger key 1 and the trigger key 4 cannot be triggered by the user currently, the first key identifier 1 and the first key identifier 4 may be displayed in an unavailable mode. At this time, if the trigger key 1 and the trigger key 4 are pressed, the movable platform does not execute the control program files corresponding to the trigger key 1 and the trigger key 4. For example, the terminal device may prompt the user that "other programs are running" at this time.

In some embodiments, the method further comprises: and displaying a second key identification of a cancel key on the display interface, wherein the cancel key is one or more of the keys. As shown in fig. 5 and 6, the second key identification C of the cancel key is displayed on the right side of the first

key identification

1, 2, 3, 4, Q, E, R, T. The cancel key may comprise a key on a keyboard, a key on a mouse, a key on a touch screen, a key on a touch pad, or a virtual key on a display screen of the terminal device, for example, comprising key C on a keyboard.

For example, the mobile platform may be controlled to stop executing the preset task according to the control program file corresponding to the trigger key triggered at the previous time according to the trigger operation of the user on the cancel key or the second key identifier.

As shown in fig. 6, after the trigger key 2 is triggered by the user, the movable platform may be controlled to stop executing the control program file corresponding to the trigger key 2 through a triggering operation of the user on the cancel key or the second key identifier.

Illustratively, if a control program file corresponding to a trigger key is being executed by the movable platform, the second key identifier is displayed in a third display mode. As shown in fig. 6, the trigger key 3 is triggered by the user, and the control program corresponding to the trigger key 3 may highlight the second key identifier if the alternative program 2 file is being executed by the movable platform, so as to prompt the user to control the movable platform to stop executing the preset task according to the control program file corresponding to the trigger key triggered at the previous time by triggering the cancel key or the second key identifier.

Illustratively, if the control program file corresponding to the currently not triggered key is being executed by the movable platform, the second key identifier is displayed in a fourth display mode. For example, if the trigger key corresponding to each control program file is not triggered, a second key identifier is displayed in a gray scale manner, which indicates that the current trigger cancel key or the second key identifier does not cause the movable platform to stop executing the corresponding preset task.

The embodiment of the application provides a mode for loading and using a plurality of user-defined programs, so that a user can improve the efficiency of debugging and application programs, and does not need to switch pages back and forth to replace the loaded programs for use. Meanwhile, the limitation on users is relaxed, so that the users can complete relatively complex tasks through the cooperative operation of a plurality of programs, and the flexibility and the specialty of daily teaching and competition are enhanced. The method provides a multi-program loading and collaborative operation mode, meets the requirements of specialized mobile platform education and events, users are not limited by the number of programs loaded by the mobile platform any more, the time for loading different programs by switching back and forth is reduced, and a higher degree of freedom can be exerted in some scenes (such as in the event) which do not allow switching.

For example, a custom program may be loaded into the configuration before the race and then program run control may be performed during the race. The program loading means that a program file stored in the local computer is imported into the event engine to generate an alternative self-defined program list, and then the configuration is completed by dragging the program file in the list to a corresponding key position. The operation means that when the user operates under the first-person visual angle, the user-defined program is pressed to correspond to the key position, and an instruction for operating the user-defined program is sent to the movable platform, so that the movable platform can execute a preset task according to the instruction. Illustratively, feedback that a program is running may also be obtained, prohibiting triggering other programs to run.

In some embodiments, the method further comprises: and displaying the state of the movable platform and/or the load carried by the movable platform on the display interface.

Illustratively, the movable platform is capable of carrying at least one of the following loads: armor, cloud platform, arm, TOF (Time of Flight) sensor, steering wheel.

In some embodiments, the state of the movable platform comprises at least one of: remaining power, temperature, direction of travel, posture, current blood volume, etc. The user can grasp the state of the movable platform in the fight. As shown in fig. 5, the current blood volume of the movable platform may be displayed on the display interface, and the enemy blood volume, the own blood volume, and the remaining time may also be displayed.

Illustratively, the load includes a robotic arm that may be used, for example, to grasp an object, such as a cartridge in one location on a playing field, and then release the cartridge for placement in another location when the moveable platform is moved to the other location.

The state of the load comprises a current attitude of the robotic arm. As shown in fig. 5, the current pose of the robotic arm may be displayed on a display interface. The user can better control the movable platform and the mechanical arm to complete the tasks of fighting and the like.

For example, the current attitude of the mechanical arm can be determined according to the angle information of the steering engine on the mechanical arm. For example, the angle information of each steering engine on the mechanical arm can be acquired in real time, and the angle information is used for visually restoring the posture information of the mechanical arm.

In some embodiments, the method further comprises: displaying a third key identification corresponding to a posture adjusting key on the display interface, wherein the posture adjusting key is one or more than one of the keys; and controlling the mechanical arm to adjust the gesture according to the triggering operation of the gesture adjusting key or the third key identification by the user.

Illustratively, as shown in fig. 5 and 7, the third key identifiers include W, S, A, D, each corresponding to a gesture adjustment key W, S, A, D. Wherein the gesture adjustment keys W, S, A, D may be keys W, S, A, D on the keyboard. For example, the posture adjusting button W or the third button identifier W is used for controlling the mechanical arm to lift upwards, the posture adjusting button S or the third button identifier S is used for controlling the mechanical arm to fall down, the posture adjusting button a or the third button identifier a is used for controlling the mechanical arm to extend forwards, and the posture adjusting button D or the third button identifier D is used for controlling the mechanical arm to retract backwards. It can be understood that the direction of the posture adjusting key corresponds to the motion posture direction of the lateral view of the mechanical arm.

The interactive operation mode can enable a user to intuitively control the up-down and front-back movement of the mechanical arm under the first-person visual angle, and meanwhile, the real-time posture information of the mechanical arm can be known in real time, so that the mechanical arm can naturally and smoothly reach a target position under manual operation.

For example, the current posture of the mechanical arm can also comprise a limit state, such as a movable range of the mechanical arm. Exemplarily, the mechanical arm comprises a base used for connecting the movable platform body, a first arm and a second arm, wherein the first arm is connected between the base and the second arm, one side of the second arm, which is far away from the first arm, is provided with a clamping mechanism, the movable range of the angle between the first arm and the base is 22 degrees to 92 degrees, the movable range of the angle between the second arm and the first arm is 46 degrees to 134 degrees, and the user can adjust the position limit state in time by displaying the position limit state of the mechanical arm.

Illustratively, the controlling the mechanical arm to adjust the gesture according to the triggering operation of the gesture adjustment key or the third key identifier by the user includes: determining the control quantity of a steering engine on the mechanical arm according to the triggering operation of the gesture adjusting key or the third key identifier by the user and the current gesture of the mechanical arm; and sending the control quantity to the mechanical arm so that the mechanical arm adjusts the posture according to the control quantity. And determining a direction instruction according to the triggering operation of the gesture adjusting key or the third key identification by the user, and performing vector decomposition to obtain the control quantity of the corresponding steering engine by combining the current gesture of the mechanical arm so as to adjust the gesture of the mechanical arm.

Illustratively, the method further comprises: and highlighting the third key identification according to the triggering operation of the gesture adjusting key or the third key identification by the user. As shown in fig. 7, according to the trigger operation of the user on the posture adjustment key W or the third key identifier W, the third key identifier is highlighted to feed back the state of the posture adjustment key to the user.

In some embodiments, the method further comprises: and displaying a fourth key identification corresponding to a mode key on the display interface, wherein the mode key is used for switching the posture adjusting key to control the mechanical arm to adjust the posture or switching the posture adjusting key to control the posture of the movable platform. For example, the fourth key identifier may be displayed in a same area as the third key identifier, for example, in a control function area of the display interface.

Illustratively, as shown in fig. 5 and 7, the fourth key identifier comprises a third key identifier comprising a space bar identifier in the middle of W, S, A, D, and the mode key comprises a space bar on the keyboard. Of course, the mode key may be other keys on the keyboard, such as a shift key.

For example, as shown in fig. 7, when both the posture adjustment key W and the mode key are activated, the posture adjustment key W is used to control the robot arm to lift upward. Illustratively, the attitude adjustment key W is used to control the attitude of the movable platform, e.g., to control the forward movement of the movable platform, when the attitude adjustment key W is activated and the mode key is not activated.

Illustratively, the attitude of the robot arm includes a state of a gripping mechanism on the robot arm, the state of the gripping mechanism including gripping, releasing, and state holding. By displaying the state of the clamping mechanism, a user can conveniently and visually know the state of the clamping mechanism.

Illustratively, the method further comprises: according to the clamping control operation of a user, the clamping mechanism is controlled to be adjusted to a state corresponding to the clamping control operation, and the state adjusting process of the clamping mechanism is prompted through animation.

Referring to fig. 5 and 7, the state of the clamping mechanism on the robot arm is adjusted from clamping to unclamping, and the adjustment process of the state of the clamping mechanism from clamping to unclamping can be displayed in the form of animation.

Illustratively, the method further comprises: displaying a fifth key identification corresponding to a clamping control key on the display interface, wherein the clamping control key is one or more than one of the keys; the user's grip control operation includes: and the user triggers the clamping control key or the fifth key identifier.

Illustratively, as shown in fig. 7, the fifth key identifier includes an identifier of a left mouse button and an identifier of a right mouse button, and correspondingly, the clamping control keys include a left mouse button and a right mouse button. The left button of the mouse or the identifier of the left button of the mouse is used for controlling the state of the clamping mechanism on the mechanical arm to be adjusted to be clamped, the right button of the mouse or the identifier of the right button of the mouse is used for controlling the state of the clamping mechanism on the mechanical arm to be adjusted to be loosened, and when the left button of the mouse, the right button of the mouse, the identifier of the left button of the mouse and the identifier of the right button of the mouse are not triggered, the state of the clamping mechanism is in a holding state.

Illustratively, the animation prompts a status adjustment process of the clamping mechanism, including: if the triggering operation of the user on the clamping control key or the fifth key identification is not detected, displaying a slider image at a first position corresponding to a state holding state; if the clamping control operation is to adjust the state of the clamping mechanism to be clamping, moving the slide block image from the first position to a second position corresponding to the clamping state; and if the clamping control operation is to adjust the state of the clamping mechanism to be released, moving the slide block image from the first position to a third position corresponding to the released state.

For example, as shown in fig. 5, when the user's trigger operation on the clamping control key or the fifth key mark is not detected, the right circular slider image is displayed at a first position corresponding to the state holding state, and the first position is, for example, between a second position corresponding to the clamping state and a third position corresponding to the unclamping state.

As shown in fig. 7, if the right button of the mouse or the identifier of the right button of the mouse is triggered, the clamping control operation is to adjust the state of the clamping mechanism to be released, and the slider image can be moved from the first position to a third position corresponding to the released state. Therefore, the state adjusting process of the clamping mechanism can be visually shown.

The interactive mode of arm in this application embodiment can let the user control the arm and its fixture all around the up-and-down motion on the XZ axle plane and loosen the clamp tightly through the mouse keyboard button that the gesture mapped under the first person's visual angle, and this kind of mode is directly perceived, easily understands, easily goes on hand, has solved traditional interactive mode directly perceived inadequately, the feedback is untimely, training is with high costs the problem. The match operation of the player has been made things convenient for, can reduce the training input of player in this aspect of the ammunition bottle is got to engineering robot clamp, with more energy input to the study and the research and development of technique, the technique that reduces the manual operation in the match simultaneously accounts for the match rhythm, lets no matter the party of participating in the match or seeing the match and can both pay close attention to the technological and competitive nature of match emphasis more.

According to the control method of the movable platform, the trigger keys of the control program files are determined according to the configuration operation of the user, the control program files are sent to the movable platform, so that the movable platform configures the control program files, and the first key identifications corresponding to the trigger keys of the control program files are displayed on the display interface of the terminal equipment, so that the user can control the movable platform to execute the preset task through the trigger operation of the trigger keys or the first key identifications. The control program can be conveniently configured on the movable platform, and a user can conveniently control the movable platform through the control program file.

Referring to fig. 8 in conjunction with the foregoing embodiment, fig. 8 is a schematic block diagram of a terminal device 600 according to an embodiment of the present application.

Specifically, the terminal device 600 can be equipped with an input device 610, and the input device 610 includes a plurality of keys.

Illustratively, the input device 610 may include at least one of a keyboard, a mouse, a touch screen, and a touch pad. The input device 610 is connected to the terminal device 600 in a wired or wireless manner, or the input device is integrally provided in the terminal device 600.

The terminal device 600 comprises a processor 601 and a memory 602.

Illustratively, the processor 601 and the memory 602 are coupled by a bus 603, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 601 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 602 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

The processor 601 is configured to run a computer program stored in the memory 602, and when executing the computer program, implement the control method of the movable platform.

Illustratively, the processor 601 is configured to run a computer program stored in the memory 602 and to implement the following steps when executing the computer program:

acquiring a plurality of control program files;

The specific principle and implementation manner of the terminal device provided in the embodiment of the present application are similar to those of the control method of the movable platform in the foregoing embodiment, and are not described here again.

An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the method for controlling a movable platform provided in the foregoing embodiment.

The computer-readable storage medium may be an internal storage unit of the terminal device according to any of the foregoing embodiments, for example, a hard disk or a memory of the terminal device. The computer readable storage medium may also be an external storage device of the terminal device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal device.

According to the terminal device and the computer readable storage medium provided by the embodiment of the application, the trigger keys of the control program files are determined according to the configuration operation of the user, the control program files are sent to the movable platform, so that the movable platform configures the control program files, and the first key identifications corresponding to the trigger keys of the control program files are displayed on the display interface of the terminal device, so that the user can control the movable platform to execute the preset task through the trigger operation of the trigger keys or the first key identifications. The control program can be conveniently configured on the movable platform, and a user can conveniently control the movable platform through the control program file.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

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

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The control method of the movable platform is characterized by being used for terminal equipment, wherein the terminal equipment comprises a plurality of keys; the method comprises the following steps:

acquiring a plurality of control program files;

2. The method of claim 1, wherein the obtaining a plurality of control program files comprises:

a plurality of locally stored control program files and/or server stored control program files are obtained.

3. The method of claim 1, further comprising:

and generating a program file list according to the control program files, and displaying the program file list on a setting interface of the terminal equipment, wherein the program file list comprises file information of the control program files.

4. The method of claim 3, further comprising:

displaying a key list on the setting interface, wherein the key list comprises first key identifications corresponding to a plurality of trigger keys;

the determining the trigger key of each control program file according to the configuration operation of the user comprises the following steps:

determining a trigger key of the control program file according to the operation that a user drags the file information to the position of the first key identification; or determining a trigger key of the control program file according to the operation that the user drags the first key identification to the position of the file information.

5. The method of claim 4, further comprising:

if the file information is dragged to the position of the first key identification, displaying the first key identification in a first display mode;

if the file information is released after being dragged to the position where the first key identification is located, displaying the first key identification in a first display mode and displaying the file information at the position where the first key identification is located;

and if the file information is not dragged to the position of the first key identification, displaying the first key identification in a second display mode.

6. The method according to any one of claims 3-5, further comprising:

determining a load carried by the movable platform;

and displaying the information of the load on the setting interface.

7. The method according to any one of claims 1-6, further comprising:

and acquiring a configuration process of the movable platform for configuring the control program file, and outputting the configuration process to a user.

8. The method according to any one of claims 1 to 7, wherein the displaying a first key identifier corresponding to a trigger key of each control program file on a display interface of the terminal device includes:

and displaying a first key identification corresponding to the trigger key on the display interface according to the key state corresponding to the trigger key.

9. The method of claim 8, wherein the key state corresponding to the trigger key comprises at least one of: the state that the control program file corresponding to the trigger key is executed by the movable platform, whether the trigger key corresponds to the control program file, whether the trigger key can be triggered by a user currently, and whether the control program file corresponding to the trigger key is cancelled to be executed.

10. The method of claim 9, wherein if the control program file corresponding to one of the trigger buttons is being executed by the movable platform, the button status of the remaining trigger buttons is currently not triggerable by the user.

11. The method of claim 8, wherein the first key identifiers corresponding to the triggering keys in different key states are displayed in different modes on the display interface.

12. The method according to any one of claims 1-11, further comprising:

displaying a second key identification of a cancel key on the display interface, wherein the cancel key is one or more of the keys;

if a control program file corresponding to a trigger key is being executed by the movable platform, displaying the second key identification in a third display mode;

controlling the movable platform to stop executing a preset task according to a control program file corresponding to a trigger key triggered at the previous moment according to the trigger operation of a user on the cancel key or the second key identifier;

and if the control program file corresponding to the trigger key is not executed by the movable platform currently, displaying the second key identification in a fourth display mode.

13. The method according to any one of claims 1-12, further comprising:

and displaying the state of the movable platform and/or the load carried by the movable platform on the display interface.

14. The method of claim 13, wherein the load comprises a robotic arm, and the state of the load comprises a current pose of the robotic arm.

15. The method of claim 14, wherein the current attitude of the robotic arm is determined based on angular information about a steering engine on the robotic arm.

16. The method of claim 14, further comprising:

displaying a third key identification corresponding to a posture adjusting key on the display interface, wherein the posture adjusting key is one or more than one of the keys;

and controlling the mechanical arm to adjust the gesture according to the triggering operation of the gesture adjusting key or the third key identification by the user.

17. The method according to claim 16, wherein the controlling the mechanical arm to adjust the gesture according to the triggering operation of the gesture adjustment key or the third key identifier by the user comprises:

determining the control quantity of a steering engine on the mechanical arm according to the triggering operation of the gesture adjusting key or the third key identifier by the user and the current gesture of the mechanical arm;

and sending the control quantity to the mechanical arm so that the mechanical arm adjusts the posture according to the control quantity.

18. The method of claim 16, further comprising:

and highlighting the third key identification according to the triggering operation of the gesture adjusting key or the third key identification by the user.

19. The method according to any one of claims 16-18, further comprising:

and displaying a fourth key identification corresponding to a mode key on the display interface, wherein the mode key is used for switching the posture adjusting key to control the mechanical arm to adjust the posture or switching the posture adjusting key to control the posture of the movable platform.

20. The method of any of claims 14-19, wherein the pose of the robotic arm comprises a state of a gripping mechanism on the robotic arm, the state of the gripping mechanism comprising gripping, releasing, and state holding.

21. The method of claim 20, further comprising:

according to the clamping control operation of a user, the clamping mechanism is controlled to be adjusted to a state corresponding to the clamping control operation, and the state adjusting process of the clamping mechanism is prompted through animation.

22. The method of claim 21, further comprising:

displaying a fifth key identification corresponding to a clamping control key on the display interface, wherein the clamping control key is one or more than one of the keys;

the user's grip control operation includes: and the user triggers the clamping control key or the fifth key identifier.

23. The method of claim 22, wherein the animation prompts a status adjustment process for the fixture, comprising:

if the triggering operation of the user on the clamping control key or the fifth key identification is not detected, displaying a slider image at a first position corresponding to a state holding state;

if the clamping control operation is to adjust the state of the clamping mechanism to be clamping, moving the slide block image from the first position to a second position corresponding to the clamping state;

and if the clamping control operation is to adjust the state of the clamping mechanism to be released, moving the slide block image from the first position to a third position corresponding to the released state.

24. The method according to any one of claims 1-21, further comprising:

acquiring a real-time image acquired by a shooting device carried by the movable platform;

and displaying the real-time image on the display interface.

25. The method of any one of claims 1-24, wherein the movable platform comprises at least one of: unmanned vehicles, cloud platform, unmanned car, robot.

26. The method of any one of claims 1-25, wherein the pre-set task includes at least one of: the method comprises the steps of line walking, hitting a preset target, recognizing an enemy movable platform, tracking the enemy movable platform, maneuvering to avoid hitting, grabbing a target object, and walking to a preset position.

27. The method according to any of claims 1-26, wherein the keys of the terminal device comprise at least one of: the keyboard comprises keys on a keyboard, keys on a mouse, keys on a touch screen, keys on a touch pad and virtual keys on a display screen of the terminal equipment.

28. The terminal equipment is characterized in that the terminal equipment can carry an input device, and the input device comprises a plurality of keys;

the terminal equipment comprises a memory and a processor;

the memory is used for storing a computer program;

acquiring a plurality of control program files;

29. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the method according to any one of claims 1-27.