WO2020037505A1

WO2020037505A1 - Movement route generation method and device, mobile device remote control apparatus and system, and recording medium

Info

Publication number: WO2020037505A1
Application number: PCT/CN2018/101586
Authority: WO
Inventors: 陈一; 朱炼; 张然
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-08-21
Filing date: 2018-08-21
Publication date: 2020-02-27
Also published as: CN110799920A

Abstract

Provided are a movement route generation method, a mobile device remote control system and apparatus, and a computer-readable recording medium. The movement route generation method is a movement route generation method for a mobile device (D), the method comprising: generating a spatial location interface on a display screen (P) of a remote control apparatus (S) that remotely controls the mobile device (D) (S1); establishing in the spatial location interface two or more first marker points (Pn) as location points to be passed in a movement route (S2); and connecting the two or more first marker points to generate a movement route (S3).

Description

Method and device for generating mobile route, remote control device and system for mobile equipment, and recording medium

Technical field

The present disclosure relates to a method and device for generating a mobile route, a remote control device and system for a mobile device, and a recording medium.

Background technique

With the rapid development of mobile equipment (e.g., self-propelled devices such as drones, self-driving cars, and self-propelled robots), various automated processes such as automatic route generation and route planning have also been developed. .

Among them, position points have been set in an interface (for example, a map interface, etc.) indicating a spatial position during a test run through pre-trial driving (e.g., pre-drone flight), and finally, the set points are correlated with each other. A technology that connects, generates, and determines a route (for example, a route for a drone or a self-driving car).

However, the above-mentioned existing mobile route generation technology is not intuitive and fast, and the user experience needs to be improved.

Summary of the Invention

The present disclosure has been made to solve the above-mentioned technical problems.

An aspect of the present disclosure provides a mobile route generation method, which is a mobile route generation method for a mobile device, the method including: generating a spatial location interface in a display screen of a remote control device that remotely controls the mobile device; At least two first marker points are set in the spatial position interface as position points to be passed by the moving route; connecting two or more first marker points to generate a moving route along which the mobile device moves.

Another aspect of the present disclosure provides a mobile device remote control system including: a mobile device; and a remote control device for remotely controlling the mobile device, the remote control device including: a communication unit that performs communication with the mobile device shown Communication; display screen; processor for controlling the remote control device, and specifically configured to: generate a spatial position interface in the display screen of the remote control device; set at least two first marks in the spatial position interface The point is used as a position point to be passed by the moving route; connecting two or more of the first marked points to generate a moving route to be followed when the mobile device moves.

Another aspect of the present disclosure provides a mobile device remote control device, which is a remote control device for remotely controlling the mobile device, including: a communication unit that communicates with the mobile device; a display screen; and a processor for Controlling the remote control device is specifically configured to: generate a spatial position interface in the display screen of the remote control device; and set at least two first marker points in the spatial position interface as position points to be passed by the moving route ; Connecting two or more of the first marked points to generate a moving route along which the mobile device moves.

Another aspect of the present disclosure provides a mobile route generation device including a processor and a memory, where computer-executable instructions are stored in the memory, and when the instructions are executed by the processor, the processor The moving route generation method of the one aspect of the present disclosure is performed.

Another aspect of the present disclosure provides a computer-readable recording medium storing executable instructions that, when executed by a processor, cause the processor to execute the moving route generation method of the one aspect of the present disclosure.

According to the method and device for generating a mobile route, the remote control device and system for a mobile device, and a recording medium, the mobile device can generate a mobile route for a mobile device intuitively, conveniently, and quickly, thereby greatly improving the user experience.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding of the disclosure and its advantages, reference will now be made to the following description in conjunction with the accompanying drawings, in which:

FIG. 1 schematically illustrates a structure diagram of an application scenario (ie, a mobile device remote control system) of a mobile device remote control device according to an embodiment of the present disclosure.

FIG. 2 schematically illustrates a structure of a mobile device remote control device according to an embodiment of the present disclosure.

FIG. 3 schematically illustrates a schematic flowchart of a moving route generation method according to an embodiment of the present disclosure.

FIG. 4 schematically illustrates an exemplary brief flowchart of a marker point generating step and a moving route generating step in a moving route generating method according to an embodiment of the present disclosure. Among them, FIG. 4 (a) is an exemplary brief flowchart of the marker generating step, and FIG. 4 (b) is an exemplary brief flowchart of the moving route generating step.

FIG. 5 schematically illustrates an exemplary brief flowchart of a movement pre-determination step in a movement route generation method according to an embodiment of the present disclosure.

FIG. 6 schematically illustrates an example of a remote control interface (mobile line editing interface) in a display screen of a mobile device remote control device according to an embodiment of the present disclosure.

FIG. 7 schematically illustrates an example of a remote control interface (point of interest editing interface) in a display screen of a mobile device remote control device according to an embodiment of the present disclosure.

FIG. 8 schematically illustrates an example of a remote control interface (selected point editing interface) in a display screen of a mobile device remote control device according to an embodiment of the present disclosure.

FIG. 9 schematically illustrates a structure of a mobile route generating apparatus according to another embodiment of the present disclosure.

detailed description

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

As shown in FIG. 1, the mobile device remote control system according to the embodiment of the present disclosure may include a mobile device D as a mobile body, and a remote control as a mobile device remote control device for remotely controlling the mobile device D to perform various actions. Device S.

The movable device D may be a self-propelled device such as an unmanned aerial vehicle (for example, an unmanned aircraft, an unmanned submarine, etc.), an autonomous vehicle, or a self-propelled robot. In addition, the mobile device may be equipped with an imaging device V (for example, a camera, a camera, a video camera, etc.) for capturing an image to perform various shootings as the mobile device D moves.

The remote control device S may be, for example, a remote control device having a remote control lever or a remote control key, or may be a currently-used mobile terminal device such as a desktop computer, a portable computer, a tablet computer, or a mobile phone. In addition, the remote control device S may include at least a display screen P.

In addition, each of the movable device D and the remote control device S is provided with at least a communication unit, and interacts with each other through the respective communication units (that is, information is communicated with each other). The interaction may be implemented by wired communication. Nowadays, in most cases, it is implemented by wireless communication as shown in FIG. 1.

The structure of the mobile device remote control device according to the embodiment of the present disclosure is described below with reference to FIG. 2.

FIG. 2 schematically illustrates a structure of a mobile device remote control device (ie, a remote control device S) according to an embodiment of the present disclosure.

As shown in FIG. 2, the remote control device S includes at least a display screen P, a communication unit T, and a processor C.

The display screen P has at least a remote control interface as a user interface, and various information related to the mobile device D can be displayed and / or edited on the remote control interface, for example, the information of the mobile device D itself (For example, position information, speed information, direction information, etc.) and remote control information for remotely controlling the mobile device D (including various remote control information for the imaging device V provided on the mobile device D), and the like. In addition, the display screen P is preferably a touch screen that is currently popular. In this way, various editing operations (such as setting of points, Connect points into lines, project selection, data entry, etc.). Of course, the display screen P may also be a non-touch display screen. In this way, specific editing operations also need to be implemented by other input devices such as a mouse and a keyboard.

The communication unit T can receive various information sent from the outside, for example, information related to the environment in which the mobile device D is sent from the mobile device D (for example, location information, including map information, spatial location images, etc.). Wait). In addition, the communication unit T can also send various kinds of information to the outside, for example, send a remote control instruction and the like to the mobile device D.

The processor C is configured to control the remote control device S, and may be configured to display various remote control interfaces on the display screen P for remotely controlling the movable device D and the actions such as the camera device V equipped with the remote control device S Sending the remote control result in the remote control interface as an instruction to the movable device D through the communication unit T, so that the movable device D operates according to the instruction. Specifically, for example, a spatial location interface (for example, map information, a spatial location image, etc.) may be generated in a display screen P of a remote control device S that remotely controls the movable device D; it is set in the spatial location interface At least two points are used as position points to which the moving route moved by the mobile device D passes; two or more of the marked points are connected to generate the moving route; and the communication route T will generate the moving route Sending to the movable device D, so that the movable device D moves along the moving route.

Hereinafter, a moving route generating method according to an embodiment of the present disclosure will be specifically described with reference to FIG. 3. It should be noted here that the moving route generating method is a moving route generating method in the remote control device S in the embodiment of the present disclosure.

As shown in FIG. 3, the method for generating a moving route according to the embodiment of the present disclosure includes: generating a location interface (step S1); generating a marker (step S2); and generating a moving route (step S3).

First, in the generation of the position interface (step S1), a spatial position interface indicating a position where the movable device D is to be moved is generated on the display screen P of the remote control device S. The spatial location interface may be a map interface (including a 3D map interface), or an actual scene image interface (including a 3D real image). Specifically, for example, as shown in FIG. 6, an example diagram of a remote control interface (selected point editing interface) for a drone according to an embodiment of the present disclosure is schematically shown. The remote control interface includes a map interface M as the spatial location interface. The remote control interface (selected point editing interface) will be described in detail later with reference to FIG. 6.

Next, in the generation of the marker points (step S2), at least two marker points are set in the spatial position interface as the position points to which the movable device D moves. Specifically, for example, as shown in FIG. 6, three mark points Pn (for example, labeled 1, 2, and 3 respectively) are set in the map interface M as a spatial location interface, as the movement requirements of the movable device D. Point of passing. In addition, FIG. 6 only shows an example in which the movable device D is a drone. At this time, the setting position of the marker point Pn can generally be arbitrary, as long as it is within the range of the map interface M as a spatial location interface. can. Of course, when the mobile device D is an autonomous vehicle, a self-propelled robot, etc., the setting position of the marking point Pn is generally required to be on a route that the mobile device D can drive in advance. .

Then, in the generation of the movement route (step S3), the two or more marker points Pn are connected to generate a movement route to be moved by the movable device D. Specifically, for example, as shown in FIG. 6, in the map interface M as a spatial location interface, three marked points Pn (for example, labeled 1, 2, 3, respectively) are connected to generate a mobile device D The moving route L to be moved. In addition, FIG. 6 only shows an example in which the movable device D is a drone. At this time, the generated movement route L may generally be connected in a straight line. Of course, when the movable device D is an autonomous vehicle, a self-propelled robot, etc., the generated movement route L is generally a route required to travel along the predetermined movable device D, via Each of the marked points Pn generates the moving route L.

Finally, the movable device D moves along the moving route L generated in the display screen P of the remote control device S.

Thus, a plurality of marker points Pn are directly set in the spatial position interface, and the marker points are connected to generate a moving route L to be moved by the movable device D, and the movable device D is moved along the moving route L , So that the mobile device's mobile route can be generated intuitively, conveniently, and quickly, thereby greatly improving the user experience of the mobile device.

In addition, the generation of the marker point (step S2) may include an over-range determination step for determining whether the marker point Pn exceeds a display range of the spatial position interface.

FIG. 4 (a) schematically illustrates an exemplary brief flowchart of a step of generating a marker point in a method for generating a moving route according to an embodiment of the present disclosure.

As shown in FIG. 4 (a), the generation of the marked points (step S2) may include: determining whether at least two of the marked points (for example, the marked point Pn of FIG. 6) exceed the space. The marker point in the display range of the position interface (for example, the map interface M in FIG. 6) is an out-of-range marker point, that is, the marker in at least two of the marker points (for example, the marker point Pn in FIG. 6) is determined. Whether the point does not exceed the display range of the spatial location interface (for example, the map interface M of FIG. 6) (step S2-1).

In a case where the determination result is that the marker point is not the out-of-range marker point, the marker point is set as a position point through which the movable device D moves (step S2-2).

When the judgment result is that the marker point is the out-of-range marker point, the marker point is not set as a position point through which the movable device D moves, that is, when the determination result is that the out-of-range marker point exists In the case of a point, the out-of-range marker point is not set as the position point. (Step S2-3).

In this way, for example, when the display scale of the spatial position interface (for example, the map interface M in FIG. 6) is changed, the marked point (for example, the marked point Pn in FIG. 6) exceeds the display range of the spatial position interface. In the case of, the marker points beyond the display range can be automatically discharged, thereby preventing the generation of a movement route that cannot be observed overall under the display scale. This can further improve the convenience and effectiveness of the method for generating a moving route of the present disclosure.

Further, in the generation of the moving route (step S3), a selection step for freely selecting a starting point / end point may be included.

FIG. 4 (b) schematically illustrates an exemplary brief flowchart of a mobile route generation step in a mobile route generation method according to an embodiment of the present disclosure.

As shown in FIG. 4 (b), in the generating of the moving route (step S3), it may include: selecting any one of the marks from at least two of the mark points (for example, the mark point Pn of FIG. 6). A point (for example, a labeled point Pn with a reference number 1 in FIG. 6) is used as a starting point (step S3-1).

Next, from at least two of the marked points (for example, the marked point Pn of FIG. 6), the marked points (for example, the figure Any one of 6 (marked points Pn with reference numerals 2 and 3) (for example, a labelled point Pn with reference numeral 3 of FIG. 6) is selected as the end point (step S3-2).

Then, from the starting point (for example, the labeled point Pn with the reference number 1 in FIG. 6) to the end point (for example, the labeled point Pn with the reference number 3 in FIG. 6), the two or more labeled points (for example, All the marked points Pn in FIG. 6 generate the moving route (for example, the moving route L in FIG. 6) (step S3-2).

In addition, FIG. 6 only illustrates the case where the moving route is generally generated in the order of the labels. It goes without saying that any marked point Pn in FIG. 6 can be used as a starting point or an ending point, and the specific settings can be based on specific needs. set.

In this way, since the starting point / end point of the moving route can be freely selected, the convenience and effectiveness of the moving route generating method of the present disclosure are further improved.

In addition, as a preferred method of generating a moving route in the embodiment of the present disclosure, after the generating of the moving route (step S3), that is, after generating the moving route, the method may further include a method for determining the movable device. The movement pre-judgment step of whether the movement can be completed according to the movement route.

As shown in FIG. 5, the method for generating a moving route according to the embodiment of the present disclosure may further include pre-determining movement (step S4). Specifically, the movement pre-determination (step S4) may include: obtaining the cruising energy of the movable device D, and calculating a maintaining time capable of keeping the movable device D moving (step S4-1) Wherein, the endurance energy may be the amount of electricity, the amount of gasoline, and the like, and the calculation of the maintenance time may be based on the amount of electricity, the amount of gasoline, and the like, and preferably also calculated in conjunction with the past movement history of the mobile device.

Next, calculate an estimated movement time of the movable device D along the movement route (for example, the movement route L shown in FIG. 6) (step S4-2), where the estimated movement time can be based on, for example, The distance of the moving route and the average moving speed of the mobile device D are also preferably calculated in combination with a past movement history of the mobile device.

Then, comparing the maintaining time with the estimated moving time (step S4-3),

When the comparison result is that the maintaining time is shorter than the estimated moving time, a warning message is displayed on the display screen of the remote control device S (step S4-4), where the warning message may be, for example, Warning icons, such as flashing, can also be used to directly warn in the form of text messages.

In a case where the comparison result is that the maintenance time is greater than or equal to the estimated movement time, the movement preparation of the movable device D may be directly performed (step S4-5).

In this way, by adding the mobile pre-determining step as described above after the moving route is generated, the effectiveness and user experience of the moving route generating method of the present disclosure can be further improved.

Hereinafter, a remote control interface in a display screen of a mobile device remote control device (ie, for example, the remote control device S shown in FIGS. 1 and 2) to which the mobile route generation method of the embodiment of the present disclosure is applied will be specifically described with reference to FIG. 6.

Here, FIG. 6 is only an example in which the movable device D is a drone. Those skilled in the art should understand that when the mobile device D is changed to another self-propelled device such as an autonomous vehicle or a self-propelled robot, the display content in FIG. 6 may be changed accordingly. However, the basic purpose of the technical solutions of the mobile route generation method and device, the mobile device remote control device, and the system of the present disclosure is unchanged.

As shown in FIG. 6, the mobile line editing interface may first include a spatial location interface as a basic interface. Here, the spatial location interface is a map interface M. Of course, this is only an example. The spatial location interface may also be another interface such as a real-world location image (for example, a real-world image in the environment where the self-propelled robot is located).

Secondly, the mobile line editing interface may further include a route-related icon, a remote control icon, an information display frame, and the like.

The route-related icons may include: an icon F representing the current position of the mobile device D; an icon L representing a moving route of the mobile device D; and a mark point for generating the moving route L ( That is, the position point) icon Pn, wherein the icon Pn is respectively marked with identification information (for example,

reference numerals

1, 2, and 3 shown in FIG. 6) for identifying each of the marked points; and indicates the moving route An icon Ld of the length of each segment of L; an icon Ph indicating the height of the marked point. In addition, the route-related icon may further include an icon Ct indicating the orientation of the imaging device V disposed on the mobile device D.

In addition, the remote control icons may include: an icon Go indicating preparation for entering a task for execution; an icon Ts indicating saving the task; an icon Ls indicating setting the movement route L; and an icon Ps indicating setting the marking point Pn ; An icon Dp indicating that all the marked points Pn are cleared; an icon Is that indicates that an associated interest point associated with the marked point Pn is set.

When the icon Go is selected, for example, the mobile pre-determination step shown in FIG. 5 may be performed to perform pre-task detection (for example, pre-flight detection of a drone, etc.).

When the icon Ts is selected, the generated moving route L may be saved as a task to be performed by the movable device D (ie, performing a task moving along the moving route L).

When the icon Ls is selected, the setting of the moving route L can be performed. For example, the initial point and the end point can be automatically generated from the marked points Pn as shown in FIG. For the moving route, two or more of the marked points Pn may be connected to generate the moving route step by step.

When the icon Ps is selected, the marking point Pn can be set. For example, the marking point Pn can be generated by clicking on the spatial location interface, that is, the map interface M, to generate the marking point Pn.

When the icon Ps is selected, all the marked points Pn in the spatial location interface, that is, the map interface M, can be cleared. ,

When the icon Is is selected, the related interest point may be set. For example, the related location of interest may be clicked in the map interface M, thereby generating the related interest point at the point of click.

Here, the “associated interest point” means that when the mobile device D reaches the associated point Pn, the imaging device V configured in the movable device D is directed toward the related interest. point. For example, the icon Ct in FIG. 6 is an icon indicating that the camera V is headed toward the associated interest point.

In addition, the setting of the associated interest points generally also requires that the distance of the marker point Pn associated with it is within a prescribed distance range. The predetermined distance may be a distance at which the imaging device D can capture an object around the associated interest point with a predetermined definition. In this way, it can be ensured that the image captured by the imaging device V provided with the movable device D as the mobile device D moves is an image that can satisfy the sharpness desired by the customer.

In addition, the information display frame may include a route task information bar and a removable device status bar. The route task information column may display: for example, the total distance of the route Distance, the time required to complete the route movement Time, and the current route completion progress Finish Rate. The movable device status bar may display: for example, height H, distance D, vertical speed H.S, and horizontal speed V.S.

In addition, as described above, after the setting of the associated interest point is performed by selecting the icon Is in the mobile line editing interface of the display screen V of the remote control device S as shown in FIG. 6, You can also select (for example, click) any associated point of interest to enter the following point of interest editing interface to edit the selected any point of interest.

Next, a point of interest editing interface in a display screen of a mobile device remote control device according to an embodiment of the present disclosure will be described with reference to FIG. 7.

As shown in FIG. 7, in the point-of-interest editing interface, first, the map interface M, which is a spatial location interface as a basic interface, is frozen (FIG. 7 indicates "frozen" in dark gray). The “freezing” here means that the marker point Pn, the moving route L, and the associated interest point In cannot be set by clicking on the map interface M as shown in FIG. 6. In other words, “freezing” means that the setting of the marker point, the moving route, and the associated interest point in the map interface M has ended.

Secondly, the point of interest editing interface may include a display icon, a remote control icon, and the like.

The display-type icon may include: an icon In indicating the currently selected associated interest point, wherein the icon In is marked with identification information for identifying the associated interest point (for example, reference numeral 2 shown in FIG. 7); An icon Ih indicating the height of the associated interest point In; an icon Ct indicating the orientation of the imaging device V configured on the movable device D, which has been described above, that is, the imaging device at the marked point V is towards the associated interest point In associated with it.

The remote control type icon may include: an icon DL indicating that the current related interest point In is cleared; an icon SF that indicates a transfer to the next or previous related interest point; and an icon SF indicating that the current edit is determined (that is, all current edits are saved) Content) icon OK; icon Ia indicating the adjustment of the height of the associated interest point In; icon Ip indicating selection of the associated point Pn; selection box CP indicating all selectable points Pn.

When the icon DL is selected, all related information of the associated interest point In can be cleared. Wherein, the clearing here may include clearing the associated interest point In itself in the map interface M.

When the icon SF is selected, the current editing screen may be transferred to the next or previous related interest point of the current related interest point. For example, the currently associated interest point shown in FIG. 7 is Interest 2 (ie, reference number 2). By selecting (for example, clicking, etc.) the icon SF can be transferred to the editing screen displaying Interest 1 or 3.

When the icon OK is selected, the currently edited content can be saved.

When the icon Ia is selected, the height of the associated interest point In can be edited (that is, changed).

When the icon Ip is selected, all of the marked points Pn may be selected to be associated with the associated interest point In by selecting the “Select All” item in the selection box CP. In addition, by not selecting the "Select All" item, and individually selecting (for example, clicking, etc.) the labels of the marked points Pn, the associated points of interest In are selected from all the marked points Pn, respectively. Associated marker point Pn.

That is, in the point of interest editing interface, the editable parameter information may include: the height of the associated interest point In, the selection of the associated mark point Pn, and the like. The selection of the associated mark point Pn is performed by selecting, for example, a label of the mark point Pn as its identification information.

In addition, at the same time when the editing of the associated selection of the mark point Pn is completed, the icon Ct used to indicate the orientation of the imaging device V may also change its orientation accordingly.

In addition, the icons Ia and Ip can also display the current editing result shown in FIG. 7 at the same time. For example, "100" displayed on the icon Ia indicates that the editing result of the current height of the related interest point In is 100m (as shown by the icon In), and "3" displayed on the icon Ip indicates that it is related to the current interest point In Three associated marker points Pn are selected.

In this way, by setting the point-of-interest editing interface as described above, the convenience, effectiveness, and user experience of the mobile route generation method and device, the mobile device remote control device, and the system of the present disclosure can be further improved.

In addition, as described above, after the icon Ps is selected in the mobile line editing interface of the display screen V of the remote control device S as shown in FIG. 6 and the marking point is set, You can select (for example, click) any marked point to enter the selected marked point editing interface described below to edit the selected any marked point.

Hereinafter, a selected mark point editing interface in a display screen of a mobile device remote control device according to an embodiment of the present disclosure will be described with reference to FIG. 8.

As shown in FIG. 8, similar to the point-of-interest editing interface shown in FIG. 7 described above, in the selected mark point editing interface, first, the map interface M, which is a spatial location interface as a basic interface, is also frozen.

Secondly, the selected mark point editing interface may also include a display icon, a remote control icon, and the like.

The display-type icons here are also similar to the point-of-interest editing interface shown in FIG. 7 described above, and therefore, portions similar to those in FIGS. 6 and 7 are not described again. Here, it should be noted that the currently selected icon Pn of the marked point may be enlarged and displayed as shown in FIG. 8 to be highlighted to distinguish it from other marked points. In addition, a display frame W for displaying edited content is also displayed here.

The remote control class diagram may be similar to the point-of-interest editing interface as shown in FIG. 7 described above, including: an icon DL indicating that the current marked point Pn is cleared; an icon SF that indicates the transfer to the next or previous marked point ; The icon indicating OK to determine the current edit (ie, save all current edits) is OK. The respective remote control when they are selected is also similar to the point of interest editing interface, so it will not be repeated here.

In addition, the remote control icon may further include: an icon Pa indicating adjustment of the height of the mark point Pn; an icon Ps indicating adjustment of the speed when the movable device D passes the mark point Pn; indicating adjustment An icon Pt of the orientation of the movable device D when passing the marked point Pn; indicates an adjustment of the pitch angle when the movable device D passes the marked point Pn (here, mainly for the movable device D is no Human machine condition) icon Pp; icon Ca indicating the adjustment of the action (for example, taking a picture, starting recording, stopping recording, etc.) of the imaging device V when the movable device D passes the mark point Pn; indicating settings An icon Pi of an associated interest point associated with the marker point Pn.

When the icon Pa is selected, the height of the movable device D when passing the mark point Pn may be adjusted. Among them, the edited result (that is, the adjusted height value) may be displayed in the display frame W as shown in FIG. 8.

When the icon Ps is selected, the moving speed of the movable device D when passing the mark point Pn may be adjusted.

When the icon Pt is selected, the orientation of the movable device D when passing the mark point Pn may be adjusted. In a case where the movable device D is a drone, the orientation may be a head angle of the drone.

When the icon Pp is selected, the pitch angle of the mobile device D when passing the mark point Pn can be adjusted (here, mainly for the case where the mobile device D is a drone).

When the icon Ca is selected, the action of the imaging device V provided by the mobile device D when the mobile device D passes the mark point Pn can be adjusted. The action may be, for example, taking a picture, starting a video recording, or stopping a video recording.

When the icon Pi is selected, an associated interest point associated with the marker point Pn may be set. It should be noted here that when setting the marker points associated with the currently associated interest point in the point of interest editing interface shown in FIG. 7 described above, there may be multiple marker points, but setting and When the current point of interest is associated with an interest point, only one interest point can be set. That is to say, there is only one associated interest point associated with each marked point, and there can be multiple marked points associated with each associated interest point.

In addition, as described above, in the selected mark point editing interface, editable parameter information may mainly include position information, speed information, direction information, and the like when the mobile device passes the mark point. Specifically, the editable parameter information may include: a height of the marker point Pn, a speed when the movable device D passes the marker point Pn, and the movable device D passing the marker point Pn Time, the tilt angle when the mobile device D passes the mark point Pn, the action of the camera V when the mobile device D passes the mark point Pn, and the associated association Selection of Points of Interest In. The selection of the associated interest point In can be performed by selecting, for example, a label of the associated interest point In as its identification information. In addition, the editable parameter information may further include: an orientation of the imaging device V, a shooting parameter, and the like. For example, when the movable device D is a drone, the camera device V is generally mounted on the drone through a pan / tilt head, and the orientation or shooting parameters of the camera device V are related to the cloud The orientation or shooting parameters of the stage are closely related, so at this time, the orientation or shooting parameters of the camera V can also be equivalent to the orientation or shooting parameters of the pan / tilt.

In addition, the icons Pa, Ps, Pt, Pp, Ca, Pi can also display the current editing results as shown in FIG. 8 at the same time. For example, "100" displayed on the icon Pa indicates that the current editing result of the height of the marker point Pn is 100m, and "10" displayed on the icon Ps indicates that the speed when the movable device D passes the marker point Pn is 10m / s, "35" displayed on the icon Pt indicates that the orientation angle of the movable device D when passing the mark point Pn is 35 degrees (here, the angle reference can be determined according to actual needs), and the icon displayed on the icon Pp "0" indicates that the pitch angle of the movable device D when passing the marked point Pn is 0 degrees (here, the angle reference can be determined according to actual needs), and "None" displayed on the icons Ca and Pi respectively indicate the When the mobile device D passes the marker point Pn, the camera V does not perform any action, and the marker Pn is currently set to associate the related interest points.

In addition, for the operations of the above-mentioned so-called "selection" and "click" on the display screen of the remote control device S, in the case where the display screen is a touch-sensitive display screen, the display screen may be specified. (For example, using various touch operations such as a finger or a stylus) to complete a touch operation, and in a case where the display screen is a non-touch display screen, other inputs such as a mouse and a keyboard may also be used. Equipment to complete.

As described above, by setting the selected mark point editing interface as described above, the convenience, effectiveness, and user experience of the mobile route generation method and device, the mobile device remote control device, and the system of the present disclosure can be further improved.

In addition, as a preference, in the selected mark point editing interface, two or more of the mark points (that is, a plurality of mark points) having the same editable parameter information may exist for a plurality of the mark points. In the case of the same parameter point), the editing of the editable parameter information of all the plurality of the same parameter points is completed by editing only one of the same parameter points. In this way, the editing efficiency can be greatly improved, thereby further improving the convenience, effectiveness, and user experience of the method and device for generating a mobile route, the remote control device and system for a mobile device of the present disclosure.

Next, taking FIG. 9 as an example, another mobile route generation device that implements the mobile route generation method of the present disclosure in hardware is described.

As shown in FIG. 7, the mobile route generation device 300 may include a processor 310 (for example, a CPU and the like) and a memory 320 (for example, a hard disk HDD, a read-only memory ROM, and the like). In addition, a readable storage medium 321 (for example, a magnetic disk, an optical disc CD-ROM, USB, etc.) indicated by a dotted line may be included.

In addition, FIG. 9 is only an example, and does not limit the technical solution of the present disclosure. Each part of the mobile route generating apparatus 300 may be one or more. For example, the processor 310 may be one or multiple processors.

In this way, it goes without saying that the process described above with reference to the flowchart (FIGS. 3, 4, and 5) of the moving route generating method according to the embodiment of the present disclosure may be implemented as a computer software program. Here, the computer software program may be one or more.

Thus, for example, the computer software program is stored in the memory 320 of the mobile route generation control device 300 as a storage device, and one or more processes of the mobile route generation device 300 are executed by executing the computer software program. The processor 310 executes the moving route generation method shown in the flowcharts of FIG. 3, 4, and 5 of the present disclosure and a modification thereof.

Therefore, it is also possible to provide users with a mobile route generation method and device, and a mobile device remote control device and system that are excellent in convenience, effectiveness, and user experience.

In addition, it goes without saying that the moving route generation method and method may also be stored as a computer program in a computer-readable storage medium (for example, the readable storage medium 321 shown in FIG. 9), and the computer program may include code / The computer-executable instructions cause the computer to execute the moving route generating method and its variants as shown in the flowcharts of FIG. 3, 4, and 5 of the present disclosure.

In addition, the computer-readable storage medium may be, for example, any medium capable of containing, storing, transmitting, propagating, or transmitting instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, device, or propagation medium. Specific examples of readable storage media include: magnetic storage devices such as magnetic tapes or hard disk drives (HDD); optical storage devices such as optical disks (CD-ROM); memories such as random access memory (RAM) or flash memory; and / or wired / Wireless communication link.

In addition, the computer program may be configured to have computer program code including, for example, a computer program module. It should be noted that the division manner and number of modules are not fixed, and those skilled in the art may use appropriate program modules or program module combinations according to actual conditions. When these program module combinations are executed by a computer (or processor), the computer For example, the flow of the moving route generation method described above in conjunction with FIGS. 3, 4, and 5 and its variants can be performed.

Those skilled in the art can understand that the features described in the various embodiments and / or claims of the present disclosure may be combined or combined in various ways, even if such a combination or combination is not explicitly described in this disclosure. In particular, various features and / or combinations of features described in various embodiments and / or claims of the present disclosure may be made without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the disclosure.

Although the present disclosure has been shown and described with reference to specific exemplary embodiments thereof, those skilled in the art will understand that without departing from the spirit and scope of the present disclosure as defined by the appended claims and their equivalents Various changes in form and detail have been made to the present disclosure. Therefore, the scope of the present disclosure should not be limited to the embodiments described, but should be determined not only by the appended claims, but also by the equivalents of the appended claims.

Claims

A method for generating a mobile route is a method for generating a mobile route for a mobile device, which is characterized in that the method includes:

Generating a spatial location interface in a display screen of a remote control device that remotely controls the movable device;

Setting at least two first marker points in the spatial position interface as position points to be passed by the moving route;

Connecting two or more of the first mark points to generate a moving route along which the mobile device moves.
The method according to claim 1, wherein:

The setting of at least two first marker points in the spatial position interface as position points to be passed by the moving route includes:

Judging whether at least two of the first marker points are out of range marker points that are beyond the display range of the display position of the spatial position interface;

In a case where the determination result is that the out-of-range marker point exists, the out-of-range marker point is not set as the position point.
The method according to claim 1, wherein:

The step of connecting the two or more first markers to generate a movement route to be followed when the movable device moves includes:

Selecting any one of the first marked points from at least two of the first marked points as a starting point of the moving route;

Selecting any one of the first marked points from the first marked points other than the starting point among at least two of the first marked points as an end point of the moving route;

After determining the starting point and the end point, connecting the other two or more first marker points from the starting point to the end point to generate the moving route.
The method for generating a moving route according to claim 1, further comprising:

Acquiring the endurance energy of the mobile device, so as to calculate a maintaining time capable of keeping the mobile device moving;

Calculating an estimated moving time for the mobile device to move along the moving route;

Comparing the maintaining time with the estimated moving time;

When the comparison result is that the maintaining time is shorter than the estimated moving time, a warning message is displayed on the display screen.
The method for generating a moving route according to claim 1, further comprising:

In a case where any one of the at least two first mark points is selected as the selected first mark point,

Displaying, in the display screen, first parameter information that the movable device moves to the selected first mark point.
The method according to claim 5, wherein:

The first parameter information includes first editable parameter information that can be edited.
The method according to claim 6, wherein:

The first editable parameter information includes at least one of position information, speed information, and direction information of the mobile device at the first mark.
The method according to claim 6, wherein:

The movable device includes a camera device,

The first editable parameter information further includes: an orientation or a shooting parameter of the camera device.
The method according to claim 6, wherein:

When there are multiple first parameter points with the same parameter in the first editable parameter information in at least two of the first label points,

Editing the first editable parameter information of any one of the plurality of first parameter points with the same parameters to uniformly complete the first editable parameter of the plurality of first parameter points with the same parameters Editing of information.
The method according to claim 1, wherein:

The movable device includes a camera device,

The method for generating a moving route further includes:

In the spatial location interface, for at least one of the first marked points among at least two of the first marked points, a second marked point is set within a predetermined distance from the at least one first marked point. As a point of interest,

The related interest point requires that when the mobile device reaches the at least one of the first marked points, the camera device in the mobile device is directed toward the related interest point.
The method for generating a moving route according to claim 10, wherein

The predetermined distance is a distance at which the imaging device can capture an object around the associated interest point with a predetermined definition.
The method for generating a moving route according to claim 10, wherein

An icon representing the orientation is displayed at the first marked point in the spatial location interface.
The method for generating a moving route according to claim 10, wherein

In a case where the second marker point is selected as the selected second marker point,

The second parameter information at the selected second marked point is displayed in the display screen.
The method for generating a moving route according to claim 13, wherein:

The second parameter information includes second editable parameter information that can be edited.
The method according to claim 14, wherein:

The second editable parameter information includes at least one identification information of the first marked point associated with the second marked point.
The method for generating a moving route according to any one of claims 1 to 15, wherein

The spatial location interface is a map interface.
The method for generating a moving route according to any one of claims 1 to 15, wherein

The display screen is a touch-sensitive display screen.
The method according to claim 17, wherein:

The setting operation and / or the selected operation in the display screen are completed by performing a predetermined touch operation on the display screen.
The method for generating a moving route according to any one of claims 1 to 15, wherein

The mobile device is a drone.
The method for generating a moving route according to any one of claims 1 to 15, wherein

The method further includes:

Sending the generated mobile route to the mobile device so that the mobile device can move along the mobile route.
A remote control system for a mobile device, comprising:

Removable devices; and

A remote control device for remotely controlling the movable device,

The remote control device includes:

A communication unit for communicating with the mobile device shown;

Display screen

A processor, configured to control the remote control device, and is specifically configured to:

Generating a spatial location interface in the display screen of the remote control device;

Setting at least two first marker points in the spatial position interface as position points to be passed by the moving route;

Connecting two or more of the first mark points to generate a moving route along which the mobile device moves.
The remote control system for a movable device according to claim 21, wherein

The setting of at least two first marker points in the spatial position interface as position points to be passed by the moving route includes:

Judging whether at least two of the first marker points are out of range marker points that are beyond the display range of the display position of the spatial position interface;

In a case where the determination result is that the out-of-range marker point exists, the out-of-range marker point is not set as the position point.
The remote control system for a movable device according to claim 22, wherein

The step of connecting the two or more first markers to generate a movement route to be followed when the movable device moves includes:

Selecting any one of the first marked points from at least two of the first marked points as a starting point of the moving route;

Selecting any one of the first marked points from the first marked points other than the starting point among at least two of the first marked points as an end point of the moving route;

After determining the starting point and the end point, connecting the other two or more first marker points from the starting point to the end point to generate the moving route.
The mobile device remote control system according to claim 21, wherein the processor is further configured to:

Acquiring the endurance energy of the mobile device, so as to calculate a maintaining time capable of keeping the mobile device moving;

Calculating an estimated moving time for the mobile device to move along the moving route;

Comparing the maintaining time with the estimated moving time;

When the comparison result is that the maintaining time is shorter than the estimated moving time, a warning message is displayed on the display screen.
The mobile device remote control system according to claim 21, wherein the processor is further configured to:

In a case where any one of the at least two first mark points is selected as the selected first mark point,

Displaying, in the display screen, first parameter information that the movable device moves to the selected first mark point.
The remote control system for a mobile device according to claim 25, wherein

The first parameter information includes first editable parameter information that can be edited.
The mobile device remote control system according to claim 26, wherein

The first editable parameter information includes at least one of position information, speed information, and direction information of the mobile device at the first mark.
The mobile device remote control system according to claim 26, wherein

The movable device includes a camera device,

The first editable parameter information further includes: an orientation or a shooting parameter of the camera device.
The mobile device remote control system according to claim 26, wherein

When there are multiple first parameter points with the same parameter in the first editable parameter information in at least two of the first label points,

Editing the first editable parameter information of any one of the plurality of first parameter points with the same parameters to uniformly complete the first editable parameter of the plurality of first parameter points with the same parameters Editing of information.
The remote control system for a movable device according to claim 21, wherein

The movable device includes a camera device,

The processor is further specifically configured to:

In the spatial location interface, for at least one of the first marked points among at least two of the first marked points, setting a second marked point within a predetermined distance from the at least one first marked point As a point of interest,

The related interest point requires that when the mobile device reaches the at least one first mark point, the camera device in the mobile device is directed toward the related interest point.
The remote control system for a mobile device according to claim 30, wherein:

The predetermined distance is a distance at which the imaging device can capture an object around the associated interest point with a predetermined definition.
The remote control system for a mobile device according to claim 30, wherein:

An icon representing the orientation is displayed at the first marked point in the spatial location interface.
The remote control system for a mobile device according to claim 30, wherein:

In a case where the second marker point is selected as the selected second marker point,

The second parameter information at the selected second marked point is displayed in the display screen.
The remote control system for a mobile device according to claim 33, wherein

The second parameter information includes second editable parameter information that can be edited.
The remote control system for a mobile device according to claim 34, wherein

The second editable parameter information includes at least one identification information of the first marked point associated with the second marked point.
The mobile device remote control system according to any one of claims 21 to 35, wherein

The spatial location interface is a map interface.
The mobile device remote control system according to any one of claims 21 to 35, wherein

The display screen is a touch-sensitive display screen.
The mobile device remote control system according to claim 37, wherein:

The setting operation and / or the selected operation in the display screen are completed by performing a predetermined touch operation on the display screen.
The mobile device remote control system according to any one of claims 21 to 35, wherein

The mobile device is a drone.
The mobile device remote control system according to any one of claims 21 to 35, wherein

The processor is further configured to:

Sending the generated mobile route to the mobile device so that the mobile device can move along the mobile route.
A mobile device remote control device is a remote control device for remotely controlling the mobile device, which is characterized in that it includes:

A communication unit that communicates with the mobile device;

Display screen

A processor for controlling the remote control device, specifically used for:

Generating a spatial location interface in the display screen of the remote control device;

Setting at least two first marker points in the spatial position interface as position points to be passed by the moving route;

Connecting two or more of the first mark points to generate a moving route along which the mobile device moves.
The remote control device for a mobile device according to claim 41, wherein

The setting of at least two first marker points in the spatial position interface as position points to be passed by the moving route includes:

Judging whether at least two of the first marker points are out of range marker points that are beyond the display range of the display position of the spatial position interface;

In a case where the determination result is that the out-of-range marker point exists, the out-of-range marker point is not set as the position point.
The remote control device for a movable device according to claim 42, wherein:

The step of connecting the two or more first markers to generate a movement route to be followed when the movable device moves includes:

Selecting any one of the first marked points from at least two of the first marked points as a starting point of the moving route;

Selecting any one of the first marked points from the first marked points other than the starting point among at least two of the first marked points as an end point of the moving route;

After determining the starting point and the end point, connecting the other two or more first marker points from the starting point to the end point to generate the moving route.
The remote control device for a movable device according to claim 41, wherein the processor is further configured to:

Acquiring the endurance energy of the mobile device, so as to calculate a maintaining time capable of keeping the mobile device moving;

Calculating an estimated moving time for the mobile device to move along the moving route;

Comparing the maintaining time with the estimated moving time;

When the comparison result is that the maintaining time is shorter than the estimated moving time, a warning message is displayed on the display screen.
The remote control device for a movable device according to claim 41, wherein the processor is further configured to:

In a case where any one of the at least two first mark points is selected as the selected first mark point,

Displaying, in the display screen, first parameter information that the movable device moves to the selected first mark point.
The remote control device for a movable device according to claim 45, wherein:

The first parameter information includes first editable parameter information that can be edited.
The remote control device for a movable device according to claim 46, wherein

The first editable parameter information includes at least one of position information, speed information, and direction information of the mobile device at the first mark.
The remote control device for a movable device according to claim 46, wherein

The movable device includes a camera device,

The first editable parameter information further includes: an orientation or a shooting parameter of the camera device.
The remote control device for a movable device according to claim 46, wherein

When there are multiple first parameter points with the same parameter in the first editable parameter information in at least two of the first label points,

Editing the first editable parameter information of any one of the plurality of first parameter points with the same parameters to uniformly complete the first editable parameter of the plurality of first parameter points with the same parameters Editing of information.
The remote control device for a mobile device according to claim 41, wherein

The movable device includes a camera device,

The processor is further specifically configured to:

In the spatial location interface, for at least one of the first marked points among at least two of the first marked points, setting a second marked point within a predetermined distance from the at least one first marked point As a point of interest,

The related interest point requires that when the mobile device reaches the at least one first mark point, the camera device in the mobile device is directed toward the related interest point.
The remote control device for a mobile device according to claim 40, wherein:

The predetermined distance is a distance at which the imaging device can capture an object around the associated interest point with a predetermined definition.
The remote control device for a mobile device according to claim 40, wherein:

An icon representing the orientation is displayed at the first marked point in the spatial location interface.
The remote control device for a mobile device according to claim 40, wherein:

In a case where the second marker point is selected as the selected second marker point,

The second parameter information at the selected second marked point is displayed in the display screen.
The remote control device for a mobile device according to claim 53, wherein:

The second parameter information includes second editable parameter information that can be edited.
The remote control device for a mobile device according to claim 54, wherein:

The second editable parameter information includes at least one identification information of the first marked point associated with the second marked point.
The remote control device for a movable device according to any one of claims 41 to 55, wherein

The spatial location interface is a map interface.
The remote control device for a movable device according to any one of claims 41 to 55, wherein

The display screen is a touch-sensitive display screen.
The remote control device for a movable device according to claim 57, wherein:

The setting operation and / or the selected operation in the display screen are completed by performing a predetermined touch operation on the display screen.
The remote control device for a movable device according to any one of claims 41 to 55, wherein

The mobile device is a drone.
The remote control device for a movable device according to any one of claims 41 to 55, wherein

The processor is further configured to:

Sending the generated mobile route to the mobile device so that the mobile device can move along the mobile route.
A moving route generating device includes a processor and a memory, and computer-executable instructions are stored in the memory, and when the instructions are executed by the processor, the processor is caused to execute any of claims 1-20. A method for generating a moving route according to one item.
A computer-readable recording medium stores executable instructions that, when executed by a processor, cause the processor to execute the method for generating a moving route according to any one of claims 1-20.