WO2020150951A1

WO2020150951A1 - Control terminal display method, device, and storage medium

Info

Publication number: WO2020150951A1
Application number: PCT/CN2019/072922
Authority: WO
Inventors: 翁超; 周琦; 丘力
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-01-24
Filing date: 2019-01-24
Publication date: 2020-07-30
Also published as: CN111357274A

Abstract

The embodiments of the present invention provide a control terminal display method, device, and storage medium; by means of configuring a plurality of control terminals for a mobile platform, a control terminal can obtain at least two code stream data, said at least two code stream data are code stream data acquired by at least two image acquisition devices of the movable platform; furthermore, the control terminal may perform display processing according to the at least two code stream data, enabling a plurality of control terminals to display code stream data obtained by a mobile platform image acquisition device, improving the visual effect and user experience.

Description

Display method, equipment and storage medium of control terminal

Technical field

The embodiment of the present invention relates to the field of remote control, and in particular to a display method, device and storage medium of a control terminal.

Background technique

With the development of wireless control technology, mobile platforms such as unmanned aerial vehicles and remote control vehicles have been widely used in production and daily life. Under normal circumstances, the movable platform is equipped with a remote control to remotely control the movable platform; the image acquisition equipment set on the movable platform, such as visible light camera, infrared camera, etc., can transmit real-time images collected by the remote control to the remote control. Real-time display on the remote control's display device.

With the continuous enrichment of the functions of mobile platforms such as drones and remote control vehicles, more and more image acquisition devices are installed on the mobile platforms. Therefore, the number of real-time image stream data sent by the mobile platform to the remote control is increasing. The more it comes, it is not convenient for the remote control to display the code stream data, the visual effect is poor, and the user experience is poor.

Summary of the invention

The embodiment of the present invention provides a display method, equipment and storage medium of the control terminal, so as to realize that multiple control terminals display the code stream data obtained by the image acquisition device of the movable platform, so as to improve the visual effect and the user experience.

The first aspect of the embodiments of the present invention is to provide a display method of a control terminal, wherein the movable platform is configured with a plurality of control terminals, and the method includes:

At least one of the plurality of control terminals obtains at least two code stream data, and the at least two code stream data are code stream data obtained by at least two image acquisition devices of the movable platform;

The control terminal performs display processing according to the at least two code stream data.

The second aspect of the embodiments of the present invention is to provide a control terminal, the movable platform is configured with multiple control terminals, the control terminal includes: a memory, a processor, a communication interface and a display device;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, it is used to perform the following operations:

Acquiring at least two stream data through the communication interface, where the at least two stream data are stream data acquired by at least two image acquisition devices of the movable platform;

Perform display processing according to the at least two code stream data.

The third aspect of the embodiments of the present invention is to provide a movable platform, including:

body;

The power system is installed on the fuselage to provide power;

At least two image acquisition devices for the acquired code stream data;

And multiple control terminals as described in the second aspect.

The fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method described in the first aspect.

In the display method, device and storage medium of the control terminal provided in this embodiment, by configuring a plurality of control terminals on the mobile platform, the control terminal can obtain at least two code stream data, and the at least two code stream data are the movable The code stream data obtained by at least two image acquisition devices of the platform; and the control end can perform display processing according to the at least two code stream data, so that multiple control ends can display the code stream data obtained by the image acquisition device of the movable platform , In order to improve the visual effect and improve the user experience.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings may be obtained based on these drawings without creative labor.

FIG. 1 is a flowchart of a display method of a control terminal provided by an embodiment of the present invention;

2 is a flowchart of a display method of a control terminal provided by another embodiment of the present invention;

3 is a flowchart of a display method of a control terminal according to another embodiment of the present invention;

4 is a schematic diagram of a communication system between a movable platform and a control terminal provided by an embodiment of the present invention;

5 is a schematic diagram of a communication system between a movable platform and a control terminal according to another embodiment of the present invention;

Figure 6 is a structural diagram of a control terminal provided by an embodiment of the present invention;

Fig. 7 is a schematic diagram of a movable platform provided by an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or a centered component may exist at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiment of the present invention provides a display method of the control terminal. FIG. 1 is a flowchart of a display method of a control terminal provided by an embodiment of the present invention. The movable platform is configured with multiple control terminals. As shown in Fig. 1, the method in this embodiment may include:

Step S101: At least one of the plurality of control terminals acquires at least two code stream data, where the at least two code stream data are code stream data acquired by at least two image acquisition devices of the movable platform.

The execution subject of the method in this embodiment may be a control terminal, which may be any one of a plurality of control terminals of the movable platform, and the control terminal may be a control device that controls the movable platform, specifically, it may be Remote controls for mobile platforms such as unmanned aerial vehicles and remote control vehicles, or mobile phones and tablets with remote control functions. At least two image acquisition devices are provided on the movable platform in this embodiment, such as fixed focus visible light camera, zoom visible light, fixed focus far infrared camera, zoom far infrared camera, fixed focus near infrared camera, zoom near infrared camera, and As at least two of the image acquisition devices such as fixed cameras, which are first-person view (FPV for short) on the mobile platform, each image acquisition device acquires one bit stream data. The data output by the image acquisition device can be stream data in raw, yuv, rgb and other formats, and then processed separately through the respective SOC (System on Chip) platforms connected to it, such as ISP (Image Signal Processing, image signal) Processing) or codec (Coder-DECoder codec), and then transmitted to the radio frequency module of the mobile platform to be directly sent to the control end or indirectly sent to the control end through other equipment. In this embodiment, the control terminal obtains at least two code stream data. It is not limited to directly obtain the code stream data from the mobile platform. It can also obtain the code stream data of the mobile platform through other means, for example, when multiple control terminals of the mobile platform When there is a master-slave relationship, the master control terminal can directly obtain the code stream data from the movable platform, and the slave control terminal can obtain the code stream data from the master control terminal.

Step S102: The control terminal performs display processing according to the at least two code stream data, wherein each of the multiple control terminals uses different code stream data for display.

In this embodiment, after the control terminal obtains at least two code stream data, it can display the data on the display device of the control terminal according to the at least two code stream data. Specifically, the control terminal may only display one bit stream data, or select two or more bit stream data for screen fusion display, or select two or more bit stream data for screen superimposed display and so on.

Preferably in this embodiment, the code stream data displayed by each of the multiple control terminals of the movable platform is different, so that the user can watch multiple streams at the same time, for example, the fixed-focus wide-angle picture and the zoom picture are displayed simultaneously Especially for some outdoor inspection work, one worker is responsible for flight control by watching the wide-angle picture through one control terminal, and another worker is responsible for defect observation by watching the zoom picture through the other control terminal.

In the display method of the control terminal of this embodiment, by configuring multiple control terminals on the movable platform, the control terminal can acquire at least two stream data, and the at least two stream data are at least two image collections of the movable platform The code stream data obtained by the device; and the control end can perform display processing according to the at least two code stream data, so that multiple control ends can display the code stream data obtained by the movable platform image acquisition device to improve the visual effect and user experience.

On the basis of any of the foregoing embodiments, the control terminal in step S102 performs display processing according to the at least two code stream data, including:

The control terminal selects one code stream data from the at least two code stream data, and displays it on the display device of the control terminal according to the code stream data.

In this embodiment, the control terminal can display only one bit stream data on the display device, and can display the maximum value, so as to display the selected bit stream data more clearly and intuitively.

On the basis of any of the foregoing embodiments, as shown in FIG. 2, the control terminal in step S102 performs display processing according to the at least two code stream data, including:

Step S201: The control terminal selects more than two code stream data from the at least two code stream data;

Step S202: The control terminal performs picture fusion, and displays the merged picture on the display device of the control terminal.

In this embodiment, the control end can select more than two stream data for picture fusion, where picture fusion is to perform image processing on the stream data collected by multiple image acquisition devices of the movable platform on the same target, and extract each code to the maximum. The feature information in the stream data is finally integrated into a fusion picture.

More specifically, the control terminal selecting two or more code stream data from the at least two code stream data to perform picture fusion includes:

The control terminal selects two or more code stream data with different spectra from the at least two code stream data, and performs picture fusion on the two or more code stream data with different spectra.

For example, in this embodiment, the visible light code stream data can be combined with the far-infrared light code stream data, that is, the control terminal can fuse the far-infrared image into the visible light image; for another example, the visible light code stream data can also be combined with the near Infrared light stream data is used for picture fusion, that is, the control terminal can fuse the near-infrared image into the visible light image. The picture fusion process can use any picture fusion method in the prior art.

On the basis of any of the foregoing embodiments, as shown in FIG. 3, the control terminal in step S102 performs display processing according to the at least two bitstream data, including:

Step S301: The control terminal selects more than two code stream data from the at least two code stream data;

Step S302: The control terminal performs screen superimposition, and displays the superimposed screen on the display device of the control terminal.

In this embodiment, two or more stream data can be superimposed on the screen, thereby forming a picture-in-picture (Picture-in-Picture, referred to as PiP), that is, in a small area of the screen of one stream data The screen of another stream data is displayed on the screen at the same time. In addition, the screen overlay can also be displayed in parallel, for example, the display device is divided into different display areas to display different stream data respectively.

On the basis of any of the foregoing embodiments, as shown in FIG. 4, the multiple control terminals of the movable platform 400 include a master control terminal 401 and a slave control terminal 402.

In this embodiment, each control terminal of the movable platform 400 may have a master-slave relationship, wherein the master control terminal 401 has a higher control authority than the slave control terminal 402. Furthermore, acquiring at least two code stream data by at least one of the plurality of control terminals in step S101 in the foregoing embodiment includes:

If the control terminal is the master control terminal 401, the control terminal receives at least two stream data sent by the movable platform 400, and sends all or part of the at least two stream data to the slave control terminal 402; or

If the control terminal is the slave control terminal 402, the control terminal receives at least two stream data sent by the master control terminal 401.

In this embodiment, the master control terminal 401 can directly receive at least two stream data sent by the mobile platform 400, and then send all or part of the received stream data to the slave control terminal 402 through the communication link, so that The slave control terminal 402 performs display processing according to the received code stream data. The communication link is not limited to WIFI, infrared communication, near field communication (NFC), etc.

On the basis of any of the foregoing embodiments, optionally, if the control terminal is the master control terminal 401, the method further includes:

The control terminal sends a first display instruction to the slave control terminal 402, so that the slave control terminal 402 displays code stream data different from the master control terminal 401 according to the first display instruction.

In this embodiment, in order to make the code stream data displayed by each control terminal of the multiple control terminals of the movable platform 400 different, the master control terminal 401 can send a first display instruction to the slave control terminal 402 to inform the slave control terminal Which code stream data can be displayed by 402, so that the slave control terminal 402 can display code stream data different from the main control terminal 401 according to the first display instruction.

On the basis of any of the foregoing embodiments, optionally, if the control terminal is the master control terminal 401, the sending all or part of the at least two bitstream data to the slave control terminal 402 includes:

The control terminal selects the code stream data different from that displayed by the master control terminal 401 and sends it to the slave control terminal 402.

In this embodiment, in order to make the code stream data displayed by each control terminal of the multiple control terminals of the movable platform 400 different, the main control terminal 401 may first select the code stream data that is different from that displayed by the main control terminal 401. Then it is sent to the slave control terminal 402, and the slave control terminal 402 can select any stream data to display from the received stream data, so as to realize the display of the stream data different from the master control terminal 401.

On the basis of the foregoing embodiment, optionally, the method further includes:

The control terminal selects the code stream data to be played according to the user selection instruction, so that the code stream data displayed by the control terminal is different from other control terminals.

In this embodiment, in order to make the code stream data displayed by each control terminal of the multiple control terminals of the movable platform 400 different, the code stream data of the master control terminal 401 and the slave control terminal 402 can be selected according to the user selection instruction , The user specifies which stream data or stream data the main control terminal 401 displays, and which stream data to display from the control terminal 402, to ensure that the stream data displayed by each control terminal is different.

On the basis of any of the foregoing embodiments, as shown in FIG. 5, the multiple control terminals of the movable platform 400 include multiple

parallel control terminals

403, 404.

In this embodiment, the control terminals of the movable platform 400 do not have a master-slave relationship, and the

control terminals

403 and 404 are in a parallel relationship. Furthermore, acquiring at least two code stream data by at least one of the plurality of control terminals in step S101 in the foregoing embodiment includes:

The control terminal receives at least two stream data sent by the movable platform.

In this embodiment, since the control terminals of the movable platform are in a parallel relationship, each of the

control terminals

403 and 404 can receive at least two stream data sent by the movable platform 400. The code stream data received by each

control terminal

403 and 404 may be the same or of course different.

Based on any of the foregoing embodiments, optionally, the method further includes:

The control terminal receives a second display instruction sent by the movable platform, so that the control terminal displays code stream data different from other parallel control terminals according to the second display instruction.

In this embodiment, in order to make the code stream data displayed by each control terminal of the multiple control terminals of the mobile platform different, the mobile platform 400 can send a second display instruction to each

control terminal

403, 404 to notify each

control terminal

403, 404 According to the second display instruction, the code stream data different from other parallel control terminals is displayed.

On the basis of any of the foregoing embodiments, optionally, the control terminal receiving at least two stream data sent by the movable platform includes:

The control terminal receives code stream data that is different from other parallel control terminals sent by the movable platform.

In this embodiment, in order to make the code stream data displayed by each control terminal of the multiple control terminals of the mobile platform different, the mobile platform 400 can send different code stream data to

different control terminals

403 and 404 respectively, so that the control The

terminals

403 and 404 select any code stream data to display in the received code stream data, so as to realize the display of the code stream data different from other control terminals.

In this embodiment, in order to make the code stream data displayed by each control terminal of the multiple control terminals of the mobile platform different, the code stream data of each

control terminal

403, 404 can be selected according to the user selection instruction, and the user specifies each Which code stream data is displayed on the control terminal to ensure that the code stream data displayed by each

control terminal

403, 404 is different.

On the basis of any of the foregoing embodiments, at least one of the plurality of control terminals in step S101 obtains at least two bitstream data, including:

The control terminal determines the limit number of code stream data it receives, and receives at least two code stream data sent by the movable platform according to the limit number.

In this embodiment, since the ability of the control terminal to receive code stream data is certain, the control terminal can first determine the limit number of code stream data it can receive, and then receive the code stream data according to the limit number. For example, if the limit number is 3, you can receive less than 3 bit stream data.

More specifically, the receiving at least two stream data sent by the movable platform according to the limit number includes:

If the number of code streams acquired by the image acquisition device of the movable platform is greater than the limit number, the control terminal selects the required target code stream data to receive; or

If the number of streams acquired by the image acquisition device of the movable platform is less than or equal to the limit number, the control terminal receives all the stream data acquired by the image acquisition device of the movable platform or selects the desired target Stream data is received.

In this embodiment, if the number of code streams acquired by the image acquisition device of the movable platform is greater than the limit number of the code stream data received by the control end, the control end can select the required target code stream data to receive, and the required target The code stream data can include the code stream data specified by the user. If the control terminal has a master-slave relationship, the target code stream data required by the master control terminal can include the code stream data that the master control terminal needs to display and the code stream that the slave control terminal needs to display data. If the number of streams acquired by the image acquisition device of the mobile platform is less than or equal to the limit number of stream data received by the control end, the control end can receive all stream data of the mobile platform, and of course the desired target stream data can be selected To receive.

The embodiment of the present invention provides a control terminal. FIG. 6 is a structural diagram of the control terminal provided by an embodiment of the present invention. The movable platform is configured with multiple control terminals. As shown in FIG. 6, the control terminal 50 includes a memory 51, a processor 52, a communication interface 53 and a display device. 54.

The memory 51 is used to store program codes;

The processor 52 calls the program code, and when the program code is executed, it is used to perform the following operations:

Obtain at least two code stream data through the communication interface 53, where the at least two code stream data are code stream data obtained by at least two image acquisition devices of the movable platform;

Perform display processing according to the at least two code stream data, wherein each of the multiple control terminals uses different code stream data for display.

On the basis of any of the foregoing embodiments, when the processor 52 performs display processing according to the at least two bitstream data, the processor 52 is configured to:

One code stream data is selected from the at least two code stream data, and displayed on the display device 54 of the control terminal according to the code stream data.

Select two or more code stream data from the at least two code stream data, perform picture fusion, and display the merged picture on the display device 54 of the control terminal.

On the basis of any of the foregoing embodiments, when the processor 52 selects two or more code stream data from the at least two code stream data to perform picture fusion, the processor 52 is configured to:

Select two or more code stream data with different spectra from the at least two code stream data, and perform picture fusion on the two or more code stream data with different spectra.

On the basis of any of the foregoing embodiments, when the processor 52 performs picture fusion on two or more stream data with different spectra, the processor 52 is configured to:

The control terminal fuses the far-infrared image into the visible light image, or fuses the near-infrared image into the visible light image.

Select two or more code stream data from the at least two code stream data, perform screen overlay, and display the overlay screen on the display device 54 of the control terminal.

On the basis of any of the foregoing embodiments, the multiple control terminals include a master control terminal and a slave control terminal;

When the processor 52 obtains at least one bit stream data through the communication interface 53, the processor 52 is configured to:

If the control terminal is the master control terminal, it receives at least two stream data sent by the mobile platform through the communication interface 53, and transmits all or all of the at least two stream data through the communication interface 53 Part of it is sent to the slave control end; or

If the control terminal is a slave control terminal, at least two stream data sent by the master control terminal are received through the communication interface 53.

On the basis of any of the foregoing embodiments, if the control terminal is the master control terminal, the processor 52 is further configured to:

A first display instruction is sent to the slave control terminal through the communication interface 53, so that the slave control terminal displays code stream data different from the master control terminal according to the first display instruction.

On the basis of any of the foregoing embodiments, if the control terminal is the master control terminal, when the processor 52 sends all or part of the at least two stream data to the slave control terminal through the communication interface 53 , The processor 52 is configured to:

The selected code stream data other than the code stream data displayed by the master control terminal is sent to the slave control terminal through the communication interface 53.

On the basis of any of the foregoing embodiments, the processor 52 is further configured to:

The code stream data to be played is selected according to the user selection instruction, so that the code stream data displayed by the control terminal is different from other control terminals.

On the basis of any of the foregoing embodiments, the multiple control terminals include multiple parallel control terminals;

When the processing obtains at least two stream data through the communication interface 53, the processor 52 is configured to:

At least two stream data sent by the mobile platform are received through the communication interface 53.

The second display instruction sent by the movable platform is received through the communication interface 53, so that the control terminal displays code stream data different from other parallel control terminals according to the second display instruction.

On the basis of any of the foregoing embodiments, when the processor 52 receives at least two stream data sent by the movable platform through the communication interface 53, the processor 52 is configured to:

The code stream data that is different from other parallel control terminals sent by the movable platform is received through the communication interface 53.

On the basis of any of the foregoing embodiments, when the processor 52 obtains at least two bitstream data, the processor 52 is configured to:

Determine the limit number of code stream data received, and receive at least two code stream data sent by the movable platform according to the limit number.

On the basis of any of the foregoing embodiments, when the processor 52 receives at least two stream data sent by the movable platform according to the limit number, the processor 52 is configured to:

If the number of code streams acquired by the image acquisition device of the movable platform is greater than the limit number, select the required target code stream data to receive; or

If the number of streams acquired by the image acquisition device of the movable platform is less than or equal to the limit number, then all the stream data acquired by the image acquisition device of the movable platform are received or the desired target stream data is selected for processing. receive.

On the basis of any of the foregoing embodiments, the movable platform includes at least one of the following:

Remote control vehicles, unmanned aerial vehicles.

For the specific principles and implementation manners of the control terminal provided in the embodiments of the present invention, reference may be made to the foregoing embodiments, and details are not described herein again.

In the control terminal provided in this embodiment, by configuring multiple control terminals on the movable platform, the control terminal can acquire at least two stream data, and the at least two stream data are at least two image collections of the movable platform The code stream data obtained by the device; and the control end can perform display processing according to the at least two code stream data, so that multiple control ends can display the code stream data obtained by the movable platform image acquisition device to improve the visual effect and user experience.

The embodiment of the present invention provides a movable platform. FIG. 7 is a structural diagram of a movable platform provided by an embodiment of the present invention; as shown in FIG. 7, the movable platform 60 includes:

Body 61;

The power system 62 is installed on the fuselage to provide power;

At least two image acquisition devices for the acquired code stream data;

A plurality of control terminals 50 as described in the foregoing embodiment.

The control terminal can obtain at least two code stream data, and the at least two code stream data are code stream data obtained by at least two image acquisition devices of the movable platform; and the control terminal can obtain the code stream data according to the at least two The code stream data is displayed and processed, so that multiple control terminals can display the code stream data obtained by the image acquisition device of the movable platform to improve the visual effect and the user experience.

It should be noted that the multiple control terminals 50 may be in a master-slave relationship or a parallel relationship.

Further, the movable platform includes at least one of the following: a remote control vehicle and an unmanned aerial vehicle.

For the specific principles and implementation manners of the movable platform provided in the embodiments of the present invention, reference may be made to the foregoing embodiments, and details are not described herein again.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the display method of the control terminal described in the foregoing embodiment.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be realized in the form of hardware, or in the form of hardware plus software functional unit.

The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute the method described in the various embodiments of the present invention. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules as required, that is, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A display method of a control terminal, characterized in that a movable platform is equipped with a plurality of control terminals, and the method includes:

At least one of the plurality of control terminals obtains at least two code stream data, and the at least two code stream data are code stream data obtained by at least two image acquisition devices of the movable platform;

The control terminal performs display processing according to the at least two code stream data, wherein each of the plurality of control terminals uses different code stream data for display.
The method according to claim 1, wherein the control terminal performs display processing according to the at least two bitstream data, comprising:

The control terminal selects one code stream data from the at least two code stream data, and displays it on the display device of the control terminal according to the code stream data.
The method according to claim 1, wherein the control terminal performs display processing according to the at least two bitstream data, comprising:

The control terminal selects two or more code stream data from the at least two code stream data, performs picture fusion, and displays the merged picture on the display device of the control terminal.
The method according to claim 3, wherein the control terminal selects two or more code stream data from the at least two code stream data to perform picture fusion, comprising:

The control terminal selects two or more code stream data with different spectra from the at least two code stream data, and performs picture fusion on the two or more code stream data with different spectra.
The method according to claim 4, wherein the image fusion of two or more stream data with different spectra comprises:

The control terminal fuses the far-infrared image into the visible light image, or fuses the near-infrared image into the visible light image.
The method according to claim 1, wherein the control terminal performs display processing according to the at least two bitstream data, comprising:

The control terminal selects two or more code stream data from the at least two code stream data, performs screen superimposition, and displays the superimposed screen on the display device of the control terminal.
The method according to any one of claims 1-5, wherein the multiple control terminals include a master control terminal and a slave control terminal;

Obtaining at least two code stream data by at least one of the plurality of control terminals includes:

If the control terminal is the master control terminal, the control terminal receives at least two stream data sent by the movable platform, and sends all or part of the at least two stream data to the slave control terminal; or

If the control terminal is a slave control terminal, the control terminal receives at least two stream data sent by the master control terminal.
The method according to claim 7, wherein if the control terminal is the master control terminal, the method further comprises:

The control terminal sends a first display instruction to the slave control terminal, so that the slave control terminal displays code stream data different from the master control terminal according to the first display instruction.
The method according to claim 7, wherein if the control terminal is the master control terminal, the sending all or part of the at least two code stream data to the slave control terminal comprises:

The control terminal selects code stream data different from that displayed by the master control terminal and sends it to the slave control terminal.
The method according to claim 7, wherein the method further comprises:

The control terminal selects the code stream data to be played according to the user selection instruction, so that the code stream data displayed by the control terminal is different from other control terminals.
The method according to any one of claims 1-5, wherein the multiple control terminals comprise multiple parallel control terminals;

Obtaining at least two code stream data by at least one of the plurality of control terminals includes:

The control terminal receives at least two stream data sent by the movable platform.
The method according to claim 11, wherein the method further comprises:

The control terminal receives a second display instruction sent by the movable platform, so that the control terminal displays code stream data different from other parallel control terminals according to the second display instruction.
The method according to claim 11, wherein the receiving at least two stream data sent by the movable platform by the control terminal comprises:

The control terminal receives code stream data that is different from other parallel control terminals sent by the movable platform.
The method according to claim 11, wherein the method further comprises:

The control terminal selects the code stream data to be played according to the user selection instruction, so that the code stream data displayed by the control terminal is different from other control terminals.
The method according to any one of claims 1-14, wherein at least one of the plurality of control terminals acquiring at least two code stream data comprises:

The control terminal determines the limit number of code stream data it receives, and receives at least two code stream data sent by the movable platform according to the limit number.
The method according to claim 15, wherein the receiving at least two stream data sent by the movable platform according to the limit number comprises:

If the number of code streams acquired by the image acquisition device of the movable platform is greater than the limit number, the control terminal selects the required target code stream data to receive; or

If the number of streams acquired by the image acquisition device of the movable platform is less than or equal to the limit number, the control terminal receives all the stream data acquired by the image acquisition device of the movable platform or selects the desired target Stream data is received.
The method according to any one of claims 1-16, wherein the movable platform comprises at least one of the following:

Remote control vehicles, unmanned aerial vehicles.
A control terminal, characterized in that a movable platform is configured with a plurality of control terminals, the control terminal includes: a memory, a processor, a communication interface and a display device;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, it is used to perform the following operations:

Acquiring at least two stream data through the communication interface, where the at least two stream data are stream data acquired by at least two image acquisition devices of the movable platform;

Perform display processing according to the at least two code stream data, wherein each of the multiple control terminals uses different code stream data for display.
The control terminal according to claim 18, wherein when the processor performs display processing according to the at least two bitstream data, the processor is configured to:

One code stream data is selected from the at least two code stream data, and displayed on the display device of the control terminal according to the code stream data.
The control terminal according to claim 18, wherein when the processor performs display processing according to the at least two bitstream data, the processor is configured to:

Select two or more code stream data from the at least two code stream data, perform picture fusion, and display the merged picture on the display device of the control terminal.
The control terminal according to claim 20, wherein when the processor selects two or more code stream data from the at least two code stream data to perform picture fusion, the processor is configured to:

Select two or more code stream data with different spectra from the at least two code stream data, and perform picture fusion on the two or more code stream data with different spectra.
The control terminal according to claim 21, wherein when the processor performs picture fusion on two or more stream data with different spectra, the processor is configured to:

The control terminal fuses the far-infrared image into the visible light image, or fuses the near-infrared image into the visible light image.
The control terminal according to claim 18, wherein when the processor performs display processing according to the at least two bitstream data, the processor is configured to:

Select two or more code stream data from the at least two code stream data, perform screen superimposition, and display the superimposed screen on the display device of the control terminal.
The control terminal according to any one of claims 18-23, wherein the multiple control terminals include a master control terminal and a slave control terminal;

When the processor obtains at least one bit stream data through the communication interface, the processor is configured to:

If the control terminal is the master control terminal, it receives at least two stream data sent by the movable platform through the communication interface, and sends all or part of the at least two stream data through the communication interface To the slave control end; or

If the control terminal is a slave control terminal, at least two stream data sent by the master control terminal are received through the communication interface.
The control terminal according to claim 24, wherein if the control terminal is the master control terminal, the processor is further configured to:

A first display instruction is sent to the slave control terminal through the communication interface, so that the slave control terminal displays code stream data different from the master control terminal according to the first display instruction.
The control terminal according to claim 24, wherein if the control terminal is the master control terminal, the processor sends all or part of the at least two stream data to the slave control terminal through the communication interface. At the end, the processor is configured to:

Select code stream data other than the code stream data displayed by the master control terminal and send it to the slave control terminal through the communication interface.
The control terminal according to claim 24, wherein the processor is further configured to:

The code stream data to be played is selected according to the user selection instruction, so that the code stream data displayed by the control terminal is different from other control terminals.
The control terminal according to any one of claims 18-23, wherein the multiple control terminals comprise multiple parallel control terminals;

When the processing obtains at least two stream data through the communication interface, the processor is configured to:

At least two stream data sent by the movable platform are received through the communication interface.
The control terminal according to claim 28, wherein the processor is further configured to:

The second display instruction sent by the movable platform is received through the communication interface, so that the control terminal displays code stream data different from other parallel control terminals according to the second display instruction.
The control terminal according to claim 28, wherein when the processor receives at least two stream data sent by the movable platform through the communication interface, the processor is configured to:

The code stream data which is different from other parallel control terminals sent by the mobile platform is received through the communication interface.
The control terminal according to claim 28, wherein the processor is further configured to:

The code stream data to be played is selected according to the user selection instruction, so that the code stream data displayed by the control terminal is different from other control terminals.
The control terminal according to claims 18-31, wherein when the processor obtains at least two bitstream data, the processor is configured to:

Determine the limit number of code stream data received, and receive at least two code stream data sent by the movable platform according to the limit number.
The control terminal according to claim 32, wherein when the processor receives at least two stream data sent by the movable platform according to the limit number, the processor is configured to:

If the number of code streams acquired by the image acquisition device of the movable platform is greater than the limit number, select the required target code stream data to receive; or

If the number of streams acquired by the image acquisition device of the movable platform is less than or equal to the limit number, then all the stream data acquired by the image acquisition device of the movable platform are received or the desired target stream data is selected for processing. receive.
The control terminal according to any one of claims 19-33, wherein the movable platform includes at least one of the following:

Remote control vehicles, unmanned aerial vehicles.
A movable platform, characterized in that it comprises:

body;

The power system is installed on the fuselage to provide power;

At least two image acquisition devices for the acquired code stream data;

Multiple control terminals according to any one of claims 18-34.
The movable platform according to claim 35, wherein the movable platform comprises at least one of the following:

Remote control vehicles, unmanned aerial vehicles.
A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to one of claims 1-17.