WO2020199126A1 - Procédé de commande pour plateforme mobile, borne de commande et support d'informations lisible par ordinateur - Google Patents

Procédé de commande pour plateforme mobile, borne de commande et support d'informations lisible par ordinateur Download PDF

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Publication number
WO2020199126A1
WO2020199126A1 PCT/CN2019/081027 CN2019081027W WO2020199126A1 WO 2020199126 A1 WO2020199126 A1 WO 2020199126A1 CN 2019081027 W CN2019081027 W CN 2019081027W WO 2020199126 A1 WO2020199126 A1 WO 2020199126A1
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WO
WIPO (PCT)
Prior art keywords
target
movable platform
control
information
task
Prior art date
Application number
PCT/CN2019/081027
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English (en)
Chinese (zh)
Inventor
殷悦
卢欢鹏
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/081027 priority Critical patent/WO2020199126A1/fr
Priority to CN201980005004.XA priority patent/CN111213108A/zh
Publication of WO2020199126A1 publication Critical patent/WO2020199126A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present invention relates to the field of control technology, in particular to a control method of a movable platform, a control terminal and a computer-readable storage medium.
  • the functions of mobile platforms such as unmanned aerial vehicles, unmanned ships, and mobile vehicles are constantly enriched, and they have been widely used in public services, agriculture, surveillance, and aerial photography.
  • the user can use the control device that establishes a communication connection with the movable platform to control the movable platform to perform task operations, such as controlling the movement of the movable platform.
  • task operations such as controlling the movement of the movable platform.
  • users who are new to the mobile platform they usually don’t know how to use the control terminal to control the mobile platform. They can only learn how to control the mobile platform through graphic textbooks, instruction manuals, and constant hands-on attempts.
  • the embodiment of the invention discloses a method for controlling a movable platform, a control terminal and a computer-readable storage medium, which can not only instruct the user to control the movable platform through a training task, thereby reducing the difficulty for the user to get started, but also restrict the movable platform.
  • the mobile area of the platform can improve the safety of operating the mobile platform.
  • the first aspect of the embodiments of the present invention discloses a control method of a movable platform, which is applied to a control terminal, and the method includes:
  • Output target training task prompt information where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the movable platform is restricted to move within the target area, and the target area is the Determined by the mobile platform based on the target area information;
  • the control information is sent to the movable platform, wherein the control information is used to control the movable platform to perform the target training task in the target area.
  • the second aspect of the embodiments of the present invention discloses a control terminal, which includes a memory, a communication interface and a processor,
  • the memory is used to store program instructions
  • the processor is configured to execute program instructions stored in the memory, and when the program instructions are executed, the processor is configured to:
  • Output target training task prompt information where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the movable platform is restricted to move within the target area, and the target area is the Determined by the mobile platform based on the target area information;
  • the control information is sent to the movable platform through the communication interface, where the control information is used to control the movable platform to perform the target training task in the target area.
  • a third aspect of the embodiments of the present invention discloses a computer-readable storage medium in which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented .
  • the target training task prompt information is first output to instruct the user to control the movable platform to perform the target training task, and then the target control operation input by the user is detected, and the control information corresponding to the target control operation is sent to the movable platform , To control the movable platform to perform the target training task in the target area.
  • the target training task prompt information is first output to instruct the user to control the movable platform to perform the target training task, and then the target control operation input by the user is detected, and the control information corresponding to the target control operation is sent to the movable platform , To control the movable platform to perform the target training task in the target area.
  • FIG. 1 is a schematic diagram of the architecture of a mobile platform control system disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for controlling a movable platform disclosed in an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a control interface disclosed in the first embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a control interface disclosed in the second embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a control interface disclosed in the third embodiment of the present invention.
  • FIG. 6 is a schematic flowchart of another method for controlling a movable platform disclosed in an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a control interface disclosed in the fourth embodiment of the present invention.
  • FIG. 8 is a schematic flowchart of another method for controlling a movable platform disclosed in an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a control interface disclosed in the fifth embodiment of the present invention.
  • Fig. 10 is a schematic structural diagram of a control terminal disclosed in an embodiment of the present invention.
  • the movable platform may be a movable device such as an unmanned aerial vehicle (UAV), an unmanned vehicle (or a movable car), an unmanned ship, and a mobile robot.
  • the mobile platform can be equipped with a positioning device and a camera.
  • the positioning device can be at least one of a visual inertial odometer (VIO) and a GPS module; the camera can be a cloud mounted on the mobile platform.
  • VIO visual inertial odometer
  • the control terminal is a smart device that can be used to control the mobile platform to perform task operations, such as a smart remote control, a smart phone and other mobile terminal devices; the control terminal can be equipped with a display device, which can be a display screen.
  • FIG. 1 is a schematic structural diagram of a movable platform control system provided by an embodiment of the present invention.
  • the movable platform control system includes a control terminal 100 and a movable platform 200, and a communication connection is established between the control terminal 100 and the movable platform 200.
  • the control terminal 100 outputs target training task prompt information, which is used to instruct the user to control the movable platform 200 to perform the target training task.
  • the control terminal 100 detects the target control operation input by the user, and determines the control information for controlling the movable platform 200 according to the detected target control operation; and then sends the control information to the movable platform 200.
  • the mobile platform 200 After the mobile platform 200 receives the control information sent by the control terminal 100, it controls the mobile platform 200 to perform the target training task according to the control information. Among them, the movable platform 200 is restricted to move in the target area, and is restricted to perform target training tasks in the target area.
  • the target area is determined by the movable platform 200 according to the target area information.
  • the target area information may be pre-stored in the movable platform 200, or may be sent to the movable platform 200 by the control terminal 100.
  • the movable platform 200 in FIG. 1 is illustrated by using a drone as an example, and the control terminal 100 is illustrated by using a smart phone as an example.
  • the movable platform 200 includes but is not limited to drones, and the control terminal 100 includes but is not limited to smart phones.
  • FIG. 2 is a schematic flowchart of a method for controlling a movable platform according to the first embodiment of the present invention.
  • the control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the control system of the movable platform as shown in FIG. 1.
  • the control method of the movable platform may include:
  • the control terminal outputs target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, and the movable platform is restricted to move within the target area.
  • the target training task prompt information is used to instruct the user to control the mobile platform to perform the target training task, that is, any information used to prompt the user to control the mobile platform to complete which target training task.
  • the target training task may include one or more of the tasks of controlling the movable platform to move to the target position, controlling the movable platform to take pictures, video, flip, or adjust the shooting posture.
  • the control terminal may use at least one of a text format, a video format, an animation format, and an audio format to output the target training task prompt information.
  • the control terminal before outputting the target training task prompt information, the control terminal first establishes a communication connection with the movable platform.
  • the control terminal may establish communication with the movable platform by connecting to the wireless signal transmitted by the movable platform.
  • the wireless signal may be generated based on wireless protocols such as Wireless Fidelity (Wi-Fi), Software Definition Radio (SDR), cellular communication or Bluetooth.
  • the control terminal before establishing a communication connection with the mobile platform, the control terminal outputs a communication connection prompt information used to introduce to the user how to establish a communication connection with the mobile platform; the control terminal may adopt text, video, and animation forms And at least one of audio formats to output the communication connection prompt information.
  • the control terminal after the control terminal successfully establishes a communication connection with the movable platform, the control terminal outputs a training task selection interface, the training task selection interface includes at least one training task option; the control terminal acquires the user’s response to the at least one training task Option input selection instruction, and use the training task corresponding to the selection instruction as the target training task.
  • the at least one training task option is sorted according to the difficulty index of the corresponding training task, which may be in order from left to right, and the difficulty of the training task corresponding to the training task option ranked first The index is lower than the difficulty index of the training task corresponding to the training task option ranked next. The first training task option for which the corresponding difficulty index is not the lowest remains locked.
  • the training task option is the training task option with the corresponding difficulty index ranked first in the first training task option.
  • the control terminal after determining the target training task selected by the user, before outputting the target training task prompt information, the control terminal outputs the introduction information of the target training task.
  • the introduction information is used to explain and demonstrate the target training task.
  • the introduction information can be used to explain what type of task the target training task is, the difficulty index of the target training task and the estimated training duration respectively, and can also be used to explain in text or voice what the user corresponding to the target training task needs to perform
  • the input control operation can also be used to demonstrate the input control operation required to be performed by the user corresponding to the target training task through animation or video.
  • the control terminal detects the target control operation input by the user, and determines the control information of the movable platform according to the detected target control operation.
  • the target control operation may be input by the user through the control button of the control terminal, the control joystick, or through the user gesture operation.
  • the control button can be a physical control button or a virtual control button;
  • the control joystick can be a physical control joystick or a virtual control joystick;
  • the user gesture operation can be gesture operation, eye movement or head Sports operations, etc.
  • the control terminal before detecting the target control operation input by the user, the control terminal outputs a control interface for the movable platform, and the control interface includes a control area.
  • the control area is used for the user to input a target control operation to input control instructions for the movable platform; the control area may be one or more.
  • the control terminal detects the target control operation input by the user through the control area, and determines the control information used to control the movable platform to perform the target training task according to the detected target control operation.
  • FIG. 3 is a schematic diagram of a control interface provided by the first embodiment of the present invention.
  • the control interface includes a first control area 301, a second control area 302, a third control area 303, and a fourth control area 304.
  • the first control area 301 includes a first virtual control joystick, which can be used for the user to input forward movement instructions, backward movement instructions, left movement instructions, right movement instructions, and direction One or more of a left-forward movement instruction, a left-rear movement instruction, a right-forward movement instruction, and a right-rear movement instruction.
  • control terminal when the control terminal detects the user's touch operation on the control area 3011 of the first virtual control joystick, it is determined that the user inputs a forward movement instruction on the movable platform; when the control terminal detects that the user is on the first virtual control joystick During the touch operation of the control area 3012 in, it is determined that the user inputs a left shift instruction for the movable platform.
  • the second control area 302 includes a second virtual control joystick
  • the second virtual control joystick can be used for the user to input an upward movement instruction, a downward movement instruction, a left steering instruction (or a clockwise steering instruction) for the movable platform. ) And one or more of a right steering command (or a counterclockwise steering command).
  • the control terminal detects the user's touch operation on the control area 3021 in the second virtual control joystick, it is determined that the user inputs an upward movement instruction for the movable platform; when the movable platform is a drone, the upward movement instruction It is an instruction to instruct the drone to fly upward.
  • the control terminal detects the user's touch operation on the control area 3022 in the second virtual control joystick, it is determined that the user inputs a left steering instruction (or a clockwise steering instruction) for the movable platform.
  • a left steering instruction or a clockwise steering instruction
  • the horizontal axis (X axis) in the movement, forward and backward movement can refer to the movement along the vertical axis (Y axis) in the three-dimensional space coordinate system
  • the upward and downward movement can refer to the movement along the three-dimensional space coordinate system.
  • the vertical axis (Z axis) moves.
  • the third control area 303 includes a virtual camera button 3031 and a virtual video button 3032.
  • the virtual camera button 3031 can be used for the user to input a camera command for the mobile platform
  • the virtual video button 3032 can be used for the user to target the mobile platform.
  • the platform enters the video instruction.
  • the fourth control area 303 is a gesture control area preset by the control terminal, which can be used for a user to input a control instruction for the movable platform through a gesture input operation, and the control instruction includes a flip control instruction. For example, when the control terminal detects that the user inputs an upward sliding gesture operation in the fourth control area, it is determined that the user inputs a forward flip control instruction for the movable platform.
  • FIG. 4 is a schematic diagram of a control interface provided by the second embodiment of the present invention.
  • the control interface shown in FIG. 4 further includes a fifth control area 305 and a movement status display area 306.
  • the fifth control area includes a movement start button 3051 and a movement stop button 3052.
  • the moving state display area 306 includes a moving speed display area 3061 and a moving distance display area 3062.
  • the moving speed display area 3061 can be used to display the moving speed of the movable platform during the movement;
  • the moving distance display area 3062 can be used to display the distance between the current position of the movable platform and the geometric center position of the target area;
  • the moving distance display area 3062 can also be used to display the distance between the current position of the movable platform and the initial position of the movable platform.
  • the control terminal sends the control information to the movable platform, where the control information is used to control the movable platform to perform the target training task in the target area.
  • the movable platform is restricted to perform target training tasks in the target area.
  • the target area is determined by the movable platform based on the target area information, and the target area information may be pre-stored in the movable platform, or may be sent to the movable platform by the control terminal.
  • the control terminal sends the movement restriction information to the movable platform before sending the control information to the movable platform, or when sending the control information to the movable platform for the first time .
  • the movement restriction information is used to restrict the movable platform from moving within the target area.
  • the mobile platform receives the movement restriction information sent by the control terminal, it activates the movement area restriction function, obtains its stored target area information, and determines the target area according to the obtained target area information.
  • the control movable platform can only execute the target training task in the target area.
  • the control terminal shall carry the target area information in the movement restriction before sending the control information to the movable platform, or when sending the control information to the movable platform for the first time.
  • the information is sent to the movable platform, and the movement restriction information is used to restrict the movable platform from moving within the target area.
  • the movable platform activates the movement area restriction function, acquires the target area information included in the movement restriction information, and determines the target area according to the acquired target area information.
  • the control movable platform can only execute the target training task in the target area.
  • the movable platform when the movable platform is under the control of the movement area limitation function, during the process of performing the target training task under the control of the controlled terminal, if it is detected that the distance between the movable platform and the boundary of the target area is less than or equal to The distance threshold is controlled to reduce the moving speed of the movable platform; if the movable platform is detected to move to the boundary of the target area, the movable platform is controlled to remain stationary.
  • the target area information includes position information of the geometric center point of the target area, and a target value that can be used to determine the range of the target area.
  • the target value may be a side length value of the geometric shape of the target area, At least one of the angle length value, the radius value, the diameter value, the length value from the geometric center point to the vertex, the area area, and the area circumference.
  • the movable platform determines the target area based on the position information of the geometric center point and the target value.
  • the geometric center point of the target area includes at least one of the initial position point of the movable platform, the current position point of the movable platform, and the position point of the control terminal.
  • the target area may be a circular area, an elliptical area, or a rectangular area.
  • the target area information includes the position information of the geometric center point of the circular area, and the radius value or diameter value of the circular area, the radius value is, for example, 1 m; the movable platform is based on the geometric center point The location information and the radius or diameter value determine the target area.
  • the target area information includes the position information of the geometric center point of the elliptical area, as well as the length of the major semi-axis and the length of the minor semi-axis of the elliptical area.
  • the movable platform is based on the geometric center point.
  • the position information, the length of the major semi-axis and the length of the minor axis determine the target area.
  • the target area information includes the position information of the geometric center point of the rectangular area, and the length value and width value of the rectangular area.
  • the movable platform is based on the position information of the geometric center point, the length value and the width The value determines the target area.
  • the control terminal displays the area icon corresponding to the target area, obtains the current position point of the movable platform in the target area, and displays the area icon in the area icon according to the current position point of the movable platform and the target area information
  • the geometric shape corresponding to the area icon can be any of a circle, an ellipse, and a rectangle.
  • FIG. 5 is a schematic diagram of a control interface provided by the third embodiment of the present invention. Compared with the control interface shown in FIG. 3, the control interface shown in FIG. 5 also includes an area icon 307 corresponding to the target area. As shown in FIG.
  • the geometric shape of the area icon 307 is a circle, and an icon 3071 for indicating the current position of the movable platform is displayed in the area icon 307.
  • a positioning device is configured on the movable platform, and the positioning device may be a visual inertial odometer, and the control terminal can obtain the position of the movable platform through the visual inertial odometer configured on the movable platform. Using the visual inertial odometer to locate the movable platform, the positioning error is small, and the accuracy of the positioning can be improved.
  • control operation prompt information is used to indicate to the user an input control operation for controlling the movable platform to perform the target training task.
  • the control operation prompt information can be used to prompt the user to perform the operation of triggering the rotation control button, and can prompt the user where the rotation control button is located and trigger rotation The duration of the control button, etc.
  • the control terminal after the control terminal sends the control information corresponding to the target control operation input by the user to the mobile platform, it detects whether the mobile platform has completed the current target training task; if it is detected that the mobile platform has completed the current target training task; For the target training task, the prompt information for the next target training task is output on the interactive interface of the control terminal, or the prompt information for the mobile platform to complete the current target training task is output on the interactive interface, or on the interactive interface The introduction information of the next target training task is output on the top.
  • control terminal after the control terminal sends the control information corresponding to the target control operation input by the user to the movable platform, it detects whether the movable platform has completed the current training task in the target training task; if the movable platform is detected After the current training task in the target training task has been executed, the prompt information or introduction information of the next target training task in the target training task is output on the interactive interface of the control terminal.
  • the target training task prompt information is first output to instruct the user to control the movable platform to perform the target training task, and then the target control operation input by the user is detected, and the control information corresponding to the target control operation is sent to the movable platform , To control the movable platform to perform the target training task in the target area.
  • the target training task prompt information is first output to instruct the user to control the movable platform to perform the target training task, and then the target control operation input by the user is detected, and the control information corresponding to the target control operation is sent to the movable platform , To control the movable platform to perform the target training task in the target area.
  • FIG. 6 is a schematic flowchart of a method for controlling a movable platform according to a second embodiment of the present invention.
  • the control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the control system of the movable platform as shown in FIG. 1.
  • the control method of the movable platform may include:
  • the control terminal outputs target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform a target training task.
  • the target training task includes a task to move to a target location.
  • the mobile platform is restricted to move within the target area.
  • the target area is determined by the movable platform according to the target area information.
  • the location where the target location point is located is also within the target area, and there may be one or more target location points.
  • the control terminal may determine a point separated by a first preset distance from the initial position point of the movable platform as the target position point; the target position point may also be randomly determined by the control terminal according to the target area information.
  • the control terminal displays the area icon corresponding to the target area, and displays the first position point icon of the target position point in the area icon, and according to the current position point of the movable platform and the target Area information, displaying a second position point icon for indicating the current position point of the movable platform in the area icon.
  • the first location point icon of the target location point and the second location point icon of the current location point of the movable platform are displayed in the area icon, which can let the user know that the movable platform needs to be controlled to move to The end position of the terminal, and allows the user to understand and determine the approximate path that controls the movable platform to move from the current position to the target position.
  • the control terminal displays a trajectory from the second location point icon to the first location point icon in the area icon, and the trajectory is used to indicate a target path for controlling the movable platform to move from the current location point to the target location point.
  • the target path may be the shortest path for controlling the movable platform to move from the current location point to the target location point, and the target path may also be a path randomly planned by the control terminal according to the current location point and the target location point of the movable platform.
  • FIG. 7 is a schematic diagram of a control interface provided by the fourth embodiment of the present invention. Compared with the control interface described in FIG. 5, the control interface shown in FIG. 7 also displays the area icon 307 in the control interface.
  • the icon of the target location point There are the icon of the target location point, and the trajectory from the icon of the current location point of the movable platform to the icon of the target location point.
  • the icon of the current position point of the movable platform is the second position point icon 3071 in the area icon 307
  • the icon of the target position point is the first position point icon 3072 in the area icon 307.
  • the trajectory of the point icon 3071 to the first position point icon 3072 is 3073, which is used to indicate the shortest path from the second position point icon 3071 to the first position point icon 3072, that is, to indicate the control of the movable platform from the current position point The shortest path to move to the target location point.
  • the control terminal detects the movement control operation input by the user, and sends the control information corresponding to the movement control operation to the movable platform, wherein the control information corresponding to the movement control operation is used to control the mobile platform.
  • the movable platform moves from the current position point to the target position point in the target area.
  • the first position point icon 3072 corresponding to the target position point is located on the left side of the second position point icon 3071 corresponding to the current position point of the movable platform.
  • the control terminal detects the touch operation input by the user on the control area 3012 in the first control area 301, it is determined that the user has input the left shift control operation. Then the left shift control information corresponding to the left shift control operation is sent to the mobile platform. After receiving the left shift control information, the movable platform controls the movable platform to move to the left to move from the current position point to the target position point in the target area.
  • the control terminal before the control terminal detects the movement control operation input by the user, it outputs the movement control operation prompt information, and the control terminal can output the movement control in at least one of text form, video form, animation form, and audio form Operation prompt information.
  • the movement control operation prompt information is used to indicate to the user an input movement control operation for controlling the movable platform to move from the current position point to the target position point. For example, assuming that the target location point is on the right side of the current location point of the movable platform, the movement control operation prompt information can be used to prompt the user to perform the operation of triggering the right-shift button or the right-shift control area, and can prompt the user Move the button right or move the position of the control area right.
  • the control terminal detects the shooting control operation input by the user, and sends control information corresponding to the shooting control operation to the movable platform.
  • the target training task also includes a photographing task or a video recording task, and the control information corresponding to the photographing control operation is used to control the movable platform to perform a photographing task or a video recording task at the target location point.
  • control terminal after the control terminal sends the control information corresponding to the shooting control operation to the mobile platform, it obtains the target image obtained by the mobile platform during the photographing task, or obtains the mobile platform during the recording task. Record the target video; and display the target image or play the target video in the interactive interface of the control terminal.
  • the control terminal before the control terminal detects the shooting control operation input by the user, it outputs the shooting control operation prompt information.
  • the control terminal may output the shooting control in at least one of text form, video form, animation form, and audio form. Operation prompt information.
  • the shooting control operation prompt information is used to instruct the user to control the shooting control operation of the movable platform to take pictures or video.
  • the shooting control operation prompt information can be used to prompt the user to perform the operation of triggering the camera button or the operation of triggering the video button, and can prompt the user where the camera button or the video button is located.
  • the camera button can be triggered by pressing the physical camera button or by clicking the virtual camera button.
  • the recording button can be triggered by pressing the physical recording button or clicking the virtual recording button.
  • the control information corresponding to the shooting control operation when used to control the movable platform to perform the video recording task at the target location, the control information corresponding to the shooting control operation is also used to control the movable platform to perform the video recording task. Adjust the shooting posture of the movable platform during the process. Specifically, when the control terminal detects that the user has performed a video triggering button operation, it is determined that the user has input a video control operation, and the control information corresponding to the video control operation is sent to the movable platform. The control information corresponding to the video control operation is used to control the movable platform to perform the video recording task at the target position, and to control the movable platform to adjust the shooting posture according to preset rules during the process of performing the video task.
  • the preset rule refers to: controlling the movable platform to rotate a preset angle in a preset direction, or controlling the target axis of a pan/tilt equipped with a camera configured on the movable platform to rotate to a preset position.
  • the preset direction may be a clockwise direction or a counterclockwise direction
  • the target axis may be the yaw axis, pitch axis or roll axis of the pan/tilt head
  • the joint angle of the preset position as the target axis is a predetermined angle.
  • the predetermined angle may be 30 degrees to 360 degrees
  • the predetermined angle may be the joint angle of the target axis of 30 degrees to 120 degrees.
  • the target training task further includes a shooting task and adjusting the shooting posture of the movable platform.
  • the shooting task may be a photographing task or a video recording task.
  • the control terminal detects the shooting control operation and the rotation control operation input by the user, and sends the control information corresponding to the shooting control operation and the rotation control operation to the movable platform.
  • the control information corresponding to the shooting control operation is used to control the movable platform to perform the shooting task at the target location point
  • the control information corresponding to the rotation control operation is used to control the movable platform to adjust the shooting posture during the execution of the shooting task.
  • the control information corresponding to the rotation control operation is specifically used to control the movable platform to adjust the shooting posture according to a preset rule.
  • the preset rule refers to: controlling the movable platform to rotate a preset angle in a preset direction, or controlling the target axis of a pan/tilt equipped with a camera configured on the movable platform to rotate to a preset position.
  • FIG. 8 is a schematic flowchart of a method for controlling a movable platform according to a third embodiment of the present invention.
  • the control method of the movable platform described in the embodiment of the present invention is applied to the control terminal in the control system of the movable platform as shown in FIG. 1.
  • the control method of the movable platform may include:
  • the control terminal outputs target training task prompt information, where the target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the target training task includes a flip task, and the movable platform is restricted to Move within the target area.
  • the target area is determined by the movable platform according to the target area information.
  • the control terminal detects the flip control operation input by the user, and sends the control information corresponding to the flip control operation to the movable platform, wherein the control information corresponding to the flip control operation is used to control the The movable platform performs a turnover task in the target area.
  • FIG. 9 is a schematic diagram of a control interface provided by the fifth embodiment of the present invention.
  • the control interface shown in FIG. The control area includes a track area 3041, and the track area 3041 is used to indicate gesture operations input by the user.
  • the track area 3041 indicates that the gesture operation input by the user is sliding to the right. If the controlling terminal detects that the user's gesture operation input in the fourth control area 304 is sliding to the right, and the sliding distance to the right is greater than the second preset distance, it is determined that the user has input the right flip control operation; The right turning control information corresponding to the right turning control operation is sent to the movable platform. After the movable platform receives the right flip control information, it controls the movable platform to perform a right flip task in the target area.
  • the control terminal outputs the prompt information of the flip control operation before detecting the flip control operation input by the user, and the control terminal may output the flip control in at least one of text, video, animation, and audio formats.
  • Operation prompt information is used to instruct the user to control the movable platform to perform the input flip control operation of the flip task along the preset direction.
  • the flip task can include any one of forward flip, backward flip, left flip, and right flip.
  • the flip control operation prompt information can be used to prompt the user to enter an upward sliding gesture operation in the gesture control area, and the upward sliding gesture can be shown to the user in the gesture control area operating.
  • the flip control operation prompt information can also be used to prompt the user to perform an operation that triggers the forward flip control button, and can prompt the user where the forward flip control button is located.
  • the control terminal controls the movable platform to enter the flip mode and displays the area icon corresponding to the target area, and the mobile platform icon corresponding to the movable platform is displayed in the area icon.
  • the mobile platform icon may be located at the geometric center point of the area icon.
  • the target object icon is displayed in the area icon according to a preset display mode, and in the process of displaying the target object icon according to the preset display mode, the flip control operation input by the user is detected, and the control information corresponding to the flip control operation is detected Sent to the movable platform to control the movable platform to perform flipping tasks in the target area.
  • displaying the target object icon in the area icon according to the preset display mode means: moving and displaying the target object icon in the area icon according to the preset moving direction, and the target object icon will pass through the display of the mobile platform icon during the moving display process position.
  • the preset moving direction includes any one of bottom to top, top to bottom, left to right, or right to left.
  • the mobile platform icon is not displayed in the area icon; if the mobile platform icon is not displayed in the area icon, the target object icon is detected to move through the mobile platform before performing the flip task.
  • the display position of the mobile platform icon in the area icon determines that the movable platform successfully avoids the target object, and it is determined that the movable platform completes the flip task.
  • FIG. 10 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention.
  • the control terminal described in the embodiment of the present invention includes a processor 1001, a communication interface 1002, a user interface 1003, and a memory 1004.
  • the processor 1001, the communication interface 1002, the user interface 1003, and the memory 1004 may be connected by a bus or other methods.
  • the embodiment of the present invention takes the connection by a bus as an example.
  • the processor 1001 may be a central processing unit (CPU), or a core used to implement communication identification binding in a multi-core CPU.
  • the processor 1001 may be a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL) or any combination thereof.
  • the communication interface 1002 may be used for the interaction of sending and receiving information or signaling, as well as the reception and transmission of signals.
  • the communication interface 1002 may optionally include a standard wireless interface (such as Wi-Fi, mobile communication interface, etc.).
  • the user interface 1003 is a medium for realizing interaction and information exchange between the user and the control terminal.
  • the specific embodiment may include a display and a speaker for output, and keys, a joystick, a touch screen and a mark for input. Wind, etc.; it should be noted that the buttons and joysticks here can be either physical or virtual.
  • the memory 1004 may mainly include a storage program area and a storage data area.
  • the storage program area can store an operating system and a storage program required by at least one function (such as a text storage function, a location storage function, etc.); the storage data area can store Data (such as image data, text data) created according to the use of the device, etc., and may include application storage programs, etc.
  • the memory 1004 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
  • the memory 1004 is also used to store program instructions.
  • the processor 1001 is configured to execute program instructions stored in the memory 1004. When the program instructions are executed, the processor 1001 is configured to: output target training task prompt information through the user interface 1003, where: The target training task prompt information is used to instruct the user to control the movable platform to perform the target training task, the movable platform is restricted to move within the target area, and the target area is determined by the movable platform according to the target area information Detect the target control operation input by the user, and determine the control information of the movable platform according to the detected target control operation; send the control information to the movable platform through the communication interface, wherein the The control information is used to control the movable platform to perform the target training task in the target area.
  • the processor 1001 is further configured to send movement restriction information to the movable platform through the communication interface 1002, where the movement restriction information is used to restrict the movable platform from being Move within the target area.
  • the movement restriction information includes the target area information.
  • the target area information includes position information of a geometric center point of the target area.
  • the geometric center point includes at least one of an initial position point of the movable platform, a current position point of the movable platform, and a position point of the control terminal.
  • the target area is a circular area, and the target area information includes a radius value or a diameter value of the circular area.
  • the target training task includes at least one of a task of moving to a target location point, a photographing task, a video recording task, adjusting the shooting posture of the movable platform, and a flipping task.
  • the processor 1001 is further configured to: display the area icon corresponding to the target area through the user interface 1003; according to the current position of the movable platform and the target area information, pass The user interface 1003 displays an icon for indicating the current position of the movable platform in the area icon.
  • the position of the movable platform is determined according to a visual inertial odometer configured on the movable platform.
  • the processor 1001 is further configured to: output control operation prompt information through the user interface 1003, where the The control operation prompt information is used to indicate to the user an input control operation for controlling the movable platform to perform the target training task.
  • the target training task includes a task of moving to a target location point.
  • the processor 1001 is further configured to: display through the user interface 1003 The area icon corresponding to the target area, the first position point icon of the target position point is displayed in the area icon; according to the current position point of the movable platform and the target area information, through the user
  • the interface 1003 displays the second position point icon indicating the current position point of the movable platform in the area icon; wherein, when the processor 1001 detects the target control operation input by the user, it is specifically used to: detect the user The input movement control operation, wherein the control information corresponding to the movement control operation is used to control the movable platform to move from the current position point to the target position point in the target area.
  • the processor 1001 is further configured to display a trajectory from the second position point icon to the first position point icon in the area icon through the user interface 1003, wherein The track is used to indicate a target path for the movable platform to move from the current position point to the target position point.
  • the processor 1001 is further configured to: output movement control operation prompt information through the user interface 1003, wherein the movement control operation prompt information is used to indicate to the user to control the movable platform from all directions.
  • the target training task further includes a photographing task or a video recording task
  • the processor 1001 is further configured to: when it is determined that the movable platform has moved to the target position point, detect the photographing control input by the user Operation; wherein the control information corresponding to the shooting control operation is used to control the movable platform to perform a photographing task or a video recording task at the target location point.
  • control information corresponding to the shooting control operation when used to control the movable platform to perform a video recording task at the target location, the control information corresponding to the shooting control operation is also used to control The movable platform adjusts the shooting posture of the movable platform during the execution of the video recording task.
  • the target training task includes a flip task.
  • the processor 1001 detects a target control operation input by a user, it is specifically configured to: detect a flip control operation input by the user, wherein the flip control operation corresponds to The control information is used to control the movable platform to perform a flipping task in the target area.
  • the processor 1001 is further configured to: output tipping control operation prompt information through the user interface 1003, wherein the tipping control operation prompt information is used to instruct the user to control the movable platform to execute the edge The input flip control operation of the flip task in the preset direction.
  • the processor 1001 before the processor 1001 outputs the target training task prompt information through the user interface 1003, the processor 1001 is further configured to: output the introduction information of the target training task through the user interface 1003, Wherein, the introduction information includes at least one of the type of the target training task, the difficulty index, the expected training duration, and the input control operation corresponding to the target training task.
  • the processor 1001 is further configured to: detect whether the movable platform has finished executing the current Target training task; if yes, output prompt information for the next target training task on the interactive interface, or output prompt information on the interactive interface that the movable platform has completed the current target training task, or The introduction information of the next target training task is output on the interactive interface.
  • the movable platform is a drone or a mobile robot.
  • the processor 1001, the communication interface 1002, the user interface 1003, and the memory 1004 described in the embodiment of the present invention can execute the implementation described in the method for controlling a movable platform provided by the embodiment of the present invention. This will not be repeated here.
  • An embodiment of the present invention also provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method for controlling the movable platform described in the foregoing method embodiment is implemented .
  • the embodiment of the present invention also provides a computer program product containing instructions, which when running on a computer, causes the computer to execute the control method of the movable platform described in the above method embodiment.
  • the program can be stored in a computer-readable storage medium, and the storage medium can include: Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention concerne un procédé de commande pour une plateforme mobile, une borne de commande et un support d'informations lisible par ordinateur. Le procédé consiste : à émettre des informations d'invite de tâche d'apprentissage cible, les informations d'invite de tâche d'apprentissage cible étant utilisées pour ordonner à un utilisateur de commander la plateforme mobile pour la réalisation d'une tâche d'apprentissage cible, le déplacement de la plateforme mobile étant limité à l'intérieur d'une zone cible et la zone cible étant déterminée par la plateforme mobile en fonction d'informations de zone cible ; à détecter une opération de commande cible entrée par l'utilisateur et à déterminer des informations de commande de la plateforme mobile en fonction de l'opération de commande cible détectée ; et à envoyer les informations de commande à la plateforme mobile, les informations de commande étant utilisées pour commander la plateforme mobile pour la réalisation de la tâche d'apprentissage cible à l'intérieur de la zone cible. Les modes de réalisation de la présente invention peuvent non seulement ordonner à l'utilisateur de commander la plateforme mobile au moyen de tâches d'apprentissage de manière à réduire la difficulté de démarrage de l'utilisateur, mais également améliorer la sécurité de fonctionnement de la plateforme mobile en limitant la zone de mouvement de la plateforme mobile.
PCT/CN2019/081027 2019-04-02 2019-04-02 Procédé de commande pour plateforme mobile, borne de commande et support d'informations lisible par ordinateur WO2020199126A1 (fr)

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PCT/CN2019/081027 WO2020199126A1 (fr) 2019-04-02 2019-04-02 Procédé de commande pour plateforme mobile, borne de commande et support d'informations lisible par ordinateur
CN201980005004.XA CN111213108A (zh) 2019-04-02 2019-04-02 可移动平台的控制方法、控制终端及计算机可读存储介质

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CN112099556A (zh) * 2016-11-24 2020-12-18 深圳市大疆创新科技有限公司 农业无人飞行器的控制方法、地面控制端及存储介质

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CN104111861A (zh) * 2014-07-07 2014-10-22 中国人民解放军军械工程学院 一种无人机模拟训练系统及其控制方法
US20160280371A1 (en) * 2015-03-27 2016-09-29 Amazon Technologies, Inc. Unmanned vehicle rollback
CN109154828A (zh) * 2017-11-29 2019-01-04 深圳市大疆创新科技有限公司 无人机的控制方法及控制终端
CN108646770A (zh) * 2018-03-28 2018-10-12 深圳臻迪信息技术有限公司 一种无人机飞行控制方法、装置及系统

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