WO2021026776A1 - Procédé de commande de terminal, terminal de commande et plate-forme mobile - Google Patents

Procédé de commande de terminal, terminal de commande et plate-forme mobile Download PDF

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Publication number
WO2021026776A1
WO2021026776A1 PCT/CN2019/100404 CN2019100404W WO2021026776A1 WO 2021026776 A1 WO2021026776 A1 WO 2021026776A1 CN 2019100404 W CN2019100404 W CN 2019100404W WO 2021026776 A1 WO2021026776 A1 WO 2021026776A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
state
movable platform
sleep
Prior art date
Application number
PCT/CN2019/100404
Other languages
English (en)
Chinese (zh)
Inventor
杜丹阳
吴迪
袁泉
朱俊荣
蒋有为
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 CN201980033554.2A priority Critical patent/CN112154407B/zh
Priority to PCT/CN2019/100404 priority patent/WO2021026776A1/fr
Publication of WO2021026776A1 publication Critical patent/WO2021026776A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04847—Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/4401—Bootstrapping
    • G06F9/4418—Suspend and resume; Hibernate and awake
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/451—Execution arrangements for user interfaces
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • This application relates to the field of terminal technology, and in particular to a terminal control method, a control terminal and a movable platform.
  • the movable platform may be a PTZ, for example.
  • the movable platform can enter a dormant state.
  • the inventor found that when the movable platform enters the dormant state, the user can use the terminal normally, but the movable platform cannot respond to some specific control operations input by the user on the terminal. Take the PTZ as an example.
  • the user can trigger the PTZ to enter the dormant state through the buttons set on the PTZ.
  • the PTZ enters the dormant state the user can still use the terminal to input control operations for controlling the PTZ attitude.
  • the station is not controlled by the above operations.
  • the user’s perception of the current state of the movable platform is inconsistent with the actual state of the movable platform, resulting in poor control accuracy.
  • the user believes that the posture of the pan/tilt has been adjusted from posture 1 to posture 2 through the operating terminal. But the attitude of the gimbal remains at attitude 1.
  • the embodiments of the present application provide a terminal control method, a control terminal, and a movable platform, so as to solve the inconsistency between the user's perception of the current state of the movable platform and the actual state of the movable platform in the prior art, resulting in relatively low control accuracy. Poor problem.
  • an embodiment of the application provides a terminal control method, which is applied to a control terminal, and the control terminal is used to communicate with a pan-tilt.
  • the method includes:
  • the first indication information is used to indicate that the pan/tilt head enters the dormant state; according to the first indication information, dormancy prompt information is displayed on the display interface of the control terminal, and the dormancy prompt information is used When it is prompted that the pan/tilt is in a dormant state, the display interface includes a control interface related to the pan/tilt.
  • an embodiment of the present application provides a terminal control method, which is applied to a movable platform, the movable platform is provided with a pan-tilt, and the movable platform is used to communicate with a control terminal, and the method includes:
  • the display interface of the control terminal is controlled to display dormancy prompt information
  • the dormancy prompt information is used to prompt that the pan/tilt is in a dormant state
  • the display interface includes information related to the pan/tilt Control interface.
  • an embodiment of the present application provides a terminal control method, which is applied to a movable platform or a control terminal, the movable platform is used to communicate with the control terminal, and the method includes:
  • the control terminal is controlled to output dormancy prompt information, and the dormancy prompt information is used to prompt The movable platform is in a dormant state.
  • an embodiment of the present application provides a control terminal for communication connection with a pan-tilt, including:
  • a display screen for displaying at least one display interface, the display interface including a control interface related to the pan/tilt; and, one or more processors, working individually or together, for executing the first aspect Methods.
  • an embodiment of the present application provides a control terminal for communicating with a mobile platform, including:
  • Memory used to store program code
  • One or more processors call the program code, and when the program code is executed, it is used to execute the method described in any one of the third aspect.
  • an embodiment of the present application provides a movable platform, including:
  • PTZ used to carry control terminal
  • One or more processors working individually or together, are used to execute the method described in any one of the second aspect.
  • an embodiment of the present application provides a movable platform for communication and connection with a control terminal, including:
  • Memory used to store program code
  • One or more processors call the program code, and when the program code is executed, it is used to execute the method described in any one of the third aspect.
  • an embodiment of the present application provides a mobile platform including a pan-tilt and the control terminal according to any one of the fourth aspect, and the control terminal is in communication connection with the pan-tilt.
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, the at least one piece of code can be executed by a computer to control all The computer executes the terminal control method according to any one of the first aspects.
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, and the at least one piece of code can be executed by a computer to control all
  • the computer executes the terminal control method according to any one of the above second aspects.
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, the at least one piece of code can be executed by a computer to control The computer executes the terminal control method according to any one of the foregoing third aspects.
  • an embodiment of the present application provides a computer program, when the computer program is executed by a computer, it is used to implement the terminal control method according to any one of the above-mentioned first aspects.
  • an embodiment of the present application provides a computer program, when the computer program is executed by a computer, it is used to implement the terminal control method described in any one of the above second aspects.
  • an embodiment of the present application provides a computer program, when the computer program is executed by a computer, it is used to implement the terminal control method described in any one of the above third aspects.
  • the embodiment of the present application provides a terminal control method, a control terminal, and a movable platform.
  • a terminal control method By acquiring first indication information for indicating that the movable platform enters a sleep state, and controlling the control terminal to output sleep prompt information according to the first indication information, it is realized Prompt the user of the dormant state of the movable platform so that the user can know the dormant state of the movable platform in real time during the process of controlling the movable platform, so that the user’s awareness of the dormant state of the movable platform can be compared with that of the movable platform.
  • the actual state is the same, thereby improving the accuracy of the control of the movable platform.
  • FIG. 1A is a schematic diagram 1 of an application scenario of a terminal control method provided by an embodiment of the application;
  • FIG. 1B is a second schematic diagram of an application scenario of a terminal control method provided by an embodiment of this application.
  • FIG. 2 is a schematic flowchart of a terminal control method provided by an embodiment of this application.
  • FIG. 3 is a schematic flowchart of a terminal control method provided by another embodiment of this application.
  • FIG. 5 is a schematic diagram of a shooting interface provided by an embodiment of the application.
  • FIG. 6 is a schematic diagram of a sleep interface provided by an embodiment of the application.
  • FIG. 7 is a schematic structural diagram of a control terminal provided by an embodiment of this application.
  • FIG. 8 is a schematic structural diagram of a control terminal provided by another embodiment of this application.
  • FIG. 9 is a schematic structural diagram of a movable platform provided by an embodiment of this application.
  • FIG. 10 is a schematic structural diagram of a movable platform provided by another embodiment of this application.
  • the application scenario may include the control terminal 11 and the controlled device.
  • the control terminal 11 can communicate with the controlled device.
  • the control terminal 11 may be mounted on a controlled device.
  • the control terminal 11 can control the controlled device, the controlled device can enter a sleep state, and the control terminal 11 can output sleep prompt information for prompting the controlled device to be in the sleep state.
  • the controlled device may be a movable platform 12.
  • the mobile platform 12 may control the control terminal to output sleep prompt information according to the instruction information used to instruct the mobile terminal to enter the sleep state, or the processor of the control terminal may control the terminal according to the instruction information used to instruct the mobile terminal to enter the sleep state.
  • Instruction information controlling the output module of the control terminal to output sleep prompt information.
  • the output module can be, for example, a speaker, a display screen, or an indicator light, which can be used to output sleep prompt information to a physical module.
  • the movable platform 12 may specifically be a device that can move, carry a load, and is controlled by the control terminal 11.
  • the movable platform includes but is not limited to at least one of the following: a handheld PTZ, an unmanned aerial vehicle, and a PTZ vehicle.
  • the control terminal 11 may be a mobile phone, a remote control, a tablet computer, etc.
  • the control terminal 11 has a display screen for displaying a display interface related to controlling the movable platform.
  • a pan-tilt may be provided on the movable platform 12, and the pan-tilt may enter a sleep state. Further, the sleep prompt information may be used to indicate that the pan-tilt is in a sleep state.
  • the PTZ can be a PTZ with an orthogonal structure or a PTZ with a non-orthogonal structure.
  • the mobile platform is a handheld PTZ as an example.
  • the position relationship and connection relationship between the control terminal 11 and the movable platform 12 are not limited in the present application.
  • the control terminal 11 and the movable platform 12 in the embodiment of the present application may be a split design or an integrated design.
  • the control terminal 11 can be mounted on a movable platform. It can be connected by wired communication or can be connected by wireless communication, for example, wireless communication connection can be realized based on Bluetooth technology, or wired communication connection can be realized based on communication interface such as RS-232.
  • control terminal 11 and the movable platform 12 may be two independent devices; or, the movable platform 12 may include the control device 11.
  • the mobile platform 12 may include a pan-tilt 13 and a control terminal 11.
  • the control terminal 11 is in communication with the pan-tilt 13, and the control terminal 11 may output sleep prompt information for prompting the pan-tilt to be in a dormant state.
  • the movable platform 12 may be a handheld PTZ.
  • the user enters the dormant state under the control of the non-controlling terminal 11 such as triggered by a button set on the movable platform 12 or triggered by an internal mechanism of the movable platform 12.
  • the trigger conditions for triggering the PTZ to enter the dormant state include but are not limited to one or more of the following: the buckle of the PTZ is not buckled The closed state changes to the buckled state, and the first button is pressed according to a preset pressing rule.
  • the trigger condition for triggering the pan/tilt head from the sleep state to the awakening state includes one or more of the following: pressing the first button and double-clicking the second button according to a preset pressing rule.
  • the preset pressing rules can be flexibly designed.
  • the preset pressing rules include but are not limited to one or more of the following: three-click the first button, and/or long-press the The first button and the long press duration is less than the duration threshold. In this way, it is convenient and quick to realize that the movable platform can enter the dormant state only by operating the movable platform.
  • the first button also supports a one-key switching of horizontal and vertical shooting functions. Further, optionally, double-clicking the first button can trigger the one-key switching of horizontal and vertical shooting functions.
  • the second button is a mode switching button, and the mode switching button is used to switch the movable platform between a portrait shooting mode and a landscape shooting mode.
  • the first button also supports the function of calling up a shortcut menu.
  • the user can operate the first button to call up the shortcut menu on the display interface of the control terminal, and the user can operate the first button to change Shooting mode, pan/tilt control mode and entering preview mode, without the need to operate the display interface of the control terminal.
  • PTZ control modes can include pan follow, pitch lock, FPV mode, etc. In this way, the user can achieve one-handed control of the handheld PTZ to facilitate user operations.
  • the handheld pan/tilt may be provided with multiple buttons.
  • multiple operation buttons can be used to implement one or several of the above functions, which is not limited here.
  • the working state of the movable platform 12 may include at least a sleep state and a wake-up state.
  • the work state may also be called a working mode
  • the sleep state may also be called a sleep mode
  • the wake-up state may also be called a wake-up mode.
  • the dormant state is opposite to the awake state. Compared with the awake state, the mobile platform can turn off some hardware modules in the dormant state to reduce power consumption.
  • this part of the functional modules may include motors.
  • the control terminal 11 may specifically be a terminal with a screen and capable of controlling the movable platform 12, such as a mobile phone, a tablet computer, a remote control with a screen, and the like.
  • the movable platform 12 may specifically be a device that supports a sleep function and is controlled by the control terminal 11, for example, a pan/tilt.
  • the terminal control method provided by the embodiments of the present application realizes that the mobile platform enters the dormant state by controlling the terminal to output dormancy prompt information according to the first instruction information after acquiring the first indication information for indicating that the movable platform enters the dormant state.
  • the user can know in real time whether the movable platform is in the dormant state through the control terminal, which improves the user’s awareness of the current state of the movable platform and the consistency of the actual state of the movable platform, thereby improving the The accuracy of control.
  • FIG. 2 is a schematic flowchart of a terminal control method provided by an embodiment of this application.
  • the execution subject of this embodiment may be a control terminal or a movable platform, and specifically may be a control terminal or a processor of the movable platform.
  • the method of this embodiment may include:
  • Step 201 Obtain first indication information, where the first indication information is used to indicate that the movable platform enters a sleep state.
  • the specific method for obtaining the first indication information may not be limited in this application.
  • the control terminal may receive the first instruction information sent by the movable platform, or the control terminal may read the first instruction information from the movable platform.
  • the first indication information may not be limited in this application.
  • the first indication information may be information represented by 1 bit, and when the value of this bit is 1, it is the first indication information.
  • Step 202 Control the control terminal to output sleep prompt information according to the first indication information, where the sleep prompt information is used to prompt that the movable platform is in a sleep state.
  • step 202 may specifically include: the processor of the control terminal controls the output module of the control terminal to output sleep prompt information according to the first instruction information.
  • step 202 may specifically include: the movable platform sends control information to the control terminal according to the first instruction information, and the control information is used to control the terminal to output sleep prompt information.
  • the movable platform may send control information to the processor of the control terminal, and the processor controls the output module of the control terminal to output sleep prompt information according to the control information; or the movable platform may send control information to the output module of the control terminal , The output module outputs dormancy prompt information according to the control information.
  • step 202 may specifically include: controlling the control terminal to output sleep prompt information in at least one of the target modes according to the first indication information; the target modes include: vibration mode, voice broadcast mode, flashing Indicator light mode; and/or, according to the first indication information, control a display interface of the control terminal to display dormancy prompt information, the display interface including a control interface related to the pan/tilt.
  • outputting the hibernation prompt information in a variety of ways can improve the effectiveness of outputting the prompt information to the user and reduce the effect of the user ignoring the hibernation prompt information.
  • the control interface related to the movable platform may include: a control interface that can be used to control the movable platform, and/or a control interface that can be used to control a target device that includes supported functions and Mobile platform related devices.
  • the function of the device is related to the movable platform can be understood as the function of the device needs the assistance of the movable platform to be completed, that is, the mobile platform provides support for the realization of the function of the device.
  • the target device may include a camera
  • the control interface related to the mobile platform may include a camera interface.
  • the specific type of the shooting interface is not limited in this application.
  • the shooting interface may be, for example, a video shooting interface, a photo shooting interface, a slow motion shooting interface, a story shooting interface, a panoramic shooting interface, etc.
  • a function of the device 1 needs to be completed by the control terminal to control the mobile platform to start the corresponding algorithm processing.
  • the function of the device 2 is related, for example, a function of the device 2 needs to be completed by controlling the terminal to control the movable platform in a specific posture, then the movable platform can be considered to be related to the function of the terminal 2.
  • controlling the display interface of the control terminal to display the hibernation prompt information may specifically include: according to the first instruction information, controlling the control terminal to further display the hibernation prompt on the basis of displaying the display interface information.
  • controlling the control terminal to display the dormant prompt information on the basis of the display interface since the display interface of the control terminal includes the control interface related to the movable platform, when the control terminal displays the display interface, it can be understood that the user is currently In the process of using the control terminal to control the movable platform, the dormancy prompt information is further displayed on the basis of the display interface of the control terminal, so that the user can know the movable platform in real time during the process of controlling the movable platform Whether the platform is in the dormant state has the effect of facilitating the user to know whether the movable platform is in the dormant state.
  • the specific method for further displaying the hibernation prompt information on the basis of displaying the display interface of the control terminal is not limited in this application.
  • the hibernation prompt information may be further displayed through a pop-up dialog box, window, interface, etc.
  • the application does not limit the specific information type of the hibernation prompt information. Specifically, it may be any type of information that can be displayed, such as text information, picture information, and video information.
  • the specific type of the display interface may not be limited in the embodiment of the present application.
  • it may be an interface provided by a browser (or may also be called a web interface), or may be an interface provided by an application (application program, App) (or It can also be called App interface) and so on.
  • the control terminal by acquiring the first indication information for indicating that the movable platform enters the dormant state, and controlling the control terminal to output dormancy prompt information according to the first indication information, the user is prompted to the dormant state of the movable platform, so that the user can Knowing the dormant state of the movable platform in real time enables the user's perception of the dormant state of the movable platform to be consistent with the actual state of the movable platform, thereby improving the accuracy of controlling the movable platform.
  • FIG. 3 is a schematic flowchart of a terminal control method provided by another embodiment of this application. Based on the embodiment shown in FIG. 2, this embodiment mainly describes an optional implementation manner after obtaining the first indication information. As shown in FIG. 3, the method of this embodiment may include:
  • Step 301 Obtain first indication information, where the first indication information is used to indicate that the movable platform enters a sleep state.
  • step 301 is similar to step 201 and will not be repeated here.
  • Step 302 Control the display interface of the control terminal to display sleep prompt information according to the first instruction information.
  • step 302 may specifically include: controlling a preset display position in the display interface of the control terminal to display sleep prompt information according to the first instruction information.
  • step 302 When step 302 is executed by the control terminal, it may specifically be: according to the first instruction information, display sleep prompt information at a preset display position in the display interface of the control terminal.
  • step 302 may specifically include: controlling the preset display position in the camera interface of the control terminal according to the first instruction information Display hibernation prompt message.
  • Step 303 Control the control terminal to turn off the function of the target device.
  • step 303 may specifically include: turning off the function of the target device.
  • the target device includes a device whose supported function is related to the movable platform. Turning off the function of the target device can be understood as a scenario where the user is using the function of the target device, and the user is not allowed to continue to use the function of the target device, thereby saving the control terminal and the power of the control terminal.
  • the function of turning off the target device may specifically include turning off all the functions of the target device, that is, not allowing the user to continue to use all the functions of the target device; or turning off the specific functions of the target device, that is, not allowing the user to continue to use the specific functions of the target device.
  • the specific functions include functions that require the assistance of the movable platform.
  • the specific method for turning off all functions of the target device can be flexibly designed.
  • all functions of the target device can be turned off by canceling the display of the function interface of the target device, or all functions of the target device can be set In the unavailable state, the user cannot realize any function of the target device, thereby realizing all the functions of turning off the target device, and saving the power of the target device and the control terminal.
  • the specific method for turning off the specific function of the target device can be flexibly designed.
  • the specific function of the target device may be set to an unavailable state, so as to realize the specific function of turning off the target device.
  • the functional interface of the target device can be used to control the target device. Since the aforementioned control interface is related to the movable platform, and the target device is also related to the movable platform, the aforementioned control interface can include the functions of the target device. interface.
  • the specific function may specifically be a specific shooting function, and the specific shooting function includes but is not limited to one or more of the following: panoramic function, time-lapse photography function, smart follow function , Horizontal and vertical screen switching function.
  • a function of the target device may be hidden to realize the setting of the function to the unavailable state.
  • the function of shutting down the target device may specifically include: canceling the display of the function interface of the target device; and/or setting a specific function of the target device to an unavailable state, and the specific function includes all necessary functions.
  • the functions assisted by the movable platform are described.
  • it may further include: judging whether the continuation condition is satisfied, and the continuation condition includes that the function of continuing to use the target device when the movable platform is in a dormant state needs to be satisfied If the conditions for continuing are not met, perform the step of canceling the display of the function interface of the target device. If the continuation condition is met, the step of canceling displaying the function interface of the target device is not executed.
  • the continuation conditions can be flexibly designed according to requirements.
  • the continuation conditions include but are not limited to one or more of the following: the power is greater than the power threshold, the specific function is not activated, the user has selected a specific mode, the specific function It includes functions that require the assistance of the movable platform to complete, and the specific mode includes a mode that allows the target device function to be used when the movable platform is in a dormant state.
  • the power of the control terminal is greater than the power threshold may indicate that the power of the control terminal is sufficient
  • the power of the control terminal is less than or equal to the power threshold may indicate that the power of the control terminal is short. Since the control terminal consumes a lot of power when displaying the function interface of the target device, the continuing condition includes that the power is greater than the power threshold.
  • the function interface of the target function will continue to be displayed.
  • the function interface of the target device is canceled, which allows the user to continue to use the target device when the battery is sufficient, and prohibits the user from continuing to use the function of the target device to save power when the battery is low. It can achieve a certain balance between allowing the user to continue the function of the target device and saving power, achieving the effect of not only improving the standby time of the control terminal, but also providing the user with the function of the target device.
  • the specific functions of the target device may not be realized when the movable platform is dormant without affecting the realization of other functions except the specific functions of the target device. Therefore, the continuing conditions include If the specific function is not activated, the function interface of the target device will continue to be displayed when the specific function of the target device is not activated, and the function interface of the function device will be cancelled when the specific function of the target device is activated. Users are allowed to continue using the functions of the target device when the mobile platform is dormant, and users are prohibited from continuing to use the functions of the target device when the current use of the target device is affected by the dormancy of the movable platform, so as to minimize the use of the target device.
  • the specific mode includes a mode that allows the function of the target device to be used when the movable platform is in a sleep state
  • the user has selected the specific mode to indicate that the user needs to know that the sleep of the movable platform will affect the function of the target device
  • the continued condition includes that the user has selected a specific mode, and the function interface of the target device continues to be displayed when the user has selected a specific mode.
  • the function interface of the target device is canceled, which allows the user to continue to use the function of the target device when the user actively ignores the effect of the sleep of the movable platform on the function of the target device, and the user does not actively ignore the movable platform
  • the hibernation affects the function of the target device, the user is prohibited from continuing to use the function of the target device, so that the function of determining whether to allow the user to continue using the target device can be realized according to the user's choice, which improves the flexibility of control and achieves the In the dormant state, it can not only provide the user with the functions of the target device, but also improve the accuracy of the user's control of the movable platform.
  • the above-mentioned continuation condition may be understood as a continuation condition.
  • the continued shooting conditions include but are not limited to one or more of the following: a video is being shot, the power is greater than a power threshold, a specific shooting function is not activated, or the user has selected a specific mode, and the specific shooting The function includes a shooting function that requires the assistance of the pan/tilt head, and the specific mode includes a shooting mode that allows shooting when the pan/tilt head is in a dormant state.
  • the conditions for continuing shooting include the The device continues to display the function interface of the target device while the device is shooting video, and cancels the display of the function device’s function interface when the target device is not shooting video. This allows the user to continue to use the function of the target device while the target device is shooting video. The user is prohibited from continuing to use the function of the target device when the video is not being shot, so that while ensuring the continuity of video shooting, it is possible to avoid the problem that the function of the target device being used by the user does not take effect due to the sleep of the movable platform.
  • the movable platform can have a bearing function, that is, the mobile platform can be used to carry other devices/or equipment.
  • the functions supported by the device included in the target device can be made compatible with the functions supported by the device included in the target device through the following method 1 or method 2.
  • Manner 2 The control terminal is communicatively connected with the target device, and the target device is used to be mounted on the movable platform.
  • a handheld pan/tilt or a pan/tilt cart can correspond to mode one, for example, an unmanned aerial vehicle scene can correspond to mode two.
  • step 303 there is no restriction on the sequence between step 303 and step 302.
  • the function of the target device is turned off. Since the target device includes the supported functions and devices related to the movable platform, it is realized When the movable platform enters the dormant state, turning off the supported functions requires the device assisted by the movable platform, thereby avoiding the problem that the function of the target device being used by the user cannot take effect due to the dormancy of the movable platform.
  • FIG. 4 is a schematic flowchart of a terminal control method provided by another embodiment of this application. Based on the foregoing embodiment, this embodiment mainly describes an optional implementation manner of controlling the display interface of the control terminal to display sleep prompt information according to the first indication information. As shown in Figure 4, the method of this embodiment may include:
  • Step 401 Acquire first indication information, where the first indication information is used to indicate that the movable platform enters a sleep state.
  • step 301 is similar to step 201 and will not be repeated here.
  • Step 402 According to the first instruction information, control a sleep interface to pop up on a display interface of the control terminal, and the sleep interface includes sleep prompt information.
  • step 402 when step 402 is executed by the control terminal, step 402 may specifically include: popping up a sleep interface on the display interface of the control terminal according to the first instruction information.
  • the control interface may specifically be an interface of the target application program.
  • the interface of the target application can include the functional interface of the target device.
  • the target application may specifically be a camera application, which is used to control the pan-tilt and the photographing device.
  • Step 402 may specifically include controlling the photographing of the terminal according to the first instruction information.
  • the sleep interface pops up on the interface.
  • the hibernation interface further includes: hibernation related information related to the hibernation state of the movable platform.
  • the sleep-related information can be flexibly designed.
  • the sleep-related information includes but is not limited to one or more of the following: sleep start time, sleep start position, sleep duration, sleep state operation guidance, and trigger sleep reason.
  • the sleep start time refers to the time when the movable platform enters the sleep state.
  • the specific method for the control terminal to determine the sleep start time is not limited in this application.
  • the sleep start time may be the time when the control terminal obtains the first indication information, or the sleep start time may be sent to the control by the mobile platform. terminal.
  • the sleep start time By including the sleep start time in the sleep interface, the effect of enabling the user to know the time when the mobile platform enters the sleep state is achieved.
  • the sleep start position refers to the position where the movable platform enters the sleep state.
  • the specific method for the control terminal to determine the sleep start position is not limited in this application.
  • the sleep start position may be the real-time position of the movable platform when the control terminal obtains the first indication information, or the sleep start position may be The platform is sent to the control terminal.
  • the sleep start position By including the sleep start position in the sleep interface, the effect of enabling the user to know the position of the movable platform when it enters the sleep state is achieved.
  • Sleep duration refers to the length of time that the movable platform enters and is in a sleep state.
  • the specific method for the control terminal to determine the sleep duration is not limited in this application.
  • the control terminal can determine the sleep duration according to the sleep start time and the current time, or the sleep duration can be sent by the mobile platform to the control terminal.
  • the sleep duration By including the sleep duration in the sleep interface, the effect of enabling the user to know the duration of the sleep state of the movable platform is achieved.
  • the operation guidance in the dormant state refers to the guidance of the operations that the user can perform when the movable platform is in the dormant state.
  • the dormant state operation guide in the dormant interface, the user can know what further operations can be taken when the movable platform is in the dormant state.
  • the hibernation operation guidance may include exiting the hibernation operation guidance and/or operation guidance of the target application program.
  • exiting the dormant operation guide refers to an operation guide that can make the movable platform exit the dormant state, and the user can operate according to the operation guide to make the movable platform exit the dormant state.
  • the operation guidance of the target application program refers to the operation guidance of the target application program when the movable platform is in a dormant state.
  • the specific manner in which the control terminal obtains the sleep state operation guide may not be limited in this application.
  • the sleep state operation guide may be pre-stored in the control terminal, or the control terminal may be obtained from a server.
  • the reason for triggering sleep refers to the reason for triggering the movable platform to enter the sleep state.
  • the specific method for controlling the terminal to obtain the cause of triggering dormancy is not limited in this application. For example, it can be obtained through interaction with a mobile platform, or it can be obtained from a server.
  • the sleep-through interface described above also includes sleep-related information, so that the user can learn more information related to the movable platform entering the sleep state through the sleep interface, thereby improving user experience.
  • the size of the sleep interface can be flexibly designed.
  • the dormant interface completely covers the target interface. By completely covering the target interface by the dormant interface, the dormant interface can be prevented from being ignored by the user, thereby ensuring that the dormant prompt information displayed in the dormant interface can be known to the user.
  • the interface displayed by the control terminal before step 402 that is, the video shooting interface may be as shown in FIG. 5.
  • the home icon is used to control returning to the home page of the camera application;
  • the first battery icon on the right of the home icon is used to indicate the battery level of the gimbal;
  • the second battery icon on the right of the home icon is used to indicate the battery level of the camera;
  • lightning is used to control the opening and closing of the flashlight;
  • “Follow” is used to control the opening and closing of the smart follow function;
  • “Beauty” is used to control the opening and closing of the beauty supply;
  • Auto means that the screen rotation is set to automatic ( Auto), rotate the body by 90° to automatically switch to the vertical mode;
  • 108030 can mean that the resolution is 1080P and the frame rate is 30 frames.
  • “Settings” is used to open the parameter setting menu; "1/8000” means the shutter speed; “ISO 1600” means the sensitivity is 1600; “+-” can be used to adjust the exposure compensation, and “+1.0” means the exposure compensation is +1 Exposure Values (EV); “Replay” is used to replay the captured pictures or videos; “Flip” is used to select whether to flip the self-timer; the circle is the shooting button, and “Delay” is used to select the delay Shooting mode, “Slow motion” is used to select the slow motion shooting mode, “Video” is used to select the video shooting mode, “Photo” is used to select the photo shooting mode, “Panorama” is used to select the panoramic shooting mode, and “Story” is used Choose how to shoot the story.
  • the interface displayed by the control terminal may be as shown in FIG. 6.
  • the interface displayed by the control terminal that is, the dormant interface
  • FIG. 6 “Qsmo” represents the PTZ
  • “Mimo” represents the camera application
  • "Osmo enters sleep state” is the sleep prompt information included in the sleep interface
  • "double-click the mode switch button to resume” is the above exit sleep operation guide
  • You can return to the homepage to use the Mimo editor” and "Mimo will not be woken up when running in the background” are the operation guides for the above target applications.
  • the closing condition of the dormant interface can be designed flexibly.
  • the closing condition of the dormant interface includes: the movable platform enters the awake state from the dormant state.
  • the closing condition of the dormant interface may further include clicking a close button of the dormant interface.
  • the closing condition of the sleep interface may further include: clicking the home button of the sleep interface to return to the home page of the target application.
  • the dormant interface is controlled to pop up on the display interface of the control terminal.
  • the dormant interface includes dormancy prompt information.
  • the display interface includes the control interface related to the movable platform. Therefore, when the control terminal displays the display interface, it can be understood that the user is currently in the process of using the control terminal to control the movable platform. Therefore, the display interface of the control terminal is displayed.
  • the dormancy prompt information is further displayed on the basis of, so that the user can know in real time whether the movable platform is in the dormant state during the process of controlling the movable platform, which improves the user’s awareness of the current state of the movable platform and the mobility
  • the consistency of the actual status of the platform improves the accuracy of the control of the movable platform.
  • control terminal can be controlled to cancel the display of the dormancy prompt information through the following method A and/or method B. It can be understood that the specific steps of the method A and the method B can be displayed on the control terminal Execute after hibernation prompt message.
  • the duration threshold is the duration that triggers the movable platform to switch from the dormant state to the closed state; if the movable platform continues to be in the dormant state If it is greater than the duration threshold, the control terminal is controlled to cancel the display of the sleep prompt information.
  • the closed state may specifically refer to a state where the power supply of the movable platform is not supplying power to the movable platform.
  • the movable platform For scenes where the movable platform is in the dormant state and the duration is longer than the duration threshold, it can be automatically switched from the dormant state to the closed state, by judging whether the movable platform is in the dormant state for greater than the duration threshold, and cancel the display when it is greater than the duration threshold
  • the hibernation prompt message can prevent the mobile platform from being closed, but it still prompts the user that it is in the dormant state, which leads to the problem of incorrect prompting of the state of the mobile platform, and further improves the user's awareness of the current state of the mobile platform Consistency with the actual state of the movable platform, thereby achieving the effect of further improving the control accuracy.
  • the following operation may be further performed: control the control terminal to display a shutdown prompt message, and the shutdown prompt information is used to prompt the movable platform Is closed.
  • the shutdown prompt message when the movable platform is continuously in the dormant state for longer than the duration threshold, it can be realized that after the movable platform is automatically switched from the dormant state to the closed state, it can prompt the user that the movable platform is in the closed state, and further The consistency of the user's awareness of the current state of the movable platform with the actual state of the movable platform is improved, thereby achieving the effect of further improving the control accuracy.
  • the control terminal is controlled to cancel the display of the dormant prompt information.
  • cancel the display of the dormant prompt message which can prevent the movable platform from being in the awake state, but still prompt the user that it is in the dormant state, resulting in a prompt for the state of the movable platform.
  • Method B1 may specifically include: acquiring second indication information, the second indication information being used to indicate that the movable platform enters the awake state; when the second indication information is acquired, it is determined that the movable platform is switched from the sleep state To wake up state.
  • second indication information being used to indicate that the movable platform enters the awake state
  • the second indication information is acquired, it is determined that the movable platform is switched from the sleep state To wake up state.
  • Method B may specifically include: acquiring a movable platform wake-up operation input by the user, and sending a wake-up instruction to the movable platform according to the movable platform wake-up operation, and the wake-up instruction is used to wake up the movable platform;
  • the movable platform sends the wake-up instruction to switch the movable platform from a dormant state to an awake state.
  • the movable platform wake-up operation is used to wake up the movable platform.
  • the specific input method of the movable platform wake-up operation is not limited in this application. Specifically, it may be input through the control terminal and capable of waking up the movable platform. Any input mode operation of the platform, for example, the user can input a wake-up operation of the movable platform through the display interface.
  • the method further includes the following step: controlling the control terminal to display a wake-up prompt message, the wake-up prompt information being used to prompt the movable The platform is awake.
  • the movable platform By confirming that the movable platform is switched from the dormant state to the awakened state, and display the wake-up prompt message, it can be realized that after the movable platform is switched from the dormant state to the awake state, it can prompt the user that the movable platform is already in the awake state, which further improves the user
  • the cognition of the current state of the movable platform is consistent with the actual state of the movable platform, thereby achieving the effect of further improving the control accuracy.
  • the method further includes: turning on the function of the target device.
  • the specific way of turning on the function of the target device may correspond to the aforementioned specific way of turning off the function of the target device.
  • the communication connection between the movable platform and the control terminal may be disconnected.
  • the communication connection between the movable platform and the control terminal may be disconnected by the movable platform; when the above method is executed by the control terminal, the communication connection may be specifically The control terminal disconnects the communication connection between the movable platform and the control terminal.
  • the determining that the movable platform is switched from the dormant state to the awake state it may further include establishing a communication connection between the movable platform and the control terminal. After determining that the movable platform is switched from the dormant state to the awake state, a communication connection between the movable platform and the control terminal is established, so that the control terminal can continue to control the movable platform after the movable platform is switched from the dormant state to the awake state .
  • FIG. 7 is a schematic structural diagram of a control terminal provided by an embodiment of the application.
  • the control terminal is used to communicate with the pan-tilt.
  • the control terminal 700 may include:
  • the display screen 701 is configured to display at least one display interface, the display interface including a control interface related to the pan/tilt; and,
  • One or more processors 702 working individually or collectively, are configured to perform the following operations: acquiring first indication information, where the first indication information is used to instruct the pan-tilt to enter a sleep state;
  • display dormancy prompt information on the display interface and the dormancy prompt information is used to prompt that the pan/tilt is in a dormant state.
  • control terminal provided in this embodiment can be used to execute the technical solution in which the movable platform is provided with a pan-tilt in the foregoing method embodiment, and its implementation principle and technical effect are similar to the method embodiment, and will not be repeated here.
  • FIG. 8 is a schematic structural diagram of a control terminal provided by another embodiment of the application.
  • the control terminal 800 is used to communicate with a movable platform. As shown in FIG. 8, the control terminal 800 may include:
  • the memory 801 is used to store program codes
  • One or more processors 802 call the program code, and when the program code is executed, it is used to perform the following operations:
  • the control terminal is controlled to output dormancy prompt information, and the dormancy prompt information is used to prompt the The movable platform is in a dormant state.
  • control terminal provided in this embodiment can be used to execute the technical solution in which the control terminal is the executor in the foregoing method embodiment, and its implementation principles and technical effects are similar to those in the method embodiment, and will not be repeated here.
  • FIG. 9 is a schematic structural diagram of a movable platform provided by an embodiment of the application. As shown in FIG. 9, the movable platform 900 may include:
  • One or more processors 902, working individually or together, are configured to perform the following steps:
  • Acquire first indication information where the first indication information is used to indicate that the pan/tilt head enters a dormant state; according to the first indication information, control the display interface of the control terminal to display dormancy prompt information, the dormancy prompt information It is used to prompt that the pan/tilt is in a dormant state, and the display interface includes a control interface related to the pan/tilt.
  • the movable platform provided in this embodiment can be used to execute the technical solution in the foregoing method embodiment in which the movable platform is provided with a PTZ and the movable platform is the main body of execution.
  • the implementation principles and technical effects are similar to the method embodiments. No longer.
  • FIG. 10 is a schematic structural diagram of a movable platform provided by another embodiment of this application. As shown in FIG. 10, the movable platform 1000 may include:
  • the memory 1001 is used to store program codes
  • One or more processors 1002 call the program code, and when the program code is executed, it is used to perform the following steps:
  • the control terminal is controlled to output dormancy prompt information, and the dormancy prompt information is used to prompt the The movable platform is in a dormant state.
  • the movable platform provided in this embodiment can be used to execute the technical solution in which the movable platform is the execution subject in the foregoing method embodiment, and its implementation principles and technical effects are similar to the method embodiment, and will not be repeated here.
  • an embodiment of the present application also provides a movable platform including a pan-tilt and a control terminal, and the control terminal is in communication connection with the pan-tilt.
  • the control terminal may adopt the structure of the embodiment shown in FIG. 7, and accordingly, it may execute the technical solutions of the foregoing method embodiments. The implementation principles and technical effects are similar, and will not be repeated here.
  • a person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware.
  • the aforementioned program can be stored in a computer readable storage medium.
  • the steps including the foregoing method embodiments are executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

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  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Computer Security & Cryptography (AREA)
  • Telephone Function (AREA)

Abstract

L'invention concerne un procédé de commande de terminal, un terminal de commande et une plate-forme mobile. Le procédé consiste : à acquérir des premières informations d'instruction, les premières informations d'instruction servant à donner l'instruction à une plate-forme d'entrer dans un état de veille ; à afficher, selon les premières informations d'instruction, des informations d'invite de veille sur une interface d'affichage d'un terminal de commande, les informations d'invite de veille servant à inviter l'état de veille de la plate-forme, et l'interface d'affichage comprenant une interface de commande associée à la plate-forme. La présente invention améliore la cohérence entre le constat d'un utilisateur de l'état actuel d'une plate-forme mobile et l'état réel de la plate-forme mobile, ce qui permet d'améliorer la précision de commande de la plate-forme mobile.
PCT/CN2019/100404 2019-08-13 2019-08-13 Procédé de commande de terminal, terminal de commande et plate-forme mobile WO2021026776A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980033554.2A CN112154407B (zh) 2019-08-13 2019-08-13 终端控制方法、控制终端及可移动平台
PCT/CN2019/100404 WO2021026776A1 (fr) 2019-08-13 2019-08-13 Procédé de commande de terminal, terminal de commande et plate-forme mobile

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PCT/CN2019/100404 WO2021026776A1 (fr) 2019-08-13 2019-08-13 Procédé de commande de terminal, terminal de commande et plate-forme mobile

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WO2023000333A1 (fr) * 2021-07-23 2023-01-26 深圳市大疆创新科技有限公司 Procédé de photographie pour photographie à intervalles de temps, dispositif de commande de photographie, dispositif de photographie et support de stockage

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CN105759831A (zh) * 2016-05-03 2016-07-13 湖北工业大学 一种无人机进出中继服务站的交互对接控制方法
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JP7075221B2 (ja) * 2017-02-21 2022-05-25 キヤノン株式会社 電子機器およびその制御方法
WO2019071380A1 (fr) * 2017-10-09 2019-04-18 深圳传音通讯有限公司 Procédé de commande de veille, terminal et support lisible par ordinateur
CN109739563B (zh) * 2018-12-29 2022-04-22 龙芯中科技术股份有限公司 终端的控制方法、装置、系统及存储介质

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US20160337966A1 (en) * 2015-05-13 2016-11-17 Simmonds Precision Products, Inc. Low power data transmission protocol
CN105338308A (zh) * 2015-09-24 2016-02-17 北京天地玛珂电液控制系统有限公司 一种用于跟踪采煤机的无人机视频感知方法
CN105759831A (zh) * 2016-05-03 2016-07-13 湖北工业大学 一种无人机进出中继服务站的交互对接控制方法
CN108490964A (zh) * 2018-03-21 2018-09-04 深圳臻迪信息技术有限公司 无人机的控制方法、装置及智能终端

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