WO2021127942A1

WO2021127942A1 - Mobile platform control method, control terminal, mobile platform, and storage medium

Info

Publication number: WO2021127942A1
Application number: PCT/CN2019/127659
Authority: WO
Inventors: 袁得永
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-12-23
Filing date: 2019-12-23
Publication date: 2021-07-01
Also published as: CN112753013A

Abstract

A mobile platform control method, a control terminal, a mobile platform, and a storage medium. The method comprises: downloading a target program code package according to a program code download instruction triggered, on the basis of a customized programming page, by a user; controlling a mobile platform to load the target program code package; and controlling the mobile platform to run the target program code package, such that the mobile platform carries out a corresponding action. The method improves programming convenience for mobile platforms.

Description

Movable platform control method, control terminal, movable platform and storage medium

Technical field

This application relates to the technical field of movable platform control, and in particular to a movable platform control method, a control terminal, a movable platform and a storage medium.

Background technique

At present, mobile platforms such as robots, unmanned aircraft, and remote control vehicles on the market all have custom programming functions. Users can write program codes through custom programming functions to control the mobile platform to perform advanced actions, such as controlling the mobile platform to perform advanced actions. Rotate shooting and move and rotate shooting according to the set trajectory during the movement. However, users with weak programming skills cannot write program codes through custom programming functions to control the mobile platform to perform advanced actions. When users want to experience advanced actions on their own mobile platforms, they need to consult other users with better programming skills. , But it takes a long learning time to program the advanced actions of the movable platform, which is not convenient for users to program the movable platform, and the user experience is not good.

Summary of the invention

Based on this, this application provides a method for controlling a movable platform, a control terminal, a movable platform, and a storage medium, aiming to improve the programming convenience of the movable platform and improve user experience.

In the first aspect, this application provides a method for controlling a movable platform, including:

Obtain the program code download instruction triggered by the user based on the displayed custom programming page, and download the target program code package according to the program code download instruction;

Sending the target program code package to a mobile platform for the mobile platform to load the target program code package;

Acquire a program running instruction triggered by a user, and control the movable platform to run the target program code package according to the program running instruction, so that the movable platform executes a corresponding action.

In the second aspect, the present application also provides a control terminal, the control terminal including a display device, a memory, and a processor;

The display device is used to display a custom programming page;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when the computer program is executed, implement the steps of the movable platform control method as described above.

In the third aspect, this application also provides a movable platform, which includes:

The platform body includes a chassis main body and a pan/tilt main body provided on the chassis main body, and the pan/tilt main body is used to carry a camera device;

A power device, which is provided on the chassis body, and is used to provide moving power to the platform body;

The communication device is arranged on the platform body and is used to communicate with the control terminal.

In a fourth aspect, the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the above-mentioned removable The steps of the platform control method.

The embodiment of the application provides a method for controlling a movable platform, a control terminal, a movable platform, and a storage medium. By displaying the custom programming page of the movable platform, the user can customize the programming page to download the program code package, and the control terminal Send the downloaded program code package to the mobile platform, so that the mobile platform loads the program code package, and can control the mobile platform to run the loaded program code based on the program running instruction when the program running instruction triggered by the user is detected The package enables the mobile platform to perform corresponding actions, which can reduce the user's programming time, effectively improve the programming convenience of the mobile platform, and greatly improve the user experience.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic flowchart of steps of a method for controlling a movable platform provided by an embodiment of the present application;

Fig. 2 is a schematic diagram of a custom programming page provided by an embodiment of the present application;

Fig. 3 is a schematic flow chart of sub-steps of the movable platform control method in Fig. 1;

Fig. 4 is a schematic diagram of a program code package browsing page provided by an embodiment of the present application;

FIG. 5 is another schematic diagram of a custom programming page provided by an embodiment of the present application;

Fig. 6 is another schematic diagram of a custom programming page provided by an embodiment of the present application;

FIG. 7 is another schematic diagram of a custom programming page provided by an embodiment of the present application;

FIG. 8 is another schematic diagram of a custom programming page provided by an embodiment of the present application;

FIG. 9 is another schematic diagram of a custom programming page provided by an embodiment of the present application;

FIG. 10 is another schematic diagram of a custom programming page provided by an embodiment of the present application;

FIG. 11 is a schematic block diagram of the structure of a control terminal according to an embodiment of the present application;

Fig. 12 is a schematic structural diagram of a movable platform provided by an embodiment of the present application.

Detailed ways

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

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

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

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of steps of a method for controlling a movable platform according to an embodiment of the present application. The movable platform control method can be applied to a control terminal, and a communication connection can be established between the control terminal and the movable platform, so that the control terminal can control the movable platform. The control terminal and the movable platform can establish a communication connection through wireless communication, for example, a communication connection through WiFi; it can also establish a communication connection through a wired connection, for example, the control terminal and the movable platform are respectively provided with interfaces, which are realized through the interface Control the communication connection between the terminal and the movable platform.

Among them, control terminals include remote controls, ground control platforms, mobile phones, tablets, laptops, and PC computers. Movable platforms include drones, mobile robots and pan-tilts, and drones include rotary-wing drones. For example, four-rotor drones, six-rotor drones, and eight-rotor drones can also be fixed-wing drones, or a combination of rotary-wing and fixed-wing drones, which are not limited here.

Specifically, as shown in FIG. 1, the movable platform control method includes step S101 to step S103.

S101. Obtain a program code download instruction triggered by a user based on a displayed custom programming page, and download a target program code package according to the program code download instruction.

The control terminal displays a custom programming page, where the user can write program code through the custom programming page, or download the program code package through the custom programming page; obtain the program code download instruction triggered by the user based on the displayed custom programming page, And according to the program code download instruction, download the target program code package. Wherein, the program code download instruction carries an identifier of the program code package, and the identifier is used to uniquely identify the program code package, and the corresponding program code package can be downloaded through the identifier.

In one embodiment, the program code download instruction is sent to the server, so that when the server receives the program code download instruction, it obtains the identifier of the program code package to be downloaded from the program code download instruction, and based on the identifier , Obtain the target program code package, and send the target program code package to the control terminal, so as to download so that the control terminal downloads the target program code package; or the server obtains the download link of the target program code package based on the identifier, and sends the target program code package The download link is sent to the control terminal, and the control terminal downloads the target program code package based on the download link.

Exemplarily, as shown in Figure 2, the custom programming page displays a code download control

Run control and exit control "X", the code download control is used to control the control terminal to display the program code package browsing page, the program code package browsing page displays the names of multiple program code packages, and the run control is used to control the control The terminal sends the program running instruction to the movable platform, so that the movable platform can run the corresponding program code based on the program running instruction, and the exit control is used to control the control terminal to exit the custom programming page.

In one embodiment, as shown in FIG. 3, step S101 includes sub-steps S1011 to S1012.

S1011. Acquire a user's trigger operation on the code download control in the custom programming page, and display a program code package browsing page according to the trigger operation;

After the custom programming page is displayed, the program code package browsing page can be displayed based on the user's trigger operation of the code download control in the custom programming page. Wherein, the trigger operation includes at least one of the following: a click operation, a double-click operation, and a long-press operation. As shown in Figure 4, the program code package browse page displays a search box

Exit the control "X" and the identification information of the nine program code packages, and the identification information of the nine program code packages are A, B, C, D, E, F, G, H, and I, and the program code package E Selected by the user.

It is understandable that the user can operate the custom programming page and the program code package browsing page through an external device, such as an external mouse or an external keyboard, for example, by clicking the mouse or double-clicking the code download control in the custom programming page , So as to get the user's trigger operation on the code download control; the user can also touch the custom programming page and the program code package browsing page through the finger, and input text on the custom programming page and the program code package browsing page through the virtual keyboard Information, for example, the user clicks, double-clicks, or long presses the code download control in the custom programming page with his finger, so as to obtain the user's trigger operation on the code download control, which is not specifically limited in this application.

Specifically, according to the user's triggering operation on the code download control, the page load request of the program code package browsing page is sent to the server, and the page load data returned by the server based on the page load request is received, and the program is loaded and displayed based on the page load data Code package browsing page; when the server receives the page load request of the program code package browsing page, it obtains the page identifier from the page load request, and obtains the page load data corresponding to the page identifier from the database, and the The page loading data is sent to the control terminal. Wherein, the page loading data includes page component configuration information and page content information, the page component configuration information is used to load the program code package page components required to browse the page, and the page content information includes the program code package used to describe the program code package to be loaded and displayed Information such as text, pictures and/or videos.

S1012. Obtain a user's selection operation of the program code package in the program code package browsing page, and generate a program code download instruction of the corresponding program code package according to the selection operation.

After the program code package browsing page is displayed, the program code download instruction of the corresponding program code package is generated based on the user's selection operation of the program code package in the program code package browsing page. Wherein, the program code download instruction carries an identifier of the program code package to be downloaded, the identifier is used to uniquely identify the program code package, and the corresponding program code package can be downloaded through the identifier.

In one embodiment, the target program code package is determined according to the user's selection operation of the program code package in the program code package browsing page, and it is determined whether the current login account has the download permission of the target program code package; if the current login account has the target The download authority of the program code package generates the program code download instruction of the target program code package. Wherein, through the user's selection operation on the program code package in the program code package browsing page, the identification information of the selected program code package can be determined, so that the program code package corresponding to the identification information is taken as the target program code package.

In one embodiment, after determining the target program code package, determine whether the user is logged in, if the user is not logged in, jump to the account login page so that the user can log in to the account; obtain the account information and information entered by the user on the account login page Password information, and verify the account information and password information; when the account information and password information are verified, the account login operation is performed according to the account information and password information.

Specifically, the action tag of the target program code package is obtained, and the action tag list of the currently logged-in account is obtained; if the action tag is located in the action tag list, it is determined that the currently logged-in account has the download permission of the target program code package; if the action tag is not located in the action Tag list, it is determined that the currently logged-in account does not have the download permission of the target program code package. Among them, the action tag is used to identify the actions that can be performed by the mobile platform after running the program code in the program code package.

In one embodiment, the user's trigger operation on the zoom control in the program code package browsing page is acquired, and the page zoom instruction is generated according to the trigger operation and the current size of the program code package browsing page, and according to the page zoom instruction, The program code package browsing page is zoomed, and the zoomed program code package browsing page is displayed in the custom programming page. Wherein, the zoom control can be dragged and moved, so that the zoom control can be located anywhere on the custom programming page.

Specifically, when the user's triggering operation of the zoom control in the program code package browsing page is obtained, if the current size of the program code package browsing page is less than the first preset size, a page zoom instruction is generated, and the page zoom instruction is generated according to the page zoom instruction , The program code package browsing page is enlarged and displayed so that the program code package browsing page covers the entire display area; if the current size of the program code package browsing page is equal to the first preset size, a page reduction instruction is generated, and the page reduction instruction is generated, The size of the program code package browsing page is reduced to the second preset size. Wherein, the first preset size is greater than the second preset size, and the first preset size is determined according to the size of the display area of the control device. As shown in Figure 4, the program code package browsing page covers the entire display area. As shown in Figure 5, the program code package browsing page and zoom controls are displayed in the custom programming page.

In one embodiment, the user's click operation on the search box is acquired, and the action tag selection window is displayed on the program code package browsing page according to the click operation; the user's selection operation on the action tag in the action tag selection window is acquired, and the selection operation is performed according to the selection operation The program code package in the program code package browsing page is filtered, and the filtered program code package browsing page is displayed. Among them, the action label selection window displays multiple action labels. Exemplarily, as shown in Figure 6, the custom programming page displays the action tag selection window, the action tag selection window, and the action tag selection window displays 4 action tags, which are respectively action label 1, action label 2, Action label 3 and action label 4.

Specifically, the target action tag is determined according to the selection operation; the program code package in the program code package browsing page is filtered according to the target action tag, that is, the identification information set corresponding to the target action tag is obtained, and the identification information is located in the identification information set. The program code package is filtered out. The user can determine the identification information of the program code package through the user's selection operation on the action label in the action label selection window, and use the action label corresponding to the identification information as the target action label, and the target action label includes at least one action label. Exemplarily, as shown in Figures 7 and 8, the action label selected by the user is action label 3, and the identification information set corresponding to action label 3 is [A, B, I], then the filtered program code package is browsed The program code packages on the page are C, D, E, F, G, and H.

S102. Send the target program code package to a mobile platform for the mobile platform to load the target program code package.

After the target program code package is downloaded, the target program code package is sent to the mobile platform, so that the mobile platform loads the target program code package.

In one embodiment, the program code in the target program code package is displayed on the custom programming page, that is, the target program code package is parsed to obtain the program code, and the parsed program code is displayed on the custom programming page; Obtain the user's editing operation of the program code, and update the program code according to the editing operation; Obtain the program code sending instruction triggered by the user based on the custom programming page, and send the instruction according to the program code, and send the updated program code To the mobile platform, so that the mobile platform can load the updated program code. The editing operation includes at least one of the following: a program code modification operation, a program code deletion operation, a program code addition operation, and a programming language conversion operation. The programming language conversion operation is used to convert the programming language of the program code.

Wherein, the self-defined programming page includes a transmission control, and when a user triggering operation on the transmission control is detected, a program code is generated to send an instruction. Exemplarily, as shown in Figure 9, the custom programming page displays program codes and transmission controls.

In one embodiment, the program code in the target program code package is displayed in the program code programming window in the custom programming page; the user's editing operation on the program code is obtained, and the program code is updated according to the editing operation; The program code sending instruction triggered by the program code programming window sends the updated program code to the movable platform according to the program code sending instruction, so that the movable platform can load the updated program code. Wherein, the program code programming window includes a transmission control and an operation control, and when a user triggering operation on the transmission control is detected, a program code is generated to send an instruction.

Exemplarily, as shown in Figure 10, the custom programming page displays the program code programming window and the reduced program code package browsing page, the program code programming window displays the program code, transmission control and running control, and the program code package browsing page A search box and program code packages A, B, C, D, E, F, G, H, and I are displayed.

In one embodiment, the user's selection operation on the program code package in the program code package browsing page is acquired, the program code package is downloaded according to the selection operation, and the program in the downloaded program code package is displayed in the program code programming window Code. This allows the user to quickly display the program code in the downloaded program code package after the program code package is downloaded, which is convenient for the user to download and edit the program code.

S103. Obtain a program running instruction triggered by a user, and control the movable platform to run the target program code package according to the program running instruction, so that the movable platform executes a corresponding action.

Specifically, the user's triggering operation on the running control is acquired, and the corresponding program running instruction is generated according to the triggering operation; the movable platform is controlled to run the target program code package according to the program running instruction, so that the movable platform executes the corresponding action. Wherein, the movable platform includes a launching device, the launching device is used to launch projectiles, and the actions include at least one of the following: controlling the movable platform to move at a variable speed, controlling the launching device to launch projectiles at a variable speed, and controlling the launching device Launching projectiles while rotating according to a preset trajectory and controlling the movable platform to move along a preset moving path while controlling the launching device to launch projectiles, the action may also be other actions, which are not specifically limited in this application.

In an embodiment, the target program code package includes a power plant control parameter group and a shift interval time, wherein the power plant control parameter group includes a plurality of power plant control parameters, and each power plant control parameter is different, so The power plant control parameters are used to control the power plant of the movable platform to provide the movable platform with moving power, so that the movable platform moves; each time at the speed change interval, the power plant is randomly controlled One power device control parameter is selected from the parameter group, and the power device of the movable platform is driven according to the selected power device control parameter, so as to control the variable speed movement of the movable platform. It can be understood that the aforementioned shifting interval time can be set based on actual conditions, which is not specifically limited in this application. Optionally, the shift time interval is 5 seconds

In an embodiment, the target program code package includes a transmission device control parameter group and a shift interval time, wherein the transmission device control parameter group includes a plurality of transmission device control parameters, and each transmission device has a different control parameter. The launching speed of the projectile is different if the device control parameter is different. The launching device control parameter is used to control the launching device to launch the projectile; each time at the variable interval time, one is randomly selected from the launching device control parameter group to launch Device control parameters, and control the launching device to launch projectiles according to the selected launching device control parameters, thereby controlling the launching device to launch projectiles at variable speeds. It can be understood that the aforementioned shifting interval time can be set based on actual conditions, which is not specifically limited in this application. Optionally, the shift time interval is 3 seconds.

In an embodiment, the target program code package includes the control parameter group of the mecanum wheel of the movable platform and the output sequence of each control parameter, and also includes the control parameters of the launching device. Among them, the mecanum wheel The control parameters are used to control the mecanum wheel, the control parameters include the X-axis speed, the Y-axis speed and the rotation angular velocity of the mecanum wheel, and the launching device control parameters are used to control the launching device to launch projectiles; according to each control parameter The output sequence of each control parameter is output in turn, so as to control the rotation of the mecanum wheel of the movable platform, and control the launching device to launch projectiles according to the control parameters of the launching device, so that the movable platform moves according to the preset movement path At the same time, control the launcher to launch projectiles. Among them, the preset movement path includes but is not limited to a zigzag movement path, an O-shape movement path, an X-shape movement path, a horizontal figure-eight movement path, and an arcuate movement path, and may also include a zigzag movement path, an O-shape movement path, and an X-shape movement path. The combination of at least two moving paths among the moving path, the horizontal figure-eight moving path and the arcuate moving path is not specifically limited in this application.

In one embodiment, during the process of loading the target program code package, the mobile platform obtains the loading progress information of the target program code package, and sends the loading progress information to the control terminal for the control terminal to use based on the loading progress. The information displays the corresponding loading progress bar and stores the loading progress information.

In one embodiment, the control terminal sends the program running instruction to the movable platform, and the movable platform receives the program running instruction through the communication device, and obtains the current loading progress information of the target program code package; according to the current loading progress information, it is determined that the program can be loaded. Whether the mobile platform has loaded the target program code package, that is, determine whether the progress percentage in the current loading progress information is 100%. If the progress percentage in the current loading progress information is 100%, it is determined that the target program code package has been loaded by the mobile platform. Conversely, if the progress percentage in the current loading progress information is not 100%, it is determined that the target program code package has not been loaded by the mobile platform; if the target program code package has been loaded by the mobile platform, the mobile platform is controlled according to the program running instruction The platform runs the target program code package so that the movable platform executes the corresponding action; if the movable platform has not completed the loading of the target program code package, no processing is performed.

In an embodiment, the loading progress information of the target program code package is obtained according to the user's triggering operation on the running control, wherein the loading progress information is used to describe the progress of the mobile platform loading the target program code package; according to the loading progress Information to determine whether the target program code package has been loaded on the mobile platform; if the target program code package is loaded on the mobile platform, a program running instruction for the target program code package is generated, and if the target program code package has not been loaded on the mobile platform, it will be displayed The reminding message that the loading is not completed is to remind the user that the target program code package has not been loaded on the mobile platform.

In an embodiment, the custom programming page includes a loading progress bar of the target program code package, and the loading progress bar is used to describe the progress of the mobile platform loading the target program code package; the loading The progress bar includes a loading progress percentage. The loading progress bar can be displayed transparently according to a preset transparent percentage. When the target program code package is loaded by the mobile platform, the loading progress bar is hidden. It is understandable that the preset transparency percentage can be set based on actual conditions, which is not specifically limited in this application. Optionally, the preset transparency percentage is 50%.

The mobile platform control method provided by the above embodiments allows the user to customize the programming page to download the program code package by displaying the custom programming page of the mobile platform, and the control terminal sends the downloaded program code package to the mobile platform, The program code package can be loaded by the mobile platform, and when the program running instruction triggered by the user is detected, the program code package can be controlled based on the program running instruction to run the loaded program code package, so that the movable platform can execute the corresponding action. Reduce the user's programming time, effectively improve the programming convenience of the mobile platform, and greatly improve the user experience.

Please refer to FIG. 11, which is a schematic block diagram of a control terminal according to an embodiment of the present application. In an embodiment, the control terminal includes, but is not limited to, a remote control, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, and the like. Further, the control terminal 200 includes a processor 201, a memory 202, and a display device 203. The processor 201, the memory 202 and the display device 203 are connected by a bus 204, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 201 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 202 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Specifically, the display device 203 may be a liquid crystal display screen, a touch-control display screen, or an external display device.

Wherein, the display device 203 is used to display a custom programming page.

The processor 201 is configured to run a computer program stored in the memory 202, and implement the following steps when the computer program is executed:

Optionally, when the processor implements the obtaining of the program code download instruction triggered by the user based on the displayed custom programming page, it is used to implement:

Acquiring the user's trigger operation on the code download control in the custom programming page, and displaying the program code package browsing page according to the trigger operation;

Acquire the user's selection operation on the program code package in the program code package browsing page, and generate the program code download instruction of the corresponding program code package according to the selection operation.

Optionally, when the processor implements the program code download instruction that generates the corresponding program code package according to the selection operation, it is used to implement:

Determine the target program code package according to the selection operation, and determine whether the current login account has the download authority of the target program code package;

If the currently logged-in account has the download permission of the target program code package, a program code download instruction of the target program code package is generated.

Optionally, when the processor implements the determining whether the currently logged-in account has the download permission of the target program code package, it is used to implement:

Acquiring the action label of the target program code package, and acquiring the action label list of the currently logged-in account;

If the action tag is located in the action tag list, determining that the currently logged-in account has the download permission of the target program code package;

If the action tag is not in the action tag list, it is determined that the currently logged-in account does not have the download authority of the target program code package.

Optionally, after the processor implements the determining whether the currently logged-in account has the download authority of the target program code package, it is further used to implement:

If the currently logged-in account does not have the download permission of the target program code package, displaying the payment page of the target program code package;

Obtain the payment password information entered by the user in the payment page, and when the payment password information is verified, generate the program code download instruction of the target program code package.

Optionally, the processor realizes that the program code package browsing page is displayed with a search box; after the program code package browsing page is displayed according to the trigger operation, it is further used to realize:

Acquiring a user's click operation on the search box, and displaying an action tag selection window on the program code package browsing page according to the click operation;

Acquire the user's selection operation on the action tag in the action tag selection window, and filter the program code packages in the program code package browsing page according to the selection operation.

Optionally, when the processor implements the screening of the program code packages in the program code package browsing page according to the selection operation, the processor is used to implement:

Determine the target action label according to the selection operation;

The program code packages in the program code package browsing page are filtered according to the target action tag.

Optionally, the custom programming page includes a program code programming window; before the processor realizes the sending of the target program code package to the mobile platform, it is also used to realize:

Displaying the program code in the target program code package in the program code programming window;

Acquiring the user's editing operation on the program code, and updating the program code according to the editing operation;

Acquiring a program code sending instruction triggered by a user based on the program code programming window;

The sending the target program code package to a mobile platform includes:

The updated program code is sent to the movable platform according to the program code sending instruction, so that the movable platform can load the updated program code.

Optionally, the editing operation includes at least one of the following: a program code modification operation, a program code deletion operation, a program code addition operation, and a programming language conversion operation, and the programming language conversion operation is used to convert the programming language of the program code .

Optionally, the custom programming page includes a run control; when the processor implements the program run instruction triggered by the user, it is used to implement:

Acquire a user's trigger operation on the running control, and generate a corresponding program running instruction according to the trigger operation.

Optionally, when the processor realizes that the corresponding program running instruction is generated according to the trigger operation, it is used to realize:

Acquiring the loading progress information of the target program code package according to the triggering operation, where the loading progress information is used to describe the progress of the mobile platform loading the target program code package;

According to the loading progress information, determine whether the target program code package has been loaded by the mobile platform;

If the target program code package is loaded by the mobile platform, a program running instruction of the target program code package is generated.

Optionally, the custom programming page includes a loading progress bar of the target program code package, and the loading progress bar is used to describe the progress of the mobile platform loading the target program code package.

Optionally, the movable platform includes a launching device for launching projectiles, and the actions include at least one of the following: controlling the movable platform to move at a variable speed, controlling the launching device to launch projectiles at a variable speed, and controlling The launching device launches projectiles while rotating according to a preset trajectory and controls the movable platform to move along a preset movement path while controlling the launching device to launch projectiles.

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the control terminal described above can refer to the corresponding process in the aforementioned mobile platform control method embodiment, here No longer.

Please refer to FIG. 12, which is a schematic structural diagram of a movable platform provided by an embodiment of the present application. The movable platform 300 includes:

The platform body 310 includes a chassis main body 311 and a pan/tilt main body 312 provided on the chassis main body 311, and the pan/tilt main body 312 is used to carry a camera 314;

Power devices 320, 120 are provided on the chassis body 311, and are used to provide moving power to the platform body 310;

The communication device is arranged on the platform body 310 and is used to communicate with the control terminal.

In an embodiment, the platform body 310 of the movable platform 300 further includes a launching device 313 provided on the chassis main body 311, and the launching device 313 is used to launch projectiles.

The mobile platform 300 includes drones, mobile robots, and pan-tilt vehicles. The drones include rotary wing drones, such as quadrotor drones, hexarotor drones, and octorotor drones. The fixed-wing UAV can also be a combination of a rotary-wing type and a fixed-wing UAV, which is not limited here.

In an embodiment, the movable platform further includes a controller, and the communication device is connected to the controller, wherein:

The communication device is configured to receive the target program code package sent by the control terminal;

The controller is used to implement:

Obtain the target program code package received by the communication device, and load the target program code package.

In an embodiment, the controller is also used to implement:

Acquiring loading progress information of the target program code package;

The loading progress information is sent to the control terminal, so that the control terminal displays a corresponding loading progress bar based on the loading progress information.

In an embodiment, the communication device is further configured to receive a program running instruction sent by the control terminal;

The controller is also used to implement:

Acquiring the program running instruction received by the communication device;

Control the mobile platform to run the target program code package according to the program running instruction, so that the mobile platform executes a corresponding action.

In an embodiment, after the controller obtains the program running instruction received by the communication device, it is further used to implement:

Acquiring current loading progress information of the target program code package, and determining whether the mobile platform has completed loading the target program code package according to the current loading progress information;

If the target program code package is loaded by the movable platform, the movable platform is controlled to run the target program code package according to the program running instruction, so that the movable platform executes a corresponding action.

In an embodiment, the action includes at least one of the following: controlling the movable platform to move at a variable speed, controlling the launching device to launch projectiles at a variable speed, controlling the launching device to rotate according to a preset trajectory while launching projectiles, and controlling the movable platform. The mobile platform controls the launching device to launch projectiles while moving according to the preset moving path.

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the movable platform described above can refer to the corresponding process in the foregoing embodiment of the movable platform control method. This will not be repeated here.

The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation Example provides the steps of the movable platform control method.

The computer-readable storage medium may be the internal storage unit of the control terminal described in any of the foregoing embodiments, such as the hard disk or memory of the control terminal. The computer-readable storage medium may also be an external storage device of the control terminal, such as a plug-in hard disk equipped on the control terminal, a smart memory card (Smart Media Card, SMC), and a secure digital (Secure Digital, SD) ) Card, Flash Card, etc.

It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

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

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

A method for controlling a movable platform, which is characterized in that it comprises:

Obtain the program code download instruction triggered by the user based on the displayed custom programming page, and download the target program code package according to the program code download instruction;

Sending the target program code package to a mobile platform for the mobile platform to load the target program code package;

Acquire a program running instruction triggered by a user, and control the movable platform to run the target program code package according to the program running instruction, so that the movable platform executes a corresponding action.
The mobile platform control method according to claim 1, wherein said acquiring a program code download instruction triggered by a user based on a displayed custom programming page comprises:

Acquiring the user's trigger operation on the code download control in the custom programming page, and displaying the program code package browsing page according to the trigger operation;

Acquire the user's selection operation on the program code package in the program code package browsing page, and generate the program code download instruction of the corresponding program code package according to the selection operation.
The mobile platform control method according to claim 2, wherein the program code download instruction that generates the corresponding program code package according to the selection operation comprises:

Determine the target program code package according to the selection operation, and determine whether the current login account has the download authority of the target program code package;

If the currently logged-in account has the download permission of the target program code package, a program code download instruction of the target program code package is generated.
The mobile platform control method according to claim 3, wherein the determining whether the currently logged-in account has the download permission of the target program code package comprises:

Acquiring the action label of the target program code package, and acquiring the action label list of the currently logged-in account;

If the action tag is located in the action tag list, determining that the currently logged-in account has the download permission of the target program code package;

If the action tag is not in the action tag list, it is determined that the currently logged-in account does not have the download authority of the target program code package.
The mobile platform control method according to claim 3, wherein after the determining whether the currently logged-in account has the download permission of the target program code package, the method further comprises:

If the currently logged-in account does not have the download permission of the target program code package, displaying the payment page of the target program code package;

Obtain the payment password information entered by the user in the payment page, and when the payment password information is verified, generate the program code download instruction of the target program code package.
The mobile platform control method according to claim 2, wherein the program code package browsing page displays a search box; after the program code package browsing page is displayed according to the trigger operation, the method further comprises:

Acquiring a user's click operation on the search box, and displaying an action tag selection window on the program code package browsing page according to the click operation;

Acquire the user's selection operation on the action tag in the action tag selection window, and filter the program code packages in the program code package browsing page according to the selection operation.
The mobile platform control method according to claim 6, wherein the screening of the program code packages in the program code package browsing page according to the selection operation comprises:

Determine the target action label according to the selection operation;

The program code packages in the program code package browsing page are filtered according to the target action tag.
The movable platform control method according to any one of claims 1 to 7, wherein the custom programming page includes a program code programming window; before the target program code package is sent to the movable platform, Also includes:

Displaying the program code in the target program code package in the program code programming window;

Acquiring the user's editing operation on the program code, and updating the program code according to the editing operation;

Acquiring a program code sending instruction triggered by a user based on the program code programming window;

The sending the target program code package to a mobile platform includes:

The updated program code is sent to the movable platform according to the program code sending instruction, so that the movable platform can load the updated program code.
The mobile platform control method according to claim 8, wherein the editing operation includes at least one of the following: program code modification operation, program code deletion operation, program code addition operation, and programming language conversion operation. The language conversion operation is used to convert the programming language of the program code.
The mobile platform control method according to any one of claims 1 to 7, wherein the custom programming page includes a running control; and the obtaining a program running instruction triggered by a user includes:

Acquire a user's trigger operation on the running control, and generate a corresponding program running instruction according to the trigger operation.
The mobile platform control method according to claim 10, wherein said generating a corresponding program running instruction according to said triggering operation comprises:

Acquiring the loading progress information of the target program code package according to the triggering operation, where the loading progress information is used to describe the progress of the mobile platform loading the target program code package;

According to the loading progress information, determine whether the target program code package has been loaded by the mobile platform;

If the target program code package is loaded by the mobile platform, a program running instruction of the target program code package is generated.
The mobile platform control method according to claim 10, wherein the custom programming page includes a loading progress bar of the target program code package, and the loading progress bar is used to describe the loading of the mobile platform. Describe the progress of the target program code package.
The movable platform control method according to any one of claims 1 to 7, wherein the movable platform comprises a launching device, the launching device is used to launch projectiles, and the action includes at least one of the following: control The movable platform moves at a variable speed, controls the launching device to launch projectiles at a variable speed, controls the launching device to launch projectiles while rotating according to a preset trajectory, and controls the movable platform to move along a preset movement path while controlling the launching device to launch projectiles.
A control terminal, characterized in that, the control terminal includes a display device, a memory, and a processor;

The display device is used to display a custom programming page;

The memory is used to store a computer program;

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

Obtain the program code download instruction triggered by the user based on the displayed custom programming page, and download the target program code package according to the program code download instruction;

Sending the target program code package to a mobile platform for the mobile platform to load the target program code package;

Acquire a program running instruction triggered by a user, and control the movable platform to run the target program code package according to the program running instruction, so that the movable platform executes a corresponding action.
The control terminal according to claim 14, wherein when the processor implements the acquisition of the program code download instruction triggered by the user based on the displayed custom programming page, the processor is used to implement:

Acquiring the user's trigger operation on the code download control in the custom programming page, and displaying the program code package browsing page according to the trigger operation;

Acquire the user's selection operation on the program code package in the program code package browsing page, and generate the program code download instruction of the corresponding program code package according to the selection operation.
The control terminal according to claim 15, wherein when the processor implements the program code download instruction for generating the corresponding program code package according to the selection operation, the processor is used to implement:

Determine the target program code package according to the selection operation, and determine whether the current login account has the download authority of the target program code package;

If the currently logged-in account has the download permission of the target program code package, a program code download instruction of the target program code package is generated.
The control terminal according to claim 16, characterized in that, when the processor implements the determining whether the currently logged-in account has the download authority of the target program code package, it is used to implement:

Acquiring the action label of the target program code package, and acquiring the action label list of the currently logged-in account;

If the action tag is located in the action tag list, determining that the currently logged-in account has the download permission of the target program code package;

If the action tag is not in the action tag list, it is determined that the currently logged-in account does not have the download authority of the target program code package.
The control terminal according to claim 16, wherein after the processor implements the determining whether the currently logged-in account has the download authority of the target program code package, it is further configured to implement:

If the currently logged-in account does not have the download permission of the target program code package, displaying the payment page of the target program code package;

Obtain the payment password information entered by the user in the payment page, and when the payment password information is verified, generate the program code download instruction of the target program code package.
The control terminal according to claim 15, wherein the processor realizes that the program code package browsing page displays a search box; after the program code package browsing page is displayed according to the trigger operation, it is also used to realize :

Acquiring a user's click operation on the search box, and displaying an action tag selection window on the program code package browsing page according to the click operation;

Acquire the user's selection operation on the action tag in the action tag selection window, and filter the program code packages in the program code package browsing page according to the selection operation.
The control terminal according to claim 19, wherein when the processor implements the screening of the program code packages in the program code package browsing page according to the selection operation, the processor is used to implement:

Determine the target action label according to the selection operation;

The program code packages in the program code package browsing page are filtered according to the target action tag.
The control terminal according to any one of claims 14 to 20, wherein the custom programming page includes a program code programming window; the processor implements the sending of the target program code package to a mobile platform Previously, it was also used to achieve:

Displaying the program code in the target program code package in the program code programming window;

Acquiring the user's editing operation on the program code, and updating the program code according to the editing operation;

Acquiring a program code sending instruction triggered by a user based on the program code programming window;

The sending the target program code package to a mobile platform includes:

The updated program code is sent to the movable platform according to the program code sending instruction, so that the movable platform can load the updated program code.
The control terminal according to claim 21, wherein the editing operation includes at least one of the following: a program code modification operation, a program code deletion operation, a program code addition operation, and a programming language conversion operation, the programming language conversion operation The programming language used to convert the program code.
The control terminal according to any one of claims 14 to 20, wherein the custom programming page includes a run control; when the processor implements the acquisition of a user-triggered program run instruction, it is used to implement:

Acquire a user's trigger operation on the running control, and generate a corresponding program running instruction according to the trigger operation.
The control terminal according to claim 23, wherein, when the processor realizes that the corresponding program running instruction is generated according to the trigger operation, the processor is used to realize:

Acquiring the loading progress information of the target program code package according to the triggering operation, where the loading progress information is used to describe the progress of the mobile platform loading the target program code package;

According to the loading progress information, determine whether the target program code package has been loaded by the mobile platform;

If the target program code package is loaded by the mobile platform, a program running instruction of the target program code package is generated.
The control terminal according to claim 23, wherein the custom programming page includes a loading progress bar of the target program code package, and the loading progress bar is used to describe that the mobile platform loads the target program The progress of the code package.
The control terminal according to any one of claims 14 to 20, wherein the movable platform comprises a launching device, the launching device is used to launch projectiles, and the action includes at least one of the following: The mobile platform moves at variable speeds, controls the launching device to launch projectiles at variable speeds, controls the launching device to launch projectiles while rotating according to a preset trajectory, and controls the movable platform to move along a preset movement path while controlling the launching device to launch projectiles.
A movable platform, characterized in that, the movable platform includes:

The platform body includes a chassis main body and a pan/tilt main body provided on the chassis main body, and the pan/tilt main body is used to carry a camera device;

A power device, which is provided on the chassis body, and is used to provide moving power to the platform body;

The communication device is arranged on the platform body and is used to communicate with the control terminal.
The movable platform according to claim 27, wherein the movable platform comprises a controller, and the communication device is connected to the controller, wherein:

The communication device is configured to receive the target program code package sent by the control terminal;

The controller is used to implement:

Obtain the target program code package received by the communication device, and load the target program code package.
The movable platform according to claim 28, wherein the controller is further used to implement:

Acquiring loading progress information of the target program code package;

The loading progress information is sent to the control terminal, so that the control terminal displays a corresponding loading progress bar based on the loading progress information.
The mobile platform according to claim 28, wherein the communication device is further configured to receive a program running instruction sent by the control terminal;

The controller is also used to implement:

Acquiring the program running instruction received by the communication device;

Control the mobile platform to run the target program code package according to the program running instruction, so that the mobile platform executes a corresponding action.
The mobile platform according to claim 30, wherein after the controller obtains the program running instruction received by the communication device, it is further used for:

Acquiring current loading progress information of the target program code package, and determining whether the mobile platform has completed loading the target program code package according to the current loading progress information;

If the target program code package is loaded by the movable platform, the movable platform is controlled to run the target program code package according to the program running instruction, so that the movable platform executes a corresponding action.
The movable platform according to claim 30, wherein the movable platform further comprises a launching device, the launching device is used to launch projectiles, and the action includes at least one of the following: controlling the speed of the movable platform Moving and controlling the launching device to launch projectiles at variable speeds, controlling the launching device to launch projectiles while rotating according to a preset trajectory, and controlling the movable platform to move along a preset movement path while controlling the launching device to launch projectiles.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the method described in any one of claims 1-13. The movable platform control method described.