WO2021127942A1 - Procédé de commande de plateforme mobile, terminal de commande, plateforme mobile et support de stockage - Google Patents

Procédé de commande de plateforme mobile, terminal de commande, plateforme mobile et support de stockage Download PDF

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Publication number
WO2021127942A1
WO2021127942A1 PCT/CN2019/127659 CN2019127659W WO2021127942A1 WO 2021127942 A1 WO2021127942 A1 WO 2021127942A1 CN 2019127659 W CN2019127659 W CN 2019127659W WO 2021127942 A1 WO2021127942 A1 WO 2021127942A1
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WIPO (PCT)
Prior art keywords
program code
code package
package
target program
target
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PCT/CN2019/127659
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English (en)
Chinese (zh)
Inventor
袁得永
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.)
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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 CN201980060095.7A priority Critical patent/CN112753013A/zh
Priority to PCT/CN2019/127659 priority patent/WO2021127942A1/fr
Publication of WO2021127942A1 publication Critical patent/WO2021127942A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/30—Creation or generation of source code
    • G06F8/33—Intelligent editors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/30—Creation or generation of source code
    • G06F8/34—Graphical or visual programming
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/30—Creation or generation of source code
    • G06F8/38—Creation or generation of source code for implementing user interfaces
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates
    • 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

Definitions

  • 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.
  • 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.
  • users with weak programming skills cannot write program codes through custom programming functions to control the mobile platform to perform advanced actions.
  • 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.
  • 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.
  • this application provides a method for controlling a movable platform, including:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the movable platform control method includes step S101 to step S103.
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • the exit control is used to control the control terminal to exit the custom programming page.
  • step S101 includes sub-steps S1011 to S1012.
  • 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.
  • the trigger operation includes at least one of the following: a click operation, a double-click operation, and a long-press operation.
  • 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.
  • 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.
  • an external device such as an external mouse or an external keyboard
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the target program code package 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.
  • 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.
  • 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.
  • 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.
  • the zoom control can be dragged and moved, so that the zoom control can be located anywhere on the custom programming page.
  • 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.
  • 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.
  • the program code package browsing page covers the entire display area.
  • the program code package browsing page and zoom controls are displayed in the custom programming page.
  • 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.
  • the action label selection window displays multiple action labels.
  • 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.
  • 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.
  • 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.
  • the target program code package is sent to the mobile platform, so that the mobile platform loads the target program code package.
  • 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.
  • 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.
  • a program code is generated to send an instruction.
  • the custom programming page displays program codes and transmission controls.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the aforementioned shifting interval time can be set based on actual conditions, which is not specifically limited in this application.
  • the shift time interval is 5 seconds
  • 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.
  • the aforementioned shifting interval time can be set based on actual conditions, which is not specifically limited in this application.
  • the shift time interval is 3 seconds.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • FIG. 11 is a schematic block diagram of a control terminal according to an embodiment of the present application.
  • 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.
  • 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.
  • I2C Inter-integrated Circuit
  • 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.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • 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.
  • the display device 203 may be a liquid crystal display screen, a touch-control display screen, or an external display device.
  • 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:
  • 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:
  • the processor 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:
  • the processor 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:
  • 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 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:
  • 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:
  • the processor 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:
  • the program code packages in the program code package browsing page are filtered according to the target action tag.
  • 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:
  • 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 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 .
  • 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:
  • the processor realizes that the corresponding program running instruction is generated according to the trigger operation, it is used to realize:
  • the loading progress information determine whether the target program code package has been loaded by the mobile platform
  • 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 movable platform includes a launching device for launching projectiles
  • 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.
  • FIG. 12 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.
  • 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.
  • 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:
  • controller is also used to implement:
  • 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 communication device is further configured to receive a program running instruction sent by the control terminal;
  • the controller is also used to implement:
  • the controller after the controller obtains the program running instruction received by the communication device, it is further used to implement:
  • 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 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.
  • 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.

Abstract

La présente invention concerne un procédé de commande de plateforme mobile, un terminal de commande, une plateforme mobile et un support de stockage. Le procédé comprend : le téléchargement d'un progiciel de code de programme cible conformément à une instruction de téléchargement de code de programme déclenchée, sur la base d'une page de programmation personnalisée, par un utilisateur ; la commande d'une plateforme mobile pour charger le progiciel de code de programme cible ; et la commande de la plateforme mobile pour exécuter le progiciel de code de programme cible, de telle sorte que la plate-forme mobile effectue une action correspondante. Le procédé améliore la commodité de programmation pour des plateformes mobiles.
PCT/CN2019/127659 2019-12-23 2019-12-23 Procédé de commande de plateforme mobile, terminal de commande, plateforme mobile et support de stockage WO2021127942A1 (fr)

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CN201980060095.7A CN112753013A (zh) 2019-12-23 2019-12-23 可移动平台控制方法、控制终端、可移动平台及存储介质
PCT/CN2019/127659 WO2021127942A1 (fr) 2019-12-23 2019-12-23 Procédé de commande de plateforme mobile, terminal de commande, plateforme mobile et support de stockage

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