WO2021212501A1 - Procédé de génération de trajectoire, terminal de commande à distance, plateforme mobile, système et support de stockage lisible par ordinateur - Google Patents

Procédé de génération de trajectoire, terminal de commande à distance, plateforme mobile, système et support de stockage lisible par ordinateur Download PDF

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Publication number
WO2021212501A1
WO2021212501A1 PCT/CN2020/086795 CN2020086795W WO2021212501A1 WO 2021212501 A1 WO2021212501 A1 WO 2021212501A1 CN 2020086795 W CN2020086795 W CN 2020086795W WO 2021212501 A1 WO2021212501 A1 WO 2021212501A1
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WIPO (PCT)
Prior art keywords
trajectory
movable platform
track
user
control
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PCT/CN2020/086795
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English (en)
Chinese (zh)
Inventor
温亚停
方馨月
雷蔚然
杜劼熹
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 PCT/CN2020/086795 priority Critical patent/WO2021212501A1/fr
Priority to CN202080038598.7A priority patent/CN113874806A/zh
Publication of WO2021212501A1 publication Critical patent/WO2021212501A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the embodiment of the present invention relates to the field of human-computer interaction technology, and in particular to a trajectory generation method, a remote control terminal, a movable platform, a system, and a computer-readable storage medium.
  • mobile platforms such as mobile robots, drones, etc.
  • mobile platforms can be used in inspections or security fields, and can be controlled according to pre-edited Drive on the driving track, so as to realize the intelligent search and inspection process, which significantly reduces the labor cost and improves the inspection efficiency.
  • the first is a map-based trajectory editing method, which edits the trajectory on the map provided by the map software.
  • this method does not take into account that the current map service providers who provide services to the outside world are slow to update the map, and the actual situation may not match the map; and when the edited trajectory is too long or the related parameters are set too much, the user may need to spend For a lot of time, the user experience is not good in trajectory editing and related parameter setting; further, the user cannot see the effect of the edited driving trajectory execution, and needs to try driving and adjusting for many times.
  • the second is the trajectory editing method based on the 3D model, modeling the target area to obtain the 3D model, and then editing the trajectory and setting related parameters on the 3D model.
  • this method needs to be based on the 3D model.
  • the trajectory editing effect is good, it takes a high time and cost, and the requirements for equipment are also very high, and the complexity of 3D modeling is also high; and when the edited trajectory is over When it is too long or the related parameters are set too much, the user may need to spend a lot of time on track editing and related parameter setting, and the user experience is not good.
  • the embodiment of the present invention provides a trajectory generation method, a remote control terminal, a movable platform, a system, and a computer-readable storage medium.
  • the first aspect of the embodiments of the present invention is to provide a trajectory generation method, which is applied to a remote control terminal, and the remote control terminal is used to communicate with a movable platform, including:
  • a track point is generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded;
  • a trajectory of the movable platform is generated according to a plurality of the trajectory points and corresponding state parameters, and the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory.
  • the second aspect of the embodiments of the present invention is to provide a remote control terminal, including a processor, a memory for storing executable instructions of the processor, and a communication module;
  • the processor executes the executable instruction, it is used to: display a designated control on the interactive interface;
  • the communication module is configured to communicate with a movable platform, and during the movement of the movable platform, in response to a user's operation of the designated control, obtain the current position of the movable platform from the movable platform And the current status parameters;
  • a trajectory of the movable platform is generated according to a plurality of the trajectory points and corresponding state parameters, and the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory.
  • the third aspect of the embodiments of the present invention is to provide a trajectory generating device, which is applied to a remote control terminal.
  • the device includes one or more processors, which work individually or together, and are used to perform the following operations:
  • a track point is generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded;
  • the trajectory of the movable platform is generated according to a plurality of the trajectory points and corresponding state parameters, and the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory It is used to enable the movable platform to move according to the track points and state parameters corresponding to the track.
  • the fourth aspect of the embodiments of the present invention is to provide a trajectory generation system, including a remote control terminal and a movable platform.
  • the remote control terminal is in communication connection with the movable platform;
  • the remote control terminal displays the designated control on the interactive interface, and in response to the user's operation of the designated control, obtains the current position and state parameters of the movable platform from the movable platform, and according to the current status of the movable platform
  • the position generates track points, and records the current state parameters of the movable platform; generates a track of the movable platform according to a plurality of the track points and corresponding state parameters, and the track is used to enable the movable platform to The movement is performed according to the track points and state parameters corresponding to the track.
  • a fifth aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect.
  • the trajectory generation method, remote control terminal, movable platform, system, and computer-readable storage medium can be executed in the process of movable motion.
  • the user can operate the designated control, and the operation is simple and easy to use.
  • the current position and state parameters of the movable device can be directly obtained from the movable device in real time, and then according to the movable device
  • the current position of the platform generates trajectory points and records the current state parameters of the movable platform, which not only ensures the accuracy of the acquired information, but also does not require manual editing by the user, which further reduces the user’s operation steps and facilitates the user’s use.
  • a plurality of the trajectory points and corresponding state parameters generate the trajectory of the movable platform, so that the movable platform can automatically perform inspection tasks or security tasks based on the generated trajectory.
  • the automated process is beneficial to improve inspections. Efficiency also reduces manual repetitive operations during subsequent operations.
  • FIG. 1 is a structural diagram of a trajectory generation system provided by an embodiment of the application
  • Figure 2 is a structural diagram of an unmanned aerial system provided by an embodiment of the application.
  • FIG. 3 is a schematic flowchart of a method for generating a trajectory according to an embodiment of the application
  • FIG. 4 is a schematic diagram of the first interactive interface provided by an embodiment of this application.
  • FIG. 5 is a schematic diagram of a second interactive interface provided by an embodiment of the application.
  • FIG. 6 is a schematic diagram of a third interactive interface provided by an embodiment of the application.
  • FIG. 7 is a schematic diagram of a fourth interactive interface provided by an embodiment of the application.
  • FIG. 8 is a schematic diagram of a fifth interactive interface provided by an embodiment of the application.
  • FIG. 9 is a schematic diagram of a sixth interactive interface provided by an embodiment of the application.
  • FIG. 10 is a schematic diagram of a seventh interactive interface provided by an embodiment of this application.
  • FIG. 11 is a schematic diagram of an eighth interactive interface provided by an embodiment of this application.
  • FIG. 12 is a schematic diagram of a ninth interactive interface provided by an embodiment of this application.
  • FIG. 13 is a schematic diagram of a tenth interactive interface provided by an embodiment of this application.
  • FIG. 14 is a schematic diagram of an eleventh interactive interface provided by an embodiment of this application.
  • 15 is a schematic diagram of a twelfth interactive interface provided by an embodiment of this application.
  • FIG. 16 is a schematic diagram of a thirteenth interactive interface provided by an embodiment of this application.
  • FIG. 17 is a schematic diagram of a fourteenth interactive interface provided by an embodiment of this application.
  • FIG. 18 is a schematic diagram of a fifteenth interactive interface provided by an embodiment of this application.
  • FIG. 19 is a schematic diagram of a sixteenth interactive interface provided by an embodiment of this application.
  • 20 is a schematic diagram of a seventeenth interactive interface provided by an embodiment of this application.
  • FIG. 21 is a schematic diagram of an eighteenth interactive interface provided by an embodiment of this application.
  • FIG. 22 is a schematic diagram of the trajectory of a movable platform provided by an embodiment of the application.
  • FIG. 23 is a schematic structural diagram of a remote control terminal provided by an embodiment of the present invention.
  • 24 is a schematic structural diagram of another remote control terminal provided by an embodiment of the present invention.
  • FIG. 25 is a schematic structural diagram of another trajectory generation system provided by an embodiment of the present invention.
  • a component when referred to as being "fixed to” another component, it can be directly on the other component or a centered component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to the other component or there may be a centered component at the same time.
  • embodiments of the present application provide a trajectory generation method, a remote control terminal, a movable platform, a system, and a computer-readable storage medium.
  • the trajectory can be edited during the movement of the movable platform, and the current position of the movable platform can be obtained according to the user's operation to generate trajectory points and record the current state parameters of the movable platform.
  • the trajectory points and corresponding state parameters generate the trajectory of the movable platform. It can be seen that this embodiment can edit the trajectory while the user controls the movable platform to perform a certain inspection task through the remote control terminal.
  • the trajectory points are generated according to the position of the movable platform in real time, the accuracy of the trajectory of the movable platform is guaranteed. Further, the parameters related to the trajectory (that is, the state parameters) can be obtained from the movable platform without the user's manual setting, which significantly reduces the user's operation steps and further facilitates the user.
  • FIG. 1 is a structural diagram of a trajectory generating system provided by an embodiment of this application.
  • the trajectory generating system includes at least a trajectory generating device 11 and at least one movable platform 12, and the trajectory generating device 11 includes one or more One or more processors work cooperatively or independently.
  • the processors are used to implement the trajectory generation method.
  • the trajectory generation device 11 can be installed on the remote control terminal.
  • the remote control terminal includes but not Limited to mobile phones, computers, personal tablets, remote controls, personal digital assistants (PDAs) or wearable devices, etc.
  • the remote control terminal is in communication connection with the movable platform.
  • the movable platform 12 includes, but is not limited to, unmanned aerial vehicles, unmanned vehicles, unmanned boats, or mobile robots.
  • Figure 1 uses the movable platform as An example of an unmanned aerial vehicle is illustrated.
  • the unmanned aerial vehicle may be a small or large unmanned aerial vehicle.
  • the unmanned aerial vehicle may be a rotorcraft, for example, a multi-rotor unmanned aerial vehicle propelled by a plurality of propelling devices through the air.
  • the embodiments of the present application are not limited to this, the unmanned aerial vehicle It can also be other types of unmanned aerial vehicles.
  • Fig. 2 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application.
  • a rotary wing unmanned aerial vehicle is taken as an example for description.
  • the unmanned aerial vehicle 100 may include an unmanned aerial vehicle 110, a display device 130 and a remote control terminal 140.
  • the unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame.
  • the UAV 110 can wirelessly communicate with the remote control terminal 140 and the display device 130.
  • the unmanned aerial vehicle 110 may be an agricultural unmanned aerial vehicle or an unmanned aerial vehicle for industrial applications, and there is a need for cyclic operation.
  • the frame may include a fuselage and a tripod (also called a landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame.
  • the tripod is connected to the fuselage, and is used for supporting the UAV 110 when it lands.
  • the power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the unmanned aerial vehicle 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152.
  • ESCs electronic governors
  • the motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the UAV 110, and the power enables the UAV 110 to realize the movement of one or more degrees of freedom.
  • UAV 110 may rotate about one or more rotation axes.
  • the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch).
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brushed motor.
  • the flight control system 160 may include a flight controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the unmanned aerial vehicle, that is, the position information and state information of the unmanned aerial vehicle 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be the Global Positioning System (GPS).
  • the flight controller 161 is used to control the flight of the unmanned aerial vehicle 110.
  • the flight of the unmanned aerial vehicle 110 can be controlled according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the unmanned aerial vehicle 110 according to pre-programmed program instructions, and can also control the unmanned aerial vehicle 110 by responding to one or more remote control signals from the remote control terminal 140.
  • the pan/tilt head 120 may include a motor 122.
  • the pan/tilt is used to carry the camera 123.
  • the flight controller 161 can control the movement of the pan/tilt 120 through the motor 122.
  • the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122.
  • the pan/tilt 120 may be independent of the unmanned aerial vehicle 110 or a part of the unmanned aerial vehicle 110.
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the pan/tilt may be located on the top of the unmanned aerial vehicle or on the bottom of the unmanned aerial vehicle.
  • the photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller.
  • the imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 can also be directly fixed on the UAV 110, so the pan/tilt 120 can be omitted.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge-coupled Device
  • the display device 130 is located on the ground end of the unmanned aerial vehicle 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used to display the attitude information of the unmanned aerial vehicle 110.
  • the image photographed by the photographing device 123 may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the remote control terminal 140.
  • the remote control terminal 140 is located on the ground end of the unmanned aerial vehicle 100 and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remote control of the unmanned aerial vehicle 110.
  • FIG. 3 is a flowchart of a method for generating a trajectory according to an embodiment of this application
  • FIG. 4 is a schematic diagram of an interactive interface provided by an embodiment of this application.
  • the trajectory generation method can be applied to a remote control terminal, the remote control terminal is used to communicate with a movable platform, and the method includes:
  • step S201 a designated control is displayed on the interactive interface of the remote control terminal.
  • step S202 during the movement of the movable platform, in response to the user's operation of the designated control, a track point is generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded .
  • a trajectory of the movable platform is generated according to a plurality of the trajectory points and corresponding state parameters, and the trajectory is used to enable the movable platform to follow the trajectory points and state parameters corresponding to the trajectory Exercise.
  • the remote control terminal includes a display device, and the display device includes, but is not limited to, a CRT (Cathode Ray Tube) display device, an LCD (liquid crystal) display device, and an LED (light emitting diode).
  • Display device PDP (Plasma Display Panel, plasma display) display device, or OLED (Organic Light-Emitting Diode, organic light emitting semiconductor) display device.
  • an interactive interface may be displayed on the display device, and the user can control the remote control terminal and/or the movable platform through an interactive process with the interactive interface, wherein, and/or indicate both Or one of the two.
  • the remote control terminal can display designated controls on the interactive interface, the designated controls are used to instruct to generate track points, and the user can operate the designated controls to generate track points step.
  • the operation on the designated control includes at least one of the following: single-click, double-click, long press, and drag the designated control.
  • the user can implement the operation of the designated control in any of ways such as single-click, double-click, long-press, or drag, which is not limited in this embodiment.
  • the function of the designated control can also be integrated into a physical button.
  • the user can operate the physical button by clicking, double-clicking, long-pressing, or dragging.
  • the example does not impose any restrictions on this.
  • step S202 the user can control the movement of the movable platform through the remote control terminal, for example, can control the movement or rotation of the movable platform, and during the movement of the movable platform, the user can control the designated control Operation, the remote control terminal can obtain its current position and current state parameters from the movable platform in response to the user’s operation of the designated control, and then generate a track point according to the current position of the movable platform, And record the current state parameters of the movable platform. It can be seen that when generating track points in this embodiment, the user only needs to operate the designated controls.
  • the operation is simple, and the relevant parameter information can be directly obtained from the mobile device in real time, which not only ensures the accuracy of the obtained parameter information, but also And no manual editing by the user is required, which further reduces the user's operation steps and facilitates the user's use.
  • the movable platform is provided with a positioning module, and the positioning module is used to obtain the current position of the movable platform;
  • the positioning technology applied by the positioning module includes but not limited to GPS (Global Positioning System, Global Positioning System) Positioning technology, RTK (Real-time kinematic, real-time dynamic) positioning technology, or GNSS (Global Navigation Satellite System, global satellite navigation system) positioning technology, this embodiment does not impose any limitation on this.
  • the state parameter of the movable platform includes at least one of the following: the state parameter of the movable platform, the state parameter of the platform installed on the movable platform, or the status parameter of the platform installed on the platform and/or the platform State parameters of the camera on the mobile platform.
  • the state parameter of the movable platform includes at least one of the following: the current posture, position, height, velocity, acceleration, angular velocity, or angular acceleration of the movable platform.
  • the pan/tilt may be fixedly installed on the movable platform, or may be detachably installed on the movable platform.
  • the state parameter of the pan/tilt head includes at least one of the following: a rotation speed, a rotation angle, a posture, a joint angle, or an orientation of the pan/tilt head.
  • the joint angle to the angle at which the pan/tilt axis of the pan/tilt rotates around a designated rotation axis.
  • the photographing device can be installed on the pan/tilt (fixed installation or detachable installation), or on the movable platform (fixed installation or detachable installation).
  • the state parameter of the photographing device includes at least one of the following: photographing action, shutter speed, aperture, sensitivity, or focal length performed by the photographing device.
  • the above description of the state parameters of the movable platform is only an example, and does not constitute a limitation on the state parameters of the movable platform. Specific settings can be made according to actual application scenarios, such as the When the movable platform is an unmanned aerial vehicle, the state parameters of the unmanned aerial vehicle also include flying height.
  • each time a track point is generated the generated track point can be displayed on the interactive interface, and there is no need to wait for the generated track to be displayed again, so that the user can be real-time See and understand the generation of track points, and optimize the user's perception experience.
  • the remote control terminal may generate the trajectory of the movable platform according to the multiple trajectory points and corresponding state parameters.
  • the trajectory point and the trajectory are displayed on the interactive interface. It can be seen that this embodiment can execute the trajectory generation method while the user is operating the movable platform to perform a patrol or security task in the target area.
  • the user only needs to specify the control
  • the operation is simple and easy to use.
  • the relevant parameter information can be obtained directly from the mobile device in real time, which not only ensures the accuracy of the obtained parameter information, but also does not require the user to edit manually, which further reduces the user's operation steps and is convenient for the user usage of.
  • the following movable platform can automatically perform inspection tasks or security tasks based on the generated trajectory.
  • the automated process is conducive to improving inspection efficiency and also reduces manual repetitive operations during subsequent operations.
  • the trajectory generation method of the embodiment of the present application can be applied to this scenario, and the The trajectory of the movable platform in a certain area.
  • the movable platform can move according to the trajectory points and state parameters corresponding to the trajectory, and realize the trajectory replay process in this area , That is, automatic inspection tasks are performed according to the trajectory, which is beneficial to improve inspection efficiency and reduce repetitive work of inspection personnel.
  • FIG. 5 is a schematic diagram of a second interactive interface provided by an embodiment of the present application
  • FIG. 6 is a schematic diagram of a third interactive interface provided by an embodiment of the present application.
  • the interactive interface includes a first display page and a second display page.
  • the first display page and the second display page may not be displayed on the interactive interface at the same time; of course, based on According to actual needs of the user, the first display page and the second display page may also be displayed on the interactive interface at the same time, which is not limited in the embodiment of the present application.
  • a first display page is displayed on the interactive interface, and the first display page is used to display a real-time picture (picture transmission picture) acquired by the camera during the movement of the movable platform ), the designated control is displayed on the first display page; in this embodiment, since the first display page displays a real-time picture of the current position of the movable platform, it is convenient for the user to clearly confirm whether to generate and The track point related to the current position of the mobile platform, the designated control is displayed on the first display page, which can further facilitate the user's operation. When the user confirms that the track point is to be generated, the user can directly operate the track point on the same display page. Specify controls to avoid cumbersome operations that users need to switch pages, reduce user operation steps, and optimize user experience.
  • the designated control can be superimposed on the real-time screen for display; in an example, the designated control and the real-time screen are also displayed on the first display page. It can be displayed separately, for example, the designated control is displayed in the left area, and the real-time image is displayed in the right area.
  • This application does not impose any restrictions on the display mode of the designated control and the real-time screen on the first display page, and specific settings can be made according to actual application scenarios.
  • the current position information of the movable platform such as latitude and longitude information, the current speed of the movable platform, the distance to the remote control terminal, or the flying height, can also be displayed on the first display screen, which is convenient The user further understands the current state of the mobile platform.
  • the second display page is used to display a map screen of the target area where the movable platform is located, and the track points and the track are displayed on the map screen.
  • the target area can be set by the user, or it can be an area within a specified range centered on the movable platform, which is not limited in this embodiment.
  • the trajectory points and the trajectory are displayed on the map screen, allowing the user to intuitively understand the overall distribution of the trajectory points and the trajectory in the target area, which is beneficial to improve The user’s perception and experience.
  • each time a track point is generated the track point can be displayed on the display page, and there is no need to wait until the track is generated before displaying, so that the user can see and understand the generation of the track point in real time , Optimize the user's perception experience.
  • the page switching control for switching to the second display page may be displayed on the first display page, and the page switching control for switching to the first display page may be displayed on the second display page, thereby It is convenient for users to switch between the two display pages through the page switching control.
  • the interactive interface may further include a zoom indicating the first display page.
  • the thumbnail and the thumbnail indicating the second display page, the thumbnail indicating the second display page is displayed while the first display page is displayed, and the thumbnail indicating the second display page is displayed while the second display page is displayed. Displaying the thumbnail of the page helps to improve the user's viewing experience.
  • the thumbnails indicating the first display page and the thumbnails indicating the second display page may also be displayed.
  • the page switching control may not be displayed in the thumbnail, but may be displayed in other positions in the interactive interface, and the embodiment of the present application does not impose any limitation on this.
  • the thumbnail can be set to have a page switching function.
  • the user can switch between the first display page and the second display page in response to the user's operation on the thumbnail. For example, clicking the thumbnail indicating the first display page can display the first display page, and clicking the thumbnail indicating the second display page can display the second display page.
  • the operation on the thumbnail includes at least one of the following: single click, double click, long press, drag or slide the thumbnail.
  • the user can implement the operation on the thumbnail image by any one of methods such as single click, double click, long press, sliding or dragging, which is not limited in this embodiment. Please refer to FIG. 7 and FIG. 8. FIG.
  • FIG. 7 is a schematic diagram of a fourth interactive interface provided by an embodiment of the present application
  • FIG. 8 is a schematic diagram of a fifth interactive interface provided by an embodiment of the present application.
  • Figures 7 and 8 take the page switching control displayed on the thumbnail as an example for illustration:
  • the remote control terminal may respond to the user's operation of the page switching control on the thumbnail indicating the second display page, and then display the second display page and instruct the first display page in FIG. Show the thumbnail of the page.
  • the page switching control can facilitate the user to switch between the first display page and the second display page.
  • this application does not impose any restriction on the display mode between the thumbnail indicating the first display page and the second display page, and specific settings can be made according to actual application scenarios.
  • the thumbnail indicating the first display page is superimposed on the second display page.
  • the thumbnail indicating the first display page is displayed separately from the second display page, for example, the thumbnail indicating the first display page is displayed on the left, and the second display page is displayed on the right. 2. Display page etc.
  • the operation of the page switching control on the thumbnail indicating the second display page includes at least one of the following: single-click, double-click, long-press, and drag the page switching control.
  • the user can implement the operation of the page switching control in any manner such as single-click, double-click, long-press, or dragging, which is not limited in this embodiment.
  • the remote control terminal may respond to the user's operation of the page switching control on the thumbnail indicating the first display page, and then display the first display page and instruct the second display page in FIG. Show the thumbnail of the page.
  • the page switching control can facilitate the user to switch between the first display page and the second display page.
  • the present application does not impose any restriction on the display mode between the thumbnail indicating the second display page and the first display page, and specific settings can be made according to actual application scenarios.
  • the thumbnail indicating the second display page is superimposed on the first display page.
  • the thumbnail indicating the second display page is displayed separately from the first display page, for example, the thumbnail indicating the second display page is displayed on the left, and the second display page is displayed on the right. One displays the page, etc.
  • the operation of the page switching control on the thumbnail indicating the first display page includes at least one of the following: single-click, double-click, long-press, and drag the page switching control.
  • the user can implement the operation of the page switching control in any manner such as single-click, double-click, long-press, or dragging, which is not limited in this embodiment.
  • the interactive interface may include multiple first display pages, and each of the first display pages displays one of them.
  • the user can select one of the first display pages to view the real-time images acquired by a certain camera according to actual needs, or display multiple first display pages on the interactive interface, so as to The real-time images acquired by each camera can be viewed from each first display page, thereby assisting the user to quickly determine whether to generate a track point, and further facilitating the user's use.
  • FIG. 9 is a schematic diagram of a sixth interactive interface provided by an embodiment of the present application.
  • the interactive interface includes two first display pages and one second display page as an example for illustration: two first display pages and a second display page. Pages may be displayed on the interactive interface at the same time, or may not be displayed on the interactive interface at the same time. Both the first display page and the second display page have corresponding thumbnails, and page switching controls are displayed on the thumbnails.
  • the remote control terminal responds to the user's operation of the page switching control on the thumbnail indicating one of the first display pages, as shown in FIG. 9, displays the first display page and instructs another one of the first display pages.
  • the thumbnail of the display page indicating the thumbnail of the second display page.
  • this application does not impose any restrictions on the display mode between the first display page and the thumbnail indicating the other first display page, and the thumbnail indicating the second display page, which can be based on Make specific settings for actual application scenarios.
  • the thumbnail indicating another of the first display page and the thumbnail indicating the second display page are superimposed on the first display page.
  • the first display page and the thumbnail indicating the other first display page and the thumbnail indicating the second display page may also be displayed separately and independently, for example, indicating another first display page.
  • the thumbnail of the display page is displayed on the left side of the interactive interface, one of the first display pages is displayed in the middle, and the thumbnail indicating the second display page is displayed on the right.
  • FIG. 10 is a schematic diagram of a seventh interactive interface provided by an embodiment of this application.
  • the designated control includes a first control and the second control. Both the first control and the second control are displayed on the interactive interface.
  • the first control and the second control are The controls are used to indicate the generation of the track point.
  • the first control and the control can be displayed on the first display page.
  • the user confirms that the track point is to be generated, the user can directly operate in the same Displaying the first control or the second control on the page avoids cumbersome operations caused by the user's need to switch pages, reduces the user's operation steps, and optimizes the user's use experience.
  • the first control and the second control may not be displayed on the first display page, which is not limited in this embodiment.
  • the second control is also used to instruct the camera on the movable platform to take a picture.
  • the second control is a shooting control, that is to say, the remote control terminal can obtain the user's operation on the shooting control, and then respond to the user's operation on the shooting control, according to the The current position of the mobile platform generates track points, records the current state parameters of the mobile platform, and controls the camera on the mobile platform to take pictures to obtain one or more images and/or videos, and generate The track point corresponds to the image and/or video.
  • the remote control terminal generates track points according to the current position of the movable platform in response to the user's operation of the first control, and records the current state parameters of the movable platform
  • the state parameter of the movable platform includes at least one of the following: the current position, posture, height, speed, acceleration, angular velocity or angular acceleration of the movable platform.
  • the operation on the first control includes at least one of the following: single-click, double-click, long-press, and drag the first control.
  • the user can perform the operation on the first control in any manner such as single-click, double-click, long-press, or drag, which is not limited in this embodiment.
  • the remote control terminal may first detect whether the current position of the movable platform has The corresponding track point, if it is, no new track point is generated.
  • a prompt message can be displayed on the interactive interface. The prompt message is used to remind the user that the current position of the movable platform has generated a corresponding Do not generate track points repeatedly.
  • the remote control terminal generates track points according to the current position of the movable platform in response to the user's operation of the second control, and records the current state parameters of the movable platform And the state parameters of the shooting device, and controlling the shooting device to shoot the picture to obtain one or more images and/or videos corresponding to the track point.
  • the state parameters of the movable platform include at least one of the following: the current posture, position, height, rotation direction, speed, acceleration, angular velocity, or angular acceleration of the movable platform;
  • the state parameters of the photographing device include the following At least one item: the photographing action, shutter speed, aperture, sensitivity, or focal length performed by the photographing device.
  • the shooting action includes, but is not limited to, taking a picture, video recording, or ending video recording, etc.
  • the remote control terminal may also record the attitude parameters of the pan/tilt.
  • the state parameter of the pan/tilt head includes at least one of the following: a rotation speed, posture, rotation angle, joint angle, or orientation of the pan/tilt head.
  • the operation on the second control includes at least one of the following: single-click, double-click, long-press, and drag the second control.
  • the user can implement the operation of the second control in any manner such as clicking, double-clicking, long-pressing, or dragging, which is not limited in this embodiment.
  • the remote control terminal may first detect whether the current position of the movable platform has a corresponding If yes, no new trajectory point is generated, that is, the function of generating the trajectory point is not in response to the instructions of the second control. However, the remote control terminal can still control the position in response to the operation of the second control by the user.
  • the shooting device on the movable platform shoots the picture, obtains an image and/or video, and corresponds the image and/or video with the track point of the current position of the movable platform, and records the shooting State parameters when the device shoots the picture.
  • the remote control terminal may also record the attitude parameters of the pan/tilt.
  • the shooting device is installed on the pan/tilt
  • the remote control terminal may also record the attitude parameters of the pan/tilt.
  • one or more images and/or videos on a track point, one or more state parameters of the corresponding shooting device, and/or one or more state parameters of the corresponding pan/tilt can be acquired.
  • the user can shoot multiple images and/or videos on the same track point according to actual needs, so as to meet the user's personalized needs and help optimize the user's experience.
  • the second control is specifically used to instruct one of the photographing devices to take the picture at the same time, and to indicate different photographing devices at different times. Take the picture.
  • the remote control terminal can control different shooting devices to shoot in response to the user's operation of the second control, and obtain one or more images and/or videos corresponding to the track point.
  • multiple photographing devices are provided, so that the user can select one of the photographing devices to take pictures according to actual needs, so as to meet the user's personalized needs and help improve the user's experience.
  • the photographing device is installed on the pan/tilt
  • the number of the pan/tilt is also multiple, in order to distinguish which photographing device and pan/tilt acquired the image and/or video
  • the remote control terminal also needs to record the identification of the photographing device and/or pan/tilt corresponding to the image and/or video, and the identification is used to indicate the photographing device and/or the pan/tilt.
  • FIG. 11 is a schematic diagram of an eighth interactive interface provided by an embodiment of this application.
  • a display for indicating the images and/or videos may be displayed in the vicinity of the track points. Thumbnail;
  • the track point and the track are displayed on the second display page, as shown in FIG. 11, the corresponding thumbnail is displayed in the attachment of the first track point.
  • the thumbnail indicating the image and/or video the user can intuitively understand the shooting situation corresponding to each track point, and improve the user's visual experience.
  • the track point can be displayed on the interactive interface, and when the image and/or video corresponding to the track point is obtained, the instruction Thumbnails of images and/or videos are displayed in the vicinity of the track point on the interactive interface, without waiting for the track to be displayed before being displayed, which helps the user to understand the generation of the track point in time, and is beneficial to optimize the user experience.
  • each image or video corresponds to a thumbnail; when the track point corresponds to multiple images and/or videos, multiple thumbnails corresponding to the multiple images and/or videos are displayed near the track point area.
  • FIG. 12 is a schematic diagram of a ninth interactive interface provided by an embodiment of this application.
  • FIG. 12 is a schematic diagram of a ninth interactive interface provided by an embodiment of this application.
  • multiple images and/or Multiple thumbnails corresponding to the video are superimposed and displayed in the vicinity of the track point.
  • the thumbnail corresponding to the third track point is superimposed and displayed.
  • multiple thumbnails corresponding to multiple images and/or videos can also be displayed separately. For example, the track point is displayed in the vicinity of the track point around the track point. This embodiment is not enough for this. limit.
  • the trajectory parameters related to the trajectory may also be displayed on the interactive interface.
  • the trajectory of the movable platform is displayed on a second display page, and the trajectory parameters related to the trajectory are also displayed on the second display page.
  • the trajectory of the movable platform and the trajectory parameters related to the trajectory may not be displayed on the second display page, but displayed on the interactive interface in other ways. Do not make any restrictions.
  • the trajectory parameter may include at least one of the following: the length of the trajectory, the driving time of the trajectory, the number of trajectory points included in the trajectory, or the total number of images and/or videos corresponding to all the trajectory points.
  • the content included in the trajectory parameter is only an example, and may also include other content such as the geographic location of the trajectory, etc., which can be specifically set according to actual application scenarios, and the embodiment of the present application does not impose any limitation on this .
  • FIG. 13 is a schematic diagram of a tenth interactive interface provided by an embodiment of this application.
  • the user can also edit the image and/or video according to actual needs.
  • Figure 13 on the interactive interface.
  • An image editing control is displayed, and the image editing control is used to indicate that the image or video can be edited; optionally, since the track point, the track, and the image corresponding to the track point are displayed on the second display page And/or the thumbnail of the video, for the convenience of the user, the image editing control may be displayed on the second display page.
  • the image editing control may not be displayed on the second display page, and the embodiment of the present application does not impose any limitation on this.
  • the remote control terminal may display a third display page for editing images or videos on the interactive interface in response to the user's operation of the image editing controls;
  • the target image or target video to be edited determined in one or more images or videos corresponding to the track point is displayed on the third display page.
  • the embodiment of the present application does not display any display mode of the third display screen, and specific settings can be made according to actual application scenarios.
  • the third display screen may be displayed on the interactive interface in full screen.
  • the third display page may be superimposed and displayed on the second display page in a non-full screen manner.
  • FIG. 14 is a schematic diagram of an eleventh interactive interface provided by an embodiment of this application.
  • FIG. 14 takes the full-screen display of the third display screen as an example for illustration: the third display page shown in FIG. 14 may be displayed with partial thumbnails for indicating images and/or videos, and the displayed thumbnails The number is determined based on the size of the third display screen and the size of the thumbnail.
  • the user can view other thumbnails by dragging, sliding, etc., that is, the remote control terminal can respond to the user’s
  • the drag and slide operations performed in the area where some of the thumbnails are located will display the thumbnails of other parts.
  • the target image or target video to be edited may be selected through the thumbnail and displayed on the third display screen; the remote control terminal may respond to the user's Third, the operation of displaying the thumbnail on the page, displaying the target image or the target video corresponding to the thumbnail on the third display page.
  • the operation on the thumbnail on the third display page includes at least one of the following: single-click, double-click, long-press, and drag the thumbnail on the third display page.
  • the user can perform operations on the thumbnails on the third display page by clicking, double-clicking, long-pressing, or dragging, which is not limited in this embodiment.
  • the user can operate on the target image or target video, and the remote control terminal responds to In the operation, the thumbnail is hidden, so that the user can finish seeing the target image or target video.
  • the operation includes but is not limited to any one of single-click, double-click, or long-press.
  • an image switching control may also be displayed on the third display page.
  • the image switching control indicates that it can be displayed in the third display. Switch images or videos on the page to display the previous image or video, or the next image or video, so that the user can switch to the previous image or video, or the next image or video through the image switching control according to actual needs edit.
  • FIG. 15 is a schematic diagram of a twelfth interactive interface provided by an embodiment of this application.
  • the remote control terminal responds to a user's frame selection operation on one or more positions in the target image or target video, and displays a selection frame at the position; the selection frame Used to frame the shooting target of this shooting.
  • the image area corresponding to the selection frame is used to search for the same shooting target for shooting when the subsequent replay is performed according to the trajectory.
  • the functions of the selection box include, but are not limited to: rotating the selection box, zooming the selection box, and canceling the selection box. Specific operations can be performed according to actual application scenarios; optionally, as shown in FIG.
  • the selection box The functions provided can be set in the surrounding positions of the selection box, so as to facilitate the user to directly operate; of course, the functions provided by the selection box may also be set in other positions, and the embodiment of the present application does not impose any limitation on this .
  • FIG. 16 is a schematic diagram of the thirteenth interactive interface provided by an embodiment of this application.
  • a save control is displayed on the third display page, and the save control is used to save the selection box; the remote control terminal saves all of the target image or target video in response to the user's operation of the save control.
  • the check box is described, and a specific mark for indicating the check box is displayed on the thumbnail used to indicate the target image or target video, for example, "+" is displayed in FIG. 16.
  • the specific mark allows the user to quickly determine the image and/or video that has been selected by the frame, avoiding repeated confirmation processes, and improving the editing efficiency of the image and/or video.
  • the operation on the save control includes at least one of the following: single-click, double-click, long press, and drag the save control.
  • the user can implement the operation of the save control in any manner such as single-click, double-click, long-press, or drag, which is not limited in this embodiment.
  • the remote control terminal may obtain the image at the selected frame from the target image or the target video after the user selects the target image and/or the shooting target on the target video, and Recognize the image at the marquee (for example, a semantic segmentation algorithm) to obtain the shooting target, and the remote control terminal can record information indicating the shooting target (it may be the image data at the marquee, For example, the image feature extracted from the image at the selection frame, etc.), so that the same shooting target can be found for shooting when the follow-up replay is performed according to the trajectory; the shooting target is used to assist the movable platform according to the The trajectory point and the shooting task performed by the trajectory.
  • the shooting target may be the image data at the marquee, For example, the image feature extracted from the image at the selection frame, etc.
  • a trajectory saving control is also displayed on the interactive interface, and the trajectory saving control is used to generate the trajectory of the movable platform according to the trajectory and corresponding state parameters. Then, in response to the user's operation of the trajectory saving control, the trajectory of the movable platform can be generated according to a plurality of the trajectory points and corresponding state parameters.
  • the operation of the track saving control includes but is not limited to operations such as single click, double click, long press, or sliding.
  • the track save control is displayed on the second display page. After all the track points are generated, the user can directly operate the track save control on the same page to obtain the The trajectory of the movable platform further facilitates the use of users.
  • the user may edit the image corresponding to the track point according to actual needs, and the image may be displayed on the third display page.
  • the track save control after the user finishes editing the image, the track save control on the same page can be directly operated, so as to obtain the track of the movable platform, which is further convenient for the user to use.
  • the user can edit the image and/or the image corresponding to the trajectory point based on the image editing control; after generating the trajectory, the user It is also possible to edit the image and/or the image corresponding to the track point based on the image editing control, and this embodiment does not impose any restriction on the timing of image editing.
  • FIG. 17 is a schematic diagram of the fourteenth interactive interface provided by this embodiment of the application.
  • the remote control terminal may display a fourth display page for displaying images and/or videos on the interactive interface in response to a user's operation on the thumbnail displayed near the track point, and the thumbnail indicates The image or video of is displayed on the fourth display page.
  • the fourth display page can be set to have an image switching function, and the fourth display page can respond to user operations (such as Slide, click, double-click, etc.) to switch between different images or videos, such as switching between adjacent images or videos.
  • user operations such as Slide, click, double-click, etc.
  • a sliding operation can be performed on the fourth display page, and the remote control terminal displays other images or videos of the track in response to the sliding operation.
  • a sliding operation can be performed on the fourth display page to switch the image corresponding to the adjacent waypoint, such as the photo or video of the second waypoint displayed on the current page.
  • the image corresponding to the adjacent waypoint such as the photo or video of the second waypoint displayed on the current page.
  • you can switch to the photo or video of the first waypoint or the third waypoint.
  • the fifth photo or video displayed on the current page can be switched to the fourth or sixth photo or video when a user's sliding operation in one of the directions is detected.
  • the operation on the thumbnail displayed near the track point includes at least one of the following: single-click, double-click, long-press, and drag the thumbnail displayed near the track point Thumbnail.
  • the user can perform operations on the thumbnails displayed near the track point by clicking, double-clicking, long-pressing, or dragging, which is not done here in this embodiment. limit.
  • the embodiment of the present application does not impose any restriction on the display mode of the fourth display page, and specific settings can be made according to actual application scenarios.
  • the fourth display page is superimposed on the second display page.
  • the fourth display page may also be displayed on the interactive interface in full screen.
  • the image editing control may also be displayed on the fourth display page, and the image editing control is used to indicate that the image or video can be edited.
  • the image editing control is used to indicate that the image or video can be edited.
  • by displaying the image editing control on the fourth display page it is possible to directly enter the third display page for editing images or videos through the image editing control, without having to exit the fourth display page again. Allowing the user to operate the image editing controls on the interactive interface helps to reduce the user's operation steps and improve the user's experience.
  • FIG. 18 is a schematic diagram of a fifteenth interactive interface provided by an embodiment of this application.
  • the trajectory editing controls are displayed on the interactive interface; the trajectory The edit control is used to indicate that part or all of the track or the track points can be changed.
  • the track edit control since the track edit control is aimed at track points or track functions, in order to further facilitate the user's use, the track edit control may be displayed on the second display page, so that the user does not need to switch pages to operate the controls , Which helps to reduce the user's operation steps.
  • the track edit control may also be displayed in other ways instead of being displayed on the second display screen, and the embodiment of the present application does not impose any limitation on this.
  • a fifth display page for track editing may be displayed on the interactive interface; the track points and the track are displayed on the first Five on the display page.
  • the operation on the track edit control includes but is not limited to: single click, double click, long press, drag or slide the track point.
  • the remote control terminal may determine the start and end trajectory points of the trajectory section that needs to be replaced in response to the user's operation on the trajectory point ;
  • the starting track point represents the starting position of the current trajectory editing, and the ending track point represents the ending position of the current trajectory editing.
  • the operation on the track point includes at least one of the following: single-click, double-click, long press, and drag the track point.
  • the user can implement the operation on the track point in any manner such as single-click, double-click, long-press, or drag, which is not limited in this embodiment.
  • the fifth display page may display the first prompt information and the second prompt information; the first prompt information is used to prompt the user to set the starting track point for this track editing, for example, in FIG. 19,
  • Figure 19 is a schematic diagram of the sixteenth interactive interface provided by an embodiment of the application.
  • the first prompt message may be "click on a certain track point as the starting point for re-driving.”
  • the operation of two trajectory points determines the second trajectory point as the starting trajectory point, and the second trajectory point in Fig. 19 is marked as "S".
  • the second prompt information is used to prompt the user to set the end trajectory point of this trajectory editing.
  • FIG. 20 is a schematic diagram of the seventeenth interactive interface provided by an embodiment of the application.
  • the second prompt information It can be "click on a certain track point as the end point of re-driving.”
  • the fourth track point is determined as the end track point based on the user's operation on the fourth track point, and the fourth track point is shown in Figure 20. Each track point is marked as "E”.
  • the fifth display page also displays data retention controls for the start track point and the end track point, respectively, and the data retention control indicates whether to retain data with the start track point.
  • the remote control terminal retains the state parameter, image and/or video corresponding to the start track point or the end track point.
  • a data retention control is set, so that the user can confirm whether relevant data needs to be retained according to actual needs, so as to meet the user's personalized needs.
  • the display page shown in Figure 19 displays the data retention control for the starting track point
  • the display page shown in Figure 20 displays the data retention control for the ending track point.
  • a data retention control the remote control terminal, in response to a user's operation of the data retention control, confirms whether to retain state parameters, images and/or videos corresponding to the start track point or the end track point.
  • the operation on the data retention control includes but is not limited to any operation such as single click, double click, long press, sliding or dragging.
  • the user can retain the state parameters, images and/or videos corresponding to the starting track point or the ending track point according to actual needs.
  • the data retention control is a check box. If the user checks Operation, indicating that the state parameters, images and/or videos corresponding to the start track point or the end track point are to be retained; otherwise, the state parameters corresponding to the start track point or the end track point are not retained, Images and/or videos.
  • the data retention control of the track point is displayed on the page shown in Figure 19.
  • the user can set the initial track point in the page shown in Figure 19, and a control can be set in Figure 19, for example, "Next One step” control (not shown in Figure 19) to jump to the page shown in Figure 20, so that the user can set the termination track point in the page shown in Figure 20, and the second prompt message is also displayed in Figure 20 ,
  • the starting trajectory point represents the starting position of the current trajectory editing
  • the ending trajectory point represents the ending position of the current trajectory editing.
  • the part between the starting track point and the ending track point is the part that needs to be replaced in this track edit.
  • a control control is also displayed on the fifth display page, and the control control is used to control the movable platform to move to the position indicated by the starting track point; the remote control terminal responds to the user's
  • the operation of the control control controls the movable platform to move to the position indicated by the starting track point.
  • the operation on the control control includes at least one of the following: single-click, double-click, long-press, and drag the control control.
  • the user can implement the operation of the control control in any manner such as single-click, double-click, long-press, or drag, which is not limited in this embodiment.
  • control control may be displayed on a page as shown in FIG. 20 (not shown in FIG. 20). After the user completes the setting of the termination track point, the control control can be operated, so that the remote control In response to the user's operation of the control control, the terminal controls the movable platform to move to the position indicated by the starting track point, which further facilitates the use of the user.
  • a prompt message related to “has moved to the position indicated by the starting trajectory point” can be displayed on the interactive interface, so that the customer Real-time understanding of the movement status of the movable platform. Then after the movable platform moves to the position indicated by the starting trajectory point, the remote control terminal can be used to control the movement of the movable platform, and in the process of moving to the position indicated by the ending trajectory point , It is possible to perform track point recording and state parameter recording on the part between the start track point and the end track point in the same way as when the aforementioned track is generated, and regenerate the part between the start track point and the end track point.
  • the new track point and the new track; and one or more images and/or videos corresponding to the new track point can be acquired in the same manner as described above.
  • the user can re-edit a certain trajectory or certain trajectory points that are unsatisfactory according to actual needs to meet the needs of the user; and the re-editing process does not require manual parameter setting, which reduces the user's operation steps. Further facilitate the use of users.
  • FIG. 21 is a schematic diagram of an eighteenth interactive interface provided by an embodiment of this application.
  • the remote control terminal can respond to the user's operation of the designated control According to the current position of the movable platform, a new track point is generated and displayed on the interactive interface, and the current state parameters of the movable platform are recorded. Further, please refer to FIG. 21.
  • the interactive interface displays Track saving control
  • the remote control terminal can generate the start track point and the end track point according to the new track point and the state parameter corresponding to the new track point in response to the user's operation of the track save control And then replace the part between the start track point and the end track point in the trajectory of the movable platform with the new trajectory between the start track point and the end track point, and get the figure 22 shows the trajectory.
  • the camera can also be controlled to take pictures to obtain one or more images and/or videos corresponding to the new track point .
  • the embodiment of the present application also supports the method of directly editing the trajectory on the map software in the related technology.
  • the trajectory can also be edited offline, and the trajectory offline editing control is also displayed on the interactive interface; the trajectory offline editing control is used to instruct the user to Part or all of the trajectory or the trajectory points are edited on the interactive interface, without the aid of a movable platform for editing.
  • the track offline editing control is for track points or track functions, in order to further facilitate the user's use, the track offline editing control can be displayed on the second display page, so that the user does not need to switch pages to Operation controls help reduce the user's operation steps.
  • the track offline editing control can also be displayed in other ways instead of being displayed on the second display screen, and the embodiment of the present application does not impose any limitation on this.
  • the method of re-controlling the movable platform to change the trajectory point or trajectory may bring greater loss, or based on some other reasons, the user It is possible to modify part or all of the trajectory or the trajectory points on the interactive interface of the remote control terminal based on the trajectory offline editing control, that is, without re-controlling the movable platform to drive, directly in the remote control terminal
  • the relevant parameters of the trajectory or the trajectory point are modified on the above, so as to obtain the modified trajectory and the trajectory point.
  • the remote control terminal displays a sixth display page for offline editing on the interactive interface in response to the user's operation of the offline editing control for the trajectory, and the trajectory points and the trajectory are displayed on the interactive interface.
  • the sixth display page On the sixth display page; wherein the user can modify the relevant parameters of the trajectory or the trajectory point on the sixth display page.
  • offline editing can set the track name, aircraft type or model, and the flight height of the track.
  • the flight height of the track can be the relative flight height and the absolute flight height of the track, and the relative flight height can be relative to the starting point. high.
  • offline editing can set the trajectory, such as whether the flight speed, altitude, aircraft yaw angle are set according to each track point, whether the aircraft yaw angle is set uniformly, and whether the gimbal is set according to each track point , Whether the PTZ is set uniformly, the type of track point, and the flight action of the track point is completed (such as hovering, taking a photo, etc.).
  • offline editing can also set track points, such as setting the height, speed, aircraft yaw angle, aircraft rotation direction, gimbal pitch angle, waypoint actions (photographing, video recording, and ending photographing, etc.) , Latitude and longitude, etc., you can also manually add track point actions, such as taking photos, video actions, etc.
  • the movable platform is an unmanned aerial vehicle with a camera and a pan/tilt mounted on it.
  • the corresponding trajectory point can be displayed on the sixth display page.
  • Status parameter you can change the position corresponding to the track point, such as changing the longitude and latitude information corresponding to the track point; change the status parameter of the UAV corresponding to the track point, such as the altitude of the UAV Modify parameters such as speed, aircraft yaw angle, etc.; modify the state parameters of the pan/tilt corresponding to the track point, such as changing the pitch angle of the pan/tilt; change the camera corresponding to the track point Change the status parameters of the camera, such as adding, deleting, and modifying shooting actions (photographing, recording, ending recording, etc.).
  • trajectory editing control and the trajectory offline editing control can also be used in combination.
  • the embodiment of the present application does not impose any limitation on this, and specific settings can be made according to actual application scenarios.
  • the interactive interface may be further simplified, such as image editing controls and trajectories displayed on the interactive interface.
  • the edit control and the track offline edit control belong to the editing function.
  • An edit control can be set to be displayed on the interactive interface. After the user operates the edit control, it can respond to the user's operation on the edit control (click, Double-click, long-press, etc.), the image editing control, trajectory editing control, and trajectory offline editing control are respectively displayed on the interactive interface for selection by the user.
  • the movable platform before controlling the movement of the movable platform according to the trajectory of the movable platform, may feed back information indicating the load currently installed by itself to the remote control terminal, so The remote control terminal detects whether the current load of the movable platform is consistent with the load of the movable platform when the trajectory is generated;
  • the third prompt information is output on the interactive interface; the third prompt information is used to prompt the user to change the load, so that the execution result of this time is consistent with the execution result when the trajectory is generated, so as to realize the automatic inspection process and reduce the inspection. Duplicate work of inspectors.
  • the current memory capacity of the movable platform is detected before controlling the movement of the movable platform according to the trajectory of the movable platform. If it is detected that the current memory capacity of the movable platform is not When the preset capacity is met, fourth prompt information is output on the interactive interface; the fourth prompt information is used to prompt the user to replace the memory.
  • the preset capacity is not less than the data amount of the images and/or videos corresponding to all the track points of the trajectory, so as to ensure the smooth execution of this task and avoid execution failure due to insufficient memory.
  • the movable platform when there are multiple memories on the movable platform (for example, the movable platform is equipped with multiple pan-tilts, and each pan-tilt is equipped with a memory), it is necessary to separately detect whether the capacity of each memory is Meet the designated capacity, and the designated capacity is not less than the amount of image and/or video data stored in the memory when the track point is generated. If not, the fourth prompt information is output on the interactive interface to ensure the The smooth execution of the second task avoids execution failure due to insufficient memory.
  • the movable platform may move according to the trajectory points and state parameters corresponding to the trajectory, When controlling the movable platform to move to a position indicated by any trajectory point according to the trajectory of the movable platform, the movable platform is controlled to operate according to the posture parameter corresponding to the trajectory point.
  • the trajectory can be replayed by the movable platform in the same area, and the automatic execution of tasks in the same area can be realized according to the trajectory, which is beneficial to reduce the repetitive work of the staff and optimize the user experience .
  • the embodiments of the present application may assist accurate shooting based on the shooting targets obtained above. Specifically, when controlling the movable platform to move to a position indicated by any track point according to the trajectory of the movable platform, if the track point corresponds to an image and/or video, or the track point corresponds to If there is the posture parameter of the camera, the camera of the movable platform is controlled according to the state parameter corresponding to the track point to obtain the current picture at the position indicated by the track point.
  • the current picture and the aforementioned information indicating the shooting target perform feature matching, because the box is used to select the desired
  • the shooting target, the image at the aforementioned box includes the shooting target, so after the matching is successful, the position of the shooting target in the current frame can be obtained, and then according to the position of the shooting target in the current frame and the preset position Adjust the state parameters corresponding to the track points, and finally control the movable platform and/or the shooting device to operate according to the adjusted state parameters, so that after re-shooting based on the adjusted state parameters,
  • the shooting target is at a preset position in the picture obtained by re-shooting.
  • the preset position may be the center position of the picture; this embodiment assists the movable platform to perform the operation by using the shooting target obtained in advance. Accurate shooting ensures the accuracy of images and/or videos obtained based on the adjusted state parameters.
  • the remote control terminal may obtain the adjustment amount of the state parameter corresponding to the trajectory point according to the difference between the actual position of the shooting target in the screen and the preset position, so as to adjust the
  • the parameter values of the state parameters are such that after re-shooting based on the adjusted state parameters, the shooting target is at a preset position in the picture obtained by re-shooting; the preset position can be specifically set according to actual application scenarios.
  • the application embodiment does not impose any restriction on this.
  • FIG. 23 is a schematic diagram of a remote control terminal 30 provided in an embodiment of this application.
  • the remote control terminal 30 includes a processor 31, a memory 32 for storing executable instructions of the processor 31, and a communication module 33.
  • the processor 31 executes the executable instruction, it is used to display a designated control on the interactive interface.
  • the communication module 33 is configured to communicate with a movable platform, and during the movement of the movable platform, in response to the user's operation of the designated control, obtain the current status of the movable platform from the movable platform. Position and current status parameters.
  • the processor 31 executes the executable instruction, it is further configured to: in response to the user's operation of the designated control, generate a track point according to the current position of the movable platform, and record the current position of the movable platform State parameters; generating the trajectory of the movable platform according to a plurality of the trajectory points and corresponding state parameters, the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory .
  • the processor 31 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (ASIC), Ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor 31 may be a microprocessor or the processor may also be any conventional processor or the like.
  • the memory 32 may include at least one type of storage medium.
  • the storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory 32, etc.), random access memory (RAM), and static random access memory.
  • SRAM read only memory 32
  • ROM read only memory
  • EEPROM electrically erasable programmable read only memory
  • PROM programmable read only memory
  • magnetic memory magnetic disk, optical disk, etc.
  • the memory 32 may be an internal storage unit of the remote control terminal 30, such as a hard disk or a memory.
  • the memory 32 may also be an external storage device of the remote control terminal 30, such as a plug-in hard disk equipped on the remote control terminal 30, a Smart Media Card (SMC), or a Secure Digital (SD) card, Flash Card, etc.
  • SMC Smart Media Card
  • SD Secure Digital
  • the memory 32 may also include both an internal storage unit of the remote control terminal 30 and an external storage device.
  • the memory 32 is used to store computer programs and other programs and data required by the device.
  • the memory 32 can also be used to temporarily store data that has been output or will be output.
  • the communication module 33 communicates with the movable platform in a wireless manner.
  • a mobile device can access a wireless network based on a communication standard to communicate with the electronic device, such as WiFi, 3G, or 4G, or a combination thereof.
  • the mobile platform receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the electronic device and the mobile platform may establish a connection through near field communication (NFC), for example, may be based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies are implemented.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • FIG. 24 is a schematic structural diagram of another remote control terminal 30 provided in an embodiment of this application.
  • the remote control terminal 30 also includes a display device 34 for displaying the interactive interface; in one example, the display device 34 includes but is not limited to a CRT (Cathode Ray Tube, cathode ray tube) display device , LCD (liquid crystal) display devices, LED (light emitting diode) display devices, PDP (Plasma Display Panel, plasma display) display devices, or OLED (Organic Light-Emitting Diode, organic light emitting semiconductor) display devices, etc.
  • CTR Cathode Ray Tube, cathode ray tube
  • LCD liquid crystal
  • LED light emitting diode
  • PDP Plasma Display Panel, plasma display
  • OLED Organic Light-Emitting Diode, organic light emitting semiconductor
  • the remote control terminal 30 can obtain information from the movable platform in response to the user's operation on the remote control terminal 30 based on the communication with the movable platform.
  • the current position and state parameters are then generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded. This not only ensures the accuracy of the information obtained, but also does not require manual editing by the user. Reduce the user's operation steps and facilitate the user's use.
  • the trajectory of the movable platform is generated according to a plurality of the trajectory points and corresponding state parameters, so that the movable platform can automatically perform inspection tasks based on the generated trajectory. Or the security task is enough.
  • the automated process is conducive to improving the efficiency of inspections, and it also reduces manual repetitive operations during subsequent operations.
  • the interactive interface includes a first display page and a second display page.
  • the first display page is used to display a real-time image acquired by the camera during the movement of the movable platform, and the designated control is displayed on the first display page.
  • the second display page is used to display a map screen of the target area where the movable platform is located, and the track points and the trajectory are displayed on the map screen.
  • the first display page and the second display page are not displayed on the interactive interface at the same time.
  • the designated control includes a first control and a second control, and both the first control and the second control are used to instruct to generate the track point.
  • the second control is also used to instruct the camera on the movable platform to take a picture.
  • the processor 31 is further configured to: in response to the user's operation of the second control, control the shooting device to shoot the picture to obtain one or more images and/or videos corresponding to the track point.
  • the number of the photographing devices is multiple; the second control is specifically configured to be able to instruct different photographing devices to take the picture at different times.
  • the processor 31 is further configured to: display a thumbnail indicating the image and/or video in the vicinity of the track point.
  • each image or video corresponds to a thumbnail; when the track point corresponds to multiple images and/or videos, multiple thumbnails corresponding to the multiple images and/or videos are superimposed and displayed on the The area near the track point.
  • the processor 31 is further configured to display trajectory parameters related to the trajectory on the interactive interface.
  • the trajectory parameter includes at least one of the following: the length of the trajectory, the driving time of the trajectory, the number of trajectory points included in the trajectory, or the images and/or videos corresponding to all the trajectory points The total number of.
  • an image editing control is displayed on the interactive interface; the image editing control is used to indicate that the image or video can be edited.
  • the processor 31 is further configured to: in response to the user's operation of the image editing control, display a third display page for editing the image or video on the interactive interface; The target image or target video determined to be edited among the multiple images or videos is displayed on the third display page.
  • the processor 31 is further configured to: in response to a user's frame selection operation on one or more positions in the target image or the target video on the third display page, at the position A marquee is displayed; the marquee is used to frame the shooting target for this shooting.
  • a save control is displayed on the third display page, and the save control is used to save the selection box.
  • the processor 31 is further configured to: in response to the user's operation of the save control, save the check box on the target image or target video, and display the thumbnail of the target image or target video. A specific mark for indicating the check box is displayed on the top.
  • the processor 31 is further configured to: obtain an image at the selection frame from the target image or target video, and recognize the image at the selection frame to obtain the shooting target
  • the shooting target is used to assist the movable platform according to the trajectory point and/or the trajectory of the shooting task.
  • the processor 31 is further configured to: in response to the user's operation on the thumbnail displayed near the track point, display the first image and/or video on the interactive interface.
  • display pages, the images and/or videos indicated by the thumbnails are displayed on the fourth display page.
  • the processor 31 is further configured to: after generating the trajectory of the movable platform, display a trajectory editing control on the interactive interface; the trajectory editing control is used to indicate that the trajectory can be edited Part or all or the track points are changed.
  • the processor 31 is further configured to: in response to the user's operation of the track editing control, display a fifth display page for track editing on the interactive interface; the track points and The track is displayed on the fifth display page.
  • the processor 31 is further configured to: in response to the user's operation on the track point, determine the starting track point and the ending track point of this track editing; and when controlling the movable platform to move to After the position indicated by the starting track point and during the movement of the movable platform to the position indicated by the ending track point, in response to the user's operation of the designated control, according to the current position of the movable platform A new track point is generated at the position, and the current state parameter of the movable platform is recorded; the track of the movable platform is updated according to the new track point and the state parameter corresponding to the new track point.
  • the fifth display page further displays the first prompt information and the second prompt information.
  • the first prompt information is used to prompt the user to set the starting track point for this track editing.
  • the second prompt information is used to prompt the user to set the ending trajectory point of this trajectory editing.
  • the fifth display page also displays a control control, and the control control is used to control the movable platform to move to the position indicated by the starting track point.
  • the fifth display page further displays data retention controls for the start track point and the end track point, and the data retention control indicates whether to retain the data retention control of the start track point or the end track point.
  • the processor 31 is further configured to: before controlling the movement of the movable platform according to the trajectory of the movable platform, detect the current load of the movable platform and when the trajectory is generated Whether the loads of the movable platform are consistent; if they are inconsistent, the third prompt information is output on the interactive interface; the third prompt information is used to prompt the user to change the load.
  • the processor 31 is further configured to: before controlling the movement of the movable platform according to the trajectory of the movable platform, if it is detected that the current capacity of the memory 32 of the movable platform does not meet the preset requirements. Set the capacity, and output fourth prompt information on the interactive interface; the fourth prompt information is used to prompt the user to replace the memory 32.
  • the preset capacity is not less than the amount of data of images and/or videos corresponding to all track points of the track.
  • the processor 31 is further configured to: when controlling the movable platform to move to a position indicated by any trajectory point according to the trajectory of the movable platform, control the movable platform to follow the The posture parameter corresponding to the track point runs.
  • the processor 31 is further configured to:
  • the state parameter corresponding to the trajectory point is controlled.
  • the shooting device of the movable platform acquires the current picture at the position indicated by the track point;
  • the processor 31 is specifically configured to: obtain the adjustment amount of the state parameter corresponding to the track point according to the difference between the position of the shooting target in the current frame and the preset position, To adjust the parameter value of the state parameter.
  • the various embodiments described herein may be implemented using a computer-readable medium such as computer software, hardware, or any combination thereof.
  • the implementation described here can be implemented by using application-specific integrated circuits (ASIC), digital signal processor 31 (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array It is implemented by at least one of (FPGA), processor 31, controller, microcontroller, microprocessor 31, and an electronic unit designed to perform the functions described herein.
  • ASIC application-specific integrated circuits
  • DSP digital signal processor 31
  • DSPD digital signal processing device
  • PLD programmable logic device
  • FPGA field programmable gate array
  • implementations such as procedures or functions may be implemented with a separate software module that allows execution of at least one function or operation.
  • the software codes can be implemented by software applications (or programs) written in any suitable programming language, and the software codes can be stored in the memory 32 and executed by the processor 31.
  • the present application also provides a trajectory generating device, which is applied to a remote control terminal.
  • the device includes one or more processors, which work individually or collectively, and are used to perform the following operations:
  • a track point is generated according to the current position of the movable platform, and the current state parameters of the movable platform are recorded;
  • the trajectory of the movable platform is generated according to a plurality of the trajectory points and corresponding state parameters, and the trajectory is used to enable the movable platform to move according to the trajectory points and state parameters corresponding to the trajectory It is used to enable the movable platform to move according to the track points and state parameters corresponding to the track.
  • the application also provides a trajectory generation system, including a remote control terminal 30 and a movable platform 40, the remote control terminal 30 and the movable platform 40 are communicatively connected.
  • the remote control terminal 30 displays a designated control on the interactive interface, and in response to the user's operation of the designated control, obtains the current position and state parameters of the movable platform 40 from the movable platform 40, and according to the movable platform 40
  • the current position of the platform 40 generates trajectory points, and records the current state parameters of the movable platform 40; the trajectory of the movable platform 40 is generated according to a plurality of the trajectory points and corresponding state parameters, and the trajectory is used to make
  • the movable platform 40 can move according to the trajectory points and state parameters corresponding to the trajectory.
  • this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the trajectory generation method described in the foregoing embodiment.
  • the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute the method described in the various embodiments of the present invention. Part of the steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Selective Calling Equipment (AREA)

Abstract

L'invention concerne un procédé de génération de trajectoire, un terminal de commande à distance, une plateforme mobile, un système et un support de stockage lisible par ordinateur. Le procédé de génération de trajectoire comprend les étapes consistant à : afficher une commande désignée sur une interface interactive d'un terminal de commande à distance ; pendant le processus de déplacement d'une plate-forme mobile, générer des points de trajectoire en fonction de l'emplacement actuel de la plateforme mobile en réponse à une opération d'un utilisateur sur la commande désignée, et enregistrer des paramètres d'état actuel de la plateforme mobile ; et générer la trajectoire de la plateforme mobile en fonction d'une pluralité de points de trajectoire et de paramètres d'état correspondants, la trajectoire étant utilisée pour permettre à la plateforme mobile de se déplacer selon les points de trajectoire correspondant à la trajectoire et aux paramètres d'état. Des informations pertinentes sont obtenues à partir de la plate-forme mobile sans nécessiter d'édition manuelle par un utilisateur, le nombre d'étapes d'opération pour l'utilisateur est en outre réduit, et l'utilisation par l'utilisateur est pratique.
PCT/CN2020/086795 2020-04-24 2020-04-24 Procédé de génération de trajectoire, terminal de commande à distance, plateforme mobile, système et support de stockage lisible par ordinateur WO2021212501A1 (fr)

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PCT/CN2020/086795 WO2021212501A1 (fr) 2020-04-24 2020-04-24 Procédé de génération de trajectoire, terminal de commande à distance, plateforme mobile, système et support de stockage lisible par ordinateur
CN202080038598.7A CN113874806A (zh) 2020-04-24 2020-04-24 轨迹生成方法、遥控终端、可移动平台、系统及计算机可读存储介质

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