WO2022000348A1

WO2022000348A1 - Method for controlling mobile platform, and terminal device and storage medium

Info

Publication number: WO2022000348A1
Application number: PCT/CN2020/099594
Authority: WO
Inventors: 卢立键; 梁辉愉; 陈欢; 王景怡
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2022-01-06
Also published as: CN113168341A

Abstract

A method for controlling a mobile platform, comprising: acquiring control program files (S110); determining trigger keys of the control program files according to an operation of a user (S120); sending the control program files to a mobile platform for configuration (S130); displaying first key identifiers corresponding to the trigger keys of the control program files (S140); and controlling, according to an operation of the user on the trigger keys or the first key identifiers, the mobile platform to execute a task (S150). Control programs can be configured on the mobile platform, and a terminal device and a storage medium are further provided.

Description

Control method, terminal device and storage medium for removable platform

technical field

The present application relates to the technical field of mobile platforms, and in particular, to a control method, terminal device and storage medium of a mobile platform.

Background technique

In order to popularize practical robot education, promote more people to participate in scientific and technological innovation practice, cultivate engineering practice ability, and improve the level of teamwork, competitions on various mobile platforms such as robots will be organized at home and abroad.

When training or participating in competitions, it is usually necessary to configure a control program on the movable platform so that the terminal device can control the movable platform. However, the current way of configuring the control program on the mobile platform is cumbersome, it takes a long time before the competition, and it is difficult to adapt to the intensive competition requirements and competition rhythm.

SUMMARY OF THE INVENTION

Based on this, the present application provides a control method, terminal device and storage medium for a movable platform, so as to facilitate configuring a control program on the movable platform.

In a first aspect, an embodiment of the present application provides a method for controlling a movable platform, which is used in a terminal device, where the terminal device includes several buttons; the method includes:

Get multiple control program files;

Determine the trigger button of each of the control program files according to the configuration operation of the user, and the trigger button is one or more of the buttons;

sending each of the control program files to the movable platform, so that the movable platform configures each of the control program files;

Display the first button identifier corresponding to the trigger button of each of the control program files on the display interface of the terminal device;

According to the trigger operation of the user on the trigger button or the first button identifier, the movable platform is controlled to execute a preset task according to the control program file corresponding to the trigger button.

In a second aspect, an embodiment of the present application provides a terminal device, where the terminal device can be equipped with an input device, and the input device includes a plurality of buttons;

The terminal device includes a memory and a processor;

the memory is used to store computer programs;

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

Get multiple control program files;

According to the user's trigger operation on the trigger button or the first button identifier, the movable platform is controlled to execute a preset task according to the control program file corresponding to the trigger button.

In a third aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the foregoing method.

The embodiments of the present application provide a control method, terminal device, and storage medium for a movable platform. By determining the trigger button of each control program file according to a user's configuration operation, each control program file is sent to the movable platform, so that the movable platform can be The mobile platform configures each control program file, and displays the first button identifier corresponding to the trigger button of each control program file on the display interface of the terminal device, so that the user can control the movable platform to execute the operation by triggering the trigger button or the first button identifier. preset tasks. The control program can be conveniently configured on the movable platform, and it is convenient for the user to control the movable platform through the control program file.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the disclosure of the embodiments of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic flowchart of a control method for a movable platform provided by an embodiment of the present application;

Fig. 2 is the schematic diagram of the communication connection of terminal equipment and movable platform;

Fig. 3 is the scene schematic diagram of movable platform control in one embodiment;

4 is a schematic diagram of a terminal device setting interface in an embodiment;

5 is a schematic diagram of a display interface of a terminal device in an embodiment;

6 is a schematic diagram showing a first button identification;

Fig. 7 is a schematic diagram showing the current posture of the robotic arm and the identification of the third key;

FIG. 8 is a schematic block diagram of a terminal device provided by an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of a method for controlling a movable platform provided by an embodiment of the present application. The control method can be applied in a terminal device to control a process such as a movable platform; wherein the terminal device can include at least one of a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, a wearable device, a remote control, and the like. One item; Exemplarily, the movable platform may include at least one of an unmanned aerial vehicle, a gimbal, an unmanned vehicle, a robot, and the like. Further, the aircraft can be a rotary-wing UAV, such as a quad-rotor UAV, a hexa-rotor UAV, an octa-rotor UAV, or a fixed-wing UAV.

In some embodiments, as shown in FIG. 2 , the terminal device 100 and the movable platform 200 are communicatively connected.

Illustratively, the movable platform 200 includes:

The platform body 210 includes a chassis body 211 and a pan-tilt body 212 disposed on the chassis body 211, and the pan-tilt body 212 is used for carrying the camera device 201;

The power device 220 is arranged on the chassis main body 211 , and is used for providing moving power to the platform main body 210 .

In some embodiments, a launching device is provided on the movable platform, and the launching device can be used to launch projectiles, and the size and shape of the projectiles are not specifically limited.

Optionally, as shown in FIG. 3 , a plurality of movable platforms, such as the movable platform 11 and the movable platform 12 , launch projectiles or beams through their respective launching devices to compete. In addition, each movable platform may also correspond to one terminal device, or multiple movable platforms may correspond to one terminal device, for example, the movable platform 11 corresponds to the terminal device 13 , and the movable platform 12 corresponds to the terminal device 14 .

Exemplarily, the movable platform 200 can be controlled to move, launch projectiles or beams, etc. through the terminal device 100 .

Specifically, the terminal device 100 can be equipped with an input device 110 , and the input device 110 includes several keys 111 . It can be understood that the terminal device 100 includes several buttons 111 .

Exemplarily, the input device 110 may include at least one of a keyboard, a mouse, a touch screen, and a touch pad. The input device 110 is connected to the terminal device in a wired or wireless manner, or the input device 110 is integrated with the terminal device 100 .

Exemplarily, the keys 111 of the terminal device 100 include at least one of the following: keys on a keyboard, keys on a mouse, keys on a touch screen, keys on a touch panel, and keys on the display screen of the terminal device. Virtual Key. For example, the user can click a key on the keyboard, or touch a key on the touch screen with the fingertip to trigger the corresponding key, or the user can move the mouse to move the cursor to a virtual key, and then click the left mouse button to activate the corresponding key. trigger the virtual key.

Exemplarily, the user may manipulate the movable platform 200 by operating the input device 110 to perform tasks such as moving, launching projectiles or beams.

As shown in FIG. 1 , the control method of the movable platform according to the embodiment of the present application includes steps S110 to S150. In an embodiment, the control method is performed by a terminal device 100, and the terminal device 100 is a PC.

S110. Acquire multiple control program files.

In some embodiments, the control program file is used to perform at least one of the following tasks: patrolling a line, hitting a preset target, identifying an enemy mobile platform, tracking an enemy mobile platform, maneuvering to avoid strikes, Grab the target and travel to the preset position. For example, when the movable platform hits the preset target, such as reaching a certain number of times or causing a certain amount of damage to the preset target, at least one of the attack power bonus, defense power bonus, HP bonus, upgrade, and preset skills can be obtained. one.

Exemplarily, the control program file may be developed by the user, published by the manufacturer or seller of the mobile platform, obtained from a forum, and the like. For example, the user can develop control program files for realizing different tasks, and when the control program files are configured on the movable platform, the movable platform can execute the control program files to realize the corresponding tasks, such as identifying the enemy movable platform, attacking Hit preset targets, etc.

Exemplarily, a plurality of locally stored control program files and/or server stored control program files may be acquired. For example, the user can store the control program file on the hard disk of the terminal device, or on a storage medium that can be connected to the terminal device, such as U disk, mobile hard disk, SD card (Secure Digital Memory Card), etc., so the terminal device can store the control program locally. document. For example, the user can log in to the server on the terminal device, and then obtain the control program file stored on the network from the server. It can be understood that the terminal device can transfer and store or copy the control program file to its own storage medium, and can also obtain the file information of the control program file without transferring, storing or copying the control program file to its own storage medium. A control program file may also be used when, for example, a control program file is sent to the movable platform.

Exemplarily, as shown in FIG. 4 , multiple control program files may be loaded on the setting interface of the terminal device, for example, one control program file is loaded at a time, or multiple control program files may be loaded in sequence. For example, after the user clicks the "Load Program" button, a file selection box pops up, and the control program file is acquired according to the selection operation in the file selection box. For example, one or more control program files can be obtained according to the DSP (Developer Studio Project, saving project settings) file selected by the user. It can be understood that loading can mean acquiring file information of the control program file, such as the file name of the control program file and/or the creation time of the control program file.

In some embodiments, the method further includes: generating a program file list according to the plurality of control program files, and displaying the program file list on a setting interface of the terminal device. The program file list includes file information of the plurality of control program files, and the file information may include, for example, the file names of the control program files and/or the creation time of the control program files.

Exemplarily, as shown in FIG. 4 , the program file list is displayed on the setting interface of the terminal device, and the program file list includes file information of multiple control program files, such as alternative programs 1 to 7, which also display The creation time of each control program file, so that users can distinguish different control program files.

In some embodiments, the method further comprises: determining a load carried by the movable platform, and displaying information of the load on the setting interface.

Exemplarily, the movable platform can carry at least one of the following loads: armor, a gimbal, a robotic arm, a TOF (Time of Flight, time of flight) sensor, and a steering gear. As shown in Figure 4, the load carried on the movable platform and the state of the load can be determined, such as the connection state between the terminal device and the load. The connection between the terminal device and the load can include the direct communication connection between the terminal device and the load, or the terminal device and the load. The load is connected by indirect communication through the movable platform. Therefore, the user can know the type of load currently carried on the movable platform and the state of the load, so that the user can load the corresponding control program file according to the load, and determine whether to configure the control program file on the movable platform.

In some embodiments, the method further comprises: displaying the network configuration of the mobile platform on the setting interface. Exemplarily, the network configuration of the mobile platform includes at least one of the following: a connection status between the mobile platform and the terminal device, a Service Set Identifier (SSID) of the mobile platform, the mobile platform The signal strength of the connection between the mobile platform and the terminal device, and the network delay of the connection between the mobile platform and the terminal device. The user can predict whether to configure the control program file to the mobile platform under the current network conditions according to the network configuration of the mobile platform. For example, the control program file can be configured to the removable platform when it is determined that the current network condition is better according to the network configuration of the removable platform.

S120. Determine trigger buttons of each of the control program files according to a user's configuration operation, where the trigger buttons are one or more of the buttons.

Exemplarily, by determining the trigger button of each of the control program files, the user can control the movable platform to execute the task of the corresponding control program file through the trigger button, such as controlling the movable platform to identify the enemy movable platform, hitting the set goals, etc.

In some embodiments, the method further includes: displaying a key list on the setting interface, where the key list includes first key identifiers corresponding to multiple trigger keys.

Exemplarily, as shown in FIG. 4 , the key list includes first

key identifiers

1, 2, 3, 4, Q, E, R, and T corresponding to a plurality of trigger keys. The user can associate each control program file in the program file list with the corresponding trigger button in the button list through the configuration operation, so that the task of controlling the movable platform to execute the control program file associated with the trigger button can be realized through the trigger button.

Exemplarily, the determining the trigger button of each of the control program files according to the user's configuration operation includes: determining the control program file according to the user's operation of dragging and dropping the file information to the location of the first button identifier. or determine the trigger button of the control program file according to the user's operation of dragging the first button identifier to the location of the file information.

Exemplarily, the user drags the file information to the location of the first button identifier and releases the mouse to determine the trigger button of the control program file; or the user drags the first button identifier to the desired location. Release the mouse after the location of the file information to determine the trigger button of the control program file.

Exemplarily, the location of the first button logo may include the display position of the first button logo, the right side of the first button logo, the left side of the first button logo, above the first button logo, and below the first button logo.

As shown in FIG. 4 , the user can drag the candidate program 4 in the program file list to the position of the first button identifier 4 in the button list to determine that the trigger button of the control program file corresponding to the candidate program 4 is the first button The trigger button corresponding to the button identifier 4, so that the user can control the movable platform to execute the task corresponding to the alternative program 4 through the trigger button corresponding to the first button identifier 4.

In some implementation manners, the method further includes: if the file information is dragged to the position where the first key identifier is located, displaying the first key identifier in a first display mode. As shown in Figure 4, the file information of the alternative program 1 to the alternative program 4 is dragged to the position of the corresponding key identifier, and the first

key identifier

1, 2, 3, 4 can be highlighted to prompt the current user file information After being dragged to the position where the corresponding key mark is located, the mouse can be released to determine the trigger key of the control program file.

Exemplarily, if the file information is dragged to the position of the first key mark and then released, the first key mark is displayed in a first display mode and the first key mark is displayed at the position of the first key mark. file information. As shown in FIG. 4 , the user drags the candidate program 2 in the program file list to the position of the first button identifier 3 in the button list and releases the mouse, then the first button identifier 3 can be highlighted, and the backup The selection program 2 is displayed on the right side of the first button identification, to prompt the user that the trigger button of the control program file has been determined, and the key position of the trigger button has been loaded with the control program file.

Exemplarily, if the file information is not dragged to the location where the first key identifier is located, the first key identifier is displayed in a second display mode. As shown in FIG. 4 , the first button identifiers Q, E, R, and T are displayed in the second display mode. The second display mode includes grayscale display, for example.

In some embodiments, a trigger button may be directly input in a position corresponding to one or more file information in the program file list, so as to determine the trigger button of each of the control program files.

Exemplarily, as shown in FIG. 4 , the program file list further includes a first delete button corresponding to each control program file, where the first delete button is used to delete the file information of the corresponding control program file.

Exemplarily, as shown in FIG. 4 , the button list further includes a second delete button corresponding to each of the first button identifiers, and the second delete button is used to delete the trigger button and the control program file. corresponding relationship.

S130: Send each of the control program files to the movable platform, so that the movable platform configures each of the control program files.

Exemplarily, after the control program file is configured on the movable platform, a preset task can be executed according to the control program file corresponding to the trigger button.

Exemplarily, the control program file and the first key identifier corresponding to the control program file may be sent to the movable platform, so that the movable platform configures the control program file and stores the control program file. The first button identifier corresponding to the program file.

Exemplarily, after the control program file is configured on the movable platform, the corresponding control program file can be executed according to the trigger button triggered by the user detected by the terminal device to realize the preset task.

In some embodiments, the method further includes: acquiring a configuration process for configuring the control program file on the mobile platform, and outputting the configuration process to a user.

Exemplarily, the configuration process of the control program file includes receiving the control program file, verifying that the control program file is correct, verifying that the control program file is incorrect, successfully configuring the control program file, failing to configure the control program file, and configuring the control program file to time out. at least one of.

Exemplarily, if the mobile platform has an error in verifying the control program file, fails to configure the control program file, or the terminal device fails to receive feedback information that the mobile platform configures the control program file successfully after sending the control program file for more than a preset period of time, it can be The user is prompted that the configuration of the control program file has failed. Exemplarily, the user may also be prompted to drag and drop the file information of the control program file to the position of the corresponding first button identifier and then release the mouse, so as to determine the trigger button of the control program file, and to set each control program file. A program file is sent to the movable platform to cause the movable platform to configure each of the control program files.

S140. Display, on the display interface of the terminal device, the first button identifier corresponding to the trigger button of each of the control program files.

In some embodiments, the display interface of the terminal device is as shown in FIG. 5 . For example, it is possible to switch to the display interface shown in Figure 5 by detecting that the user clicks the "enter first-person perspective" button on the setting interface shown in Figure 4.

As shown in FIG. 5 , the

first button identifiers

1, 2, 3, 4, Q, E, R, and T corresponding to the multiple trigger buttons are displayed at the lower right of the display interface. Of course, the first button identifier may also be displayed on other positions of the display interface, such as the left side and the right side of the display interface. By displaying the first button identifier, the user can be prompted for a button that can be triggered, that is, a button that can control the movable platform to perform a preset task. Moreover, when the display screen of the terminal device has a touch function, the user can also directly trigger the first key identifier displayed on the display interface to control the movable platform to perform a preset task.

In some embodiments, the method further includes: acquiring a real-time image acquired by a camera mounted on the movable platform; and displaying the real-time image on the display interface.

Exemplarily, as shown in FIG. 5 , a first-person perspective (First Person View, FPV) picture is displayed on the display interface, so that the user can experience the environment around the movable platform immersively on the terminal device.

S150. Control the movable platform to perform a preset task according to a control program file corresponding to the trigger button according to the user's trigger operation on the trigger button or the first button identifier.

Exemplarily, the movable platform may be controlled to perform a preset task according to a control program file corresponding to the key according to a user's triggering operation of a key on a keyboard or a key on a touch panel. For example, the movable platform may be controlled to perform the corresponding preset task according to the alternative program 2 according to the trigger operation of the "3" key on the keyboard by the user.

Exemplarily, according to the user's triggering operation on the trigger button or the first button identifier, the first button identifier can be sent to the movable platform, so that the movable platform can be activated according to the first button identifier. The control program file corresponding to the key identification executes the corresponding preset task.

Exemplarily, on the display interface as shown in FIG. 5 , the user can control the movable platform to perform a preset task according to a corresponding control program file by triggering an operation on the first button identifier. For example, the movable platform may be controlled to perform the corresponding preset task according to the alternative program 3 according to the triggering operation of the first key identifier 2 by the user.

In some embodiments, the preset task includes at least one of the following: patrolling a line, hitting a preset target, identifying an enemy mobile platform, tracking the enemy mobile platform, maneuvering to avoid strikes, and grabbing a target , travel to the preset position.

The trigger button of each control program file is determined according to the user's configuration operation, and each control program file is sent to the movable platform, so that the movable platform configures each control program file and displays the information of each control program file on the display interface of the terminal device. The first button identifier corresponding to the trigger button enables the user to control the movable platform to perform the preset task by triggering the trigger button or the first button identifier. The control program can be conveniently configured on the movable platform, and it is convenient for the user to control the movable platform through the control program file.

In some embodiments, the displaying, on the display interface of the terminal device, the first button identifier corresponding to the trigger button of each control program file includes: according to the button state corresponding to the trigger button, on the display interface The first button identifier corresponding to the trigger button is displayed.

Exemplarily, the button state corresponding to the trigger button includes at least one of the following: a state in which the control program file corresponding to the trigger button is executed by the movable platform, whether the trigger button is associated with a control program file or not. Correspondingly, whether the trigger button can currently be triggered by the user, and whether the control program file corresponding to the trigger button is canceled and executed.

Exemplarily, if a control program file corresponding to a trigger button is being executed by the movable platform, the button states of the other trigger buttons are currently unavailable to be triggered by the user. It can make the mobile platform perform tasks more accurately.

Exemplarily, the first button identifiers corresponding to the trigger buttons of different button states are displayed in different modes on the display interface. Therefore, the user can determine the button state corresponding to the trigger button according to the display mode of the first button identifier.

As shown in FIG. 6 , the trigger buttons Q, E, R, and T do not determine the corresponding control program file in step S120, then the trigger buttons Q, E, R, and T do not correspond to any of the control program files, so they can be grayed out. Display the first key mark Q, E, R, T.

As shown in Figure 6, the trigger button 2 is canceled after being triggered by the user, and the terminal device can send an instruction to terminate the program process to the movable platform, so that the movable platform stops executing the control program file corresponding to the trigger button 2, then all the The control program file corresponding to the trigger button 2 is cancelled and executed, and a countdown mark can be displayed at the position of the first button mark 2, such as the shadow of the corresponding length of 6S (second) and 6S in Figure 6, to prompt the user to trigger the corresponding button of the button 2. The control program file is canceled and it takes 6 seconds before it can be re-triggered.

As shown in FIG. 6 , the trigger button 3 is triggered by the user, and when the movable platform executes the preset task according to the alternative program 2, the first button mark 3 can be highlighted, and the first button mark 3 can also be flashed by light and shadow breathing, so as to The user is prompted that the movable platform is executing the preset task corresponding to the trigger button 3 . If the trigger button 1 and the trigger button 4 cannot currently be triggered by the user, the first button identifier 1 and the first button identifier 4 may be displayed in an unavailable mode. At this time, if the trigger button 1 and the trigger button 4 are pressed, the movable platform does not execute the control program files corresponding to the trigger button 1 and the trigger button 4 . For example, the terminal device may prompt the user that "other programs are running" at this time.

In some embodiments, the method further includes: displaying on the display interface a second button identifier of a cancel button, where the cancel button is one or more of the buttons. As shown in FIG. 5 and FIG. 6 , the second button identification C of the cancel button is displayed on the right side of the

first button identifications

1, 2, 3, 4, Q, E, R, and T. The cancel key may include a key on a keyboard, a key on a mouse, a key on a touch screen, a key on a touch pad, and a virtual key on the display screen of the terminal device, such as key C on the keyboard.

Exemplarily, the movable platform may be controlled to stop executing the preset task according to the control program file corresponding to the trigger button triggered at the previous moment according to the user's trigger operation on the cancel button or the second button identifier.

As shown in FIG. 6 , after the trigger button 2 is triggered by the user, the movable platform can be controlled to stop executing the control program file corresponding to the trigger button 2 through the user's triggering operation on the cancel button or the second button identifier.

Exemplarily, if a control program file corresponding to a trigger button is being executed by the movable platform, the second button identifier is displayed in a third display mode. As shown in Figure 6, the trigger button 3 is triggered by the user, and the control program corresponding to the trigger button 3, if the alternative program 2 file is being executed by the movable platform, the second button logo can be highlighted to prompt the user to By triggering the cancel button or the second button identifier, the movable platform is controlled to stop executing the preset task according to the control program file corresponding to the trigger button triggered at the previous moment.

Exemplarily, if no control program file corresponding to a trigger button is currently being executed by the movable platform, the second button identifier is displayed in a fourth display mode. For example, if the trigger button corresponding to each of the control program files is not triggered, the second button logo is displayed in grayscale, indicating that the current trigger cancel button or the second button logo will not cause the movable platform to stop executing the corresponding preset button. Set up tasks.

The embodiment of the present application provides a method for loading and using multiple custom programs, so that the user can improve the efficiency of debugging and application programs, and does not need to switch pages back and forth to replace the loaded programs for use. At the same time, the restrictions on users are relaxed, allowing them to work together through multiple programs to complete relatively complex tasks, enhancing the flexibility and professionalism of daily teaching and competition. Provides a multi-program loading and cooperating way to meet the needs of professional mobile platform education and competitions, users are no longer limited by the number of programs loaded on the mobile platform, reducing the time to switch back and forth to load different programs, and in Some scenes that do not allow switching (such as games) can play a higher degree of freedom.

Exemplarily, the custom program loading configuration can be performed before the game, and then the program running control can be performed during the game. The program loading refers to importing the program files stored locally on the computer into the competition engine, generating a list of optional custom programs, and then dragging and dropping the program files in the list to the corresponding keys to complete the configuration. Running refers to sending an instruction to run the custom program to the movable platform by pressing the corresponding key of the custom program when operating in the first-person perspective, so that the movable platform can perform the preset task according to the instruction. Exemplarily, it is also possible to obtain feedback that the program is running, and it is forbidden to trigger other programs to run.

In some embodiments, the method further comprises: displaying the state of the movable platform and/or the load carried on the movable platform on the display interface.

Exemplarily, the movable platform can carry at least one of the following loads: armor, a gimbal, a robotic arm, a TOF (Time of Flight, time of flight) sensor, and a steering gear.

In some embodiments, the state of the movable platform includes at least one of the following: remaining power, temperature, travel direction, attitude, current blood volume, and the like. The user can grasp the state of the movable platform during the battle. As shown in Figure 5, the current blood volume of the movable platform can be displayed on the display interface, and the enemy's blood volume, friendly blood volume and remaining time can also be displayed.

Illustratively, the payload includes a robotic arm that, for example, can be used to grab objects, such as ammunition at one location on the playing field, and then move the ammunition when the movable platform is moved to another location. The release is placed in the other position.

The state of the payload includes the current posture of the robotic arm. As shown in Figure 5, the current posture of the robotic arm can be displayed on the display interface. It is convenient for users to better control movable platforms and robotic arms to complete tasks such as battles.

For example, the current posture of the robotic arm may be determined according to the angle information of the steering gear on the robotic arm. For example, the angle information of each steering gear on the robotic arm can be obtained in real time, which can be used to visually restore the attitude information of the robotic arm.

In some embodiments, the method further includes: displaying, on the display interface, a third button identifier corresponding to an attitude adjustment button, where the attitude adjustment button is one or more of the buttons; The trigger operation of the adjustment button or the third button identifier controls the robot arm to adjust the posture.

Exemplarily, as shown in Figures 5 and 7, the third button identifiers include W, S, A, and D, which correspond to the posture adjustment buttons W, S, A, and D, respectively. The posture adjustment keys W, S, A, D may be the keys W, S, A, D on the keyboard. For example, the attitude adjustment button W or the third button identification W is used to control the lifting of the robotic arm, the attitude adjustment button S or the third button identification S is used to control the falling of the robotic arm, and the attitude adjustment button A or the third button identification A is used to control The robotic arm extends forward, and the attitude adjustment button D or the third button mark D is used to control the robotic arm to retract backward. It can be understood that the direction of the posture adjustment button corresponds to the movement posture direction of the side view of the mechanical arm.

This interactive operation method allows the user to intuitively control the up and down, front and rear movements of the robotic arm from a first-person perspective, and at the same time understand the real-time attitude information of the robotic arm in real time, so that the robotic arm can reach the target position naturally and smoothly under human operation.

Exemplarily, the current posture of the robotic arm may further include a limit state, for example, the movable range of the robotic arm. Exemplarily, the robotic arm includes a base for connecting the movable platform body, a first arm and a second arm, wherein the first arm is connected between the base and the second arm, and the second arm is disposed on a side away from the first arm There is a clamping mechanism, the movable range of the angle between the first arm and the base is 22 degrees to 92 degrees, and the movable range of the angle between the second arm and the first arm is 46 degrees to 134 degrees. Limit state, so that users can adjust the limit state in time.

Exemplarily, the controlling the robotic arm to adjust the posture according to the user's triggering operation on the posture adjustment button or the third button identification includes: adjusting the posture according to the user's operation of the posture adjustment button or the third button identification. and the current attitude of the robotic arm, determine the control amount of the steering gear on the robotic arm; send the control amount to the robotic arm, so that the robotic arm can adjust the attitude according to the control amount . By determining the direction command according to the triggering operation of the attitude adjustment button or the third button mark by the user, and combining the current attitude of the robot arm, vector decomposition is performed to obtain the control amount of the corresponding steering gear to adjust the attitude of the robot arm.

Exemplarily, the method further includes: highlighting the third button identification according to the user's trigger operation on the gesture adjustment button or the third button identification. As shown in FIG. 7 , according to the user's triggering operation on the attitude adjustment button W or the third button identifier W, the third button identifier is highlighted to feedback the state of the attitude adjustment button to the user.

In some embodiments, the method further includes: displaying, on the display interface, a fourth key identifier corresponding to a mode key, the mode key being used to switch the attitude adjustment key to control the robot arm to adjust the attitude or switch the The attitude adjustment button controls the attitude of the movable platform. Exemplarily, the fourth button identification and the third button identification may be displayed in one area, for example, displayed in the control function area of the display interface.

Exemplarily, as shown in FIG. 5 and FIG. 7 , the fourth key identification includes the third key identification including the space bar identification among W, S, A, and D, and the mode key includes the space bar on the keyboard. Of course, the mode key may also be other keys on the keyboard, such as a shift key.

Exemplarily, as shown in FIG. 7 , when both the attitude adjustment button W and the mode button are triggered, the attitude adjustment button W is used to control the robotic arm to lift upward. Exemplarily, when the attitude adjustment button W is triggered and the mode button is not triggered, the attitude adjustment button W is used to control the attitude of the movable platform, for example, to control the movable platform to move forward.

Exemplarily, the posture of the robot arm includes the state of the clamping mechanism on the robot arm, and the state of the clamping mechanism includes clamping, loosening, and state retention. By displaying the state of the clamping mechanism, it is convenient for the user to intuitively understand the state of the clamping mechanism.

Exemplarily, the method further includes: controlling the clamping mechanism to adjust to a state corresponding to the clamping control operation according to the clamping control operation of the user, and an animation prompting the state adjustment process of the clamping mechanism.

Referring to Figure 5 and Figure 7, the state of the clamping mechanism on the robotic arm is adjusted from clamping to loosening, and the adjustment process of the clamping mechanism from clamping to loosening can be displayed in the form of animation.

Exemplarily, the method further includes: displaying, on the display interface, a fifth button identifier corresponding to a clamping control button, where the clamping control button is one or more of the buttons; the user's clamping The control operation includes: a user's triggering operation on the clamping control key or the fifth key identifier.

Exemplarily, as shown in FIG. 7 , the fifth button identification includes an identification of the left button of the mouse and an identification of the right button of the mouse, and correspondingly, the clamping control button includes the left button of the mouse and the right button of the mouse. The left button of the mouse or the logo of the left button of the mouse is used to control the state of the clamping mechanism on the robotic arm to adjust to clamping, the right mouse button or the logo of the right mouse button is used to control the state of the clamping mechanism on the robotic arm to adjust to release, When the left button of the mouse, the right button of the mouse, the logo of the left mouse button, and the logo of the right mouse button are not triggered, the state of the clamping mechanism is the holding state.

Exemplarily, the animation prompting the state adjustment process of the clamping mechanism includes: if a triggering operation of the clamping control button or the fifth button identification by the user is not detected, displaying a slider image on the The first position corresponding to the state maintaining state; if the clamping control operation is to adjust the state of the clamping mechanism to be clamping, move the slider image from the first position to the second position corresponding to the clamping state position; if the clamping control operation is to adjust the state of the clamping mechanism to be released, move the slider image from the first position to a third position corresponding to the release state.

Exemplarily, as shown in FIG. 5 , when the triggering operation of the gripping control button or the fifth button identification by the user is not detected, a perfectly circular slider image is displayed at the first position corresponding to the state holding state. , the first position is, for example, between the second position corresponding to the clamping state and the third position corresponding to the loosening state.

As shown in FIG. 7 , when the right button of the mouse or the identification of the right button of the mouse is triggered, the clamping control operation is to adjust the state of the clamping mechanism to release, and the slider image can be changed from the first position to Move to the third position corresponding to the release state. Thus, the state adjustment process of the clamping mechanism can be displayed intuitively.

The interaction mode of the robotic arm in the embodiment of the present application enables the user to integrally control the up-and-down movement of the robotic arm and its clamping mechanism on the XZ-axis plane and loosen the clamping through the mouse and keyboard buttons of the attitude mapping in the first-person perspective. This method is intuitive, easy to understand, and easy to use, which solves the problems that the traditional interaction method is not intuitive, the feedback is not timely, and the training cost is high. It is convenient for players to operate the game, which can reduce the training investment of the players in the field of engineering robots gripping ammunition cylinders, and devote more energy to technical learning and research and development. , so that both participants and spectators can pay more attention to the technical and competitive aspects of the game.

In the method for controlling a movable platform provided by the embodiment of the present application, the trigger button of each control program file is determined according to the configuration operation of the user, and each control program file is sent to the movable platform, so that the movable platform configures each control program file, And the display interface of the terminal device displays the first button identifier corresponding to the trigger button of each control program file, so that the user can control the movable platform to execute the preset task by triggering the trigger button or the first button identifier. The control program can be conveniently configured on the movable platform, and it is convenient for the user to control the movable platform through the control program file.

Please refer to FIG. 8 in conjunction with the above embodiments. FIG. 8 is a schematic block diagram of a terminal device 600 provided by an embodiment of the present application.

Specifically, the terminal device 600 can be equipped with an input device 610, and the input device 610 includes several keys.

Exemplarily, the input device 610 may include at least one of a keyboard, a mouse, a touch screen, and a touch pad. The input device 610 is communicatively connected to the terminal device 600 in a wired or wireless manner, or the input device is integrated with the terminal device 600 .

The terminal device 600 includes a processor 601 and a memory 602 .

Exemplarily, the processor 601 and the memory 602 are connected through a bus 603, and the bus 603 is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 601 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

Wherein, the processor 601 is configured to run the computer program stored in the memory 602, and implement the aforementioned control method of the movable platform when the computer program is executed.

Exemplarily, the processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when executing the computer program:

Get multiple control program files;

The specific principles and implementation manners of the terminal equipment provided in the embodiments of the present application are similar to the control methods of the movable platforms in the foregoing embodiments, and details are not described herein again.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments. The steps of the control method of the movable platform.

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

The terminal device and the computer-readable storage medium provided by the embodiments of the present application determine the trigger button of each control program file according to the configuration operation of the user, and send each control program file to the movable platform, so that the movable platform configures each control program. files, and the first button identifiers corresponding to the trigger buttons of each control program file are displayed on the display interface of the terminal device, so that the user can control the movable platform to perform preset tasks by triggering the trigger buttons or the first button identifiers. The control program can be conveniently configured on the movable platform, and it is convenient for the user to control the movable platform through the control program file.

It should be understood that the terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application.

It will also be understood that, as used in this application and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

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

Claims

A control method of a movable platform, characterized in that it is used in a terminal device, and the terminal device includes several buttons; the method includes:

Get multiple control program files;

Determine the trigger button of each of the control program files according to the configuration operation of the user, and the trigger button is one or more of the buttons;

sending each of the control program files to the movable platform, so that the movable platform configures each of the control program files;

Display the first button identifier corresponding to the trigger button of each of the control program files on the display interface of the terminal device;

According to the user's trigger operation on the trigger button or the first button identifier, the movable platform is controlled to execute a preset task according to the control program file corresponding to the trigger button.
The method according to claim 1, wherein the acquiring a plurality of control program files comprises:

Obtain multiple locally stored control program files and/or server-stored control program files.
The method according to claim 1, wherein the method further comprises:

A program file list is generated according to the plurality of control program files, and the program file list is displayed on the setting interface of the terminal device, where the program file list includes file information of the plurality of control program files.
The method according to claim 3, wherein the method further comprises:

A key list is displayed on the setting interface, and the key list includes first key identifiers corresponding to a plurality of trigger keys;

The determining of the trigger buttons of each of the control program files according to the user's configuration operation includes:

The trigger button of the control program file is determined according to the user's operation of dragging the file information to the location of the first button identifier; or according to the user dragging the first button identifier to the location of the file information The operation determines the trigger key of the control program file.
The method according to claim 4, wherein the method further comprises:

If the file information is dragged to the position of the first key mark, the first key mark is displayed in the first display mode;

If the file information is dragged to the position of the first key mark and then released, the first key mark is displayed in a first display mode and the file information is displayed at the position of the first key mark;

If the file information is not dragged to the position where the first key mark is located, the first key mark is displayed in a second display mode.
The method according to any one of claims 3-5, wherein the method further comprises:

determining the load carried by the movable platform;

The information of the load is displayed on the setting interface.
The method according to any one of claims 1-6, wherein the method further comprises:

Acquire a configuration process for configuring the control program file on the mobile platform, and output the configuration process to a user.
The method according to any one of claims 1-7, wherein the displaying on the display interface of the terminal device the first button identifier corresponding to the trigger button of each of the control program files comprises:

According to the button state corresponding to the trigger button, the first button identifier corresponding to the trigger button is displayed on the display interface.
The method according to claim 8, wherein the key state corresponding to the trigger key comprises at least one of the following: a state in which the control program file corresponding to the trigger key is executed by the movable platform, the trigger state Whether the key corresponds to a control program file, whether the trigger key can currently be triggered by the user, and whether the control program file corresponding to the trigger key is canceled and executed.
The method according to claim 9, wherein if a control program file corresponding to a trigger button is being executed by the movable platform, the button states of the other trigger buttons are currently unavailable to be triggered by the user.
The method according to claim 8, wherein the first button identifiers corresponding to the trigger buttons of different button states are displayed in different modes on the display interface.
The method according to any one of claims 1-11, wherein the method further comprises:

Displaying a second key identifier of a cancel key on the display interface, where the cancel key is one or more of the keys;

If a control program file corresponding to a trigger button is being executed by the movable platform, displaying the second button identifier in a third display mode;

According to the user's trigger operation on the cancel button or the second button identifier, the movable platform is controlled to stop executing the preset task according to the control program file corresponding to the trigger button triggered at the previous moment;

If no control program file corresponding to the trigger button is currently being executed by the movable platform, the second button identifier is displayed in a fourth display mode.
The method according to any one of claims 1-12, wherein the method further comprises:

The state of the movable platform and/or the load carried on the movable platform is displayed on the display interface.
The method of claim 13, wherein the payload comprises a robotic arm, and the state of the payload comprises a current posture of the robotic arm.
The method according to claim 14, wherein the current posture of the robotic arm is determined according to angle information of a steering gear on the robotic arm.
The method of claim 14, wherein the method further comprises:

Displaying a third button identifier corresponding to an attitude adjustment button on the display interface, where the attitude adjustment button is one or more of the buttons;

According to the user's triggering operation on the attitude adjustment button or the third button identifier, the robotic arm is controlled to adjust the attitude.
The method according to claim 16, wherein the controlling the mechanical arm to adjust the posture according to the triggering operation of the posture adjustment button or the third button identifier by the user comprises:

Determine the control amount of the steering gear on the robotic arm according to the user's trigger operation on the attitude adjustment button or the third button identifier, and the current attitude of the robotic arm;

The control amount is sent to the robot arm, so that the robot arm adjusts the posture according to the control amount.
The method of claim 16, wherein the method further comprises:

According to the user's triggering operation on the gesture adjustment button or the third button identification, the third button identification is highlighted.
The method according to any one of claims 16-18, wherein the method further comprises:

A fourth key identifier corresponding to a mode key is displayed on the display interface, and the mode key is used to switch the attitude adjustment key to control the attitude adjustment of the robotic arm or switch the attitude adjustment key to control the attitude of the movable platform.
The method according to any one of claims 14-19, wherein the posture of the robotic arm includes a state of a clamping mechanism on the robotic arm, and the state of the clamping mechanism includes clamping, loosening and status maintained.
The method of claim 20, wherein the method further comprises:

According to the clamping control operation of the user, the clamping mechanism is controlled to be adjusted to a state corresponding to the clamping control operation, and an animation prompts the state adjustment process of the clamping mechanism.
The method of claim 21, wherein the method further comprises:

Displaying, on the display interface, a fifth button identifier corresponding to a clamping control button, where the clamping control button is one or more of the buttons;

The user's clamping control operation includes: a user's triggering operation on the clamping control key or the fifth key identifier.
The method according to claim 22, wherein the animation prompts a state adjustment process of the clamping mechanism, comprising:

If the triggering operation of the clamping control button or the fifth button identification by the user is not detected, a slider image is displayed at the first position corresponding to the state holding state;

If the clamping control operation is to adjust the state of the clamping mechanism to be clamping, move the slider image from the first position to a second position corresponding to the clamping state;

If the clamping control operation is to adjust the state of the clamping mechanism to be released, the slider image is moved from the first position to a third position corresponding to the released state.
The method according to any one of claims 1-21, wherein the method further comprises:

acquiring a real-time image acquired by a camera mounted on the movable platform;

The real-time image is displayed on the display interface.
The method according to any one of claims 1-24, wherein the movable platform comprises at least one of the following: an unmanned aerial vehicle, a cloud platform, an unmanned vehicle, and a robot.
The method according to any one of claims 1-25, wherein the preset task includes at least one of the following: patrolling a line, hitting a preset target, identifying an enemy mobile platform, and tracking an enemy Move platforms, maneuver to avoid strikes, grab targets, and travel to preset locations.
The method according to any one of claims 1-26, wherein the buttons of the terminal device include at least one of the following: buttons on a keyboard, buttons on a mouse, buttons on a touch screen, touch buttons The buttons on the board and the virtual buttons on the display screen of the terminal device.
A terminal device, characterized in that the terminal device can be equipped with an input device, and the input device includes a plurality of keys;

The terminal device includes a memory and a processor;

the memory is used to store computer programs;

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

Get multiple control program files;

Determine the trigger button of each of the control program files according to the configuration operation of the user, and the trigger button is one or more of the buttons;

sending each of the control program files to the movable platform, so that the movable platform configures each of the control program files;

Display the first button identifier corresponding to the trigger button of each of the control program files on the display interface of the terminal device;

According to a user's trigger operation on the trigger button or the first button identifier, the movable platform is controlled to execute a preset task according to a control program file corresponding to the trigger button.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in any one of claims 1-27. method described.