CN107077152A

CN107077152A - Control method, device, system, unmanned aerial vehicle and mobile platform

Info

Publication number: CN107077152A
Application number: CN201680002782.XA
Authority: CN
Inventors: 封旭阳; 胡骁; 赵丛; 刘昂
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2016-11-30
Filing date: 2016-11-30
Publication date: 2017-08-18
Also published as: WO2018098704A1

Abstract

A control method, equipment, a system, an unmanned aerial vehicle and a movable platform are provided. The method comprises the following steps: acquiring historical motion information from a first position point to a second position point; controlling the unmanned aerial vehicle to fly between the first position point and the second position point according to the historical motion information; and controlling the unmanned aerial vehicle to fly between the first position point and the second position point, and controlling the shooting equipment carried by the unmanned aerial vehicle to shoot the shooting object. The invention can realize the safe flight of the unmanned aerial vehicle.

Description

Control method, device, system, unmanned aerial vehicle and movable platform

Copyright declaration

The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.

Technical Field

The present invention relates to the field of control, and more particularly, to a control method, apparatus, system, unmanned aerial vehicle, and movable platform.

Background

With the development of flight technology, unmanned aerial vehicles have been developed from military to more and more extensive civil use, such as UAV plant protection, UAV aerial photography, UAV forest fire monitoring, and the like, and UAV civilization is also a trend for future development. Along with the rapid development of unmanned aerial vehicles, unmanned aerial vehicles' application scope is wider and wider, and unmanned aerial vehicles probably carry out the shooting task under various circumstances. At present, when planning the shooting task of unmanned aerial vehicle, need manual with the unmanned aerial vehicle the waypoint that will traverse and the manual input control terminal of the shooting control information that this waypoint corresponds, then give unmanned aerial vehicle with these data transmission by control terminal again, and when shooting task planning, still consider unmanned aerial vehicle's safe flight, therefore the operation process is complicated, especially when planning long-time shooting task, the work load is great, lack succinctly at present, lack the control system who easily uses to the flight path of unmanned aerial vehicle, the shooting task plans and controls, can reduce unmanned aerial vehicle's usefulness in some applications.

Disclosure of Invention

The invention provides a control method, equipment and a system, an unmanned aerial vehicle and a movable platform, which can plan the shooting process of the unmanned aerial vehicle through a simple control method and realize the safe flight of the unmanned aerial vehicle.

In a first aspect, a control method is provided, and is characterized by including: acquiring historical motion information from a first position point to a second position point; controlling the unmanned aerial vehicle to fly between the first position point and the second position point according to the historical motion information; and controlling the unmanned aerial vehicle to fly between the first position point and the second position point, and controlling the shooting equipment carried by the unmanned aerial vehicle to shoot the shooting object.

In a second aspect, a control method is provided, including: acquiring historical motion information of the movable platform from a first position point to a second position point; and sending the historical motion information to an external device.

In a third aspect, a control device is provided, including: the acquisition module is used for acquiring historical motion information from a first position point to a second position point; and the control module is used for controlling the unmanned aerial vehicle to fly between the first position point and the second position point according to the historical motion information, and controlling the shooting equipment carried by the unmanned aerial vehicle to shoot the shot object when the unmanned aerial vehicle flies between the first position point and the second position point.

In a fourth aspect, there is provided a control apparatus comprising: the acquisition module is used for acquiring historical motion information of the movable platform from a first position point to a second position point; and the control module is used for sending the historical motion information to external equipment.

In a fifth aspect, a control system is provided, comprising a processor and a memory, the memory storing instructions, the processor being configured to call the instructions stored in the memory to perform the following operations: acquiring historical motion information from a first position point to a second position point; controlling the unmanned aerial vehicle to fly between the first position point and the second position point according to the historical motion information; and controlling the unmanned aerial vehicle to fly between the first position point and the second position point, and controlling the shooting equipment carried by the unmanned aerial vehicle to shoot the shooting object.

In a sixth aspect, a control system is provided, comprising a processor and a memory, the memory storing instructions, the processor being configured to invoke the instructions stored in the memory to perform the following operations: acquiring historical motion information of the movable platform from a first position point to a second position point; and sending the historical motion information to an external device.

In a seventh aspect, there is provided a drone, comprising: the power system is used for providing flight power for the unmanned aerial vehicle; and the control system of the fifth aspect, configured to control the drone.

In an eighth aspect, there is provided a movable platform comprising: the control system of the sixth aspect, configured to control the movable platform.

Therefore, in the embodiment of the invention, the unmanned aerial vehicle is controlled to fly between the first position point and the second position point according to the historical motion information from the first position point to the second position point, the unmanned aerial vehicle can fly between the first position point and the second position point according to the historical motion information, the flight track and the shooting task of the unmanned aerial vehicle do not need to be planned manually by a user, the control flow is simplified, the user can realize the accurate customization of the flight track and the shooting task of the unmanned aerial vehicle according to the embodiment of the invention, and the ideal shooting effect can be realized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 shows a schematic diagram of a drone system according to an embodiment of the invention.

Fig. 2 shows a schematic diagram of a drone system according to a further embodiment of the invention.

Fig. 3 shows a schematic flow chart of a control method according to an embodiment of the invention.

Fig. 4a shows a schematic diagram of a historical motion profile according to an embodiment of the invention.

Fig. 4b shows a schematic diagram of controlling the flight of a drone according to a historical motion profile, according to an embodiment of the invention.

Fig. 4c shows a schematic diagram of controlling the flight of a drone according to a historical motion profile, according to an embodiment of the invention.

FIG. 5 shows a schematic diagram of a historical motion profile without smoothing, according to an embodiment of the invention.

Fig. 6 shows a schematic flow chart of a control method according to an embodiment of the invention.

Fig. 7 shows a schematic block diagram of a control device according to an embodiment of the invention.

Fig. 8 shows a schematic block diagram of a control device according to an embodiment of the present invention.

Fig. 9 shows a schematic block diagram of a control device according to an embodiment of the present invention.

Fig. 10 shows a schematic block diagram of a control device according to an embodiment of the present invention.

FIG. 11 shows a schematic block diagram of a control system according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The drone mentioned in the embodiments of the present invention may be specifically a drone of various types, wherein a multi-rotor drone is exemplified in the embodiments of the present invention, however, such description is not limiting, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the scope of the present invention, and the present invention is not limited thereto.

Fig. 1 shows a schematic structural diagram of a flight system according to an embodiment of the present invention, the flight system includes a control terminal 100 as a ground-end remote control device and a drone 200,

as shown in fig. 1, among other things, the drone 200 may include a power system 210, a control system 220, a sensing system 230, and a airframe 240. The pan/tilt 250 and the shooting device 260 may be referred to as a part of the drone 200, or may be external devices connected to the drone.

The power system 210 may include an electronic governor (abbreviated as an electric governor) 211, two or more propellers 212, and two or more motors 213 corresponding to the two or more propellers 212, where only the two propellers 212 and the two motors 213 corresponding thereto are illustrated in fig. 1, but do not limit the scope of the embodiments of the present invention. The motor 213 is connected between the electronic speed regulator 211 and the propeller 212, and the motor 213 and the propeller 212 are arranged on the corresponding machine arms; the electronic governor 211 is configured to receive a driving signal generated by the control system 220 and provide a driving current to the motor 213 according to the driving signal to control the rotation speed of the motor 213. Motor 213 is used for driving propeller 212 to rotate to provide power for the flight of drone 200.

The sensing system 230 is used to measure motion information of the drone 200, i.e. position information and status information of the drone 200 in space, such as position, angle, velocity, acceleration, angular velocity, etc. The sensing System 230 may include at least one of a gyroscope, an electronic compass, an Inertial Measurement Unit (IMU), a visual sensor (binocular, monocular, visual odometer), a Global Positioning System (GPS), a barometer, an airspeed meter, a compass, ultrasonic sensing, and the like.

Control system 220 is used to control the flight of drone 200. The control system 220 may control the drone 200 according to preset program instructions. For example, flight controller 220 may control the flight of drone 200 based on the motion information measured by sensing system 230. The flight controller 200 may also control the drone 200 according to a control signal from a control terminal device.

Frame 240 may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected with the fuselage for play the supporting role when unmanned aerial vehicle 200 lands.

The photographing device 260 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 260 may communicate with the flight controller and perform photographing under the control of the flight controller.

The display device 110 is located at the ground end, can communicate with the drone 200 in a wireless manner, and can be used to display status parameters or operating parameters of the drone 200. In addition, an image photographed by the photographing apparatus may also be displayed on the display apparatus 110. It should be understood that the display device 110 may be a separate device or may be provided in the control terminal 100.

Control terminal 100 is located the ground end, can communicate with unmanned aerial vehicle 200 through wireless mode for carry out remote control to unmanned aerial vehicle 200. Control terminal 100 can be for one or more in smart mobile phone, panel computer, unmanned aerial vehicle ground control station, wrist-watch, bracelet, video glasses etc.. In the embodiment of the present invention, the input of the user is received through the control device, which may be an input device such as a wheel, a button, or a joystick on the remote controller, or a User Interface (UI) on the user terminal to control the drone 200.

The drone 200 may fly along a path, which may be referred to as a flight path, which may include a plurality of location points, which may be referred to as waypoints. For example, as shown in FIG. 2, a route from position point 1 to position point 6 may include other position points in addition to position point 1 and position point 6, namely, position points 2, 3, 4, and 5. In the course data, the waypoints are in the form of coordinates. In some cases, waypoints may include, in addition to coordinates: an index ID of a location point, location point action information, route attributes associated with the location point, etc., wherein the location point action includes, but is not limited to, pan-tilt control information, capture control information (including capture direction information of the capture device, capture action information of the capture device (e.g., take a picture, take a video, focus adjustment, exposure control, focus control, etc.)).

The coordinates of the waypoint may include global position coordinates (GPS) or relative position coordinates, and the flight altitude of the waypoint may be a default altitude value. Alternatively, the waypoint may also consist of a global position coordinate (GPS) or a relative position coordinate, and a height value. The drone 200, upon receiving the course data, executes the course data, flying on the course represented by the course data. Specifically, the controller in the unmanned aerial vehicle 200 controls the unmanned aerial vehicle 200 to sequentially traverse the waypoints according to each position point included in the route data, so as to realize flying on the route represented by the route data.

During the flight of the drone 200, the carried shooting device 260 may be used to shoot the shooting object.

At present, when a shooting object needs to be shot, a user controls an air route of an unmanned aerial vehicle in real time through a control terminal device, and when the unmanned aerial vehicle flies according to the air route controlled in real time, the shooting object is shot by using shooting equipment carried by the unmanned aerial vehicle. However, due to the uneven user level, the user may not be skilled enough in the operation of the drone, cannot achieve safe flight of the drone, and cannot obtain an ideal photographing effect. Especially want to shoot repeatedly along fixed route to certain shooting object when realizing by far away and near, by near and when shooting far away, can not realize this technological effect among the prior art, can reduce the usefulness that unmanned aerial vehicle shot.

Therefore, the embodiment of the invention provides a control method, equipment and system and an unmanned aerial vehicle, which can realize the safe flight of the unmanned aerial vehicle and obtain an ideal shooting effect.

Fig. 3 shows a schematic flow chart of a control method of an embodiment of the invention. The method may be performed by a drone, in particular by a control system in the drone. As shown in fig. 3, the method may include the following.

In 310, historical motion information from a first location point to a second location point is obtained.

Optionally, the historical motion information includes historical motion trajectory information;

optionally, in addition to the historical motion trajectory information, the historical motion information from the first location point to the second location point further includes at least one of:

historical movement speed information during the process from the first location point to the second location point;

historical photographing control information of the photographing apparatus in a process from the first location point to the second location point;

historical pose information in going from the first location point to the second location point.

Feature point information extracted from the surrounding image information in a process from the first position point to the second position point or map information created from the surrounding image information.

Specifically, the historical movement speed information during the process from the first position point to the second position point may include: the average historical movement speed information from the first position point to the second position point, and/or the historical movement speed information of every two adjacent position points in a plurality of position points between the first position point and the second position point.

Specifically, the historical movement speed information may include a speed magnitude and a speed direction.

Specifically, the history photographing control information may include history photographing direction information for a photographing direction and angle of the photographing apparatus and/or history photographing action information, which may include photographing, video taking, focus adjustment, exposure control, focus control, and the like.

Specifically, the history photographing control information of the photographing apparatus from the first location point to the second location point may include: shooting direction information and/or shooting action information of a corresponding shooting device at each of a plurality of position points from the first position point to the second position point.

Specifically, historical attitude information from the first location point to the second location point may be sensed by a motion sensor, for example, attitude information may include at least one of pitch angle, yaw angle, and roll angle, and a motion sensor may include at least one of: the present invention is not limited to this, and other sensors capable of measuring attitude information of the drone may be used.

Specifically, feature point information of an ambient image from a first position point to a position point may be extracted from the ambient image, an image of the ambient environment is acquired from the first position point to a second position point, and feature point information may be extracted from the ambient image, and these feature point information may be included in the historical motion information; in addition, the map information may be obtained by modeling based on image information of the surrounding environment, and the historical motion information may also include the map information.

In 320, the drone is controlled to fly between the first location point and the second location point according to the historical motion information.

After the unmanned aerial vehicle acquires the historical motion information, the unmanned aerial vehicle can be controlled to fly between the first position point and the second position point according to at least one item of historical motion track information, historical speed control information, historical acceleration control information, historical attitude control information and historical shooting control information indicated by the historical motion information.

In 330, when the unmanned aerial vehicle is controlled to fly between the first position point and the second position point, the shooting device carried by the unmanned aerial vehicle is controlled to shoot the shooting object.

Specifically, when the unmanned aerial vehicle flies according to historical motion information, the user controls shooting equipment carried by the unmanned aerial vehicle to shoot a shooting object through real-time shooting control information input by the control terminal device or historical shooting control information indicated by the historical motion information, and a specific explanation will be described below.

Therefore, in the embodiment of the invention, the unmanned aerial vehicle is controlled to fly between the first position point and the second position point according to the historical motion information from the first position point to the second position point, and the unmanned aerial vehicle can fly according to the historical motion information, so that on one hand, the problem that the unmanned aerial vehicle can not safely fly because a user operates in real time can be avoided, and on the other hand, the problem that the unmanned aerial vehicle can not safely fly because the user manually inputs air line data, shooting control information, speed information and attitude information can be avoided. And further controlling the unmanned aerial vehicle to shoot the shot object by shooting equipment carried by the unmanned aerial vehicle when flying according to the historical motion information, so that an ideal shooting effect can be realized.

Alternatively, the historical motion information from the first location point to the second location point may be obtained in any one or a combination of the following two ways.

Optionally, in one implementation, the historical motion information sent by the movable platform from the first location point to the second location point is received.

The historical motion information may be motion information obtained by the movable platform in the process of moving from the first position point to the second position point, or may be motion information obtained by the movable platform from other devices.

For example, during the process that the movable platform moves from the first position point to the second position point, the motion sensor or the vision sensor is used to obtain the track information of the movement, wherein the movable platform can also record one or more of shooting control information, speed information, acceleration information, attitude information, feature point information and map information (wherein the definition of the feature point information and the map information is referred to in the foregoing section) during the movement, when the movable platform moves to the second position point, the movable platform records the movement track information and shooting control information, speed information, acceleration information, attitude information, feature point information, map information and the like associated with the movement track information, the movable platform records the information as historical movement information, the movable platform can store the historical movement information and send the historical movement information to the unmanned aerial vehicle, after the unmanned aerial vehicle receives the historical motion information sent by the movable platform, the unmanned aerial vehicle can fly between the first position point and the second position point according to the historical motion information, and meanwhile, one or more of shooting control information, speed information, acceleration information and attitude information included in the historical motion information are used for controlling one or more of shooting, speed, acceleration and attitude of the unmanned aerial vehicle. The unmanned aerial vehicle can share the historical motion information recorded by the movable platform to the unmanned aerial vehicle, the information interconnection between the movable platform and the unmanned aerial vehicle is realized, a user can utilize the movable platform to record and realize the motion strategy customization between the first position point and the second position point, and the unmanned aerial vehicle can fly between the first position point and the second position point according to the customized motion strategy and realize corresponding control.

Wherein, this movable platform can realize the mobile platform of record historical motion information, do not specifically restrict here, and movable platform's concrete can be unmanned aerial vehicle, handheld cloud platform camera, smart mobile phone, special remote controller, intelligent bracelet, one or more in the intelligent bracelet.

Optionally, in one implementation, the drone is controlled to fly from the first location point to the second location point to obtain the historical movement information.

The operation of obtaining historical motion information can be executed by the unmanned aerial vehicle, firstly, the unmanned aerial vehicle flies from a first position point to a second position point, motion track information is obtained by using a motion sensor or a visual sensor, wherein the unmanned aerial vehicle can also record one or more of shooting control information, speed information, acceleration information, attitude information, characteristic point information and map information in the motion process, the previous parts of parameters are required in the specific process, and the description is omitted; after the unmanned aerial vehicle obtains the historical movement information from the first position point to the second position point, the unmanned aerial vehicle flies from the first position point to the second position point or flies from the second position point to the first position point according to the historical movement information in the later period. And simultaneously, one or more of shooting control information, speed information, acceleration information and attitude information included in the historical motion information are used for controlling one or more of shooting, speed, acceleration and attitude of the unmanned aerial vehicle.

Wherein, can be through the mode of forward flight, control this unmanned aerial vehicle from first position point to this second position point flight, this moment, forward flight can be referred to unmanned aerial vehicle's aircraft nose direction or keep away the operation direction and the flight direction of barrier equipment and be unanimous basically.

Or the unmanned aerial vehicle can be controlled to fly from the first position point to the second position point in a mode that the operation direction of the obstacle avoidance equipment of the unmanned aerial vehicle is basically consistent with the flight direction. Wherein, should keep away barrier equipment and can keep away barrier equipment (keeping away the barrier binocular or monocular), ultrasonic wave for the vision, the barrier is kept away to the radar, keeps away the barrier etc. should keep away barrier equipment and can install on unmanned aerial vehicle's aircraft nose, when flying from first position point to second position point, flight direction and aircraft nose, keep away the operation direction of barrier equipment unanimous basically.

Optionally, the unmanned aerial vehicle may be controlled to fly from the first location point to the second location point according to a preset obstacle avoidance policy, so as to obtain the historical motion information.

Wherein, general unmanned aerial vehicle has only configured at the aircraft nose and has kept away barrier equipment, when unmanned aerial vehicle is to first position point when flying to second position point forward, unmanned aerial vehicle can utilize and keep away barrier equipment, keep away according to predetermined obstacle avoidance strategy to the ascending barrier of direction of flight, when unmanned aerial vehicle accomplishes the flight of first position point to second position point, then determine a historical movement track, this historical movement track is safe movement track, do not have the barrier on this movement track promptly, the later stage can not arouse when flying along this track with the problem of barrier collision. The preset obstacle avoidance strategy can be used for indicating that an obstacle is avoided according to a preset mode, for example, the obstacle avoidance strategy climbs first when the obstacle is detected, descends to return to an original route after crossing the obstacle, or horizontally bypasses the obstacle and returns to the original route after detecting the obstacle, and specifically, the obstacle avoidance strategy can be used for actively avoiding an obstacle by using a preset obstacle avoidance algorithm according to environment information sensed by a binocular camera at any moment.

In addition, because the tail of the unmanned aerial vehicle is not provided with the obstacle avoidance device, the unmanned aerial vehicle cannot avoid the obstacle of the tail, and when the unmanned aerial vehicle reversely flies from the second position point to the first position point, an event of collision with the obstacle may occur, so that the unmanned aerial vehicle is dangerous. When flying from first position point to second position point forward, owing to utilize the obstacle avoidance equipment of installing at the aircraft nose, the historical motion trail of safety has been determined, then when unmanned aerial vehicle flies to first position point backward from the second position point, can fly according to this historical motion trail, can effectively guarantee unmanned aerial vehicle's safety like this.

Alternatively, the flight control of the unmanned aerial vehicle can also be performed according to a real-time control signal input by the control terminal device.

Specifically, the control terminal device may present an interactive interface including a map of a certain target area to a user, the user may set, as needed, location points on the map that the unmanned aerial vehicle needs to traverse, each location point may be a GPS location coordinate, and the altitude may be a default altitude, or the flight altitude of the location point may also be flexibly set, and the user may set the flight speeds of every two location points. The unmanned aerial vehicle can be controlled to traverse each position point set by the user through the control terminal device. Therefore, the user can customize the motion strategy by using the control terminal equipment, and the unmanned plane can fly between the first position point and the second position point according to the customized motion strategy, so that the user experience can be improved.

Or, the flight control of the unmanned aerial vehicle can be performed by combining a preset obstacle avoidance strategy and a real-time control signal input by the control terminal device.

Specifically, the user can set a motion strategy through the control terminal device, for example, at least one of a motion track, a motion attitude or an attitude of the unmanned aerial vehicle, and the unmanned aerial vehicle can avoid an obstacle according to a preset obstacle avoidance strategy in a flight process according to the motion strategy set by the user if encountering an obstacle, and continue to fly according to the strategy set by the user after avoiding the obstacle, so that the safety of flight can be improved while the user experience is improved.

Optionally, when the unmanned aerial vehicle is controlled to fly from the first position point to the second position point, acquiring image information; and determining historical motion track information from the first position point to the second position point according to the image information.

In the process that the unmanned aerial vehicle flies from the first position point to the second position point, the image sensor configured for the unmanned aerial vehicle can acquire image information of the surrounding environment (such as the lower part of the unmanned aerial vehicle) in real time, and after the image information is acquired, historical motion track information from the first position point to the second position point can be calculated according to the image information.

Specifically, the image sensor may include a visual odometer, wherein the visual odometer may be monocular or binocular, and image information from the first position point to the second position point may be acquired using the visual odometer to determine historical movement trace information from the first position point to the second position point. Wherein the visual odometer is optionally arranged at the belly of the drone.

Specifically, after acquiring the image information, the motion trajectory information may be determined using a concurrent positioning and mapping (SLAM) algorithm.

In addition, after the image information is acquired, feature point information may be extracted from the image information, the historical motion information may include the feature point information, and meanwhile, the map information may be constructed according to a current Mapping and Mapping (SLAM) algorithm, and the historical motion information may also include the constructed map information.

Optionally, historical motion trajectory information from the first location point to the second location point may be determined from data output by a motion sensor of the drone while controlling the drone to fly from the first location point to the second location point.

In the process that the unmanned aerial vehicle flies from the first position point to the second position point, the motion sensor configured for the unmanned aerial vehicle can output motion data (such as acceleration, angular acceleration, position coordinates and the like) in real time, and after the motion data is acquired, historical motion track information from the first position point to the second position point can be calculated according to the motion data. Wherein the motion sensor may comprise one or more of a measurement unit (IMU), a GPS, an accelerometer, a gyroscope, an electronic compass.

Alternatively, the relative position information may be obtained according to image information obtained by a visual odometer or motion information obtained by an IMU, and the GPS is fused to obtain global position information and thus historical motion trajectory information. In addition, the global position information can be directly acquired by using the GPS, and therefore historical movement track information can be obtained.

Optionally, the historical movement information from the first position point to the second position point may include historical movement track information from the first position point to the second position point, and the drone may be controlled to fly between the first position point and the second position point according to the historical movement track information.

The historical movement information comprises historical movement information, after the unmanned aerial vehicle acquires the historical movement information, the unmanned aerial vehicle can fly between the first position point and the second position point according to the historical movement indicated by the historical movement information, so that the unmanned aerial vehicle can fly between the two position points according to a fixed movement, the customization of the movement path is realized, and the user experience is improved. When control unmanned aerial vehicle flies between first position point and second position point according to historical movement track, can constantly feed back and revise the orbit to reach accurate control's effect.

Further, when the unmanned aerial vehicle flies between the first position point and the second position point according to the historical track indicated by the historical motion information, the flying track of the unmanned aerial vehicle can be corrected according to feature point information extracted from the surrounding environment image information in the historical motion information or map information established according to the surrounding environment image information, and the unmanned aerial vehicle is guaranteed to fly accurately according to the historical track.

Optionally, the historical motion trajectory information from the first location point to the second location point includes a plurality of location points between the first location point and the second location point, and the drone may be controlled to fly between the first location point and the second location point in a manner of traversing the plurality of location points.

Alternatively, the drone may fly from the second location point to the first location point according to historical movement information from the first location point or the second location point.

For example, as shown in the historical motion trace of fig. 4a, the first position point may be position point 1, the second position point may be position point 5, and position point 2, position point 3, and position point 4 are passed from position point 1 to position point 5. The drone may be controlled to traverse position point 4, position point 3, position point 2, and then position point 1 in sequence from position point 5, as shown in fig. 4 b.

Alternatively, the drone may be controlled to fly from the first location point to the second location point according to historical movement information from the first location point or the second location point.

For example, as shown in the historical motion trace of fig. 4a, the first position point may be position point 1, the second position point may be position point 5, and position point 2, position point 3, and position point 4 are passed from position point 1 to position point 5. The drone may be controlled to traverse position point 2, position point 3, position point 4, and to position point 5 in sequence from position point 1, as shown in fig. 4 c.

Alternatively, the historical movement information from the first location point to the second location point may include a speed magnitude of each two adjacent location points between a plurality of location points from the first location point to the second location point, and the drone may be controlled to fly between the each two adjacent location points to traverse the plurality of location points in accordance with the movement speed between the each two adjacent location points.

For example, as shown in fig. 4a, the historical movement information may include the speed magnitude between every two position points in addition to the coordinate information of the position points 1, 2, 3, 4 and 5, and during the flight from the position point 1 to the position point 5 or during the flight from the position point 5 to the position point 1, the flight between every two adjacent position points may be performed at the historical speed magnitude.

Optionally, real-time speed control information input by the control terminal device is acquired, and the flight speed of the unmanned aerial vehicle is controlled according to the real-time speed control information. Or acquiring historical movement speed information included by the historical movement information, and controlling the flight speed of the unmanned aerial vehicle according to the historical movement speed information.

When the unmanned aerial vehicle flies according to the historical movement track information indicated by the historical movement information, a user can send real-time speed control information to the unmanned aerial vehicle through the control terminal device, the speed control information is used for controlling the flying speed of the unmanned aerial vehicle, and by the mode, the user can manually control the speed of the unmanned aerial vehicle, control the unmanned aerial vehicle according to the flying speed desired by the user, and shoot a shooting object at an expected approaching speed or a far-away speed; in addition, unmanned aerial vehicle also can control unmanned aerial vehicle's airspeed according to the historical speed control information that historical motion information instructed, and unmanned aerial vehicle can independently realize the control to the speed according to historical speed control information like this, and the user can not need carry out manual intervention to unmanned aerial vehicle's airspeed, can be absorbed in and shoot.

Optionally, acquiring real-time attitude control information input by a control terminal device, and controlling the attitude of the unmanned aerial vehicle according to the real-time attitude control information; or acquiring historical attitude information included by the historical motion information, and controlling the attitude of the unmanned aerial vehicle according to the historical attitude information.

When the unmanned aerial vehicle flies according to historical movement track information indicated by the historical movement information, a user can send real-time attitude control information to the unmanned aerial vehicle through the control terminal device, wherein the attitude control information is used for controlling the flying attitude of the unmanned aerial vehicle; in addition, unmanned aerial vehicle also can control unmanned aerial vehicle's flight gesture according to the historical attitude control information that historical motion information instructed, and unmanned aerial vehicle can independently realize the control to the gesture according to historical attitude control information like this, and the user can not need carry out manual intervention to unmanned aerial vehicle's flight gesture, can be absorbed in and shoot.

Optionally, according to the historical motion information, the unmanned aerial vehicle is controlled to fly between the second position point and the first position point in a manner that the operation direction or the head direction of the obstacle avoidance device is inconsistent with the flight direction of the unmanned aerial vehicle.

Specifically, because the tail of unmanned aerial vehicle does not dispose and keeps away barrier equipment, unmanned aerial vehicle can not keep away the barrier to the barrier of tail, if unmanned aerial vehicle's aircraft nose direction is inconsistent with unmanned aerial vehicle's flight direction, probably takes place the incident with the barrier collision, and is dangerous like this, or even if dispose and keep away barrier equipment, if keep away the square flight direction inconsistent with unmanned aerial vehicle of operation of barrier equipment, still probably take place the incident with the barrier collision. However, in a manner that the operation direction or the head direction of the obstacle avoidance device is not consistent with the flight direction of the unmanned aerial vehicle, if the unmanned aerial vehicle is controlled to fly between the second position point and the first position point according to the historical movement information, such a situation can be avoided. Specifically, in the process of determining historical movement information, when the unmanned aerial vehicle flies from the first position point to the second position point, the unmanned aerial vehicle can utilize the obstacle avoidance device to avoid obstacles, determine the safe track from the first position point to the second position point, namely historical track information, the historical movement information comprises the historical track information, when the unmanned aerial vehicle flies between the first position point and the second position point according to the historical track information in the later period, even if the operation direction or the head direction of the obstacle avoidance device is inconsistent with the flight direction of the unmanned aerial vehicle, the unmanned aerial vehicle cannot collide with obstacles, and safe flight can be realized.

Alternatively, the historical motion trajectory from the first position point to the second position point may be smoothed.

Specifically, because in the flight, the operation of user is not skilled or not ideal, lead to that the flying speed is fast time slow, or flight track is not smooth, if carry out unmanned aerial vehicle's flight according to the historical motion information that this kind of mode flight obtained, and in the flight process, when control shooting equipment's shooting, probably can make the shooting effect unsatisfactory, therefore, carry out the revision processing to historical motion information, specifically, can carry out the smoothing process to historical motion track, and according to the flight of historical motion track control unmanned aerial vehicle after the smoothing process, and in the flight process, control shooting equipment shoots the shooting object, because the shooting path is comparatively smooth, then can obtain better shooting effect.

For example, as shown in fig. 5, a motion trajectory without smoothing processing may be smoothed due to an excessive change in the speed direction at the position point 4, and a historical motion trajectory obtained by smoothing processing may be as shown in fig. 4 a.

Specifically, the historical motion trajectory may be smoothed according to a first-order function, a second-order function, or the like, wherein the function for smoothing may be input by the user through the control terminal device.

Alternatively, the historical movement speed from the first position point to the second position point may be smoothed.

Specifically, the smoothing of the historical movement speed may be the smoothing of the magnitude of the historical movement speed and/or the direction of the historical movement speed.

It should be understood that the smoothing process of the historical movement speed direction and the smoothing process of the historical movement track may refer to the same process in some aspects.

Alternatively, during the course of pointing and flying at the first position point and the second position according to the historical motion information, the real-time shooting control information input by the control terminal device may be acquired, and the shooting device may be controlled according to the real-time shooting control information.

When the unmanned aerial vehicle flies according to the historical motion track information indicated by the historical motion information, a user can send real-time shooting control information to the unmanned aerial vehicle through the control terminal device, the shooting control information controls the shooting of the unmanned aerial vehicle, through the mode, the user can manually control the shooting device of the unmanned aerial vehicle, and the user can shoot a shooting object according to own will; when guaranteeing unmanned aerial vehicle along historical movement track flight like this, open the control right of shooting equipment for the user, unmanned aerial vehicle flies according to the track that historical track information instructed this moment, need not the user and sets for the flight track, and the user can be absorbed in the shooting like this, has improved user experience.

Alternatively, during the course of the pointing flight at the first position point and the second position according to the historical motion information, historical photographing control information indicated by the historical motion information may be acquired, and the photographing apparatus may be controlled based on the historical photographing control information.

The unmanned aerial vehicle can control shooting equipment of the unmanned aerial vehicle according to historical shooting control information indicated by historical motion information, the historical shooting control information comprises historical shooting direction information and historical shooting action information, and the historical shooting action information can be used for indicating shooting modes, such as shooting, video shooting, focal length adjustment, exposure control, focusing control and the like. In such a way, the autonomous control of the shooting equipment of the unmanned aerial vehicle is realized, and the user does not need manual interference; in addition, when the unmanned aerial vehicle flies from the first position point to the second position point and is close to the shooting object to shoot, the shooting effect from far to near is realized, when the unmanned aerial vehicle flies from the second position point to the first position point along the historical movement track, the shooting device is controlled according to the historical shooting control information, the shooting effect from near to far to the shooting object can be realized independently, the shooting angle and the composition of the shooting object in the shooting picture can be kept consistent with the shooting angle and the composition before, and the shooting effect of zooming in and out is realized.

Optionally, in this embodiment of the present invention, the historical motion information includes historical motion trajectory information from the first location point to the second location point, and historical shooting control information of a shooting device carried by the drone; wherein the historical motion trajectory information is used for indicating a plurality of position points from the first position point to the second position point, and the historical photographing control information includes historical photographing direction information and/or historical photographing action information of the photographing apparatus in each of the plurality of position points; controlling the photographing apparatus to photograph at each location point according to the history photographing direction information and/or history photographing action information of the photographing apparatus at each location point.

Wherein, historical shooting direction can be come indirect the obtaining by unmanned aerial vehicle's attitude information and the pivot angle of the pivot mechanism of cloud platform, and the pivot mechanism of cloud platform can include at least one in roller mechanism, every single move axle mechanism and the driftage axle mechanism.

The historical shooting control information may be obtained by receiving a historical control signal, for example, in a historical flight process, at a certain position, receiving a control signal input by the control terminal device, where the control signal indicates to adjust a shooting direction and/or a shooting action of the shooting device, at this time, the shooting direction and/or the shooting action may be recorded, and then in a subsequent flight process, when the position is reached, the shooting device is controlled according to the recorded shooting direction and shooting action, or a control lever amount formed by the historical control signal may be recorded, and in the subsequent flight process, when the position is reached, the control lever amount is directly used to control the shooting device.

Optionally, in the embodiment of the present invention, a predetermined number of flights input by the control terminal may be received; controlling the drone to make the predetermined number of round trips between the first location point and the second location point.

The user can send the preset times to the unmanned aerial vehicle through the control terminal, the unmanned aerial vehicle is controlled to fly back and forth between the first position point and the second position point for the preset times, the user can control the shooting equipment to shoot the shot object for multiple times, the user can also control the shooting equipment carried by the unmanned aerial vehicle through the control terminal, therefore, the shot object can be repeatedly shot, meanwhile, shooting in two scenes from far to near or from near to far can be realized, and after shooting is completed, the user can correspondingly select and edit the images shot for multiple times so as to obtain the desired images.

Fig. 6 is a schematic flow chart of a control method according to an embodiment of the invention. Optionally, the control method may be executed by a control system, and the control system may be a control system in the drone or a control system in another device. The method may include the following.

At 410, historical motion information of the movable platform from a first location point to a second location point is obtained.

Optionally, the movable platform is a movable platform capable of recording historical motion information, and is not specifically limited herein, and the movable platform may be one or more of an unmanned aerial vehicle, a handheld pan/tilt camera, a smart phone, a dedicated remote controller, a smart band, and a smart band.

Optionally, the historical motion information comprises historical motion trajectory information.

Specifically, the historical movement speed information from the first location point to the second location point may include: the average historical movement speed information from the first position point to the second position point, and/or the historical movement speed information of every two adjacent position points in a plurality of position points between the first position point and the second position point.

Specifically, the history photographing control information may include a history photographing direction and/or a history photographing action, which may include photographing, video taking, focus adjustment, exposure control, focus control, and the like.

Specifically, the historical photographing control information of the photographing apparatus carried by the movable platform from the first location point to the second location point may include: the shooting direction and/or the shooting action of the shooting device are/is shot at each of a plurality of position points from the first position point to the second position point.

Specifically, historical attitude information of the movable platform from the first location point to the second location point may be sensed by a motion sensor, e.g., assuming that the movable platform is a drone, the attitude information may include at least one of a pitch angle, a yaw angle, and a roll angle, and the motion sensor may include at least one of: the present invention is not limited to this, and other sensors capable of measuring attitude information of the drone may be used.

Specifically, the feature information of the surrounding image in the process from the first position point to the position point may be extracted from the surrounding image, the image of the surrounding environment is acquired from the first position point to the second position point, the feature point information may be extracted from the surrounding image, and the feature point information may be included in the historical motion information; in addition, the map information may be obtained by modeling based on image information of the surrounding environment, and the historical motion information may also include the map information.

At 420, the historical movement information is sent to an external device; wherein the historical motion information is used to indicate that the external device is moving between the first location point and the second location point.

The external device includes at least one of an unmanned aerial vehicle and a hand-held camera configured with a pan/tilt head.

The movable platform includes at least one of an unmanned aerial vehicle and a hand-held camera configured with a pan/tilt head.

Therefore, in the embodiment of the invention, the historical motion information of the movable platform is sent to the external equipment, so that the external equipment can move according to the historical motion information, the historical motion information can be shared among different equipment, the control of one movable equipment to another movable equipment is realized, and the user experience is improved.

Optionally, the movable platform is controlled to move from the first position point to the second position point to obtain the historical motion information.

For example, during the process that the movable platform moves from the first position point to the second position point, the motion sensor or the vision sensor is used for recording the track information of the movement, wherein the movable platform can also record one or more of shooting control information, speed control information, acceleration control information and attitude control information during the movement, when the movable platform moves to the second position point, the movable platform records the motion trace information and photographing control information, speed control information, acceleration control information associated with the motion trace information, which is called historical motion information, the movable platform can store the historical motion information and send the historical motion information to the external device, and after receiving the historical motion information sent by the movable platform, the external device may move between the first location point and the second location point in accordance with the historical motion information.

Optionally, the movable platform may be controlled to move from the first position point to the second position point according to a preset obstacle avoidance policy, so as to obtain the historical motion information.

Wherein, use movable platform as unmanned aerial vehicle as an example, unmanned aerial vehicle's aircraft nose has been equipped with and has kept away barrier equipment, when unmanned aerial vehicle is to first position point when flying to second position point forward promptly, unmanned aerial vehicle can utilize and keep away barrier equipment, keep away the barrier of barrier strategy in to the flight direction according to predetermineeing, when unmanned aerial vehicle accomplishes the flight of first position point to second position point, then determine a historical movement track, this historical movement track is safe movement track, do not have the barrier on this side movement track promptly, the later stage can not arouse the problem of colliding with the barrier when flying along this track.

In addition, because the tail of the unmanned aerial vehicle is not provided with the obstacle avoidance device, the unmanned aerial vehicle cannot avoid the obstacle of the tail, and when the unmanned aerial vehicle reversely flies from the second position point to the first position point, an event of collision with the obstacle may occur, so that the unmanned aerial vehicle is dangerous. When flying from first position point to second position point forward, owing to utilize the obstacle avoidance equipment of installing at the aircraft nose, the historical motion trail of safety has been determined, then when unmanned aerial vehicle flies to first position point backward from the second position point, can fly according to this historical motion trail, can effectively guarantee unmanned aerial vehicle's safety like this. The preset obstacle avoidance strategy can be used for indicating that an obstacle is avoided in a moving mode, for example, the obstacle avoidance strategy climbs first when encountering the detected obstacle and descends to return to an original route after crossing the obstacle, or the obstacle avoidance strategy horizontally bypasses the obstacle and returns to the original route after crossing the obstacle when detecting the obstacle, and specifically, the obstacle avoidance strategy can be used for actively avoiding an obstacle by using a preset obstacle avoidance algorithm according to environment information sensed by a binocular camera at any moment.

Alternatively, the movement of the movable platform may be controlled according to a real-time control signal input by the control terminal device.

Specifically, the control terminal device may present an interactive interface including a map of a certain target area to a user, the user may set, as needed, location points traversed by the movable platform on the map, each location point may be a GPS location coordinate, and the height may be a default height, or the moving heights of the location points may also be flexibly set, and the user may set the moving speeds of every two location points. The movable platform can be controlled to traverse each position point set by the user through the control terminal device. Therefore, a user can customize the motion strategy by using the control terminal equipment, and the movable platform can move between the first position point and the second position point according to the customized motion strategy, so that the user experience can be improved.

Or, the mobile platform may be controlled to move by combining a preset obstacle avoidance strategy and a real-time control signal input by the control terminal device.

Specifically, a user can set a motion strategy, such as at least one of a motion track, a motion posture or a posture, by controlling the terminal device, and the movable platform can avoid an obstacle according to a preset obstacle avoidance strategy in the moving process according to the motion strategy set by the user if the movable platform meets the obstacle, and can continue to move according to the motion strategy set by the user after the obstacle is avoided, so that the user experience can be improved, and meanwhile, the moving safety can be improved.

Optionally, when the movable platform is controlled to move from the first position point to the second position point, acquiring image information; and determining historical motion track information from the first position point to the second position point according to the image information.

The image sensor configured on the movable platform can acquire image information of the surrounding environment in real time in the process that the movable platform moves from the first position point to the second position point, and after the image information is acquired, historical motion track information from the first position point to the second position point can be calculated according to the image information.

Specifically, the image sensor may include a visual odometer, wherein the visual odometer may be monocular or binocular, and image information from the first position point to the second position point may be acquired using the visual odometer to determine historical movement trace information from the first position point to the second position point.

Alternatively, the historical motion trajectory information from the first position point to the second position point may be determined based on data output by a motion sensor of the movable platform while controlling the movable platform to move from the first position point to the second position point.

During the process that the movable platform moves from the first position point to the second position point, the motion sensor configured to the movable platform may output motion data (for example, acceleration, angular acceleration, position coordinates, and the like) in real time, and after obtaining the motion data, historical motion trajectory information from the first position point to the second position point may be calculated according to the motion data. Wherein the motion sensor may comprise one or more of a measurement unit (IMU), a GPS, an accelerometer, a gyroscope, an electronic compass.

Specifically, because in the removal process, the operation of user is not skilled or not ideal, lead to that movable platform moving speed is fast time slow, or the removal orbit is not smooth, if carry out unmanned aerial vehicle's flight according to the historical motion information that this kind of mode obtained, and in the flight process, when control shooting equipment's shooting, probably can make the shooting effect unsatisfactory, consequently, carry out the revision processing to historical motion information, specifically, can carry out the smoothing process to historical motion orbit, and according to the flight of historical motion orbit control unmanned aerial vehicle after the smoothing process, and in the flight process, control shooting equipment shoots the shooting object, because the shooting path is comparatively smooth, then can obtain better shooting effect.

Therefore, in the embodiment of the invention, the historical motion information of the movable platform is sent to the external equipment, so that the external equipment can move according to the historical motion information, and safe motion can be realized.

Embodiments of the present invention also provide a computer storage medium, in which instructions are stored, and when executed, the instructions may include some or all of the steps of the control method shown in fig. 3, or when executed, the instructions may include some or all of the steps of the control method shown in fig. 6.

Fig. 7 is a schematic block diagram of a control apparatus 500 according to an embodiment of the present invention. As shown in fig. 5, the control apparatus 500 may include:

an obtaining module 510, configured to obtain historical motion information from a first location point to a second location point;

a control module 520 for controlling the drone to fly between the first location point and the second location point according to the historical movement information, an

And controlling the unmanned aerial vehicle to fly between the first position point and the second position point, and controlling the shooting equipment carried by the unmanned aerial vehicle to shoot the shooting object.

Optionally, the historical motion information includes historical motion trajectory information from the first location point to the second location point;

the control module 520 is further configured to:

and controlling the unmanned aerial vehicle to fly between the first position point and the second position point according to the historical motion track information included in the historical motion information.

Optionally, as shown in fig. 8, the control module 520 further includes a smoothing unit 522 for:

and smoothing the historical motion trail indicated by the historical motion trail information from the first position point to the second position point.

Optionally, the historical motion information further comprises at least one of:

historical movement speed information during the course from the first location point to the second location point;

historical photographing control information of the photographing apparatus during a process from the first location point to the second location point;

historical pose information in a process from the first location point to the second location point.

Feature point information of an image of an environment surrounding the first position point to the second position point or map information created from image information.

Optionally, the obtaining module 510 is further configured to: acquiring real-time speed control information input by control terminal equipment; the control module 520 is further configured to: controlling the flight speed of the unmanned aerial vehicle according to the real-time speed control information; or,

the obtaining module 510 is further configured to: acquiring historical movement speed information included in the historical movement information; the control module 520 is further configured to: and controlling the flight speed of the unmanned aerial vehicle according to the historical movement speed information.

Optionally, the obtaining module 510 is further configured to: acquiring real-time attitude control information input by control terminal equipment; the control module 520 is further configured to: controlling the attitude of the unmanned aerial vehicle according to the real-time attitude control information; or,

the obtaining module 510 is further configured to: acquiring historical posture information included in the historical motion information; the control module 520 is further configured to: and controlling the attitude of the unmanned aerial vehicle according to the historical attitude information.

Optionally, the obtaining module 510 is further configured to: acquiring real-time shooting control information input by control terminal equipment; the control module 520 is further configured to: controlling the shooting equipment according to the real-time shooting control information; or,

the obtaining module 510 is further configured to: acquiring historical shooting control information indicated by the historical motion information; the control module 520 is further configured to: and controlling the shooting equipment according to the historical shooting control information.

Optionally, the historical motion information includes historical motion trajectory information from the first location point to the second location point and historical shooting control information of a shooting device carried by the unmanned aerial vehicle; wherein the historical motion trajectory information is used for indicating a plurality of position points from the first position point to the second position point, and the historical photographing control information includes historical photographing direction information and/or historical photographing action information of a photographing apparatus in each of the plurality of position points;

the control module 520 is further configured to:

and controlling the shooting equipment to shoot at each position point according to the historical shooting direction information and/or the historical shooting action information of the shooting equipment at each position point.

Optionally, the control module 520 is further configured to:

and controlling the unmanned aerial vehicle to fly from the second position point to the first position point according to the historical motion information.

Optionally, the obtaining module 510 is further configured to:

receiving the historical motion information sent by a movable platform from the first location point to the second location point.

Optionally, the control module 520 is further configured to: and controlling the unmanned aerial vehicle to fly from the first position point to the second position point so as to be used for the acquisition module to acquire the historical motion information.

Optionally, the control module 520 is further configured to:

and controlling the unmanned aerial vehicle to fly from the first position point to the second position point according to a preset obstacle avoidance strategy.

Optionally, the control module 520 is further configured to: controlling the unmanned aerial vehicle to fly from the first position point to the second position point to acquire image information;

the obtaining module 510 is further configured to: and determining the historical motion track information from the first position point to the second position point according to the image information.

Optionally, the control module 520 is further configured to: controlling the drone to fly from the first location point to the second location point for a motion sensor of the drone to output data;

the obtaining module 510 is further configured to: and determining historical motion track information from the first position point to the second position point according to the data output by the motion sensor.

Optionally, as shown in fig. 8, the apparatus 500 further includes a receiving module 530, configured to: receiving a preset number of flying times input by a control terminal;

the control module 520 is further configured to: controlling the drone to make the predetermined number of round trips between the first location point and the second location point.

Optionally, the control module 520 is further configured to:

and controlling the unmanned aerial vehicle to fly between the first position point and the second position point in a manner that the operation direction or the head direction of the obstacle avoidance device is inconsistent with the flight direction of the unmanned aerial vehicle according to the historical motion information.

Optionally, the control device may implement the control method shown in fig. 3, and for brevity, the description is omitted here.

Fig. 9 is a schematic block diagram of a control apparatus 600 according to an embodiment of the present invention. As shown in fig. 8, the control apparatus 600 includes:

an obtaining module 610, configured to obtain historical motion information of the movable platform from a first location point to a second location point;

the control module 620 is used for sending the historical motion information to an external device; wherein the historical motion information is used to indicate that the external device is moving between the first location point and the second location point.

Optionally, the external device comprises at least one of a drone and a handheld camera configured with a pan and tilt head.

Optionally, the historical motion information comprises at least one of:

historical motion trajectory information from the first location point to the second location point;

historical photographing control information of a photographing apparatus carried by the movable platform from the first location point to the second location point;

historical pose information of the movable platform from the first location point to the second location point;

Optionally, the control module 620 is further configured to: controlling the movable platform to move from the first position point to the second position point so as to be used for the acquisition module to acquire motion information;

the obtaining module 610 is further configured to: and determining the historical motion information from the first position point to the second position point according to the motion information.

Optionally, the control module 620 is further configured to:

and controlling the movable platform to move from the first position point to the second position point according to a preset obstacle avoidance strategy so as to acquire the motion information.

Optionally, the obtaining module 610 is further configured to:

when the control module 620 controls the movable platform to move from the first position point to the second position point, image information is acquired, and historical motion track information from the first position point to the second position point is determined according to the image.

Optionally, the obtaining module 610 is further configured to:

and when the movable platform is controlled to move from the first position point to the second position point, determining the historical motion track from the first position point to the second position point according to the data output by the motion sensor of the movable platform.

Optionally, the historical motion information includes historical motion trajectory information from the first location point to the second location point, as shown in fig. 10, the control module 620 specifically includes a smoothing unit 622, configured to:

and performing smoothing processing on the historical motion trail indicated by the historical motion trail information.

FIG. 11 is a schematic block diagram of a control system 700 according to an embodiment of the present invention. As shown in fig. 7, the control system includes a processor 710 and a memory 720. The memory 720 is used for storing codes, and the processor 710 can perform corresponding operations by calling the stored codes in the memory 720.

Optionally, the control system further comprises a transceiver 730. The processor 710 may control the transceiver 730 to communicate externally.

Alternatively, the control system 700 may implement the method shown in FIG. 3 or the method shown in FIG. 6.

The following description will be given by taking an example that the control system 700 can implement the method shown in fig. 3, and the description is omitted for brevity.

Optionally, the processor 710 is configured to call instructions in the memory 720, and perform the following operations:

acquiring historical motion information from a first position point to a second position point;

controlling the unmanned aerial vehicle to fly between the first position point and the second position point according to the historical motion information;

when controlling this unmanned aerial vehicle to fly between this first position point and this second position point, the shooting equipment that this unmanned aerial vehicle carried is shot the shooting object.

the processor 710 is configured to call instructions in the memory 720, and further perform the following operations:

and controlling the unmanned aerial vehicle to fly between the first position point and the second position point according to the historical motion track information included by the historical motion information.

Optionally, the processor 710 is configured to call the instructions in the memory 720, and further perform the following operations:

and smoothing the historical motion track indicated by the historical motion track information from the first position point to the second position point.

historical attitude information in the process from the first location point to the second location point;

feature point information of the surrounding image information from the first position point to the second position point or map information created from the image information.

acquiring real-time speed control information input by control terminal equipment, and controlling the flight speed of the unmanned aerial vehicle according to the real-time speed control information; or,

and historical movement speed information included by the historical movement information is acquired, and the flying speed of the unmanned aerial vehicle is controlled according to the historical movement speed information.

acquiring real-time attitude control information input by control terminal equipment, and controlling the attitude of the unmanned aerial vehicle according to the real-time attitude control information; or,

and historical attitude information included by the historical motion information is acquired, and the attitude of the unmanned aerial vehicle is controlled according to the historical attitude information.

acquiring real-time shooting control information input by control terminal equipment, and controlling the shooting equipment according to the real-time shooting control information; or,

and acquiring historical shooting control information indicated by the historical motion information, and controlling the shooting equipment according to the historical shooting control information.

Optionally, the historical motion information includes historical motion trajectory information from the first location point to the second location point and historical shooting control information of a shooting device carried by the unmanned aerial vehicle; wherein the historical motion trajectory information is used for indicating a plurality of position points from the first position point to the second position point, and the historical photographing control information includes historical photographing direction information and/or historical photographing action information of the photographing apparatus in each of the plurality of position points;

and controlling the shooting device to shoot at each position point according to the historical shooting direction information and/or the historical shooting action information of the shooting device at each position point.

and receiving the historical motion information sent by the movable platform from the first position point to the second position point.

and controlling the unmanned aerial vehicle to fly from the first position point to the second position point so as to acquire the historical motion information.

and controlling the unmanned aerial vehicle to fly from the first position point to the second position point according to a preset obstacle avoidance strategy so as to acquire the historical motion information.

when the unmanned aerial vehicle is controlled to fly from the first position point to the second position point, image information is acquired;

and determining the historical motion track information from the first position point to the second position point according to the image information.

when the unmanned aerial vehicle is controlled to fly from the first position point to the second position point, historical motion track information from the first position point to the second position point is determined according to data output by a motion sensor of the unmanned aerial vehicle.

receiving a preset number of flying times input by a control terminal;

controlling the drone to make the predetermined number of round trips between the first location point and the second location point.

The embodiment of the present invention further provides an unmanned aerial vehicle, which is characterized by including:

the power system provides flight power for the unmanned aerial vehicle;

the control system of fig. 11 controls the drone.

The following description will be given by taking an example that the control system 700 can implement the method shown in fig. 6, and the description is simplified and not repeated.

acquiring historical motion information of the movable platform from a first position point to a second position point;

sending the historical movement information to an external device; wherein the historical motion information is used to indicate that the external device is moving between the first location point and the second location point.

Optionally, the historical motion information comprises at least one of:

historical movement velocity information from the first location point to the second location point;

feature point information of the surrounding image from the first position point to the second position point or map information created from image information.

controlling the movable platform to move from the first position point to the second position point to acquire motion information;

and determining the historical motion information from the first position point to the second position point according to the motion information.

and when the movable platform is controlled to move from the first position point to the second position point, acquiring image information, and determining historical motion track information from the first position point to the second position point according to the image.

the history motion trajectory indicated from the history motion trajectory information is subjected to smoothing processing.

An embodiment of the present invention further provides a movable platform, which includes:

the control system, as described in fig. 11, controls the movable platform.

It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A control method, characterized in that, comprising:

Obtain historical movement information from the first location point to the second location point;

According to the historical motion information, control the UAV to fly between the first location point and the second location point;

When the UAV is controlled to fly between the first position point and the second position point, the photographing equipment carried by the UAV is controlled to photograph the subject.

2. The method of claim 1, wherein,

The historical motion information includes historical motion track information from the first location point to the second location point;

The controlling the UAV to fly between the first location point and the second location point according to the historical movement information specifically includes:

According to the historical motion trajectory information included in the historical motion information, the UAV is controlled to fly between the first location point and the second location point.

3. The method according to claim 2, wherein the method further comprises:

smoothing the historical motion trajectory indicated by the historical motion trajectory information from the first location point to the second location point.

4. The method according to claim 2 or 3, wherein the historical exercise information further includes at least one of the following:

Historical shooting control information of the shooting device during the process from the first location point to the second location point;

Historical posture information during the process from the first location point to the second location point.

The feature point information extracted from the surrounding environment image information or the map information established according to the surrounding environment image information during the process from the first position point to the second position point.

5. The method according to any one of claims 1-4, wherein the drone is controlled to fly between the first location point and the second location point according to the historical motion information , including:

According to the historical motion information, the drone is controlled to fly from the second location point to the first location point.

6. The method according to any one of claims 1 to 5, wherein the acquiring historical motion information from the first location point to the second location point specifically includes:

controlling the unmanned aerial vehicle to fly from the first location point to the second location point, so as to obtain the historical movement information.

7. The method according to claim 5, wherein the controlling the UAV to fly from the first location point to the second location point to obtain the movement information comprises:

According to a preset obstacle avoidance strategy, the drone is controlled to fly from the first location point to the second location point, so as to obtain the historical motion information.

8. The method according to claim 6 or 7, wherein the acquiring historical motion information from the first location point to the second location point specifically includes:

When controlling the UAV to fly from the first position point to the second position point, acquiring image information of the surrounding environment;

According to the image information, the historical motion track information from the first position point to the second position point is determined.

9. The method according to claim 6 or 7, wherein obtaining historical motion information from the first location point to the second location point specifically includes:

When the UAV is controlled to fly from the first location point to the second location point, according to the data output by the motion sensor of the UAV, it is determined to fly from the first location point to the second location point. The historical movement trajectory information of the location point.

10. The method according to any one of claims 1 to 5, wherein the acquiring historical motion information from the first location point to the second location point specifically includes:

The historical movement information from the first location point to the second location point sent by the movable platform is received.

11. The method according to any one of claims 1-10, characterized in that the method further comprises:

Obtain real-time speed control information input by the control terminal device, and control the flight speed of the drone according to the real-time speed control information; or,

Obtain historical movement speed information included in the historical movement information, and control the flying speed of the drone according to the historical movement speed information.

12. The method according to any one of claims 1-11, further comprising:

Obtaining real-time attitude control information input by the control terminal device, and controlling the attitude of the UAV according to the real-time attitude control information; or,

Obtain historical posture information included in the historical motion information, and control the posture of the UAV according to the historical posture information.

13. The method according to any one of claims 1-12, further comprising:

Acquire real-time shooting control information input by the control terminal device, and control the shooting device according to the real-time shooting control information; or,

Acquiring historical shooting control information indicated by the historical motion information, and controlling the shooting device according to the historical shooting control information.

14. The method according to claim 13, wherein the historical motion information includes historical motion track information from the first location point to the second location point and the shooting equipment carried by the UAV. Historical shooting control information; wherein, the historical motion track information is used to indicate a plurality of location points from the first location point to the second location point, and the historical shooting control information is included in the plurality of location points In each location point of the shooting device, historical shooting direction information and/or historical shooting action information;

The controlling the shooting device according to the historical shooting control information includes:

According to the historical shooting direction information and/or historical shooting action information of the shooting device at each location point, the shooting device is controlled to shoot at each location point.

15. The method according to any one of claims 1 to 14, further comprising,

Receive the scheduled number of flights input by the control terminal;

Said controlling the UAV to fly between said first location point and said second location point specifically includes:

Controlling the UAV to perform the predetermined number of round-trip flights between the first location point and the second location point.

16. The method according to any one of claims 1 to 15, wherein, according to the historical movement information, the UAV is controlled between the first location point and the second location point flight, including:

According to the historical motion information, the UAV is controlled between the first position point and the second position in such a way that the operating direction or nose direction of the obstacle avoidance device is inconsistent with the flight direction of the UAV. flying between points.

17. A control method, characterized in that it comprises:

Obtain historical movement information of the movable platform from the first location point to the second location point;

Sending the historical motion information to the external device; wherein the historical motion information is used to instruct the external device to move between the first location point and the second location point.

18. The control method according to claim 17, wherein the external device comprises at least one of a drone and a hand-held camera configured with a pan/tilt.

19. The method according to claim 17 or 18, wherein the historical exercise information includes at least one of the following:

Historical track information from the first location point to the second location point;

20. The method according to any one of claims 17-19, wherein the acquiring the historical movement information of the movable platform from the first position point to the second position point specifically comprises:

controlling the movable platform to move from the first location point to the second location point to obtain movement information;

The historical movement information from the first position point to the second position point is determined according to the movement information.

21. The method according to claim 20, wherein the controlling the movable platform to move from the first position point to the second position point to obtain the movement information comprises:

Controlling the movable platform to move from the first position point to the second position point according to a preset obstacle avoidance strategy, so as to obtain the motion information.

22. The method according to claim 20 or 21, wherein the acquiring the historical movement information of the movable platform from the first position point to the second position point comprises:

When the movable platform is controlled to move from the first position point to the second position point, image information is obtained, and historical motion track information from the first position point to the second position point is determined according to the image.

23. The method according to claim 20 or 21, wherein obtaining historical movement information of the movable platform from the first position point to the second position point comprises:

When the movable platform is controlled to move from the first position point to the second position point, the historical motion track from the first position point to the second position point is determined according to the data output by the motion sensor of the movable platform.

24. The method according to any one of claims 17-23, wherein the historical motion information includes historical motion track information from the first location point to the second location point, and the method Also includes:

smoothing the historical motion trajectory indicated by the historical motion trajectory information.

25. A control device, characterized in that it comprises:

An acquisition module, configured to acquire historical motion information from the first location point to the second location point;

a control module, configured to control the UAV to fly between the first location point and the second location point according to the historical movement information, and

26. The apparatus of claim 25, wherein:

The control module is further used for:

27. The device according to claim 25 or 26, wherein the control module specifically includes a smoothing unit, and the smoothing unit is used for:

28. The device according to any one of claims 26-27, wherein the historical exercise information further includes at least one of the following:

29. The device according to any one of claims 25-28, wherein the control module is further used for:

30. Apparatus according to any one of claims 25 to 29, wherein

The control module is further configured to: control the UAV to fly from the first location point to the second location point, so that the acquisition module acquires the historical movement information.

31. The device of claim 30, wherein the control module is further configured to:

According to a preset obstacle avoidance strategy, the UAV is controlled to fly from the first location point to the second location point.

32. Apparatus according to claim 30 or 31, characterized in that

The control module is further used to: control the UAV to fly from the first location point to the second location point, and acquire image information;

The acquisition module is further configured to: determine the historical motion track information from the first position point to the second position point according to the image information.

33. Apparatus according to claim 30 or 31, characterized in that,

The control module is further used for: controlling the UAV to fly from the first location point to the second location point, so as to output data from the motion sensor of the UAV;

The obtaining module is further configured to: determine historical motion track information from the first location point to the second location point according to the data output by the motion sensor.

34. The device according to any one of claims 25 to 29, wherein the acquisition module is further used for:

35. The device according to any one of claims 25-34, wherein the acquisition module is further used to: acquire real-time speed control information input by the control terminal equipment; the control module is further used to: according to the The real-time speed control information controls the flying speed of the drone; or,

The acquiring module is further configured to: acquire historical motion speed information included in the historical motion information; the control module is further configured to: control the flying speed of the UAV according to the historical motion speed information.

36. Apparatus according to any one of claims 25-35, wherein

The acquisition module is further used to: acquire real-time attitude control information input by the control terminal device; the control module is further used to: control the attitude of the UAV according to the real-time attitude control information; or,

The acquiring module is further configured to: acquire historical posture information included in the historical motion information; the control module is further configured to: control the posture of the UAV according to the historical posture information.

37. Apparatus according to any one of claims 25-36,

The acquiring module is further configured to: acquire real-time shooting control information input by the control terminal device; the control module is further configured to: control the shooting device according to the real-time shooting control information; or,

The obtaining module is further configured to: obtain historical shooting control information indicated by the historical motion information; the control module is further configured to: control the shooting device according to the historical shooting control information.

38. The device according to claim 37, wherein the historical motion information includes historical motion track information from the first location point to the second location point and the shooting device carried by the drone. Historical shooting control information; wherein, the historical motion track information is used to indicate a plurality of location points from the first location point to the second location point, and the historical shooting control information is included in the plurality of location points In each location point of the shooting device, historical shooting direction information and/or historical shooting action information;

The control module is further used for:

39. The device according to any one of claims 25 to 38, characterized in that the device further comprises a receiving module, configured to: receive the scheduled number of flights input by the control terminal;

The control module is further used for:

40. The device according to any one of claims 25 to 39, wherein the control module is further configured to:

41. A control device, comprising:

An acquisition module, configured to acquire historical movement information of the movable platform from the first position point to the second position point;

A control module, configured to send the historical movement information to the external device; wherein the historical movement information is used to instruct the external device to move between the first location point and the second location point.

42. The control device according to claim 41, wherein the external device comprises at least one of a drone and a hand-held camera configured with a pan/tilt.

43. The device according to claim 41 or 42, wherein the historical exercise information includes at least one of the following:

Historical movement trajectory information from the first location point to the second location point;

44. The device according to any one of claims 41-43, wherein the control module is further configured to: control the movable platform to move from the first position point to the second position point , for the acquiring module to acquire motion information;

The acquisition module is further configured to: determine the historical movement information from the first position point to the second position point according to the movement information.

45. The device of claim 44, wherein the control module is further configured to:

46. The device according to claim 44 or 45, wherein the acquiring module is further used for:

When the control module controls the movable platform to move from the first position point to the second position point, image information is obtained, and historical motion track information from the first position point to the second position point is determined according to the image.

47. The device according to claim 44 or 45, wherein the acquisition module is further used for:

When the control module controls the movable platform to move from the first position point to the second position point, determine the history from the first position point to the second position point according to the data output by the motion sensor of the movable platform motion track.

48. The device according to any one of claims 41-47, wherein the historical motion information includes historical motion trajectory information from the first location point to the second location point, and the control The module specifically includes smoothing units for:

49. A control system, characterized in that it includes a processor and a memory, the memory is used to store instructions, the processor is used to call the instructions, and perform the following operations:

50. The system of claim 49, wherein:

The processor is used to call the instruction, and further perform the following operations:

51. The system according to claim 50, wherein the processor is configured to call the instruction, and further perform the following operations:

52. The system according to claim 50 or 51, wherein the historical exercise information further includes at least one of the following:

53. The system according to any one of claims 49-52, wherein the processor is configured to invoke the instruction, and further perform the following operations:

54. The system according to any one of claims 49 to 53, wherein the processor is configured to call the instruction, and further perform the following operations:

55. The system according to claim 54, wherein the processor is configured to invoke the instruction, and further perform the following operations:

56. The system according to claim 54 or 55, wherein the processor is configured to invoke the instruction, and further perform the following operations:

acquiring image information when controlling the UAV to fly from the first position to the second position;

57. The system according to claim 54 or 55, wherein the processor is configured to call the instruction, and further perform the following operations:

58. The system according to any one of claims 49 to 53, wherein the processor is configured to call the instruction, and further perform the following operations:

59. The system according to any one of claims 49-58, wherein the processor is configured to invoke the instruction, and further perform the following operations:

60. The system according to any one of claims 49-59, wherein the processor is configured to call the instruction, and further perform the following operations:

61. The system according to any one of claims 49-60, wherein the processor is configured to invoke the instruction, further performing the following operations:

62. The system according to claim 61, wherein the historical motion information includes historical motion track information from the first location point to the second location point and the shooting equipment carried by the UAV. Historical shooting control information; wherein, the historical motion track information is used to indicate a plurality of location points from the first location point to the second location point, and the historical shooting control information is included in the plurality of location points In each location point of the shooting device, historical shooting direction information and/or historical shooting action information;

63. The system according to any one of claims 49 to 62, wherein the processor is configured to call the instruction, and further perform the following operations:

Receive the scheduled number of flights input by the control terminal;

64. The system according to any one of claims 49 to 63, wherein the processor is configured to call the instruction, and further perform the following operations:

65. A control system, characterized in that it includes a processor and a memory, the memory is used to store instructions, and the processor is used to invoke the instructions to perform the following operations:

66. The control system according to claim 65, wherein the external device comprises at least one of a drone and a hand-held camera configured with a pan/tilt.

67. The system according to claim 65 or 66, wherein the historical exercise information includes at least one of the following:

68. The system according to any one of claims 65-67, wherein the processor is configured to invoke the instruction, and further perform the following operations:

69. The system according to claim 68, wherein the processor is configured to invoke the instruction, further performing the following operations:

70. The system according to claim 68 or 69, wherein the processor is configured to call the instruction, and further perform the following operations:

71. The system according to claim 68 or 69, wherein the processor is configured to call the instruction, and further perform the following operations:

72. The system according to any one of claims 65-71, wherein the processor is configured to call the instruction, and further perform the following operations:

73. A drone, characterized in that it comprises:

a power system for providing flight power for the drone; and

A control system according to any one of claims 49-64.

74. A mobile platform, characterized by comprising: the control system according to any one of claims 65-72.