CN113632037B

CN113632037B - Control method and equipment for movable platform

Info

Publication number: CN113632037B
Application number: CN202080024194.2A
Authority: CN
Inventors: 朱新田
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-02-28
Filing date: 2020-02-28
Publication date: 2024-09-17
Anticipated expiration: 2040-02-28
Also published as: WO2021168821A1; CN113632037A

Abstract

A control method and apparatus of a movable platform including a body and a plurality of holders connected to the body for carrying a load, the method comprising: acquiring a main cradle head selection instruction, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user (S301); and determining a first cradle head in the plurality of cradle heads as a main cradle head according to the main cradle head selection instruction, wherein the yaw attitude of the machine body is controlled according to the yaw attitude of the main cradle head (S302). The user can set any one of the cloud platforms as the main cloud platform according to actual needs. In addition, as the yaw attitude of the airframe is controlled according to the yaw attitude of the main cradle head, the yaw attitude of the airframe can be controlled according to the yaw attitude of any cradle head selected by a user, and the flexibility of yaw attitude control of the airframe is improved.

Description

Control method and equipment for movable platform

Technical Field

The embodiment of the application relates to the technical field of movable platforms, in particular to a control method and equipment of a movable platform.

Background

With wider application of the mobile platform, the mobile platform (e.g. unmanned aerial vehicle) may be equipped with a plurality of holders, each holder may be equipped with a photographing device, and photographing directions of the photographing devices may be different, so that pictures with different angles may be photographed. The unmanned aerial vehicle transmits the pictures shot by the shooting devices to the control terminal of the movable platform, and a user can switch the pictures of the watched shooting devices at any time through the control terminal.

At present, in order to make the unmanned aerial vehicle more stable, when adjusting unmanned aerial vehicle's course, control cloud platform is in the direction motion of direction and control unmanned aerial vehicle follows this cloud platform and move in the direction of direction. However, the method is suitable for a scene that the unmanned aerial vehicle carries one cradle head, and if the unmanned aerial vehicle carries a plurality of cradle heads, the body of the unmanned aerial vehicle always follows the default same cradle head movement, but cannot follow other cradle head movements.

Disclosure of Invention

The embodiment of the application provides a control method and equipment for a movable platform, which are used for enabling a user to set one of a plurality of holders as a main holder and enabling a machine body of the movable platform to move along with any holder in a yaw direction.

In a first aspect, an embodiment of the present application provides a method for controlling a movable platform, where the movable platform includes a body and a plurality of holders connected to the body and used for carrying a load, the method includes:

And acquiring a main cradle head selection instruction, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user.

And determining a first cradle head in the plurality of cradle heads as a main cradle head according to the main cradle head selection instruction, wherein the yaw attitude of the machine body is controlled according to the yaw attitude of the main cradle head.

In a second aspect, an embodiment of the present application provides a control method for a movable platform, which is applied to a control terminal of the movable platform, where the movable platform includes a body and a plurality of holders connected to the body and used for carrying a load, and the method includes:

and detecting the main cradle head selection operation of the user.

And generating a main cradle head selection instruction according to the main cradle head selection operation.

And sending a main cradle head selection instruction to the movable platform, so that the movable platform determines that a first cradle head in the plurality of cradle heads is a main cradle head according to the main cradle head selection instruction.

The yaw attitude of the machine body is controlled according to the yaw attitude of the main cradle head.

In a third aspect, an embodiment of the present application provides a control device for a movable platform, where the movable platform includes a body and a plurality of holders connected to the body and configured to carry a load, and the control device includes: memory and a processor.

The memory is used for storing program codes.

The processor invokes the program code, which when executed, is to: acquiring a main cradle head selection instruction, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user; and determining a first cradle head in the plurality of cradle heads as a main cradle head according to the main cradle head selection instruction, wherein the yaw attitude of the machine body is controlled according to the yaw attitude of the main cradle head.

In a fourth aspect, embodiments of the present application provide a movable platform, the movable platform comprising: the device comprises a processor, a machine body and a plurality of cloud platforms which are connected to the machine body and used for bearing a load;

The processor is configured to: acquiring a main cradle head selection instruction, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user; and determining a first cradle head in the plurality of cradle heads as a main cradle head according to the main cradle head selection instruction, wherein the yaw attitude of the machine body is controlled according to the yaw attitude of the main cradle head.

In a fifth aspect, an embodiment of the present application provides a control terminal for controlling a movable platform, where the movable platform includes a body and a plurality of holders connected to the body and used for carrying a load, and the control terminal includes:

and the interaction device is used for detecting the selection operation of the main cradle head of the user.

And the processor is used for generating a main cradle head selection instruction according to the main cradle head selection operation.

And the communication device is used for sending a main cradle head selection instruction to the movable platform so that the movable platform can determine that a first cradle head in the plurality of cradle heads is a main cradle head according to the main cradle head selection instruction.

In a sixth aspect, an embodiment of the present application provides a computer readable storage medium storing a computer program, where the computer program when executed implements a method for controlling a movable platform according to an embodiment of the first or second aspect.

In a seventh aspect, embodiments of the present application provide a program product comprising a computer program stored in a readable storage medium, from which at least one processor can read, the at least one processor executing the computer program to implement a method for controlling a movable platform according to embodiments of the first or second aspects.

In summary, the method and the device for controlling the movable platform provided by the embodiments of the present application enable a user to set any one of a plurality of holders as a main holder according to actual needs. In addition, as the yaw attitude of the airframe is controlled according to the yaw attitude of the main cradle head, the yaw attitude of the airframe can be controlled according to the yaw attitude of any cradle head selected by a user, and the flexibility of yaw attitude control of the airframe is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic architectural diagram of an unmanned flight system according to an embodiment of the present application;

fig. 2 is a schematic diagram of an application scenario provided in an embodiment of the present application;

FIG. 3 is a flowchart of a method for controlling a movable platform according to an embodiment of the present application;

FIG. 4 is a schematic diagram illustrating an operation of selecting a main cradle head by a user according to an embodiment of the present application;

FIG. 5 is a schematic diagram illustrating another operation of selecting a main cradle head by a user according to an embodiment of the present application;

FIG. 6 is a flowchart of a method for controlling a movable platform according to another embodiment of the present application;

fig. 7 is a schematic structural diagram of a control device of a movable platform according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a movable platform according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a control terminal according to an embodiment of the present application;

Fig. 10 is a schematic structural diagram of a control system of a movable platform according to an embodiment of the application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

The embodiment of the application provides a control method and equipment for a movable platform. The movable platform can be an unmanned plane, an unmanned vehicle, an unmanned ship, a robot and the like. The following description of the mobile platform of the present application uses a drone as an example. It will be apparent to those skilled in the art that other types of unmanned aerial vehicles may be used without limitation, and that embodiments of the present application may be applied to various types of unmanned aerial vehicles. For example, the drone may be a small or large drone. In certain embodiments, the drone may be a rotary-wing drone (rotorcraft), such as a multi-rotor drone propelled by multiple propulsion devices through air, and embodiments of the present application are not limited in this regard.

Fig. 1 is a schematic architectural diagram of an unmanned flight system according to an embodiment of the present application. In this embodiment, a rotor unmanned aerial vehicle is taken as an example for explanation.

The unmanned aerial vehicle system 100 may include an unmanned aerial vehicle 110, a display device 130, and a control terminal 140. The unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, a frame, and a plurality of holders 120 (two holders are shown as an example) carried on the frame. The drone 110 may communicate wirelessly with the control terminal 140 and the display device 130. The unmanned aerial vehicle 110 further includes a battery (not shown in the figure), which provides electric power for the power system 150. Unmanned aerial vehicle 110 may be an agricultural unmanned aerial vehicle or an industrial unmanned aerial vehicle, with the need for cyclic operation. Accordingly, batteries also have a need for cyclic operation.

The frame may include a fuselage and a foot rest (also referred to as landing gear). The fuselage may include a center frame and one or more arms coupled to the center frame, the one or more arms extending radially from the center frame. The foot rest is connected to the fuselage for supporting the unmanned aerial vehicle 110 when landing.

The power system 150 may include one or more electronic speed governors (simply called electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected between the electronic speed governors 151 and the propellers 153, and the motors 152 and the propellers 153 are disposed on a horn of the unmanned aerial vehicle 110; the electronic governor 151 is configured to receive a driving signal generated by the flight control system 160 and provide a driving current to the motor 152 according to the driving signal, so as to control the rotation speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby powering the flight of the drone 110, which enables one or more degrees of freedom of movement of the drone 110. In some embodiments, the drone 110 may rotate about one or more axes of rotation. For example, the rotation shaft may include a Roll shaft (Roll), a Yaw shaft (Yaw), and a pitch shaft (pitch). It should be appreciated that the motor 152 may be a DC motor or an AC motor. The motor 152 may be a brushless motor or a brushed motor.

Flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure pose information of the unmanned aerial vehicle, that is, position information and state information of the unmanned aerial vehicle 110 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, three-dimensional angular speed, and the like. The sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (Global Positioning System, GPS). The flight controller 161 is configured to control the flight of the unmanned aerial vehicle 110, and may control the flight of the unmanned aerial vehicle 110 based on attitude information measured by the sensing system 162, for example. It should be appreciated that the flight controller 161 may control the drone 110 in accordance with preprogrammed instructions or may control the drone 110 in response to one or more remote control signals from the control terminal 140.

Each pan-tilt 120 may include a motor 122. Each pan-tilt 120 is configured to carry a load, such as a camera 123. Flight controller 161 can control movement of pan-tilt 120 via motor 122. Alternatively, as another embodiment, the pan-tilt head 120 may further include a controller for controlling the movement of the pan-tilt head 120 by controlling the motor 122. It should be appreciated that the pan-tilt 120 may be independent of the drone 110 or may be part of the drone 110. It should be appreciated that the motor 122 may be a DC motor or an AC motor. The motor 122 may be a brushless motor or a brushed motor. It should also be appreciated that the pan-tilt may be located at the top of the drone or at the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing an image, such as a camera or a video camera, and the photographing device 123 may communicate with and photograph under the control of the flight controller. The photographing Device 123 of the present embodiment at least includes a photosensitive element, which is, for example, a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor) sensor or a Charge-coupled Device (CCD) sensor.

The display device 130 is located at the ground side of the unmanned aerial vehicle 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used to display attitude information of the unmanned aerial vehicle 110. In addition, an image captured by the capturing device 123 may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated into the control terminal 140.

The control terminal 140 is located at the ground end of the unmanned aerial vehicle 100, and can communicate with the unmanned aerial vehicle 110 in a wireless manner, so as to remotely operate the unmanned aerial vehicle 110.

It should be understood that the above designations of the components of the unmanned air vehicle are for identification purposes only and should not be construed as limiting embodiments of the present application.

Fig. 2 is a schematic view of an application scenario provided by the embodiment of the present application, as shown in fig. 2, fig. 2 shows an unmanned aerial vehicle 201, and a control terminal 202 of the unmanned aerial vehicle. The control terminal 202 of the drone 201 may be one or more of a remote control, a smart phone, a desktop computer, a laptop computer, a wearable device (watch, bracelet). The embodiment of the present application is schematically illustrated by taking the control terminal 202 as a remote controller 2021 and the terminal device 2022 as examples. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited thereto.

The unmanned aerial vehicle 201 comprises a fuselage 2011 and a plurality of holders 2012 connected to the fuselage 2011, each holder 2012 being adapted to carry a load 2013. The load 2013 includes photographing devices, and the unmanned aerial vehicle transmits images photographed by each photographing device to the control terminal 202, so that the control terminal 202 may display images photographed by the photographing devices at the same time.

The yaw attitude of the fuselage 2011 of the unmanned aerial vehicle is controlled according to the yaw attitude of the main cradle head of the unmanned aerial vehicle. The main cradle head is one of the plurality of cradle heads 2012, so that a user can set any one of the plurality of cradle heads as the main cradle head, and the unmanned aerial vehicle can be controlled to move along the yaw direction along with the main cradle head selected by the user. The following schemes of the embodiments of the present application may be adopted for determining the main pan/tilt.

Fig. 3 is a flowchart of a control method of a movable platform according to an embodiment of the present application, where the method of the present embodiment may be applied to a control device of a movable platform. The control device of the movable platform may be provided at the movable platform; or a part of the control device of the movable platform is arranged on the movable platform, and the other part is arranged on the control terminal of the movable plane. The movable platform includes a body and a plurality of holders connected to the body and used for carrying a load, and in this embodiment, the control device of the movable platform is disposed on the movable platform, as shown in fig. 3, and the method of this embodiment includes:

s301, acquiring a main cradle head selection instruction, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user.

In this embodiment, the yaw attitude of the fuselage of the movable platform may be controlled according to the yaw attitude of the main cradle head, and the movable platform includes a plurality of cradle heads, from which the main cradle head needs to be determined. In this embodiment, the user may select the master cradle head from a plurality of cradle heads. Correspondingly, the movable platform acquires a main cradle head selection instruction, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user.

In one possible implementation, the mobile platform receives a main cradle head selection instruction sent by the control terminal. The user may perform the main cradle head selection operation on the control terminal, and accordingly, the control terminal detects the main cradle head selection operation of the user, where the control terminal includes one or more of a remote controller, a smart phone, a tablet pc, a laptop, and a wearable device, which will not be described herein. For example, a user performs a main cradle head selection operation through an interaction device of the control terminal, wherein the interaction device can be an important component of the control terminal and is an interface for interacting with the user, and the user can realize the operation of the movable platform through the operation of the interaction device; correspondingly, the control terminal can detect the main cradle head selection operation of the user through the interaction device. The interaction means may be, for example, one or more of a touch screen, a keyboard, a joystick, a pulsator of the control terminal. And then, the control terminal determines the main cradle head from the plurality of cradle heads according to the main cradle head selection operation, generates a main cradle head selection instruction and sends the main cradle head selection instruction to the movable platform.

In one possible implementation manner, the user may perform the main cradle head selection operation by operating the movable platform, for example, a main cradle head selection operation key is provided on the movable platform, and the user selects the main cradle head by operating the main cradle head selection operation key. For another example, a main cradle head selection key is provided for each cradle head, and a user presses the main cradle head selection key of a certain cradle head to indicate that the user selects the cradle head as the main cradle head. Therefore, the movable platform detects the main cradle head selection operation of the user and acquires the main cradle head selection instruction.

S302, determining a first cradle head in a plurality of cradle heads as a main cradle head according to the main cradle head selection instruction, and controlling the yaw attitude of the machine body according to the yaw attitude of the main cradle head.

In this embodiment, after the mobile platform obtains the main cradle head selection instruction, the mobile platform determines that a first cradle head of the plurality of cradle heads is the main cradle head according to the main cradle head selection instruction. After determining that the main cradle head is the first cradle head, the yaw attitude of the airframe is controlled according to the yaw attitude of the first cradle head.

In this embodiment, the main cradle head selection instruction is obtained by detecting a main cradle head selection operation of a user, and then determining that a first cradle head of the plurality of cradle heads is the main cradle head according to the main cradle head selection instruction, so that a user can set any cradle head from the plurality of cradle heads as the main cradle head according to actual needs. In addition, as the yaw attitude of the airframe is controlled according to the yaw attitude of the main cradle head, the yaw attitude of the airframe can be controlled according to the yaw attitude of any cradle head selected by a user, and the flexibility of yaw attitude control of the airframe is improved.

Optionally, the main cradle head selection instruction includes identification information of the first cradle head. Correspondingly, the movable platform determines that the first cradle head is the main cradle head according to the identification information of the first cradle head included in the main cradle head selection instruction.

Optionally, the movable platform is further provided with an identification bit of the main holder, after the main holder selection instruction is obtained, the identification position of the main holder can be used as the identification information of the first holder, if the identification bit of the current main holder is empty, the main holder is not determined currently, and then when the identification bit of the main holder is changed from empty to the identification information of the first holder. And then determining the main holder in the plurality of holders through the identification bits of the main holder.

Optionally, if the main pan-tilt of the movable platform is the second pan-tilt of the plurality of pan-tilt before the movable platform obtains the main pan-tilt selection instruction, one possible implementation manner of S302 is: and switching the main cradle head of the movable platform from the second cradle head to the first cradle head according to the main cradle head selection instruction.

Optionally, the main cradle head selection instruction is configured to instruct a main cradle head of the movable platform to be switched from a second cradle head of the plurality of cradle heads to the first cradle head.

For example, the movable platform is provided with the identification bit of the main cradle head, before the main cradle head selection instruction is acquired, the main cradle head of the movable platform is the second cradle head, the identification bit of the main cradle head is the identification information of the second cradle head, and after the main cradle head selection instruction is acquired, the identification bit of the main cradle head is changed from the identification information of the second cradle head to the identification information of the first cradle head, so that the switching of the main cradle head can be realized according to the selection of a user.

In an embodiment, when the movable platform is powered on and started, the movable platform does not determine the main cradle head of the movable platform, and by the mode, the main cradle head from the unspecified main cradle head to the specified main cradle head can be realized.

In an embodiment, when the movable platform is powered on and started, the movable platform determines the second cradle head as the main cradle head of the movable platform according to a preset strategy. By the mode, after the power-on starting, the main cradle head can be switched according to the selection of a user.

Optionally, the movable platform includes a plurality of interfaces disposed on the body, wherein each of the plurality of holders is respectively connected to one of the plurality of interfaces, and the plurality of interfaces includes a reference interface. Correspondingly, one implementation manner of the movable platform to determine the second cradle head as the main cradle head of the movable platform according to a preset selection strategy is as follows: and determining the second cradle head connected with the reference interface as a main cradle head of the movable platform.

For example, the interfaces are interface 1 and interface 2 respectively, the reference interface is interface 1, when the interface 1 is connected with a cradle head, the mobile platform defaults to a cradle head as a main cradle head after the mobile platform is powered on and started, that is, the cradle head connected with the interface 1 is determined as the main cradle head of the mobile platform. It should be noted that, the cradle head connected by the interface 1 and the interface 2 may be interchanged, for example, the cradle head connected by the interface 1 is the cradle head 1, the cradle head connected by the interface 2 is the cradle head 2, the user may pull the cradle head 1 out of the interface 1, pull the cradle head 2 out of the interface, insert the cradle head 1 into the interface 2, and insert the cradle head 2 into the interface 1. Before the user does not operate to select the main cradle head, the movable platform determines that the main cradle head is the cradle head 2 according to the cradle head 2 connected with the interface 1. If the user wants to select the main cradle head from the plurality of cradle heads, the method can be implemented by the scheme of any embodiment.

Optionally, when the mobile platform is powered on and started, after the mobile platform determines the second cradle head as the main cradle head of the mobile platform according to a preset strategy, the mobile platform further sends prompt information indicating that the main cradle head is the second cradle head to a control terminal of the mobile platform. Correspondingly, the control terminal receives prompt information sent by the movable platform and indicating that the main cradle head is the second cradle head, and determines that the main cradle head of the movable platform is the second cradle head according to the prompt information.

Optionally, after the movable platform determines that the main cradle head is the first cradle head according to the main cradle head selection instruction, the movable platform may further send a prompt message indicating that the main cradle head is the first cradle head to the control terminal.

In an embodiment, the above description is made on how the control terminal detects the operation of selecting the main cradle head of the user. The load in this embodiment is a photographing device, and each pan-tilt carries a photographing device, and these photographing devices may take images, and the photographing device may be, for example, a visible light photographing device, an infrared photographing device, or the like. The shooting devices borne by the cloud platforms are of the same type, or the borne shooting devices are not of the same type. For example, each of the plurality of holders carries a visible light photographing device, or each of the plurality of holders carries an infrared photographing device, or some of the plurality of holders carries a visible light photographing device, and another of the plurality of holders carries an infrared photographing device, which is not limited in this embodiment.

The movable platform can send images shot by the shooting devices borne by the cloud platforms to the control terminal. Correspondingly, the control terminal receives images shot by the shooting devices carried by the plurality of cloud platforms and sent by the movable platform, and simultaneously displays the images shot by the shooting devices carried by the plurality of cloud platforms. When a user wants to select a first pan-tilt of the plurality of pan-tilt units as a main pan-tilt unit, the user performs a selection operation on an image captured by a capturing device carried by the first pan-tilt unit and displayed by the control terminal, and accordingly, the control terminal detects that the user performs the selection operation on the image captured by the capturing device carried by the first pan-tilt unit, which means that the control terminal detects the main pan-tilt unit selection operation of the user, and the control terminal can determine that the main pan-tilt unit selected by the user is the first pan-tilt unit.

The following description will take multiple holders as two holders, namely a first holder and a second holder.

Fig. 4 is an operation schematic diagram of a user selecting a main pan-tilt provided in an embodiment of the present application, as shown in fig. 4, before the user selects the main pan-tilt, the main pan-tilt of the movable platform is empty, the control terminal does not display images captured by the capturing devices carried by the two pan-tilt at the lower right corner, when the user wants to select the first pan-tilt as the main pan-tilt, the user performs a selection operation on the images captured by the capturing devices carried by the first pan-tilt, the control terminal detects the operation, and then can determine that the user selects the first pan-tilt as the main pan-tilt, and then sends a main pan-tilt selection instruction to the movable platform, and the movable platform determines that the first pan-tilt is the main pan-tilt, and then the control terminal displays the images captured by the capturing devices carried by the first pan-tilt in the main display area.

Fig. 5 is another operation schematic diagram of selecting a main cradle head by a user according to an embodiment of the present application, as shown in fig. 5, in which before the user switches the main cradle head, the main cradle head of the movable platform is a second cradle head, a main display area of the control terminal displays an image captured by a capturing device carried by the second cradle head, and an image captured by a capturing device carried by the first cradle head is displayed in a lower right corner. When a user wants to switch the main cradle head from the second cradle head to the first cradle head, the user executes a selection operation on an image shot by the shooting device borne by the first cradle head, the control terminal detects the operation, the user can be determined to select the first cradle head as the main cradle head, then a main cradle head selection instruction is sent to the movable platform, the movable platform determines that the first cradle head is the main cradle head, then the control terminal displays the image shot by the shooting device borne by the first cradle head in a main display area, and displays the image shot by the shooting device borne by the second cradle head in the lower right corner. In addition, the user can also adopt the similar operation to switch the main cradle head from the first cradle head to the second cradle head.

Optionally, after the control terminal receives the prompt message sent by the movable platform and indicating that the main cradle head is the first cradle head, the control terminal displays an image shot by the shooting device carried by the first cradle head in the main display area.

In some embodiments, after performing S302 above, the movable platform may further control a yaw attitude of the fuselage according to a yaw attitude of the main head. In this embodiment, after the movable platform determines that the main cradle head is the first cradle head, the yaw attitude of the body is controlled according to the yaw attitude of the first cradle head, so that the body of the movable platform moves along the first cradle head in the yaw direction.

The following describes a movable platform for controlling the yaw attitude of the fuselage according to the yaw attitude of the main head. On the basis of the embodiment shown in fig. 3, after executing S302, the scheme shown in fig. 6 may also be executed, and fig. 6 is a flowchart of a control method of a movable platform according to another embodiment of the present application, where the method in this embodiment further includes, after executing S302:

S601, acquiring a yaw attitude control instruction of the airframe.

In this embodiment, the movable platform may acquire the yaw attitude control instruction of the airframe. The yaw attitude control command of the airframe is obtained by detecting a yaw attitude control operation of the airframe input by a user. Optionally, the yaw attitude control command is further for indicating an angle at which a yaw attitude angle of the airframe changes.

In one possible implementation, the movable platform receives a yaw attitude control instruction of the airframe sent by the control terminal. The user may perform a yaw attitude control operation of the airframe with respect to the control terminal, and accordingly, the control terminal detects the yaw attitude control operation of the airframe input by the user. Then, the control terminal generates a yaw attitude control instruction of the airframe according to the yaw attitude control operation of the airframe, and transmits the yaw attitude control instruction of the airframe to the movable platform.

In one possible implementation, the user may perform a yaw attitude control operation of the airframe by operating the movable platform, such as a yaw attitude control component of the airframe disposed on the movable platform, and the user may control a yaw attitude of the airframe by operating the yaw attitude control component of the airframe. Thus, the movable platform detects a yaw attitude control operation of the airframe performed by the user, and acquires a yaw attitude control instruction of the airframe.

S602, controlling the main cradle head to move in the yaw direction according to the yaw attitude control instruction of the machine body.

In this embodiment, the movable platform obtains the yaw attitude control instruction of the fuselage, and does not directly control the fuselage to move in the yaw direction, but first controls the main cradle head to move in the yaw direction. If the main cradle head is the first cradle head at this time, the movable platform controls the first cradle head to move in the yaw direction.

S603, controlling the yaw attitude of the machine body according to the yaw attitude of the main cradle head in the process of controlling the main cradle head to move in the yaw direction.

In this embodiment, in the process of controlling the movement of the main cradle head in the yaw direction, since the yaw attitude of the main cradle head changes, the yaw of the control machine body also moves in the yaw direction, so as to realize that the machine body follows the movement of the main cradle head in the yaw direction, ensure the stability of the movement of the machine body in the yaw direction, even enable the movement of the machine body in the yaw direction to reach smoothness as in the stability enhancement level of the cradle head, and improve the user experience.

Optionally, before controlling the main cradle head to move in the yaw direction, the movable platform further obtains a yaw attitude difference between the main cradle head and the airframe. Accordingly, in one possible implementation manner of S603, in the process of controlling the movement of the main pan-tilt in the yaw direction, the yaw attitude of the airframe is controlled according to the yaw attitude of the main pan-tilt and the yaw attitude difference.

In this embodiment, the yaw attitude difference between the main cradle head and the machine body is obtained before the main cradle head is controlled to move in the yaw direction according to the yaw attitude control instruction of the machine body, for example, 15 degrees, and the yaw attitude of the main cradle head is continuously changed during the process of controlling the main cradle head to move in the yaw direction, so that the machine body is controlled to move in the yaw direction according to the yaw attitude of the main cradle head and the obtained yaw attitude difference (for example, 15 degrees).

After the movement of the main body in the yaw direction is controlled, the yaw attitude difference between the main body and the main cradle head is unchanged. For example, before the main cradle head is controlled to move in the yaw direction according to the yaw attitude control instruction of the machine body, the yaw attitude angle of the main cradle head is 60 degrees, the yaw attitude angle of the machine body is 45 degrees, and correspondingly, the yaw attitude difference between the cradle head and the machine body is 15 degrees. If the yaw attitude control command of the airframe is used for indicating the yaw attitude angle of the airframe to rotate by 30 degrees, the movable platform controls the main cradle head to move in the yaw direction so that the yaw attitude angle of the main cradle head rotates from 60 degrees to 90 degrees, and in the process of controlling the main cradle head to rotate from 60 degrees to 90 degrees from the yaw attitude angle, the airframe is controlled to move in the yaw direction according to the yaw attitude angle of the main cradle head and the yaw attitude difference by 15 degrees, and the airframe is stopped from moving in the yaw direction when the yaw attitude angle of the airframe rotates to 75 degrees. Therefore, before and after the yaw attitude of the control machine body changes, the yaw attitude difference between the main cradle head and the machine body is unchanged, so that the stability of the movement of the machine body of the movable platform in the yaw direction is ensured. And in the process of controlling the body of the movable platform to move in the yaw direction, the control terminal is not dithered or blocked when displaying the image shot by the shooting device borne by the main cradle head.

Optionally, the movable platform of this embodiment may obtain the yaw attitude difference between the main pan-tilt and the fuselage in response to the main pan-tilt selection instruction after receiving the main pan-tilt selection instruction. According to the movable platform, the yaw attitude difference between each cradle head and the machine body can be obtained according to the preset period, the yaw attitude difference between each cradle head and the machine body which are obtained last time is replaced by the yaw attitude difference between each cradle head and the machine body which are obtained last time, and when a main cradle head selection instruction is obtained, the main cradle head selection instruction is used for indicating the main cradle head to be the first cradle head, and the yaw attitude difference between each cradle head and the machine body is saved in advance, so that the yaw attitude difference between the first cradle head and the machine body can be obtained quickly. And then after receiving a yaw attitude control instruction of the airframe, controlling the yaw attitude of the airframe according to the yaw attitude difference between the first cradle head and the airframe and the yaw attitude of the first cradle head. Since the yaw attitude difference is obtained in advance, the movement of the fuselage in the yaw direction can be controlled quickly and smoothly after the yaw attitude control instruction of the fuselage is received.

Optionally, after receiving a yaw attitude control instruction of a body, the movable platform of the embodiment may obtain a yaw attitude difference between the main cradle head and the body in response to the yaw attitude control instruction of the body, and then control the main cradle head to move in a yaw direction according to the yaw attitude control instruction of the body; and in the process of controlling the main cradle head to move in the yaw direction, controlling the yaw attitude of the machine body according to the yaw attitude of the main cradle head and the yaw attitude difference. The yaw attitude difference of the main cradle head and the machine body is guaranteed to be the latest and accurate yaw attitude difference, and the stability of the movement of the machine body in the yaw direction is guaranteed.

On the basis of the above embodiments, the movable platform further obtains a yaw attitude control instruction of the main cradle head; and responding to a yaw attitude control instruction of the main cradle head, and controlling the main cradle head to move in a yaw direction.

In this embodiment, how the movable platform obtains the yaw attitude control instruction of the main cradle head may refer to the related description of obtaining the yaw attitude control instruction of the main cradle head selection instruction or the main cradle head selection instruction, and will not be described herein.

In this embodiment, after a yaw attitude control instruction of the main cradle head is obtained, the movement of the main cradle head in the yaw direction is controlled in response to the yaw attitude control instruction of the main cradle head. Because the instruction is a yaw attitude control instruction of the main cradle head, the yaw attitude of the main cradle head does not need to be controlled according to the yaw attitude of the main cradle head in the process of controlling the movement of the main cradle head in the yaw direction. After the yaw attitude control instruction of the main cradle head is responded, the main cradle head is controlled to move in the yaw direction, and the yaw attitude deviation of the main cradle head and the machine body can be obtained again due to the change of the yaw attitude of the main cradle head, so that the yaw attitude deviation of the main cradle head and the machine body can be updated in real time. So that the yaw attitude of the machine body is controlled according to the latest yaw attitude deviation of the main cradle head and the machine body and the yaw attitude of the main cradle head after the yaw attitude control instruction of the machine body is acquired later, and the stability of the movement of the machine body in the yaw direction is ensured.

Optionally, the movable platform may further obtain a yaw attitude control instruction of any other pan-tilt except the main pan-tilt; and responding to the yaw attitude control instruction of the cradle head, and controlling the cradle head to move in the yaw direction. Optionally, after the cradle head is controlled to move in the yaw direction, the yaw attitude deviation of the cradle head and the machine body can be obtained again, so that after the movable platform obtains a main cradle head selection instruction for indicating the main cradle head to be the cradle head, the yaw attitude difference of the main cradle head and the machine body can be obtained rapidly.

The embodiment of the invention also provides a computer storage medium, wherein the computer storage medium stores program instructions, and the program can include part or all of the steps of the control method of the movable platform in any of the above embodiments when executed.

Fig. 7 is a schematic structural diagram of a control device for a movable platform according to an embodiment of the present application, where the movable platform includes a body and a plurality of holders connected to the body and used for carrying a load, and as shown in fig. 7, a control device 700 for a movable platform includes: a memory 701 and a processor 702. Optionally, the control device 700 of the movable platform may further include: a communication device 703.

The memory 701 is used for storing program codes.

The processor 702 invokes the program code which, when executed, functions to:

Optionally, the processor 702 is specifically configured to: and switching a main cradle head of the movable platform from a second cradle head in the plurality of cradle heads to the first cradle head according to the main cradle head selection instruction.

Optionally, the main cradle head selection instruction includes identification information of the first cradle head.

Optionally, the processor 702 is further configured to control a yaw attitude of the fuselage according to a yaw attitude of the main cradle head.

Optionally, the processor 702 is further configured to obtain a yaw attitude control instruction of the airframe before controlling the airframe to be in a yaw attitude according to the yaw attitude of the main pan-tilt; and controlling the main cradle head to move in the yaw direction according to the yaw attitude control instruction of the machine body.

The processor 702 is specifically configured to, when controlling the yaw attitude of the fuselage according to the yaw attitude of the main cradle head: and in the process of controlling the main cradle head to move in the yaw direction, controlling the yaw attitude of the machine body according to the yaw attitude of the main cradle head.

Optionally, the processor 702 is further configured to obtain a yaw attitude difference between the main pan and the fuselage before controlling the fuselage to be in the yaw attitude according to the yaw attitude of the main pan. The processor 702 is specifically configured to, when controlling the yaw attitude of the fuselage according to the yaw attitude of the main cradle head: and controlling the yaw attitude of the airframe according to the yaw attitude of the main cradle head and the yaw attitude difference.

Optionally, the communication device 703 is configured to receive a yaw attitude control instruction of the airframe sent by a control terminal of the movable platform.

The processor 702 is specifically configured to: and receiving a yaw attitude control instruction of the airframe sent by a control terminal of the movable platform through the communication device 703, wherein the yaw attitude control instruction of the airframe is obtained by detecting a yaw attitude control operation of the airframe input by a user through the control terminal.

Optionally, the processor 702 is specifically configured to: and responding to the main cradle head selection instruction or the yaw attitude control instruction of the machine body, and acquiring the yaw attitude difference of the main cradle head and the machine body.

Optionally, the processor 702 is further configured to obtain a yaw attitude control instruction of the main pan/tilt; and responding to a yaw attitude control instruction of the main cradle head, and controlling the main cradle head to move in a yaw direction.

Optionally, the processor 702 is further configured to: and when the movable platform is powered on and started, determining the second cradle head as a main cradle head of the movable platform according to a preset strategy.

Optionally, the movable platform includes a plurality of interfaces disposed on the body, where each of the plurality of holders is connected to one of the plurality of interfaces, and the plurality of interfaces includes a reference interface. The processor 702 is specifically configured to: and determining a second cradle head connected with the reference interface as a main cradle head of the movable platform.

Optionally, the communication device 703 is configured to send a prompt message indicating that the main pan-tilt is the second pan-tilt to a control terminal of the mobile platform.

Optionally, the communication device 703 is configured to receive the main pan/tilt selection instruction sent by the control terminal of the movable platform.

The processor 702 is specifically configured to: and receiving, by the communication device 703, the main pan/tilt selection instruction sent by the control terminal of the mobile platform, where the main pan/tilt selection instruction is obtained by detecting, by the control terminal, a main pan/tilt selection operation of a user.

Optionally, the load includes a camera. The communication device 703 is further configured to: and sending the images shot by the shooting devices carried by the cloud platforms to the control terminal so that the control terminal can simultaneously display the images shot by the shooting devices carried by the cloud platforms, wherein the main cloud platform selection operation of the user comprises the image selection operation of the user on the shooting devices carried by the first cloud platform.

The control device of the movable platform in the embodiment of the present application may be used to execute the technical solutions of the movable platform in the embodiments of the above methods of the present application, and its implementation principle and technical effects are similar, and are not repeated here.

Fig. 8 is a schematic structural diagram of a movable platform according to an embodiment of the present application, as shown in fig. 8, the movable platform 800 of the present embodiment includes: a processor 801, a body 802, and a plurality of holders 804 attached to the body 802 for carrying a load 803. Alternatively, the processor 801 may be disposed within the fuselage 802. Optionally, the movable platform 800 of the present embodiment may further include: a communication device 805.

The processor 801 is configured to: acquiring a main cradle head selection instruction, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user; and determining a first pan-tilt of the plurality of pan-tilt units as a main pan-tilt according to the main pan-tilt selection instruction, wherein the yaw attitude of the body 802 is controlled according to the yaw attitude of the main pan-tilt.

Optionally, the processor 801 is specifically configured to: and switching a main cradle head of the movable platform 800 from a second cradle head of the plurality of cradle heads to the first cradle head according to the main cradle head selection instruction.

Optionally, the processor 801 is further configured to control a yaw attitude of the fuselage according to a yaw attitude of the main cradle head.

Optionally, the processor 801 is further configured to obtain a yaw attitude control instruction of the airframe before controlling the airframe to be in a yaw attitude according to the yaw attitude of the main pan-tilt; according to the yaw attitude control instruction of the machine body, controlling the main cradle head to move in the yaw direction;

the processor 801 is specifically configured to, when controlling the yaw attitude of the fuselage according to the yaw attitude of the main cradle head: and in the process of controlling the main cradle head to move in the yaw direction, controlling the yaw attitude of the machine body according to the yaw attitude of the main cradle head.

Optionally, the processor 801 is further configured to obtain a yaw attitude difference between the main pan and the fuselage before controlling the fuselage to yaw according to a yaw attitude of the main pan;

The processor 801 is specifically configured to, when controlling the yaw attitude of the fuselage according to the yaw attitude of the main cradle head: and controlling the yaw attitude of the airframe according to the yaw attitude of the main cradle head and the yaw attitude difference.

Optionally, the communication device 805 is configured to receive a yaw attitude control instruction of the airframe sent by a control terminal of the movable platform.

The processor 801 is specifically configured to: and receiving a yaw attitude control instruction of the airframe sent by a control terminal of the movable platform through the communication device 805, wherein the yaw attitude control instruction of the airframe is obtained by detecting a yaw attitude control operation of the airframe input by a user through the control terminal.

Optionally, the processor 801 is specifically configured to: and responding to the main cradle head selection instruction or the yaw attitude control instruction of the machine body, and acquiring the yaw attitude difference of the main cradle head and the machine body.

Optionally, the processor 801 is further configured to obtain a yaw attitude control instruction of the main pan/tilt; and responding to a yaw attitude control instruction of the main cradle head, and controlling the main cradle head to move in a yaw direction.

Optionally, the processor 801 is further configured to: and when the movable platform is powered on and started, determining the second cradle head as a main cradle head of the movable platform 800 according to a preset strategy.

Optionally, the movable platform 800 further includes a plurality of interfaces 806 provided on the body 802, where each of the plurality of holders 804 is connected to one of the plurality of interfaces 806, and the plurality of interfaces includes a reference interface;

the processor 801 is specifically configured to: a second cradle head connected to the reference interface is determined as a master cradle head of the movable platform 800.

Optionally, the communication device 805 is configured to send a prompt message indicating that the main pan-tilt is the second pan-tilt to a control terminal of the mobile platform 800.

Optionally, the communication device 805 is configured to receive the main pan/tilt selection instruction sent by the control terminal of the mobile platform 800.

The processor 801 is specifically configured to: and receiving, by the communication device 805, the main pan/tilt selection instruction sent by the control terminal of the mobile platform 800, where the main pan/tilt selection instruction is obtained by the control terminal detecting a main pan/tilt selection operation of a user.

Optionally, the load 803 includes a camera. The communication device 805 is further configured to: and sending the images shot by the shooting devices carried by the plurality of holders 804 to the control terminal so that the control terminal can simultaneously display the images shot by the shooting devices carried by the plurality of holders 804, wherein the main holder selection operation of the user comprises the image selection operation of the user on the shooting devices carried by the first holder.

Optionally, the mobile platform of the present embodiment further includes a memory (not shown in the figure) for storing program codes, which when called, cause the mobile platform to implement the above-mentioned aspects.

The movable platform of the present embodiment may be used to implement the technical solutions of the movable platform in the above embodiments of the present application, and its implementation principle and technical effects are similar, and are not repeated here.

In another embodiment, the present application provides another movable platform, where the movable platform includes a body and a plurality of holders connected to the body for carrying a load, and the control device of the movable platform shown in fig. 7 may be mounted on the movable platform. Alternatively, the control device of the movable platform may be a component integrated in the movable platform, or the control device of the movable platform may be a component independent of the movable platform.

Fig. 9 is a schematic structural diagram of a control terminal according to an embodiment of the present application, as shown in fig. 9, a control terminal 900 of the present embodiment is used for controlling a movable platform, and is a control terminal of the movable platform. The mobile platform includes a body and a plurality of holders connected to the body for carrying a load, and the control terminal 900 of this embodiment may include: interaction means 901, processor 902 and communication means 903.

And the interaction device 901 is used for detecting the selection operation of the main cradle head of the user.

The processor 902 is configured to generate a main pan/tilt selection instruction according to the main pan/tilt selection operation.

The communication device 903 is configured to send a main pan/tilt selection instruction to the movable platform, so that the movable platform determines that a first pan/tilt of the plurality of pan/tilt units is a main pan/tilt unit according to the main pan/tilt selection instruction;

Optionally, the interaction device 901 is further configured to detect a yaw gesture control operation of the airframe input by a user;

the processor 902 is further configured to generate a yaw attitude control instruction of the airframe according to a yaw attitude control operation of the airframe.

The communication device 903 is further configured to send a yaw attitude control instruction of the airframe to the movable platform, so that the movable platform controls the main cradle head to move in a yaw direction, and in a process of controlling the main cradle head to move in the yaw direction, the yaw attitude of the airframe is controlled according to the yaw attitude of the main cradle head.

Optionally, the interaction device 901 is further configured to detect a yaw gesture control operation of the main pan/tilt of the user.

The processor 902 is further configured to generate a yaw attitude control instruction of the main pan-tilt according to a yaw attitude control operation of the main pan-tilt.

The communication device 903 is further configured to send a yaw attitude control instruction of the main pan-tilt to the movable platform, so that the movable platform controls the main pan-tilt to move in a yaw direction.

Optionally, the communication device 903 is further configured to receive, after the mobile platform is powered on and turned on, a prompt message sent by the mobile platform and indicating that the main pan-tilt is the second pan-tilt.

Optionally, the movable platform includes a plurality of interfaces disposed on the body, where each of the plurality of holders is connected to one of the plurality of interfaces, and the plurality of interfaces includes a reference interface. The cradle head connected with the reference interface is the second cradle head.

Optionally, the load includes a photographing device, and the control terminal 900 further includes a display device 904.

The communication device 903 is further configured to receive images captured by the capturing devices carried by the plurality of holders and sent by the movable platform.

The display device 904 is configured to simultaneously display images captured by the capturing devices carried by the plurality of holders.

The interaction device 901, when detecting a user's main cradle head selection operation, is specifically configured to: and detecting the image selection operation of the user on the shooting device borne by the first cradle head.

Alternatively, the interaction device 901 may be a touch screen, and the display device 904 may be a display screen. The interaction means 901 and the display means 904 are part of a touch sensitive display, respectively.

Optionally, the control terminal of the present embodiment further includes a memory (not shown in the figure) for storing program codes, which when called, cause the control terminal to implement the above-mentioned schemes.

The control terminal of the present embodiment may be used to execute the technical solutions of the control terminal in the foregoing method embodiments of the present application, and its implementation principle and technical effects are similar, and are not repeated herein.

Fig. 10 is a schematic structural diagram of a control system for a movable platform according to an embodiment of the present application, as shown in fig. 10, a control system 1000 for a movable platform according to the present embodiment may include: a removable platform 1001 and a control terminal 1002.

The movable platform 1001 may implement the technical solution of the movable platform provided in any of the foregoing embodiments, which is not described herein. The control terminal 1002 may execute the technical solution of the control terminal provided in any of the foregoing embodiments, which is not described herein.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; and the aforementioned storage medium includes: read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic or optical disk, and the like.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims

1. A method of controlling a movable platform, the movable platform comprising a body and a plurality of holders coupled to the body for carrying a load, the method comprising:

acquiring a main cradle head selection instruction, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user;

2. The method of claim 1, wherein the step of determining the position of the substrate comprises,

The determining that the first pan-tilt of the plurality of pan-tilt is the master pan-tilt according to the master pan-tilt selection instruction includes:

And switching a main cradle head of the movable platform from a second cradle head in the plurality of cradle heads to the first cradle head according to the main cradle head selection instruction.

3. The method according to claim 1 or 2, wherein the main head selection instruction includes identification information of the first head.

4. A method according to any one of claims 1-3, wherein the method further comprises:

and controlling the yaw attitude of the airframe according to the yaw attitude of the main cradle head.

5. The method of claim 4, wherein prior to controlling the fuselage in a yaw attitude based on a yaw attitude of the main head, the method further comprises:

Acquiring a yaw attitude control instruction of a machine body;

According to the yaw attitude control instruction of the machine body, controlling the main cradle head to move in the yaw direction;

Controlling the yaw attitude of the fuselage according to the yaw attitude of the main cradle head, comprising:

And in the process of controlling the main cradle head to move in the yaw direction, controlling the yaw attitude of the machine body according to the yaw attitude of the main cradle head.

6. The method of claim 4 or 5, wherein prior to controlling the fuselage in a yaw attitude based on a yaw attitude of the main head, the method further comprises:

acquiring a yaw attitude difference of the main cradle head and the machine body;

the controlling the yaw attitude of the airframe according to the yaw attitude of the main cradle head comprises:

and controlling the yaw attitude of the airframe according to the yaw attitude of the main cradle head and the yaw attitude difference.

7. The method of claim 5, wherein the obtaining yaw attitude control instructions for the airframe comprises:

And receiving a yaw attitude control instruction of the airframe, which is sent by a control terminal of the movable platform, wherein the yaw attitude control instruction of the airframe is obtained by detecting yaw attitude control operation of the airframe input by a user through the control terminal.

8. The method of claim 6, wherein the obtaining a yaw attitude difference of the main head and the fuselage comprises:

And responding to the main cradle head selection instruction or the yaw attitude control instruction of the machine body, and acquiring the yaw attitude difference of the main cradle head and the machine body.

9. The method according to any one of claims 1-8, further comprising:

acquiring a yaw attitude control instruction of a main cradle head;

And responding to a yaw attitude control instruction of the main cradle head, and controlling the main cradle head to move in a yaw direction.

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

and when the movable platform is powered on and started, determining the second cradle head as a main cradle head of the movable platform according to a preset strategy.

11. The method of claim 10, wherein the movable platform comprises a plurality of interfaces disposed on the fuselage, wherein each of the plurality of holders is respectively coupled to one of the plurality of interfaces, the plurality of interfaces comprising a reference interface;

The determining the second pan-tilt as the main pan-tilt of the movable platform according to a preset selection policy includes:

and determining a second cradle head connected with the reference interface as a main cradle head of the movable platform.

12. The method according to claim 10 or 11, characterized in that the method further comprises:

And sending prompt information indicating that the main cradle head is the second cradle head to a control terminal of the movable platform.

13. The method according to any one of claims 1-12, wherein the obtaining a main pan/tilt selection instruction includes:

And receiving the main cradle head selection instruction sent by the control terminal of the movable platform, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user by the control terminal.

14. The method of claim 13, wherein the load comprises a camera, the method further comprising:

and sending the images shot by the shooting devices carried by the cloud platforms to the control terminal so that the control terminal can simultaneously display the images shot by the shooting devices carried by the cloud platforms, wherein the main cloud platform selection operation of the user comprises the image selection operation of the user on the shooting devices carried by the first cloud platform.

15. A control method of a movable platform, characterized by being applied to a control terminal of a movable platform, the movable platform including a body and a plurality of holders connected to the body for carrying a load, the method comprising:

detecting a main cradle head selection operation of a user;

generating a main cradle head selection instruction according to the main cradle head selection operation;

Sending a main cradle head selection instruction to the movable platform, so that the movable platform determines a first cradle head in the plurality of cradle heads as a main cradle head according to the main cradle head selection instruction;

16. The method of claim 15, wherein the master holder selection instruction is configured to instruct a master holder of the movable platform to switch from a second holder of the plurality of holders to the first holder.

17. The method of claim 15 or 16, wherein the master pan/tilt selection instruction includes identification information of the first pan/tilt.

18. The method according to any one of claims 15-17, further comprising:

detecting a yaw attitude control operation of a user's body;

According to the yaw attitude control operation of the machine body, a yaw attitude control instruction of the machine body is generated, and the yaw attitude control instruction of the machine body is sent to the movable platform, so that the movable platform controls the main cradle head to move in the yaw direction, and in the process of controlling the main cradle head to move in the yaw direction, the yaw attitude of the machine body is controlled according to the yaw attitude of the main cradle head.

19. The method according to any one of claims 15-18, further comprising:

detecting yaw attitude control operation of a main cradle head of a user;

And generating a yaw attitude control instruction of the main cradle head according to the yaw attitude control operation of the main cradle head, and sending the yaw attitude control instruction of the main cradle head to the movable platform so that the movable platform can control the main cradle head to move in the yaw direction.

20. The method as recited in claim 16, further comprising:

And after the movable platform is powered on and started, receiving prompt information sent by the movable platform and indicating that the main cradle head is the second cradle head.

21. The method of claim 20, wherein the movable platform comprises a plurality of interfaces disposed on the fuselage, wherein each of the plurality of holders is respectively coupled to one of the plurality of interfaces, the plurality of interfaces comprising a reference interface;

the cradle head connected with the reference interface is the second cradle head.

22. The method of any of claims 15-21, wherein the load comprises a camera, the method further comprising:

receiving images shot by shooting devices carried by the plurality of cloud platforms and sent by the movable platform;

Simultaneously displaying images shot by shooting devices borne by the plurality of cloud platforms;

The detecting the main cradle head selection operation of the user comprises the following steps:

And detecting the image selection operation of the user on the shooting device borne by the first cradle head.

23. A control apparatus for a movable platform, the movable platform comprising a body and a plurality of holders attached to the body for carrying a load, the control apparatus comprising: a memory and a processor;

the memory is used for storing program codes;

the processor invokes the program code, which when executed, is to:

24. The control device according to claim 23, wherein the processor is configured to:

25. The control apparatus of claim 23 or 24, wherein the main head selection instruction includes identification information of the first head.

26. The control device of any one of claims 23-25, wherein the processor is further configured to control a yaw attitude of the fuselage in accordance with a yaw attitude of the main head.

27. The control device of claim 26, wherein the processor is further configured to:

Before controlling the airframe to be in a yaw attitude according to the yaw attitude of the main cradle head, acquiring a yaw attitude control instruction of the airframe; according to the yaw attitude control instruction of the machine body, controlling the main cradle head to move in the yaw direction;

The processor is specifically configured to, when controlling the yaw attitude of the fuselage according to the yaw attitude of the main cradle head: and in the process of controlling the main cradle head to move in the yaw direction, controlling the yaw attitude of the machine body according to the yaw attitude of the main cradle head.

28. The control apparatus according to claim 26 or 27, wherein the processor is further configured to acquire a yaw attitude difference of the main head and the fuselage before controlling the fuselage in yaw attitude according to a yaw attitude of the main head;

The processor is specifically configured to, when controlling the yaw attitude of the fuselage according to the yaw attitude of the main cradle head: and controlling the yaw attitude of the airframe according to the yaw attitude of the main cradle head and the yaw attitude difference.

29. The control apparatus according to claim 27, characterized by further comprising: a communication device;

the processor is specifically configured to: and receiving a yaw attitude control instruction of the airframe sent by a control terminal of the movable platform through the communication device, wherein the yaw attitude control instruction of the airframe is obtained by detecting yaw attitude control operation of the airframe input by a user through the control terminal.

30. The control device according to claim 28, wherein the processor is specifically configured to: and responding to the main cradle head selection instruction or the yaw attitude control instruction of the machine body, and acquiring the yaw attitude difference of the main cradle head and the machine body.

31. The control device of any one of claims 23-30, wherein the processor is further configured to: acquiring a yaw attitude control instruction of a main cradle head; and responding to a yaw attitude control instruction of the main cradle head, and controlling the main cradle head to move in a yaw direction.

32. The control device of claim 24, wherein the processor is further configured to: and when the movable platform is powered on and started, determining the second cradle head as a main cradle head of the movable platform according to a preset strategy.

33. The control device of claim 32, wherein the movable platform comprises a plurality of interfaces disposed on the body, wherein each of the plurality of holders is respectively connected to one of the plurality of interfaces, the plurality of interfaces comprising a reference interface;

The processor is specifically configured to: and determining a second cradle head connected with the reference interface as a main cradle head of the movable platform.

34. The control apparatus according to claim 32 or 33, characterized by further comprising: a communication device;

The communication device is used for sending prompt information indicating that the main cradle head is the second cradle head to a control terminal of the movable platform.

35. The control apparatus according to any one of claims 23 to 33, characterized by further comprising: a communication device;

The processor is specifically configured to: and receiving the main cradle head selection instruction sent by the control terminal of the movable platform through the communication device, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user by the control terminal.

36. The control apparatus of claim 35, wherein the load comprises a camera;

The communication device is further configured to: and sending the images shot by the shooting devices carried by the cloud platforms to the control terminal so that the control terminal can simultaneously display the images shot by the shooting devices carried by the cloud platforms, wherein the main cloud platform selection operation of the user comprises the image selection operation of the user on the shooting devices carried by the first cloud platform.

37. A movable platform, the movable platform comprising: the device comprises a processor, a machine body and a plurality of cloud platforms which are connected to the machine body and used for bearing a load;

The processor is configured to: acquiring a main cradle head selection instruction, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user;

38. The mobile platform of claim 37, wherein the processor is configured to:

39. The mobile platform of claim 37 or 38, wherein the master pan/tilt selection instruction includes identification information of the first pan/tilt.

40. The mobile platform of any one of claims 37-39, wherein the processor is further configured to control a yaw attitude of the fuselage based on a yaw attitude of the main head.

41. The mobile platform of claim 40, wherein the processor is further configured to obtain yaw attitude control instructions for the fuselage prior to controlling the fuselage in yaw attitude based on a yaw attitude of the main head; according to the yaw attitude control instruction of the machine body, controlling the main cradle head to move in the yaw direction;

42. The mobile platform of claim 40 or 41, wherein the processor is further configured to obtain a yaw attitude difference between the main head and the fuselage before controlling the fuselage in yaw attitude based on a yaw attitude of the main head;

43. The mobile platform as recited in claim 41, further comprising: a communication device;

44. The mobile platform of claim 42, wherein the processor is specifically configured to: and responding to the main cradle head selection instruction or the yaw attitude control instruction of the machine body, and acquiring the yaw attitude difference of the main cradle head and the machine body.

45. The mobile platform of any one of claims 37-44, wherein the processor is further configured to obtain yaw attitude control instructions for the main head; and responding to a yaw attitude control instruction of the main cradle head, and controlling the main cradle head to move in a yaw direction.

46. The mobile platform of claim 38, wherein the processor is further configured to: and when the movable platform is powered on and started, determining the second cradle head as a main cradle head of the movable platform according to a preset strategy.

47. The mobile platform of claim 46, further comprising a plurality of interfaces disposed on the body, wherein each of the plurality of holders is coupled to a respective one of the plurality of interfaces, the plurality of interfaces including a reference interface;

48. The mobile platform of claim 46 or 47, further comprising: a communication device;

49. The mobile platform of any one of claims 37-47, further comprising: a communication device;

50. The mobile platform of claim 49, wherein the load comprises a camera;

51. A control terminal for controlling a movable platform, the movable platform comprising a body and a plurality of holders coupled to the body for carrying a load, the control terminal comprising:

The interaction device is used for detecting the selection operation of the main cradle head of the user;

the processor is used for generating a main cradle head selection instruction according to the main cradle head selection operation;

The communication device is used for sending a main cradle head selection instruction to the movable platform so that the movable platform can determine that a first cradle head in the plurality of cradle heads is a main cradle head according to the main cradle head selection instruction;

52. The control terminal of claim 51, wherein the master holder selection instruction is configured to instruct a master holder of the movable platform to switch from a second holder of the plurality of holders to the first holder.

53. The control terminal of claim 51 or 52, wherein the main pan/tilt selection instruction includes identification information of the first pan/tilt.

54. The control terminal of any of claims 51-53, wherein,

The interaction device is also used for detecting the yaw attitude control operation of the airframe input by a user;

the processor is also used for generating a yaw attitude control instruction of the airframe according to the yaw attitude control operation of the airframe;

The communication device is further used for sending a yaw attitude control instruction of the machine body to the movable platform so that the movable platform can control the main cradle head to move in the yaw direction, and in the process of controlling the main cradle head to move in the yaw direction, the yaw attitude of the machine body is controlled according to the yaw attitude of the main cradle head.

55. The control terminal of any of claims 51-54,

The interaction device is also used for detecting the yaw attitude control operation of the main cradle head of the user;

the processor is further used for generating a yaw attitude control instruction of the main cradle head according to the yaw attitude control operation of the main cradle head;

the communication device is also used for sending a yaw attitude control instruction of the main cradle head to the movable platform so that the movable platform can control the main cradle head to move in the yaw direction.

56. The control terminal of claim 52, wherein the communication device is further configured to receive, after the mobile platform is powered on and turned on, a prompt message sent by the mobile platform indicating that the main pan-tilt is the second pan-tilt.

57. The control terminal of claim 56, wherein the movable platform includes a plurality of interfaces disposed on the body, wherein each of the plurality of holders is respectively connected to one of the plurality of interfaces, the plurality of interfaces including a reference interface;

58. The control terminal of any of claims 51-57, wherein the load comprises a camera, the control terminal further comprising a display;

the communication device is also used for receiving images shot by the shooting devices carried by the plurality of cloud platforms and sent by the movable platform;

The display device is used for simultaneously displaying images shot by the shooting devices borne by the plurality of cloud platforms;

when detecting the selection operation of the main cradle head of the user, the interaction device is specifically configured to: and detecting the image selection operation of the user on the shooting device borne by the first cradle head.

59. A readable storage medium, characterized in that, the readable storage medium has a computer program stored thereon; the computer program, when executed, implements a method of controlling a movable platform according to any one of claims 1-14 or 15-22.