Control method and device for remotely controlling movable platform and readable storage medium

文档序号：1131577 发布日期：2020-10-02 浏览：18次中文

阅读说明：本技术 遥控可移动平台的控制方法、设备及可读存储介质 (Control method and device for remotely controlling movable platform and readable storage medium ) 是由李皓宇吴俊峰张伟兴郭亚娜樊泽阳于 2019-05-15 设计创作，主要内容包括：一种遥控可移动平台的控制方法、设备及可读存储介质。方法包括：显示至少一个功能图标、至少一个控制图标,功能图标表示实现预设功能的控制程序,控制图标用于控制控制终端和/或遥控可移动平台执行控制程序；根据用户对功能图标的选择操作生成所选择的功能图标表示控制程序；根据用户对控制图标的操作,控制控制终端和/或遥控可移动平台执行控制程序；预设功能包括：控制遥控可移动平台和/或控制终端对采集到的图像/声音信息进行识别,若图像/声音信息包括标识信息,根据标识信息控制控制终端和/或可移动平台实现与标识信息相对应的功能。从而能够实现对遥控可移动平台多样化的控制,进而能够提高用户的游戏体验。(A control method, equipment and a readable storage medium for remotely controlling a movable platform are provided. The method comprises the following steps: displaying at least one function icon and at least one control icon, wherein the function icon represents a control program for realizing a preset function, and the control icon is used for controlling the control terminal and/or remotely controlling the movable platform to execute the control program; generating a selected function icon representation control program according to the selection operation of the user on the function icon; controlling the control terminal and/or remotely controlling the movable platform to execute the control program according to the operation of the user on the control icon; the preset functions include: and controlling the remote control movable platform and/or the control terminal to identify the acquired image/sound information, and if the image/sound information comprises identification information, controlling the control terminal and/or the movable platform to realize a function corresponding to the identification information according to the identification information. Therefore, diversified control over the remote control movable platform can be achieved, and the game experience of the user can be improved.)

1. A control method for remotely controlling a movable platform is applied to a control terminal, and the control terminal is used for establishing communication connection with the remotely controlled movable platform and is characterized by comprising the following steps:

displaying at least one function icon and at least one control icon, wherein the function icon is used for representing a control program for controlling the control terminal and/or the movable platform to realize a preset function, and the control icon is used for controlling the control terminal and/or the remote control movable platform to execute the control program;

acquiring the selection operation of a user on the function icon, and generating the selected function icon to represent the control program according to the selection operation;

acquiring the operation of a user on the control icon, and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation on the control icon so as to realize a preset function;

wherein, the preset function that the function icon is used for realizing comprises: and controlling the remote control movable platform and/or the control terminal to identify the collected image/sound information so as to determine whether the image/sound information packet comprises identification information, if the image/sound information comprises the identification information, acquiring a function corresponding to the identification information, and controlling the control terminal and/or the movable platform to realize the function corresponding to the identification information according to the identification information.

2. The method of claim 1, wherein the identification information comprises at least one of: applause, line patrol marks and picture marks.

3. The method of claim 1, wherein the recognizing the captured image/sound information to determine whether the image/sound information packet includes identification information comprises:

processing the collected image/sound information to generate processing information, and determining whether the image/sound information comprises identification information according to the processing information.

4. The method of claim 3, wherein the recognizing the captured image/sound information to determine whether the image/sound information packet includes identification information comprises:

controlling hardware equipment arranged on the remote control movable platform to process the image/sound information to generate processing information, and determining whether the image/sound information comprises identification information or not according to the processing information; or the like, or, alternatively,

and controlling the control terminal to acquire the acquired image/sound information, processing the image/sound information to generate processing information, and determining whether the image/sound information comprises identification information according to the processing information.

5. The method according to any one of claims 1-4, wherein the control program represented by the function icon includes function components, wherein the function components include at least one of: visual identification subassembly, palm sound identification subassembly and patrol line identification subassembly.

6. The method of any of claim 5, wherein prior to displaying the at least one function icon and the at least one control icon, further comprising:

acquiring a call request of the user to a preset function, wherein the call request comprises a function identifier of the function;

providing a function corresponding to the function identification to the user according to the call request;

acquiring the training operation of the user on the function to obtain the trained function;

and packaging the trained function to obtain the functional component.

7. The method of claim 6, wherein the obtaining of the training operation of the user on the function to obtain the trained function comprises:

acquiring preset first data to be trained, wherein the first data to be trained comprises applause audio data in different scenes and different times;

training the function through the first data to be trained to obtain a trained palm sound recognition function;

correspondingly, the encapsulating the trained function to obtain the functional component includes:

and packaging the trained palm sound recognition function to obtain the palm sound recognition component.

8. The method of claim 6, wherein the obtaining of the training operation of the user on the function to obtain the trained function comprises:

acquiring preset second data to be trained, wherein the second data to be trained comprises at least one of the following data: the character and the image data, wherein the character comprises letters, data and special symbols;

training the function through the second data to be trained to obtain a trained visual recognition function;

correspondingly, the encapsulating the trained function to obtain the functional component includes:

and packaging the trained visual recognition function to obtain the visual recognition component.

9. The method according to claim 8, wherein the training the function by the second data to be trained to obtain a trained visual recognition function comprises:

and storing the second data to be trained as a standard image to obtain a trained visual identification function.

10. The method of claim 8, wherein the obtaining of the training operation of the user on the function to obtain the trained function comprises:

acquiring preset third data to be trained, wherein the third data to be trained comprises line patrol image data, and the remote control movable platform can move according to the line patrol;

training the trained visual recognition function through the third data to be trained to obtain a trained line patrol recognition function;

correspondingly, the encapsulating the trained function to obtain the functional component includes:

and packaging the trained line patrol identification function to obtain the line patrol identification component.

11. The method of claim 1, wherein prior to displaying the at least one function icon and the at least one control icon, further comprising:

displaying at least one function category icon;

acquiring the triggering operation of the user on the function type icon;

and displaying at least one function icon according to the triggering operation.

12. The method according to any one of claims 1 to 4 and 7 to 11, wherein the acquiring of the selection operation of the user on the function icon and the generating of the selected function icon according to the selection operation represent the control program comprise:

acquiring at least one selection operation of a user on the function icon;

and generating the control program according to the sequence of the selection operation.

13. The method according to claim 12, wherein the obtaining of the user operation on the control icon and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function according to the operation on the control icon comprises:

acquiring the operation of a user on the control icon;

and according to the operation on the control icon, controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the sequence of the function components in the control program represented by the function icon so as to realize a preset function.

14. The method of any of claims 1-4, 7-11, and 13, wherein the control icon comprises a run icon; the acquiring the operation of the user on the control icon, and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation on the control icon to realize a preset function includes:

acquiring an operation instruction generated by the user through triggering the operation icon;

and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the running instruction so as to realize a preset function.

15. The method of claim 14, wherein after obtaining the operation instruction that the user triggers the generation of the operation icon, further comprising:

and switching the running state of the running icon according to the trigger, wherein the running state comprises a running state and a stopping state.

16. The method according to any one of claims 1-4, 7-11, 13, and 15, wherein the control icon comprises a stop icon, and after the obtaining of the user operation on the control icon and the controlling of the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function according to the operation on the control icon, the method further comprises:

acquiring a stop instruction generated by the user by triggering the stop icon;

and controlling the control terminal and/or the remote control movable platform to stop executing the control program according to the stop instruction.

17. The method of claim 16, wherein the stop icons include a preset return icon and a stop running icon.

18. The method according to any one of claims 1 to 4, 7 to 11, 13 and 17, wherein the control icon comprises a graphical information display icon, and after the obtaining of the operation of the user on the control icon and the controlling of the control terminal and/or the remote control movable platform according to the operation on the control icon to execute the control program represented by the selected function icon to realize a preset function, the method further comprises:

acquiring a picture transmission information display instruction generated by triggering the picture transmission information display icon by the user;

and acquiring and displaying the image transmission information acquired by an image acquisition device arranged on the remote control movable platform according to the image transmission information display instruction.

19. The method of any of claims 1-4, 7-11, 13, 17, wherein the control icon further comprises a programmatically switching icon, the method further comprising:

acquiring a programming mode switching instruction generated by triggering the programming mode switching icon by the user;

and calling a preset programming panel according to the programming mode switching instruction so that the user can edit codes in the programming panel to generate the control program.

20. The method according to any one of claims 1 to 4, 7 to 11, 13 and 17, wherein the control icon further includes a communication connection icon, and before the obtaining of the operation of the control icon by the user and the controlling of the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function according to the operation of the control icon, the method further includes:

acquiring a connection instruction generated by the user through triggering the communication connection icon;

and establishing communication connection with the remote control movable platform according to the connection instruction and a preset connection mode.

21. The method of claim 20, wherein after establishing a communication connection with the remotely controlled movable platform according to the connection command in a predetermined connection manner, the method further comprises:

and switching the communication connection icon into a remote control movable platform state icon.

22. The method according to any one of claims 1 to 4, 7 to 11, 13, 17 and 21, wherein after acquiring a selection operation of the user on the function icon and generating the selected function icon to represent the control program according to the selection operation, the method further comprises:

acquiring the removal operation of the user on the functional component in the control program;

and moving the functional component selected by the user to a preset area according to the removing operation.

23. The method of claim 22, wherein obtaining the user's removal of the control program comprises:

and acquiring the removal operation of the functional component by the user through long pressing and/or double clicking and/or dragging.

24. The method according to any one of claims 1 to 4, 7 to 11, 13, 17 and 21, wherein a switch icon is arranged in a preset area around each functional component in the control program;

correspondingly, after the obtaining the operation of the user on the control icon and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation on the control icon to realize a preset function, the method further includes:

acquiring a state switching instruction generated by triggering a switch icon corresponding to the functional component by a user;

and switching the running state of the functional component according to the state switching instruction.

25. The method of any of claims 5, wherein a visual recognition component is included in the control program; the controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function includes:

controlling the control terminal and/or the remote control movable platform to identify characters in the image information acquired by the image acquisition device through the visual identification component to obtain a function corresponding to the image information;

and controlling the control terminal and/or the remote control movable platform to execute the function corresponding to the image information.

26. The method of claim 25, wherein after the controlling the control terminal and/or the remotely controlled movable platform to perform the function corresponding to the image information, further comprising:

and updating the current score of the remote control movable platform according to the preset score of the function corresponding to the image information.

27. The method of any one of claims 5, wherein the control program includes a applause recognition component; the controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function includes:

the control terminal and/or the remote control movable platform are controlled by the applause identification component to identify applause information in the collected audio;

and controlling the control terminal and/or the remote control movable platform to execute operation corresponding to the collected applause information in the audio.

28. The method of claim 27, wherein after the controlling the control terminal and/or the remotely controlled movable platform to perform the operation corresponding to the applause information in the captured audio, further comprising:

determining a sound source position corresponding to the applause information;

and controlling the remote control movable platform to acquire the image information of the sound source position, and displaying the image information on the display interface.

29. The method according to any one of claims 5, wherein the control program includes a line patrol identifying component; the controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function includes:

controlling the control terminal and/or the remote control movable platform to identify the patrol line in the image transmission information acquired by the image acquisition device through a patrol line identification component;

and controlling the remote control movable platform to move according to the patrol line.

30. The method of claim 29, wherein after controlling the remotely movable platform to move according to the tour, further comprising:

determining time information required by the remote control movable platform after the remote control movable platform finishes moving along the line patrol;

and determining the operation effect of the control program according to the time information.

31. The method of claim 5, wherein the control program represented by the function icon further comprises a custom skill component: after the obtaining of the selection operation of the user on the function icon, the method further includes:

and displaying a custom skill icon corresponding to the custom skill assembly at a preset position of the display interface.

32. The method of claim 31, wherein after displaying the custom skill icon corresponding to the custom skill component at the preset position of the display interface, further comprising:

acquiring a skill release instruction triggered by the user through triggering the user-defined skill icon;

and controlling the remote control movable platform to execute the operation corresponding to the user-defined skill according to the skill release instruction.

33. The method of claim 31 or 32, wherein prior to displaying the at least one function icon and the at least one control icon, further comprising:

acquiring a user-defined skill program input by a user;

and packaging the user-defined skill program to obtain a user-defined skill component.

34. A remote control movable platform control method is applied to a remote control movable platform end, the remote control movable platform is in communication connection with a control terminal, and the method is characterized by comprising the following steps:

acquiring a control instruction sent by the control terminal, wherein the control instruction comprises a control program for controlling the control terminal and/or the movable platform to realize a preset function, the preset function realized by the control program comprises the step of controlling the remote control movable platform and/or the control terminal to identify the acquired image/sound information so as to determine whether the image/sound information packet comprises identification information, if the image/sound information comprises the identification information, acquiring a function corresponding to the identification information, and controlling the control terminal and/or the movable platform to realize the function corresponding to the identification information according to the identification information;

and executing the control instruction.

35. The method of claim 34, wherein the control instructions include a visual recognition component; accordingly, the executing the control instruction comprises:

acquiring image information through a preset image acquisition device;

identifying the image information to obtain a function corresponding to the image information;

and sending the function corresponding to the image information to a control terminal so that the control terminal controls the remote control movable platform and/or the control terminal to execute the function.

36. The method of claim 35, wherein the identifying the image information and obtaining the function corresponding to the image information comprises:

performing color extraction on the image information according to a preset color to obtain image information after the color extraction;

carrying out binarization processing on the image information after color extraction to obtain image information with a black-and-white effect;

extracting a character area in the image information with the black-and-white effect to obtain target information;

and comparing the target information with a preset standard image to obtain character information corresponding to the image information.

37. The method according to claim 36, wherein the performing color extraction on the image information according to a preset color to obtain color-extracted image information comprises:

converting the RGB model corresponding to the image information into an HSV model;

and performing color extraction on the HSV model according to a preset color to obtain image information after the color extraction.

38. The method according to claim 36, wherein said extracting the character region in the image information of the black and white effect to obtain the target information comprises:

extracting outline information of each character in the image information with the black and white effect;

judging whether the outline information is of a quadrilateral structure or not according to the outline information corresponding to each character;

and determining the target information according to the judgment result.

39. The method of claim 38, wherein determining the target information according to the determination result comprises:

if the outline information is of a quadrilateral structure, taking characters corresponding to the outline information as target information;

and if the outline information is not in a quadrilateral structure, filtering out characters corresponding to the outline information.

40. The method of claim 36, wherein the comparing the target information with a preset standard image to obtain character information corresponding to the image information comprises:

dividing the target information into a preset number of cells according to a preset division rule;

assigning values to each cell according to a preset assignment method to obtain assigned target information;

and comparing the assigned target information with a hash table corresponding to a preset standard image, and determining character information corresponding to the target information.

41. The method according to any one of claims 36, wherein after comparing the target information with a preset standard image to obtain character information corresponding to the image information, the method further comprises:

and determining the distance between the remote control movable platform and the image information and the position information of the image information.

42. The method of claim 34, wherein the control program includes a applause recognition component therein, and wherein executing the control program includes:

acquiring sound information through a preset audio acquisition device;

identifying the sound information to obtain a function corresponding to the sound information;

and sending the function corresponding to the sound information to a control terminal so that the control terminal controls the remote control movable platform to execute the function.

43. The method of claim 34, wherein the control routine includes a routing identification component, and wherein executing the control routine includes:

acquiring image information through a preset image acquisition device;

identifying the image information to obtain line patrol information in the image information;

and sending the line patrol information to a control terminal so that the control terminal controls the remote control movable platform to move according to the line patrol information.

44. The method according to claim 43, wherein the identifying the image information and obtaining the route information in the image information comprises:

performing color extraction on the image information according to a preset color to obtain image information after the color extraction;

carrying out binarization processing on the image information after color extraction to obtain image information with a black-and-white effect;

and extracting the line patrol area in the image information with the black and white effect to obtain line patrol information.

45. The method of claim 44, wherein the performing color extraction on the image information according to a preset color to obtain color-extracted image information comprises:

converting the RGB model corresponding to the image information into an HSV model;

and performing color extraction on the HSV model according to a preset color to obtain image information after the color extraction.

46. The method according to claim 44, wherein the extracting the line patrol area in the image information of the black and white effect to obtain the line patrol information comprises:

extracting outline information of each character in the image information with the black and white effect;

judging whether the outline information is of a linear structure or not according to the outline information corresponding to each character;

and determining the line patrol information according to the judgment result.

47. The method according to claim 46, wherein the determining the patrol information according to the determination result comprises:

if the outline information is of a linear structure, taking characters corresponding to the outline information as line patrol information;

and if the outline information is not in a linear structure, filtering out characters corresponding to the outline information.

48. The method according to claim 43, wherein the sending the patrol information to a control terminal so that the control terminal controls the remote-control movable platform to move according to the patrol information comprises:

determining the current moving speed of the remote control movable platform;

determining a judgment reference line according to the moving speed;

and controlling the moving direction of the remote control movable platform so that the midpoint of the judgment datum line falls on the patrol line.

49. The method of claim 48, wherein said determining a criterion line based on said moving speed comprises:

if the moving speed meets a preset first condition, taking a straight line which is closest to the remote control movable platform in the image information acquired by the remote control movable platform as the judgment reference line;

if the moving speed meets a preset second condition, taking a straight line in the middle of image information acquired by the remote control movable platform as the judgment reference line;

and if the moving speed meets a preset third condition, taking a straight line which is farthest away from the remote control movable platform in the image information acquired by the remote control movable platform as the judgment reference line.

50. A method of remotely controlling a movable platform, comprising:

displaying at least one function icon and at least one control icon on a display interface of the control terminal, wherein the function icon is used for representing a control program for controlling the control terminal and/or the movable platform to realize a preset function, and the control icon is used for controlling the control terminal and/or the remote control movable platform to execute the control program;

the control terminal acquires the selection operation of the user on the function icon, and generates the selected function icon to represent the control program according to the selection operation;

the control terminal acquires the operation of the user on the control icon, and controls the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation on the control icon so as to realize a preset function; wherein, the preset function that the function icon is used for realizing comprises: controlling the remote control movable platform and/or the control terminal to identify the collected image/sound information so as to determine whether the image/sound information packet comprises identification information, if the image/sound information comprises the identification information, acquiring a function corresponding to the identification information, and controlling the control terminal and/or the movable platform to realize the function corresponding to the identification information according to the identification information;

remotely controlling the movable platform to obtain the control program;

the remotely controlled movable platform executes the control program.

51. A control terminal for establishing a communication connection with a remotely controlled movable platform, the control terminal comprising: one or more processors, working individually or collectively, to perform the following operations:

acquiring the selection operation of a user on the function icon, and generating the selected function icon to represent the control program according to the selection operation;

52. The control terminal of claim 51, wherein the identification information comprises at least one of: applause, line patrol marks and picture marks.

53. The control terminal of claim 51, wherein the processor, in recognizing the captured image/sound information to determine whether the image/sound information packet includes identification information, is configured to:

54. The control terminal of claim 53, wherein the processor, in recognizing the captured image/sound information to determine whether the image/sound information packet includes identification information, is configured to:

55. The control terminal of any of claims 51-54, wherein the control program represented by the function icon includes function components, wherein the function components include at least one of: visual identification subassembly, palm sound identification subassembly and patrol line identification subassembly.

56. The control terminal of any of claim 55, wherein the processor displays at least one function icon, and wherein before the at least one control icon, is further configured to:

acquiring a call request of the user to a preset function, wherein the call request comprises a function identifier of the function;

providing a function corresponding to the function identification to the user according to the call request;

acquiring the training operation of the user on the function to obtain the trained function;

and packaging the trained function to obtain the functional component.

57. The control terminal of claim 56, wherein the processor, when obtaining the training operation of the user on the function and obtaining the trained function, is configured to:

acquiring preset first data to be trained, wherein the first data to be trained comprises applause audio data in different scenes and different times;

training the function through the first data to be trained to obtain a trained palm sound recognition function;

accordingly, when the trained function is packaged to obtain the functional component, the processor is configured to:

and packaging the trained palm sound recognition function to obtain the palm sound recognition component.

58. The control terminal of claim 56, wherein the processor, when obtaining the training operation of the user on the function and obtaining the trained function, is configured to:

training the function through the second data to be trained to obtain a trained visual recognition function;

accordingly, when the trained function is packaged to obtain the functional component, the processor is configured to:

and packaging the trained visual recognition function to obtain the visual recognition component.

59. The control terminal of claim 58, wherein the processor, when training the function through the second data to be trained to obtain the trained visual recognition function, is configured to:

and storing the second data to be trained as a standard image to obtain a trained visual identification function.

60. The control terminal of claim 58, wherein the processor, when obtaining the training operation of the user on the function and obtaining the trained function, is configured to:

acquiring preset third data to be trained, wherein the third data to be trained comprises line patrol image data, and the remote control movable platform can move according to the line patrol;

training the trained visual recognition function through the third data to be trained to obtain a trained line patrol recognition function;

accordingly, when the trained function is packaged to obtain the functional component, the processor is configured to:

and packaging the trained line patrol identification function to obtain the line patrol identification component.

61. The control terminal of claim 51, wherein the processor, prior to displaying the at least one function icon and the at least one control icon, is further configured to:

displaying at least one function category icon;

acquiring the triggering operation of the user on the function type icon;

and displaying at least one function icon according to the triggering operation.

62. The control terminal according to any of claims 51-54, 57-61, wherein the processor, upon acquiring a user selection operation of the function icon, and generating the selected function icon representing the control program according to the selection operation, is configured to:

acquiring at least one selection operation of a user on the function icon;

and generating the control program according to the sequence of the selection operation.

63. The control terminal according to claim 62, wherein the processor, when acquiring a user operation on the control icon and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function according to the operation on the control icon, is configured to:

acquiring the operation of a user on the control icon;

64. The control terminal of any of claims 51-54, 57-61, 63, wherein the control icon comprises a run icon; the processor is configured to, when acquiring an operation of a user on the control icon and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to implement a preset function according to the operation on the control icon,:

acquiring an operation instruction generated by the user through triggering the operation icon;

65. The control terminal of claim 64, wherein the processor, after obtaining the operation instruction that the user triggers the generation of the operation icon, is further configured to:

and switching the running state of the running icon according to the trigger, wherein the running state comprises a running state and a stopping state.

66. The control terminal according to any of claims 51-54, 57-61, 63, 65, wherein the control icon comprises a stop icon, and wherein the processor, after acquiring a user operation on the control icon and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to implement a preset function according to the operation on the control icon, is further configured to:

acquiring a stop instruction generated by the user by triggering the stop icon;

and controlling the control terminal and/or the remote control movable platform to stop executing the control program according to the stop instruction.

67. The control terminal of claim 66, wherein the stop icons include a preset return icon and a stop running icon.

68. The control terminal of any of claims 51-54, 57-61, 63, 67, wherein the control icon comprises a graphical information display icon, and wherein the processor, after obtaining a user operation on the control icon and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to implement a preset function according to the operation on the control icon, is further configured to:

acquiring a picture transmission information display instruction generated by triggering the picture transmission information display icon by the user;

69. The control terminal of any of claims 51-54, 57-61, 63, 67, wherein the control icons further comprise a programmatically switching icon, the processor further configured to:

acquiring a programming mode switching instruction generated by triggering the programming mode switching icon by the user;

and calling a preset programming panel according to the programming mode switching instruction so that the user can edit codes in the programming panel to generate the control program.

70. The control terminal according to any of claims 51-54, 57-61, 63, 67, wherein the control icons further include a communication connection icon, and the processor, before acquiring a user operation on the control icon and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to implement a preset function according to the operation on the control icon, is further configured to:

acquiring a connection instruction generated by the user through triggering the communication connection icon;

and establishing communication connection with the remote control movable platform according to the connection instruction and a preset connection mode.

71. The control terminal of claim 70, wherein the processor, after establishing a communication connection with the remotely controlled movable platform according to the connection instruction in a preset connection manner, is further configured to:

and switching the communication connection icon into a remote control movable platform state icon.

72. The control terminal according to any of claims 51-54, 57-61, 63, 67, 71, wherein the processor, after acquiring a selection operation of the function icon by a user, generating the selected function icon representing the control program according to the selection operation, is further configured to:

acquiring the removal operation of the user on the functional component in the control program;

and moving the functional component selected by the user to a preset area according to the removing operation.

73. The control terminal of claim 72, wherein the processor, in obtaining the user's removal of the control program, is configured to:

and acquiring the removal operation of the functional component by the user through long pressing and/or double clicking and/or dragging.

74. The control terminal according to any one of claims 51-54, 57-61, 63, 67, 71, wherein a switch icon is arranged in a preset area around each functional component in the control program;

correspondingly, after acquiring the operation of the user on the control icon and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation on the control icon to realize a preset function, the processor is further configured to:

acquiring a state switching instruction generated by triggering a switch icon corresponding to the functional component by a user;

and switching the running state of the functional component according to the state switching instruction.

75. The control terminal of any of claim 55, wherein a visual recognition component is included in the control program; the processor, when controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function, is configured to:

and controlling the control terminal and/or the remote control movable platform to execute the function corresponding to the image information.

76. The control terminal of claim 75, wherein the processor, after controlling the control terminal and/or the remotely movable platform to perform a function corresponding to the image information, is further configured to:

and updating the current score of the remote control movable platform according to the preset score of the function corresponding to the image information.

77. The control terminal according to any one of claims 55, wherein the control program comprises a applause recognition component; the processor, when controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function, is configured to:

the control terminal and/or the remote control movable platform are controlled by the applause identification component to identify applause information in the collected audio;

and controlling the control terminal and/or the remote control movable platform to execute operation corresponding to the collected applause information in the audio.

78. The control terminal of claim 77, wherein the processor, after controlling the control terminal and/or the remotely controlled movable platform to perform operations corresponding to applause information in the captured audio, is further configured to:

determining a sound source position corresponding to the applause information;

and controlling the remote control movable platform to acquire the image information of the sound source position, and displaying the image information on the display interface.

79. The control terminal according to any one of claims 55, wherein the control program comprises a line patrol identification component; the processor, when controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function, is configured to:

and controlling the remote control movable platform to move according to the patrol line.

80. The control terminal of claim 79, wherein the processor, after controlling the remotely movable platform to move along the line, is further configured to:

determining time information required by the remote control movable platform after the remote control movable platform finishes moving along the line patrol;

and determining the operation effect of the control program according to the time information.

81. The control terminal of claim 55, wherein the control program represented by the function icon further comprises a custom skill component: the processor, after obtaining the selection operation of the user on the function icon, is further configured to:

and displaying a custom skill icon corresponding to the custom skill assembly at a preset position of the display interface.

82. The control terminal of claim 81, wherein after displaying the custom skill icon corresponding to the custom skill component at the preset position of the display interface, the processor is further configured to:

acquiring a skill release instruction triggered by the user through triggering the user-defined skill icon;

and controlling the remote control movable platform to execute the operation corresponding to the user-defined skill according to the skill release instruction.

83. The control terminal of claim 81 or 82, wherein the processor displays at least one function icon, and wherein before the at least one control icon, is further configured to:

acquiring a user-defined skill program input by a user;

and packaging the user-defined skill program to obtain a user-defined skill component.

84. A remote control movable platform, the remote control movable platform being in communication connection with a control terminal, the remote control movable platform comprising: one or more processors, working individually or collectively, to perform the following operations:

and executing the control instruction.

85. The remotely controlled movable platform of claim 84, wherein the control instructions include a visual identification component; accordingly, the processor, when executing the control instructions, is configured to:

acquiring image information through a preset image acquisition device;

identifying the image information to obtain a function corresponding to the image information;

86. The remotely controlled movable platform of claim 85 wherein the processor, in identifying the image information and obtaining the functionality corresponding to the image information, is configured to:

performing color extraction on the image information according to a preset color to obtain image information after the color extraction;

carrying out binarization processing on the image information after color extraction to obtain image information with a black-and-white effect;

extracting a character area in the image information with the black-and-white effect to obtain target information;

and comparing the target information with a preset standard image to obtain character information corresponding to the image information.

87. The remotely controlled movable platform of claim 86 wherein the processor, when performing color extraction on the image information according to a preset color to obtain color-extracted image information, is configured to:

converting the RGB model corresponding to the image information into an HSV model;

and performing color extraction on the HSV model according to a preset color to obtain image information after the color extraction.

88. The remotely controlled movable platform of claim 86 wherein the processor, in extracting the character regions in the black and white effect image information to obtain the target information, is configured to:

extracting outline information of each character in the image information with the black and white effect;

judging whether the outline information is of a quadrilateral structure or not according to the outline information corresponding to each character;

and determining the target information according to the judgment result.

89. The remotely controlled movable platform of claim 88 wherein the processor, in determining the target information based on the determination, is configured to:

if the outline information is of a quadrilateral structure, taking characters corresponding to the outline information as target information;

and if the outline information is not in a quadrilateral structure, filtering out characters corresponding to the outline information.

90. The remote-controlled movable platform according to claim 86, wherein the processor, when comparing the target information with a preset standard image to obtain character information corresponding to the image information, is configured to:

dividing the target information into a preset number of cells according to a preset division rule;

remotely controlling the movable platform according to preset assignments, assigning values to each cell and acquiring assigned target information;

and comparing the assigned target information with a hash table corresponding to a preset standard image, and determining character information corresponding to the target information.

91. The remotely controlled movable platform according to any one of claims 86, wherein the processor, after comparing the target information with a preset standard image and obtaining character information corresponding to the image information, is further configured to:

and determining the distance between the remote control movable platform and the image information and the position information of the image information.

92. The remotely controlled movable platform of claim 91 in which the control program includes a applause recognition component, the processor when executing the control program being operable to:

acquiring sound information through a preset audio acquisition device;

identifying the sound information to obtain a function corresponding to the sound information;

and sending the function corresponding to the sound information to a control terminal so that the control terminal controls the remote control movable platform to execute the function.

93. The remotely controlled movable platform of claim 84, wherein the control program includes a line patrol identification component therein, and wherein the processor, when executing the control program, is configured to:

acquiring image information through a preset image acquisition device;

identifying the image information to obtain line patrol information in the image information;

and sending the line patrol information to a control terminal so that the control terminal controls the remote control movable platform to move according to the line patrol information.

94. The remotely controlled movable platform of claim 93 wherein the processor, in identifying the image information and obtaining routing information in the image information, is configured to:

performing color extraction on the image information according to a preset color to obtain image information after the color extraction;

carrying out binarization processing on the image information after color extraction to obtain image information with a black-and-white effect;

and extracting the line patrol area in the image information with the black and white effect to obtain line patrol information.

95. The remotely controlled movable platform of claim 94 wherein the processor, when performing color extraction on the image information according to a preset color to obtain color-extracted image information, is configured to:

converting the RGB model corresponding to the image information into an HSV model;

and performing color extraction on the HSV model according to a preset color to obtain image information after the color extraction.

96. The remotely controlled movable platform of claim 94 wherein the processor, in extracting the line patrol area in the image information of black and white effect, when obtaining the line patrol information, is configured to:

extracting outline information of each character in the image information with the black and white effect;

judging whether the outline information is of a linear structure or not according to the outline information corresponding to each character;

and determining the line patrol information according to the judgment result.

97. The remotely controlled movable platform of claim 96, wherein the processor, in determining the routing information based on the determination, is configured to:

if the outline information is of a linear structure, taking characters corresponding to the outline information as line patrol information;

and if the outline information is not in a linear structure, filtering out characters corresponding to the outline information.

98. The remotely controlled movable platform of claim 93, wherein the processor, when sending the patrol information to a control terminal to cause the control terminal to control the remotely controlled movable platform to move according to the patrol information, is configured to:

determining the current moving speed of the remote control movable platform;

determining a judgment reference line according to the moving speed;

and controlling the moving direction of the remote control movable platform so that the midpoint of the judgment datum line falls on the patrol line.

99. The remotely controlled movable platform of claim 98 wherein the processor, in determining a judgment reference line based on the speed of movement, is configured to:

if the moving speed meets a preset second condition, taking a straight line in the middle of image information acquired by the remote control movable platform as the judgment reference line;

100. A remote control movable platform control system, comprising:

the control terminal acquires the selection operation of the user on the function icon, and generates the selected function icon to represent the control program according to the selection operation;

remotely controlling the movable platform to obtain the control program;

the remotely controlled movable platform executes the control program.

101. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-33 or 34-49 or 50.

Technical Field

The embodiment of the invention relates to the field of human-computer interaction, in particular to a control method and device for remotely controlling a movable platform and a readable storage medium.

Background

The Scratch is a programming tool in which commands and parameters constituting a program are set in a Block shape (Block), and a user can program the program by combining the Block as required.

Due to the convenience of operation of Scratch, the Scratch is widely applied in a plurality of fields, for example, the Scratch can be used for programming, displaying the running steps of a program on a display interface, and controlling an intelligent device through the program.

However, in the conventional scheme of controlling the remotely-controlled movable platform by the control program written in Scratch, only the remotely-controlled movable platform can be controlled to move and to simply shoot. Therefore, the functions that can be realized are often single. In practical application, when the control program written by Scratch is used for controlling and remotely controlling the movable platform to play games, the functions which can be realized by the control program are single, so that users are boring in the game fighting process, and the user experience is poor.

Disclosure of Invention

The embodiment of the invention provides a control method, equipment and a readable storage medium for remotely controlling a movable platform, and aims to solve the technical problem that the existing control method for remotely controlling the movable platform is single in function and poor in user experience.

A first aspect of an embodiment of the present invention provides a method for controlling a remote-controlled movable platform, which is applied to a control terminal, where the control terminal is configured to establish a communication connection with the remote-controlled movable platform, and the method includes:

acquiring the selection operation of a user on the function icon, and generating the selected function icon to represent the control program according to the selection operation;

A second aspect of an embodiment of the present invention provides a method for controlling a remote-controlled movable platform, which is applied to a remote-controlled movable platform end, where the remote-controlled movable platform is in communication connection with a control terminal, and the method includes:

and executing the control instruction.

A third aspect of the embodiments of the present invention provides a method for controlling a remotely-controlled movable platform, including:

the control terminal acquires the selection operation of the user on the function icon, and generates the selected function icon to represent the control program according to the selection operation;

remotely controlling the movable platform to obtain the control program;

the remotely controlled movable platform executes the control program.

A fourth aspect of the embodiments of the present invention is to provide a control terminal, where the control terminal is configured to establish a communication connection with the remote-control movable platform, and the control terminal includes: one or more processors, working individually or collectively, to perform the following operations:

acquiring the selection operation of a user on the function icon, and generating the selected function icon to represent the control program according to the selection operation;

A fifth aspect of an embodiment of the present invention is to provide a remote-control movable platform terminal, where the remote-control movable platform is in communication connection with a control terminal, and the remote-control movable platform includes: one or more processors, working individually or collectively, to perform the following operations:

and executing the control instruction.

A sixth aspect of an embodiment of the present invention provides a remote control movable platform control system, including:

the control terminal acquires the selection operation of the user on the function icon, and generates the selected function icon to represent the control program according to the selection operation;

remotely controlling the movable platform to obtain the control program;

the remotely controlled movable platform executes the control program.

A seventh aspect of embodiments of the present invention is to provide a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect, the second aspect or the third aspect.

According to the control method, the control device and the readable storage medium for remotely controlling the movable platform, at least one function icon and at least one control icon are displayed on a display interface of the control terminal, selection operation of a user on the function icon is obtained, a selected function icon representation control program is generated according to the selection operation, operation of the user on the control icon is obtained, and the control terminal and/or the remotely controlled movable platform are controlled to execute the selected function icon representation control program according to the operation on the control icon to realize a preset function; wherein, the function icon is used for realizing the preset function comprising: the remote control movable platform and/or the control terminal are controlled to recognize the collected image/sound information so as to determine whether the image/sound information packet comprises the identification information, if the image/sound information comprises the identification information, the function corresponding to the identification information is obtained, and the control terminal and/or the movable platform is controlled to realize the function corresponding to the identification information according to the identification information, so that the remote control movable platform can be controlled in a diversified manner, and the game experience of a user can be improved.

Drawings

In order to more clearly illustrate the technical solutions in 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 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 inventive labor.

FIG. 1 is a diagram of a network architecture upon which the present invention is based;

fig. 2 is a schematic flowchart of a control method for remotely controlling a movable platform according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a display interface provided by an embodiment of the invention;

fig. 4 is a schematic flowchart of a control method for remotely controlling a movable platform according to a second embodiment of the present invention;

FIG. 5 is a schematic diagram of a display interface provided in an embodiment of the invention;

FIG. 6 is a schematic diagram of a display interface according to another embodiment of the present invention;

fig. 7 is a schematic flowchart of a control method for remotely controlling a movable platform according to a third embodiment of the present invention;

FIG. 8 is a schematic diagram of a display interface provided in an embodiment of the invention;

FIG. 9 is a schematic diagram of a display interface provided in an embodiment of the invention;

FIG. 10 is a schematic diagram of a display interface according to another embodiment of the present invention;

FIG. 11 is a schematic diagram of a display interface according to another embodiment of the present invention;

fig. 12 is a schematic flowchart of a control method for remotely controlling a movable platform according to a fourth embodiment of the present invention;

fig. 13 is a schematic flowchart of a control method for remotely controlling a movable platform according to a fifth embodiment of the present invention;

fig. 14 is a schematic flowchart of a control method for remotely controlling a movable platform according to a sixth embodiment of the present invention;

FIG. 15 is a target area extraction diagram provided by an embodiment of the present invention;

fig. 16 is a schematic flowchart of a control method for remotely controlling a movable platform according to a seventh embodiment of the present invention;

fig. 17 is a schematic flowchart of a control method for remotely controlling a movable platform according to an eighth embodiment of the present invention;

fig. 18 is a schematic flowchart of a control method for remotely controlling a movable platform according to a ninth embodiment of the present invention;

fig. 19 is a schematic structural diagram of a control terminal according to a tenth embodiment of the present invention;

fig. 20 is a schematic structural diagram of a remote control movable platform end according to an eleventh 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 only a part of the embodiments of the present invention, and not all embodiments. 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.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "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 invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

In order to solve the technical problem that the existing control method for remotely controlling the movable platform has single function and further causes poor user experience, the invention provides a control method, equipment and a readable storage medium for remotely controlling the movable platform. It should be noted that the control method, the device and the readable storage medium for remotely controlling the movable platform provided by the invention can be applied to any scene for controlling the movable platform.

Fig. 1 is a network structure diagram based on the present invention, and as shown in fig. 1, the network structure based on the present invention at least includes a remote control movable platform 1 and a control terminal 2, wherein the remote control movable platform 1 is in communication connection with the control terminal 2, so as to perform information interaction. The remotely controlled movable platform 1 includes, but is not limited to, a movable cart, a drone, a movable robot, etc. The control terminal 2 includes, but is not limited to, a mobile terminal, a computer, and the like.

Fig. 2 is a schematic flowchart of a control method for remotely controlling a movable platform according to an embodiment of the present invention; fig. 3 is a schematic diagram of a display interface provided in an embodiment of the present invention, and is applied to a control terminal, where the control terminal is configured to establish a communication connection with the remote-control movable platform, and as shown in fig. 2, the method includes:

step 101, displaying at least one function icon and at least one control icon, wherein the function icon is used for representing a control program for controlling the control terminal and/or the movable platform to realize a preset function, and the control icon is used for controlling the control terminal and/or the remote control movable platform to execute the control program.

The execution subject of the embodiment is a control terminal. In order to enable a user to control the remote control of the movable platform, icons may be displayed on the display interface of the control terminal, wherein the icons specifically include function icons and control icons. The function icons are used for representing control programs for controlling the remotely-controlled movable platform to realize preset functions, the number of the function icons can be at least one, and each function icon respectively represents different function components. In addition, a control icon is further arranged on the display interface and used for controlling a control program for remotely controlling the mobile execution function icon identifier, accordingly, after the user triggers the control icon, the remote control mobile platform can acquire and execute the control program, and the remote control mobile platform can move in the process of executing the control program. The remote control movable platform can also bear image acquisition equipment which can carry out operations such as shooting. The remote control movable platform can also bear sound collection equipment which can carry out operations such as obtaining external sound

And 102, acquiring the selection operation of the user on the function icon, and generating the selected function icon to represent the control program according to the selection operation.

In this embodiment, in order to obtain the control program, the user may perform a selection operation on the function icon according to the current requirement, so that the control program represented by the function icon can be generated according to the selection operation, thereby facilitating the call of the control program by the user.

Specifically, the control program represented by the function icon includes a function component, where the function component includes at least one of: visual identification subassembly, palm sound identification subassembly and patrol line identification subassembly.

The user can select the functional components required to be used according to the current requirements, and generate corresponding control programs according to the selected functional components.

103, acquiring the operation of the user on the control icon, and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation on the control icon to realize a preset function; wherein, the preset function that the function icon is used for realizing comprises: and controlling the remote control movable platform and/or the control terminal to identify the collected image/sound information so as to determine whether the image/sound information packet comprises identification information, if the image/sound information comprises the identification information, acquiring a function corresponding to the identification information, and controlling the control terminal and/or the movable platform to realize the function corresponding to the identification information according to the identification information.

In this embodiment, after obtaining the control program corresponding to the function icon according to the selection operation of the user, the operation of the user on the control icon may be obtained, and the control terminal and/or the remote control movable platform may be controlled to execute the control program represented by the selected function icon according to the operation of the user on the control icon to implement a preset function. Specifically, the preset function may include acquiring image/sound information acquired by the remote-control movable platform, controlling the remote-control movable platform and/or the control terminal to recognize the image/sound information, acquiring a recognition result, determining whether the recognition result includes preset identification information, determining a function corresponding to the identification information if it is detected that the recognition result includes the preset identification information, and controlling the remote-control movable platform and/or the control terminal to execute the function corresponding to the identification information according to the identification information. It should be noted that the process of recognizing the image/sound and determining the function corresponding to the identification information may be executed by the control terminal, or may be executed by the movable platform, so as to control the terminal to execute the recognition operation, for example, after the movable platform is remotely controlled to obtain the image/sound information, the image/sound information may be transmitted to the control terminal, the control terminal recognizes the image/sound information according to a preset recognition method, determines whether the image/sound information includes preset identification information, and if so, may determine the function corresponding to the identification information, and control the movable platform to execute the function. For example, after the remote-control movable platform acquires the image/sound information, the image/sound information may be identified, whether the image/sound information includes preset identification information or not may be determined, if the image/sound information includes the preset identification information, a function corresponding to the identification information may be determined, and the function corresponding to the identification information may be sent to the control terminal, so that the control terminal controls the remote-control movable platform to execute the function.

Specifically, the identification information includes at least one of: applause, line patrol marks and picture marks.

The identification information may be a palm sound, a line patrol mark, or a picture mark. It should be noted that different applause times, different patrol marks, and different picture marks correspond to different functions, respectively. For example, the identification information is taken as the palm sound, and the function corresponding to twice clapping can be used for controlling the remote control movable platform to move towards a certain direction; clapping three times can shoot the current scene for controlling the remote control movable platform.

It should be noted that, in order to control the remote control movable platform to execute more functions, a plurality of character pictures may be preset, and characters on each character picture correspond to different functions. In order to enable the remote control movable platform to execute corresponding functions according to the character picture, a preset function can be trained according to the characters on the character picture to obtain a visual recognition component. Because the character picture is comparatively light, consequently, it can be carried to any scene, and then the recreation battle scene based on character recognition is also comparatively abundant, can realize the diversified effect of battle scene on the basis that improves the diversified of battle function, further improves user experience. In addition, in order to enable the remote control movable platform and/or the control terminal to quickly recognize characters, the characters on the character picture can be characters subjected to pixel drawing processing.

In the control method for remotely controlling the movable platform provided by this embodiment, at least one function icon and at least one control icon are displayed on the display interface of the control terminal, a selection operation of a user on the function icon is obtained, a selected function icon representing control program is generated according to the selection operation, an operation of the user on the control icon is obtained, and the control terminal and/or the movable platform is controlled to execute the selected control program represented by the function icon according to the operation on the control icon to realize a preset function; wherein, the function icon is used for realizing the preset function comprising: the remote control movable platform and/or the control terminal are controlled to recognize the collected image/sound information so as to determine whether the image/sound information packet comprises the identification information, if the image/sound information comprises the identification information, the function corresponding to the identification information is obtained, and the control terminal and/or the movable platform is controlled to realize the function corresponding to the identification information according to the identification information, so that the remote control movable platform can be controlled in a diversified manner, and the game experience of a user can be improved.

Further, on the basis of any of the above embodiments, the identifying the collected image/sound information to determine whether the image/sound information packet includes the identification information includes:

In this embodiment, in order to obtain the identification information corresponding to the image/sound information, the collected image/sound may be processed to generate processing information, and whether the identification information is included in the image/sound information may be determined according to the processing information. It should be noted that any algorithm capable of performing image recognition or voice recognition may be used to implement the processing of the image/voice information, and the present invention is not limited herein.

Specifically, on the basis of any of the above embodiments, the identifying the collected image/sound information to determine whether the image/sound information packet includes the identification information includes:

In this embodiment, the process of recognizing the image/sound and determining the function corresponding to the identification information may be executed by the control terminal, or may be executed by the movable platform, so that the control terminal executes the recognition operation, for example, after the movable platform is remotely controlled to obtain the image/sound information, the image/sound information may be transmitted to the control terminal, the control terminal recognizes the image/sound information according to a preset recognition method, determines whether the image/sound information includes preset identification information, and if so, may determine the function corresponding to the identification information, and control the movable platform to execute the function. For example, after the remote-control movable platform acquires the image/sound information, the image/sound information may be identified, whether the image/sound information includes preset identification information or not may be determined, if the image/sound information includes the preset identification information, a function corresponding to the identification information may be determined, and the function corresponding to the identification information may be sent to the control terminal, so that the control terminal controls the remote-control movable platform to execute the function.

According to the control method for remotely controlling the movable platform, the collected image/sound information is processed to generate the processing information, and whether the image/sound information comprises the identification information or not is determined according to the processing information, so that diversified control over the remotely controlled movable platform can be realized through the identification information, and the game experience of a user can be improved.

Fig. 4 is a schematic flowchart of a control method for remotely controlling a movable platform according to a second embodiment of the present invention, where on the basis of any of the above embodiments, before displaying at least one function icon and at least one control icon, the method further includes:

step 201, obtaining a call request of the user to a preset function, wherein the call request comprises a function identifier of the function;

step 202, providing a function corresponding to the function identifier to the user according to the call request;

step 203, obtaining the training operation of the user on the function, and obtaining the trained function;

and step 204, packaging the trained function to obtain the functional component.

In this embodiment, in order to implement diversified control of the remote control movable platform, at least one function capable of implementing a preset function may be trained in advance, and the function is packaged into a function component, so that a user can directly call the function component when using the function component, and on the basis of implementing diversified control of the remote control movable platform, the efficiency of generating a control program can be improved. Specifically, a call request of a user to a preset function may be obtained, where the call request includes a function identifier of the function. When the number of the function functions is one, the function functions can be trained through different data, so that the trained function functions can realize different functions; optionally, when the number of the function functions is multiple, for each function, different data is used to train the function, and multiple trained function functions capable of implementing different functions are obtained. Further, after obtaining the call request of the user, the function corresponding to the function identifier may be obtained according to the call request, and the user may train the function to obtain the trained function. And packaging the trained function to obtain a function component capable of realizing a preset function. The user can call conveniently, and the functionality and the interestingness of the interactive interface are improved.

According to the control method for remotely controlling the movable platform, the trained function capable of realizing the preset function is obtained by training the function in advance, the function is packaged, and the function component convenient to call is obtained, so that the efficiency of generating the control program can be improved on the basis of realizing diversified control of the remotely controlled movable platform.

Specifically, on the basis of any of the above embodiments, the obtaining of the training operation of the user on the function to obtain the trained function includes:

acquiring preset first data to be trained, wherein the first data to be trained comprises applause audio data in different scenes and different times;

training the function through the first data to be trained to obtain a trained palm sound recognition function;

correspondingly, the encapsulating the trained function to obtain the functional component includes:

and packaging the trained palm sound recognition function to obtain the palm sound recognition component.

In this embodiment, in order to achieve the acquisition of the applause recognition component, first preset first data to be trained needs to be acquired, where the first training data includes applause audio data of different scenes and different times. Specifically, the information may include the applause information formed by one-time hand clapping and two-time hand clapping, and in order to improve the recognition accuracy of the trained function, the information may further include applause audio data in different scenes. Further, the function can be trained through preset first data to be trained, and a trained palm sound recognition function is obtained. For example, the preset function may be a neural network algorithm, and for each palmsound audio data, it may be determined that the audio data is generated by several handclaps, and the audio data is subjected to data labeling according to the number of handclaps, and the neural network algorithm is trained through the labeled audio data to obtain a trained palmsound recognition function. Thereby increasing the accuracy of the applause recognition. In order to enable a user to call the palmsound recognition algorithm more conveniently, the palmsound recognition algorithm can be packaged to obtain a palmsound recognition component, so that the user can call conveniently, and the functionality and the interestingness of an interactive interface are increased.

According to the control method for remotely controlling the movable platform, the preset first data to be trained is obtained, the first data to be trained comprises the palm sound audio data of different scenes and different times, the function is trained through the first data to be trained, the trained palm sound recognition function is obtained, the trained palm sound recognition function is packaged, and the palm sound recognition component is obtained, so that the efficiency of generating the control program can be improved on the basis of realizing diversified control of the remotely controlled movable platform.

Specifically, on the basis of any of the above embodiments, the obtaining of the training operation of the user on the function to obtain the trained function includes:

training the function through the second data to be trained to obtain a trained visual recognition function;

correspondingly, the encapsulating the trained function to obtain the functional component includes:

and packaging the trained visual recognition function to obtain the visual recognition component.

In this embodiment, in order to achieve the acquisition of the visual recognition component, first, preset second data to be trained needs to be acquired, where the second data to be trained includes characters and image data, and the characters include, but are not limited to, letters, data, and special symbols. In order to enable the preset function to realize the preset function, the function can be trained through the second data to be trained, and the trained visual recognition function is obtained.

Specifically, on the basis of any of the above embodiments, the training the function through the second data to be trained to obtain the trained visual recognition function includes:

and storing the second data to be trained as a standard image to obtain a trained visual identification function.

In this embodiment, the second data to be trained may be specifically used as a standard image to obtain a trained visual recognition function. Therefore, after the image information acquired by the remote control movable platform is acquired, the image information can be directly compared with a preset standard image, and if the similarity exceeds a preset threshold value, the image information can be judged to comprise preset identification information. Thereby determining whether the image information is the preset identification information.

In order to enable the user to call the visual recognition function more conveniently, the visual recognition algorithm can be packaged to obtain a visual recognition component.

In the control method for remotely controlling a movable platform provided in this embodiment, by obtaining preset second data to be trained, the second data to be trained includes at least one of the following data: and the characters comprise letters, data and special symbols, the functional functions are trained through second data to be trained to obtain trained visual recognition functions, and the trained visual recognition functions are packaged to obtain the visual recognition assembly. Therefore, the efficiency of generating the control program can be improved on the basis of realizing diversified control of the remote control movable platform.

Specifically, on the basis of any of the above embodiments, the obtaining of the training operation of the user on the function to obtain the trained function includes:

acquiring preset third data to be trained, wherein the third data to be trained comprises line patrol image data, and the remote control movable platform can move according to the line patrol;

training the trained visual recognition function through the third data to be trained to obtain a trained line patrol recognition function;

correspondingly, the encapsulating the trained function to obtain the functional component includes:

and packaging the trained line patrol identification function to obtain the line patrol identification component.

In this embodiment, in order to achieve acquisition of the line patrol identification component, first, third data to be trained need to be acquired, where the third data to be trained includes line patrol image data, the line patrol image data may include training data with different trends and different colors, and the remote-control movable platform may move according to the training. Further, the trained visual recognition function can be trained through preset third data to be trained, and the trained line patrol recognition function is obtained. In order to enable a user to call the line patrol identification function more conveniently, the line patrol identification algorithm can be packaged to obtain a line patrol identification component.

According to the control method for remotely controlling the movable platform, the preset third data to be trained is obtained, the third data to be trained comprises line patrol image data, the remotely controlled movable platform can move according to line patrol, the trained visual identification function is trained through the third data to be trained, the trained line patrol identification function is obtained, the trained line patrol identification function is packaged, and the line patrol identification component is obtained. Therefore, the efficiency of generating the control program can be improved on the basis of realizing diversified control of the remote control movable platform.

Further, on the basis of any one of the above embodiments, before displaying at least one function icon and at least one control icon, the method further includes:

displaying at least one function category icon;

acquiring the triggering operation of the user on the function type icon;

and displaying at least one function icon according to the triggering operation.

In this embodiment, in order to save the time required by the user to select the function icons, the function icons may be divided into at least one group according to categories, and all the function icons in the group can be acquired by triggering the group. Specifically, at least one function category icon may be set on the display interface of the control terminal, a trigger operation of the user on the function category icon is obtained, and the at least one function icon is displayed on the display interface of the control terminal according to the trigger operation.

According to the control method for remotely controlling the movable platform, the at least one function type icon is displayed on the display interface of the control terminal, the triggering operation of the user on the function type icon is obtained, and the at least one function icon is displayed on the display interface of the control terminal according to the triggering operation, so that the time for the user to select the function icon is saved on the basis of realizing diversified control of the remotely controlled movable platform.

Further, on the basis of any of the above embodiments, the acquiring a selection operation of the user on the function icon, and generating the selected function icon according to the selection operation to represent the control program includes:

acquiring at least one selection operation of a user on the function icon;

and generating the control program according to the sequence of the selection operation.

In this embodiment, a control program may include a plurality of program statements and/or functional components, and therefore, in order to determine the sequence of the program statements and/or functional components, at least one selection operation of a user on a function icon may be acquired, the function icon triggered by the user each time is determined, and the control program is generated according to the sequence of the triggering operation.

Correspondingly, on the basis of any of the above embodiments, the acquiring the operation of the user on the control icon, and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation on the control icon to implement a preset function includes:

acquiring the operation of a user on the control icon;

In this embodiment, in order to realize effective control over the remote control movable platform, after the operation of the user on the control icon is acquired, the remote control movable platform may be controlled to execute the control program according to the sequence of the program statements and/or the functional components in the control program according to the operation of the user on the control icon.

According to the control method for remotely controlling the movable platform, at least one selection operation of the user on the function icon is obtained, and the control program is generated according to the sequence of the selection operation, so that the control program can be generated quickly, and the control efficiency of remotely controlling the movable platform is improved.

Fig. 5 is a schematic view of a display interface provided in an embodiment of the present invention, where on the basis of any of the above embodiments, as shown in fig. 5, the control icon includes a run icon; the acquiring the operation of the user on the control icon, and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation on the control icon to realize a preset function includes:

acquiring an operation instruction generated by the user through triggering the operation icon;

In this embodiment, the control icon may specifically include a run icon. As shown in fig. 5, the operation icon is set on the display interface of the control terminal. In order to realize the control of the control terminal and/or the remote control movable platform, an operation instruction generated by a user through triggering the operation icon can be acquired, and the control terminal and/or the remote control movable platform is controlled to execute a control program represented by the selected function icon according to the operation failure so as to realize a preset function.

According to the control method for remotely controlling the movable platform, the operation instruction generated by the user through triggering the operation icon is obtained, and the control terminal and/or the remotely controlled movable platform are controlled to execute the control program represented by the selected function icon according to the operation instruction so as to realize the preset function, so that the control terminal and/or the remotely controlled movable platform can be quickly controlled, and the user experience is improved.

Fig. 6 is a schematic view of a display interface according to another embodiment of the present invention, where on the basis of any one of the above embodiments, after the obtaining of the operation instruction that the user triggers the generation of the operation icon, the method further includes:

and switching the running state of the running icon according to the trigger, wherein the running state comprises a running state and a stopping state.

In this embodiment, in order to enable a user to know the current operation state of the control program, different operation states may be set for the operation icon, where the operation states specifically include an operation state and a stop state. The operation state of the operation icon can be switched according to the trigger of the user. In practical application, the initial state of the operation icon is the operation state, and after the triggering of the user is obtained, the operation state can be adjusted to be the stop state; accordingly, when the user handles the stop state, the stop state may be adjusted to the running state after the trigger of the user is acquired.

According to the control method for remotely controlling the movable platform, the operation state of the operation icon is switched according to the trigger, and the operation state comprises the operation state and the stop state, so that a user can know the current operation state of a control program on the basis of realizing the rapid control of the control terminal and/or the remotely controlled movable platform, and the user experience is further improved.

Further, on the basis of any of the above embodiments, after the obtaining of the operation of the user on the control icon and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation on the control icon to implement a preset function, the method further includes:

acquiring a stop instruction generated by the user by triggering the stop icon;

and controlling the control terminal and/or the remote control movable platform to stop executing the control program according to the stop instruction.

In this embodiment, the control program further includes a stop icon, and the user can control the control program to stop running by triggering the stop icon. Specifically, a stop instruction generated by a user triggering a stop icon may be acquired, and the control terminal and/or the remote control movable platform may be controlled to stop executing the control program according to the stop instruction.

Specifically, on the basis of any of the above embodiments, the stop icon includes a preset return icon and a running icon in a stop state.

In this embodiment, the stop icon may be a preset return icon or a running icon in a stop state, and a user may control the control program by triggering both the stop icons, which is not limited herein.

According to the control method for remotely controlling the movable platform, the stop instruction generated by the user by triggering the stop icon is obtained, and the control terminal and/or the remotely controlled movable platform are controlled to stop executing the control program according to the stop instruction, so that the control terminal and/or the remotely controlled movable platform can be quickly controlled, and the user experience is improved.

Fig. 7 is a schematic flowchart of a control method for remotely controlling a movable platform according to a third embodiment of the present invention; fig. 8 is a schematic view of a display interface provided in an embodiment of the present invention, where, on the basis of any one of the above embodiments, as shown in fig. 7 to 8, the control icon includes a graph transfer information display icon, and after the obtaining of the operation of the user on the control icon and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation on the control icon to implement a preset function, the method further includes:

step 301, obtaining a picture transmission information display instruction generated by the user by triggering the picture transmission information display icon;

and 302, acquiring and displaying image transmission information acquired by an image acquisition device arranged on the remote control movable platform according to the image transmission information display instruction.

In this embodiment, the control terminal may control the image acquisition device provided on the remote-control movable platform to acquire the image transmission information, and in addition, the control terminal may also control whether to display the image transmission information on the display interface. In particular, the control icons may include a graphical information display icon, which may be displayed on the display interface. And further, an image transmission information display instruction generated by triggering the image transmission information display icon by the user can be acquired, and image transmission information acquired by an image acquisition device arranged on the remote control movable platform is acquired and displayed according to the image transmission information display instruction.

According to the control method for remotely controlling the movable platform, the picture transmission information acquired by the image acquisition device arranged on the remotely-controlled movable platform is acquired and displayed according to the picture transmission information display instruction generated by triggering the picture transmission information display icon by the user, so that whether the picture transmission information is displayed on the display interface can be controlled, the user can independently select whether to check the picture transmission information, and the user experience is improved.

Further, on the basis of any of the above embodiments, the control icon further includes a programming mode switching icon, and the method further includes:

acquiring a programming mode switching instruction generated by triggering the programming mode switching icon by the user;

and calling a preset programming panel according to the programming mode switching instruction so that the user can edit codes in the programming panel to generate the control program.

In this embodiment, the control icon may specifically include a programming mode switching icon, and the user may switch the programming mode by triggering the programming mode switching icon. Specifically, a programming mode switching instruction generated by triggering the programming mode switching icon by the user can be acquired, and a preset editing panel is called according to the programming mode switching instruction, so that the user can edit the control program through the editing panel. At least one function icon is arranged on the display interface in an actual application distance generally, each function icon can represent a program statement and/or a function component, and a user can write a control program by selecting the function icon. After the user triggers the programming mode switching instruction generated by the programming mode switching icon, a preset editing panel can be called according to the programming mode switching instruction, so that the user can write codes on the editing panel according to the current requirements, and the control program can be acquired.

According to the control method for remotely controlling the movable platform, the programming mode switching instruction generated by triggering the programming mode switching icon by the user is obtained, the preset programming panel is called according to the programming mode switching instruction, so that the user can edit codes in the programming panel to generate the control program, various modes for generating the control program are provided for the user, the personalized requirements of the user on the programming modes are met, and the user experience is further improved.

Fig. 9 is a schematic view of a display interface provided in an embodiment of the present invention, where on the basis of any one of the above embodiments, as shown in fig. 9, before the control icon further includes a communication connection icon, and the acquiring an operation of the control icon by a user, and controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation of the control icon to implement a preset function, the method further includes:

acquiring a connection instruction generated by the user through triggering the communication connection icon;

and establishing communication connection with the remote control movable platform according to the connection instruction and a preset connection mode.

In this embodiment, in order to realize the control of the remote-control movable platform, the control terminal first needs to establish a communication connection with the remote-control movable platform. Specifically, the control icon further includes a communication connection establishment icon, and after a connection instruction generated by triggering the communication connection establishment icon by a user is acquired, the communication connection with the remote control movable platform can be established in a preset connection mode according to the connection instruction. It should be noted that the control terminal may establish a communication connection with the remote control movable platform in any manner, and the present invention is not limited herein, and for example, a WIFI connection, a bluetooth connection, a routing connection, and the like may be used.

According to the control method for the remote control movable platform, the connection instruction generated by triggering the communication connection icon by the user is obtained, and the communication connection is established with the remote control movable platform according to the connection instruction in a preset connection mode, so that the communication connection between the control terminal and the remote control movable platform can be established, and a basis is provided for subsequent control of the remote control movable platform.

Further, on the basis of any of the above embodiments, after establishing a communication connection with the remote control movable platform according to the connection instruction in a preset connection manner, the method further includes:

and switching the communication connection icon into a remote control movable platform state icon.

In this embodiment, in order for a user to know the state of the remote-control movable platform in time and determine whether to establish a connection with the remote-control movable platform currently, after establishing a communication connection with the remote-control movable platform according to a connection instruction in a preset connection manner, as shown in fig. 9, the communication connection icon may be switched to a remote-control movable platform state icon, where the remote-control movable platform state may include an electric quantity, a wireless identifier, and the like of the remote-control movable platform.

According to the control method for remotely controlling the movable platform, the communication connection icon is switched to the remote control movable platform state icon, so that a user can know the state of the remote control movable platform in time, whether connection is established with the remote control movable platform or not can be determined, and user experience is further improved.

Fig. 10 is a schematic view of a display interface according to still another embodiment of the present invention, where on the basis of any one of the above embodiments, as shown in fig. 10, after the obtaining of the selection operation of the user on the function icon and the generating of the selected function icon according to the selection operation represent the control program, the method further includes:

acquiring the removal operation of the user on the functional component in the control program;

and moving the functional component selected by the user to a preset area according to the removing operation.

In this embodiment, after the user performs a selection operation on the function icon to generate the control program, the user may perform a removal operation on the function component in the control program according to the requirement. Specifically, the removing operation of the user on the functional component in the control program may be acquired, and the functional component selected by the user may be removed into the preset area according to the removing operation. As shown in fig. 10, the functional component selected by the user may be the recognized visual tag information, and the functional component may be moved to an area distant from the control program according to the user's removal operation.

Specifically, the obtaining of the removal operation of the user on the control program includes:

and acquiring the removal operation of the functional component by the user through long pressing and/or double clicking and/or dragging.

The user may specifically trigger the removal operation by a long press and/or double click and/or drag. Through the convenient operation, the control program can be modified without rewriting the control program by a user, so that the editing efficiency of the control program can be improved.

According to the control method for remotely controlling the movable platform, the removal operation of the user on the functional component in the control program is obtained, and the functional component selected by the user is moved to the preset area according to the removal operation, so that the editing efficiency of the control program can be improved, and the user experience is further improved.

Further, on the basis of any of the above embodiments, switch icons are arranged in preset areas around each functional component in the control program;

acquiring a state switching instruction generated by triggering a switch icon corresponding to the functional component by a user;

and switching the running state of the functional component according to the state switching instruction.

In this embodiment, in order to realize fast control of the control program without changing the control program, a switch icon is set in a preset area around each functional component in the control program, and a user can control the operating state of the functional component corresponding to the switch icon by triggering the switch icon. Specifically, a state switching instruction generated by triggering a switch icon corresponding to the functional component by a user may be obtained, and the operating state of the functional component may be switched according to the state switching instruction. For example, in practical applications, if the original control program includes a visual recognition component and the visual recognition component is not needed in the current application scene, the switching of the operating state of the visual recognition component can be realized by triggering a switch icon corresponding to the visual recognition component. Therefore, one control program can be applied to a plurality of scenes, and the application rate is high.

In the control method for remotely controlling the movable platform provided by this embodiment, the state switching instruction generated by triggering the switch icon corresponding to the functional component by the user is acquired, and the operating state of the functional component is switched according to the state switching instruction, so that the control program can be quickly controlled without changing the control program.

Further, on the basis of any of the above embodiments, a visual recognition component is included in the control program; the controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function includes:

and controlling the control terminal and/or the remote control movable platform to execute the function corresponding to the image information.

In this embodiment, a visual recognition component may be included in the control program. Specifically, after the image information is acquired by the remote control movable platform, the control terminal and/or the remote control movable platform can be controlled by the visual identification component to identify characters in the image information acquired by the image acquisition device, and the function corresponding to the image information can be obtained according to the characters, so that the control terminal and/or the remote control movable platform can be controlled to execute the function corresponding to the image information.

Further, on the basis of any of the above embodiments, after the controlling the control terminal and/or the remote control movable platform to execute a function corresponding to the image information, the method further includes:

and updating the current score of the remote control movable platform according to the preset score of the function corresponding to the image information.

In this embodiment, the image information has a plurality of corresponding functions, for example, the functions may be to control the remote-controlled movable platform to strike a preset direction, to control the remote-controlled movable platform to move to a certain position, or to control the remote-controlled movable platform to perform operations such as image acquisition, and the invention is not limited herein. And aiming at different functions, different scores can be corresponded in the game process, so that after the function corresponding to the image information is identified and executed, the score currently obtained by the remote control movable platform can be updated according to the score corresponding to the operation of executing the function.

In the control method for remotely controlling the movable platform provided by this embodiment, the visual recognition component is used to control the control terminal and/or the remotely controlled movable platform to recognize characters in the image information acquired by the image acquisition device, so as to obtain a function corresponding to the image information, and the control terminal and/or the remotely controlled movable platform is controlled to execute the function corresponding to the image information. Thereby realizing diversified control of the remote control movable platform.

For example, an image acquisition device remotely controlling the movable platform acquires image information and transmits the image information to a control terminal, the control terminal identifies the image information, obtains a function corresponding to a character after the character is identified, and displays a prompt corresponding to the function corresponding to the character on a display interface of the control terminal, such as a score adding prompt and a skill prompt. For another example, the image capturing device remotely controlling the movable platform captures image information, recognizes the image information, obtains a function corresponding to a character after the character is recognized, transmits the function corresponding to the character to the control terminal, and displays a prompt corresponding to the function corresponding to the character, such as a score adding prompt and a skill prompt, on a display interface of the control terminal.

In some embodiments, a applause recognition component is included in the control program; the controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function includes:

the control terminal and/or the remote control movable platform are controlled by the applause identification component to identify applause information in the collected audio;

and controlling the control terminal and/or the remote control movable platform to execute operation corresponding to the collected applause information in the audio.

In this embodiment, the control program may include a palm sound recognition component. Specifically, after the audio acquisition device arranged on the remote control movable platform acquires the sound information, the control terminal can be controlled through the applause recognition component and/or the remote control movable platform recognizes applause information in the acquired audio. And controlling a control terminal and/or the remote control movable platform to execute operation corresponding to the collected applause information in the audio.

For example, the image of the remote control movable platform is provided with a sound collection assembly for collecting sound information and transmitting the sound information to the control terminal, the control terminal identifies the sound information, obtains a function corresponding to the palm sound after identifying the palm sound, and displays the display corresponding to the function corresponding to the palm sound on a display interface of the control terminal, such as adding points, obtaining skills and following. For another example, the image capturing device remotely controlling the movable platform captures sound information, recognizes the sound information, obtains a function corresponding to the palm sound after recognizing the palm sound, and transmits the function corresponding to the palm sound to the control terminal, and the control terminal displays a prompt corresponding to the function corresponding to the palm sound on a display interface of the control terminal, such as adding points, obtaining skills, and following. For another example, the remotely controllable movable platform is provided with a sound collection device for collecting sound. The sound collection device may be a microphone, and is not limited herein.

Further, on the basis of any of the above embodiments, after the controlling the control terminal and/or the remote control movable platform to perform an operation corresponding to the applause information in the acquired audio, the method further includes:

determining a sound source position corresponding to the applause information;

and controlling the remote control movable platform to acquire the image information of the sound source position, and displaying the image information on the display interface.

In this embodiment, in order to determine the applause source, after the operation corresponding to the applause information is performed, the sound source position corresponding to the applause information may be determined, and the remote control movable platform is controlled to acquire the image information of the sound source position and display the image information on the display interface.

According to the control method of the remote control movable platform, the control terminal and/or the remote control movable platform are controlled through the applause recognition component to recognize applause information in the collected audio, and the control terminal and/or the remote control movable platform are controlled to execute the operation corresponding to the applause information in the collected audio, so that diversified control over the remote control movable platform can be achieved, and the fun of game fighting is further improved.

In some embodiments, the control program includes a line patrol identification component; the controlling the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon to realize a preset function includes:

and controlling the remote control movable platform to move according to the patrol line.

In this embodiment, the control program may include a patrol identifying component. Specifically, after the image information is collected by the remote control movable platform, the image information can be identified through the line patrol identification component so as to determine whether the image information comprises line patrol information, and if so, the remote control movable platform can be controlled to move according to the line patrol information.

Further, on the basis of any of the above embodiments, after the controlling the remotely-controlled movable platform to move according to the patrol line, the method further includes:

determining time information required by the remote control movable platform after the remote control movable platform finishes moving along the line patrol;

and determining the operation effect of the control program according to the time information.

In this embodiment, when the remotely-controlled movable platform moves along the line of sight, information on the time required for the remotely-controlled movable platform to finish moving along the line of sight can be determined. It should be noted that, in practical applications, a plurality of different control programs may be provided, the plurality of different control programs may implement a unified preset function, and the operation effect of each control program can be determined by comparing the time information required for each control program to control the mobile platform to finish moving along the patrol line.

Optionally, the control program may include a line patrol recognition module and a visual recognition module at the same time, and in practical applications, the remote-control movable platform may move according to a line patrol, and may execute a function corresponding to a character in the image information when the character is detected in the moving process.

According to the control method for remotely controlling the movable platform, the control terminal and/or the remotely controlled movable platform are controlled by the line patrol identification component to identify the line patrol in the image transmission information acquired by the image acquisition device, and the remotely controlled movable platform is controlled to move according to the line patrol, so that diversified control over the remotely controlled movable platform can be realized, and the fun of game fighting is further improved.

Fig. 11 is a schematic view of a display interface according to another embodiment of the present invention, where on the basis of any one of the foregoing embodiments, as shown in fig. 11, the control program represented by the function icon further includes a custom skill component: after the obtaining of the selection operation of the user on the function icon, the method further includes:

and displaying a custom skill icon corresponding to the custom skill assembly at a preset position of the display interface.

In this embodiment, the control program represented by the function icon may further include a user-defined function component, where the user-defined function component is a function program written by a user and is capable of implementing a preset function. In order to facilitate the user to call the custom program, a custom icon corresponding to the custom skill assembly can be displayed at a preset position of a display interface. To increase the interest of game interaction.

Further, on the basis of any of the above embodiments, after displaying the custom skill icon corresponding to the custom skill component at the preset position of the display interface, the method further includes:

acquiring a skill release instruction triggered by the user through triggering the user-defined skill icon;

and controlling the remote control movable platform to execute the operation corresponding to the user-defined skill according to the skill release instruction.

In this embodiment, the user may release the custom skill by triggering the custom skill icon. Specifically, a skill release instruction triggered by the user through triggering the custom icon can be acquired, and the remote control movable platform is controlled to execute the operation corresponding to the custom skill according to the skill release instruction. For example, the user-defined skill may be to strike in the direction of striking after receiving striking, so that after the user triggers the skill release instruction by triggering the user-defined icon, when the user detects that the user receives striking, the striking direction may be determined and striking may be performed in the direction. Therefore, the interest of game interaction is increased, and the user experience is improved.

According to the control method for remotely controlling the movable platform, the user-defined skill icon corresponding to the user-defined skill component is displayed at the preset position of the display interface, so that the individual requirements of a user can be met, and the user experience is further improved.

Fig. 12 is a schematic flowchart of a control method for remotely controlling a movable platform according to a fourth embodiment of the present invention, where on the basis of any of the foregoing embodiments, as shown in fig. 12, before displaying at least one function icon and at least one control icon, the method further includes:

step 401, obtaining a user-defined skill program input by a user;

and step 402, packaging the user-defined skill program to obtain a user-defined skill component.

In this embodiment, the user may customize the control program, specifically, the user may select the function icon to generate the customized control program, or may input a code on the editing panel to generate the customized control program, which is not limited herein. Further, in order to enable a user to call the user-defined skill program more conveniently, the user-defined skill program can be packaged to obtain a user-defined skill component, and the user can call the user-defined skill component to generate the control program.

According to the control method for remotely controlling the movable platform, the user-defined skill program input by the user is obtained, the user-defined skill program is packaged, and the user-defined skill component is obtained, so that the individual requirements of the user can be met, and the user experience is further improved.

Fig. 13 is a schematic flowchart of a control method for remotely controlling a movable platform according to a fifth embodiment of the present invention, where the control method for remotely controlling a movable platform according to the fifth embodiment is applied to a remote-control movable platform end, and the remote-control movable platform is in communication connection with a control terminal, and the method includes:

step 501, obtaining a control instruction sent by the control terminal, where the control instruction includes a control program for controlling the control terminal and/or the movable platform to implement a preset function, where the preset function implemented by the control program includes controlling the remote control movable platform and/or the control terminal to identify the collected image/sound information to determine whether the image/sound information packet includes identification information, and if it is determined that the image/sound information includes the identification information, obtaining a function corresponding to the identification information, and controlling the control terminal and/or the movable platform to implement the function corresponding to the identification information according to the identification information;

and step 502, executing the control instruction.

The execution subject of this embodiment is a remotely-controlled movable platform. The remote control movable platform is in communication connection with the control terminal, so that information interaction can be performed. The remote control movable platform can obtain a control instruction sent by the control terminal, wherein the control instruction is generated after a user triggers a control icon on a display interface of the control terminal, the control instruction comprises a control program, and the control program is generated by selecting a function icon on the display interface of the control terminal by the user. The control program may implement preset functions. Specifically, the preset function may include acquiring image/sound information acquired by the remote-control movable platform, controlling the remote-control movable platform and/or the control terminal to recognize the image/sound information, acquiring a recognition result, determining whether the recognition result includes preset identification information, determining a function corresponding to the identification information if it is detected that the recognition result includes the preset identification information, and controlling the remote-control movable platform and/or the control terminal to execute the function corresponding to the identification information according to the identification information. Further, after the control instruction is acquired, the remotely movable platform may execute the control instruction.

According to the control method for remotely controlling the movable platform, the control instruction which is sent by the control terminal and comprises the control program capable of realizing the preset function is obtained, and the control instruction is executed, so that the diversity of the execution function of the remotely controlled movable terminal can be improved, and the user experience can be improved.

Further, on the basis of any of the above embodiments, a visual recognition component is included in the control instruction; accordingly, the executing the control instruction comprises:

acquiring image information through a preset image acquisition device;

identifying the image information to obtain a function corresponding to the image information;

In this embodiment, the control program may include a visual recognition component, so that the remotely controlled movable platform may recognize the acquired image information and perform a corresponding function. Specifically, when the remote control movable platform executes the control program, image information can be acquired through a preset image acquisition device, the image information is identified, a function corresponding to the image information is acquired, and the function corresponding to the image information is sent to the control terminal, so that the control terminal controls the remote control movable platform and/or the control terminal to execute the function.

According to the control method for remotely controlling the movable platform, the preset image acquisition device is used for acquiring the image information, the image information is identified, the function corresponding to the image information is acquired, the function corresponding to the image information is sent to the control terminal, so that the control terminal controls the remotely controlled movable platform and/or the control terminal to execute the function, the image information can be identified, the corresponding function can be executed, the diversity of the executed function of the movable terminal can be improved, and the user experience is improved.

Fig. 14 is a schematic flowchart of a control method for remotely controlling a movable platform according to a sixth embodiment of the present invention; fig. 15 is a target area extraction diagram according to an embodiment of the present invention, where on the basis of any one of the above embodiments, the identifying the image information and obtaining a function corresponding to the image information includes:

601, performing color extraction on the image information according to a preset color to obtain image information after the color extraction;

step 602, performing binarization processing on the image information after color extraction to obtain image information with a black-and-white effect;

603, extracting a character area in the image information with the black and white effect to obtain target information;

step 604, comparing the target information with a preset standard image to obtain character information corresponding to the image information.

In this embodiment, after the image information acquired by the image acquisition device on the remote-control movable platform is acquired, in order to realize the identification of the image information, firstly, the color of the image information may be extracted according to a preset color, so that the image information may be converted into a monochromatic image. Furthermore, the image after color extraction can be subjected to binarization processing to obtain image information with black and white effect, it should be noted that, because the data amount in the image information with black and white effect after binarization is small, it is more convenient to remotely control the movable platform or the control terminal to extract the information in the image, and the identification efficiency is improved. Further, the character area in the image information with black and white effect can be extracted to obtain the target information, and the target information is compared with the preset standard image to determine the character information corresponding to the image information.

Specifically, on the basis of any one of the above embodiments, the performing color extraction on the image information according to a preset color to obtain color-extracted image information includes:

converting the RGB model corresponding to the image information into an HSV model;

and performing color extraction on the HSV model according to a preset color to obtain image information after the color extraction.

In this embodiment, in order to implement color extraction on image information, an RGB model corresponding to the image information may be first converted into an HSV model, and the HSV model is subjected to color extraction according to a preset color, so as to obtain the image information after the color extraction.

Specifically, on the basis of any one of the above embodiments, the extracting a character region in the image information with a black-and-white effect to obtain target information includes:

extracting outline information of each character in the image information with the black and white effect;

judging whether the outline information is of a quadrilateral structure or not according to the outline information corresponding to each character;

and determining the target information according to the judgment result.

In this embodiment, as shown in fig. 15, two pieces of character information are shared in the figure, the contour information of each piece of character information in the image information is extracted, and since the preset character picture is a quadrilateral picture, in order to achieve the acquisition of the character, it can be determined whether the contour information is a quadrilateral for the contour information corresponding to each character. Thereby enabling determination of the target information based on the judgment result.

Specifically, on the basis of any of the above embodiments, the determining the target information according to the determination result includes:

if the outline information is of a quadrilateral structure, taking characters corresponding to the outline information as target information;

and if the outline information is not in a quadrilateral structure, filtering out characters corresponding to the outline information.

In this embodiment, if the outline information of the character is a quadrilateral structure, the character is represented as image information corresponding to a preset character picture, and at this time, the character corresponding to the outline information can be used as target information; on the contrary, if the contour information is not of a quadrilateral structure, the contour information is represented as image information not corresponding to the preset character picture, and at this time, the characters corresponding to the contour information can be filtered. As shown in fig. 15, the character at the middle position of the image has a quadrilateral structure, so that the character corresponding to the outline information can be used as the target information, and the character at the upper right corner of the image is not in the quadrilateral structure, so that the character can be filtered. Through the selection of the target information, the area of the image information needing to be detected can be greatly reduced, the calculation amount can be further reduced, and the identification efficiency is improved.

Further, on the basis of any of the above embodiments, the comparing the target information with a preset standard image to obtain character information corresponding to the image information includes:

dividing the target information into a preset number of cells according to a preset division rule;

assigning values to each cell according to a preset assignment method to obtain assigned target information;

and comparing the assigned target information with a hash table corresponding to a preset standard image, and determining character information corresponding to the target information.

In this embodiment, the target information may be divided into a preset number of cells according to a preset division rule, value assignment is performed on each cell according to a preset value assignment method, the target information after value assignment is obtained, and the target information after value assignment is compared with a hash table corresponding to a preset standard image to determine character information corresponding to the target information. For example, in practical applications, the target information may be divided into 7 × 7 cells, and for each cell, the content in the cell is determined and assigned. Further, the target information may be compared with a hash table corresponding to the standard image, so that the character information corresponding to the target information can be determined.

According to the control method of the remote control movable platform, the image information is subjected to color extraction according to the preset color to obtain the image information after the color extraction, binarization processing is performed on the image information after the color extraction to obtain the image information with the black-and-white effect, a character area in the image information with the black-and-white effect is extracted to obtain target information, and the target information is compared with the preset standard image to obtain the character information corresponding to the image information, so that the character information corresponding to the image information can be accurately determined, and a basis is provided for the remote control movable platform to execute diversified functions.

Further, on the basis of any of the above embodiments, after the comparing the target information with a preset standard image to obtain character information corresponding to the image information, the method further includes:

and determining the distance between the remote control movable platform and the image information and the position information of the image information.

In the present embodiment, since the function corresponding to the image information is determined by the image information in the game match, the function needs to be executed, for example, the function may be to hit the area where the character is located. At this time, the position of the image information needs to be determined, and specifically, the distance between the remote control movable platform and the image information and the position where the image information is located can be determined. The x, y, z, roll, pitch, yaw of the image information relative to the remotely movable platform can be obtained by settling the PNP.

According to the control method of the remote control movable platform, the distance between the remote control movable platform and the image information and the position information of the image information are determined, so that the remote control movable platform can be controlled to execute corresponding operations, and the diversity of game battles is improved.

Fig. 16 is a schematic flow chart of a control method for remotely controlling a movable platform according to a seventh embodiment of the present invention, where on the basis of any of the foregoing embodiments, as shown in fig. 16, the control program includes a applause recognition component, and the executing of the control program includes:

step 701, acquiring sound information through a preset audio acquisition device;

step 702, identifying the sound information to obtain a function corresponding to the sound information;

and 703, sending the function corresponding to the sound information to a control terminal so that the control terminal controls the remote control movable platform to execute the function.

In this embodiment, the sound information may be acquired by a preset audio acquisition device, and the sound information may be identified. The sound information may include applause information, and different applause information may correspond to different functions. And determining a function corresponding to the sound information, and sending the function to the control terminal so that the control terminal controls the remote control movable platform to execute the function.

The control method for remotely controlling the movable platform provided by the embodiment can improve the diversity of game battles by identifying the sound information and executing the function corresponding to the sound information.

Fig. 17 is a schematic flow chart of a control method for remotely controlling a movable platform according to an eighth embodiment of the present invention, where on the basis of any of the above embodiments, as shown in fig. 17, the control program includes a line patrol identification component, and the executing of the control program includes:

step 801, acquiring image information through a preset image acquisition device;

step 802, identifying the image information to obtain line patrol information in the image information;

and 803, sending the line patrol information to a control terminal so that the control terminal controls the remote control movable platform to move according to the line patrol information.

In this embodiment, image information may be acquired through a preset image acquisition device, and the image information is identified to determine whether the image information includes line patrol information, and if so, the line patrol information may be sent to the control terminal, so that the control terminal controls the remote-control movable platform to move according to the line patrol.

Further, on the basis of any one of the above embodiments, the identifying the image information and obtaining the patrol information in the image information includes:

performing color extraction on the image information according to a preset color to obtain image information after the color extraction;

carrying out binarization processing on the image information after color extraction to obtain image information with a black-and-white effect;

and extracting the line patrol area in the image information with the black and white effect to obtain line patrol information.

In this embodiment, after the image information acquired by the image acquisition device on the remote-control movable platform is acquired, in order to realize the identification of the line patrol information, firstly, the color of the image information may be extracted according to a preset color, so that the image information may be converted into a monochromatic image. Furthermore, the image after color extraction can be subjected to binarization processing to obtain image information with black and white effect, it should be noted that, because the data amount in the image information with black and white effect after binarization is small, it is more convenient to remotely control the movable platform or the control terminal to extract the information in the image, and the identification efficiency is improved. Further, the line patrol information can be obtained by extracting the line patrol area in the image information with black and white effect.

Further, on the basis of any of the above embodiments, the performing color extraction on the image information according to a preset color to obtain color-extracted image information includes:

converting the RGB model corresponding to the image information into an HSV model;

and performing color extraction on the HSV model according to a preset color to obtain image information after the color extraction.

Specifically, on the basis of any one of the above embodiments, the extracting a line patrol area in the image information with a black-and-white effect to obtain line patrol information includes:

extracting outline information of each character in the image information with the black and white effect;

judging whether the outline information is of a linear structure or not according to the outline information corresponding to each character;

and determining the line patrol information according to the judgment result.

In this embodiment, in order to obtain the line patrol information, the outline information of each character in the black-and-white effect image information may be extracted first. Because the line patrol information is of a linear structure, whether the outline information is linear or not is judged according to the outline information corresponding to each character, and therefore the line patrol information can be determined according to the judgment result.

Specifically, on the basis of any one of the above embodiments, the determining the line patrol information according to the determination result includes:

if the outline information is of a linear structure, taking characters corresponding to the outline information as line patrol information;

and if the outline information is not in a linear structure, filtering out characters corresponding to the outline information.

In this embodiment, if the contour information is of a linear structure, the character corresponding to the modified contour information may be used as the line patrol information, and correspondingly, if the contour information is not of a linear structure, the character corresponding to the modified contour information may be filtered out, so as to improve the recognition efficiency.

Further, on the basis of any one of the above embodiments, the sending the line patrol information to a control terminal, so that the control terminal controls the remote-control movable platform to move according to the line patrol information includes:

determining the current moving speed of the remote control movable platform;

determining a judgment reference line according to the moving speed;

and controlling the moving direction of the remote control movable platform so that the midpoint of the judgment datum line falls on the patrol line.

In this embodiment, after the training information is obtained, the remote-control movable platform needs to be controlled to move according to the line patrol information, and specifically, the current moving speed of the remote-control movable platform may be determined, and the moving direction of the remote-control movable platform may be controlled according to the moving speed to determine the reference line, so that the emphasis of the reference line can be placed on the line patrol.

Further, on the basis of any one of the above embodiments, the determining a determination reference line according to the moving speed includes:

if the moving speed meets a preset second condition, taking a straight line in the middle of image information acquired by the remote control movable platform as the judgment reference line;

In this embodiment, the determination of the reference line may be implemented by determining whether the movement satisfies a preset condition. Specifically, if the moving speed meets a preset first condition, a straight line closest to the remote control movable platform in the image information acquired by the remote control movable platform is used as a judgment reference line, if the moving speed meets a preset second condition, a straight line in the middle of the image information acquired by the remote control movable platform is used as a judgment reference line, and if the moving speed meets a preset third condition, a straight line farthest from the remote control movable platform in the image information acquired by the remote control movable platform is used as a judgment reference line. The preset condition may be set according to actual requirements, and the present invention is not limited herein.

According to the control method for remotely controlling the movable platform, the image information is acquired through the preset image acquisition device, the image information is identified, the line patrol information in the image information is acquired, and the line patrol information is sent to the control terminal, so that the control terminal controls the remotely controlled movable platform to move according to the line patrol information, and therefore the remotely controlled movable platform can be controlled to execute diversified functions, game diversity is improved, and user experience is improved.

Fig. 18 is a schematic flowchart of a control method for remotely controlling a movable platform according to a ninth embodiment of the present invention, where the method includes:

step 901, displaying at least one function icon and at least one control icon, wherein the function icon is used for representing a control program for controlling the control terminal and/or the movable platform to realize a preset function, and the control icon is used for controlling the control terminal and/or the remote control movable platform to execute the control program;

step 902, the control terminal obtains the selection operation of the user on the function icon, and generates the selected function icon to represent the control program according to the selection operation;

step 903, the control terminal acquires the operation of the user on the control icon, and controls the control terminal and/or the remote control movable platform to execute the control program represented by the selected function icon according to the operation on the control icon so as to realize a preset function; wherein, the preset function that the function icon is used for realizing comprises: controlling the remote control movable platform and/or the control terminal to identify the collected image/sound information so as to determine whether the image/sound information packet comprises identification information, if the image/sound information comprises the identification information, acquiring a function corresponding to the identification information, and controlling the control terminal and/or the movable platform to realize the function corresponding to the identification information according to the identification information;

step 904, remotely controlling the movable platform to acquire the control program;

and step 905, executing the control program by the remote control movable platform.

In this embodiment, in order to enable a user to control the remote control of the movable platform, icons may be displayed on the display interface of the control terminal, where the icons specifically include function icons and control icons. The function icons are used for representing control programs for controlling the remotely-controlled movable platform to realize preset functions, the number of the function icons can be at least one, and each function icon respectively represents different function components. In addition, a control icon is further arranged on the display interface, the control icon is used for controlling a control program for remotely controlling the mobile execution function icon identifier, correspondingly, after a user triggers the control icon, the remote control mobile platform can acquire and execute the control program, the remote control mobile platform can move in the process of executing the control program, the remote control mobile platform also bears image acquisition equipment, and the image acquisition equipment can carry out operations such as shooting. In order to acquire the control program, the user can select the function icon according to the current requirement, so that the control program represented by the function icon can be generated according to the selection operation. After the control program corresponding to the function icon is obtained according to the selection operation of the user, the operation of the user on the control icon can be obtained, and the control terminal and/or the remote control movable platform are controlled according to the operation of the user on the control icon to execute the control program represented by the selected function icon so as to realize a preset function. Specifically, the preset function may include acquiring image/sound information acquired by the remote-control movable platform, controlling the remote-control movable platform and/or the control terminal to recognize the image/sound information, acquiring a recognition result, determining whether the recognition result includes preset identification information, determining a function corresponding to the identification information if it is detected that the recognition result includes the preset identification information, and controlling the remote-control movable platform and/or the control terminal to execute the function corresponding to the identification information according to the identification information. It should be noted that the process of recognizing the image/sound and determining the function corresponding to the identification information may be executed by the control terminal, or may be executed by the movable platform, so as to control the terminal to execute the recognition operation, for example, after the movable platform is remotely controlled to obtain the image/sound information, the image/sound information may be transmitted to the control terminal, the control terminal recognizes the image/sound information according to a preset recognition method, determines whether the image/sound information includes preset identification information, and if so, may determine the function corresponding to the identification information, and control the movable platform to execute the function. For example, after the remote-control movable platform acquires the image/sound information, the image/sound information may be identified, whether the image/sound information includes preset identification information or not may be determined, if the image/sound information includes the preset identification information, a function corresponding to the identification information may be determined, and the function corresponding to the identification information may be sent to the control terminal, so that the control terminal controls the remote-control movable platform to execute the function. Accordingly, the remote control of the movable platform can acquire the control command and execute the control command.

The control method for remotely controlling a movable platform provided by the embodiment displays at least one function icon, and at least one control icon for representing a control program for controlling the control terminal and/or the movable platform to implement a preset function, the control icon is used for controlling the control terminal and/or the remote control movable platform to execute a control program, the control terminal obtains the selection operation of the user on the function icon, generating the selected function icon to represent the control program according to the selection operation, acquiring the operation of the control icon by the user through the control terminal, according to the operation on the control icon, the control terminal and/or the remote control movable platform are controlled to execute the control program represented by the selected function icon so as to realize a preset function; wherein, the preset function that the function icon is used for realizing comprises: and controlling the remote control movable platform and/or the control terminal to identify the acquired image/sound information so as to determine whether the image/sound information packet comprises identification information, if the image/sound information comprises the identification information, acquiring a function corresponding to the identification information, controlling the control terminal and/or the movable platform to realize the function corresponding to the identification information according to the identification information, remotely controlling the movable platform to acquire the control program, and remotely controlling the movable platform to execute the control program. Therefore, diversified control over the remote control movable platform can be achieved, and the game experience of the user can be improved.

Fig. 19 is a schematic structural diagram of a control terminal according to a tenth embodiment of the present invention, where the control terminal is configured to establish a communication connection with the remote-control movable platform, and the control terminal includes: one or more processors 111, working individually or collectively, to perform the following operations:

acquiring the selection operation of a user on the function icon, and generating the selected function icon to represent the control program according to the selection operation;

Further, on the basis of any of the above embodiments, the identification information includes at least one of: applause, line patrol marks and picture marks.

Further, on the basis of any of the above embodiments, when recognizing the collected image/sound information to determine whether the image/sound information packet includes the identification information, the processor is configured to:

Further, on the basis of any of the above embodiments, the control program represented by the function icon includes a function component, where the function component includes at least one of: visual identification subassembly, palm sound identification subassembly and patrol line identification subassembly.

Further, on the basis of any of the above embodiments, before the processor displays at least one function icon and at least one control icon, the processor is further configured to:

acquiring a call request of the user to a preset function, wherein the call request comprises a function identifier of the function;

providing a function corresponding to the function identification to the user according to the call request;

acquiring the training operation of the user on the function to obtain the trained function;

and packaging the trained function to obtain the functional component.

Further, on the basis of any of the above embodiments, when obtaining the training operation of the user on the function, and obtaining a trained function, the processor is configured to: