阅读说明：本技术 可移动平台的控制方法和设备 (Control method and device for movable platform ) 是由 朱新田 于 2020-02-28 设计创作，主要内容包括：提供了一种可移动平台的控制方法和设备,可移动平台包括机身和与多个连接在机身上且用于承载负载的云台,此方法包括：获取主云台选择指令,主云台选择指令是通过检测用户的主云台选择操作得到的(S301)；根据主云台选择指令确定多个云台中的第一云台为主云台,机身的偏航姿态根据主云台的偏航姿态控制的(S302)。实现用户可根据实际需要从多个云台设置任一个云台为主云台。另外,由于机身的偏航姿态是根据主云台的偏航姿态控制的,从而实现机身的偏航姿态可根据用户选择的任一云台的偏航姿态来控制,提高机身的偏航姿态控制的灵活性。(A control method and equipment for a movable platform are provided, the movable platform comprises a machine body and a plurality of cloud platforms which are connected with the machine body and used for bearing loads, the method comprises the following steps: acquiring a main cradle head selection instruction, wherein the main cradle head selection instruction is obtained by detecting main cradle head selection operation of a user (S301); and determining a first holder in the plurality of holders as a main holder according to the main holder selection instruction, wherein the yawing attitude of the fuselage is controlled according to the yawing attitude of the main holder (S302). The user can set any one cradle head as the main cradle head from a plurality of cradle heads according to actual needs. In addition, the yaw attitude of the machine body is controlled according to the yaw attitude of the main holder, so that the yaw attitude of the machine body can be controlled according to the yaw attitude of any holder selected by a user, and the flexibility of controlling the yaw attitude of the machine body is improved.)

A method of controlling a movable platform, the movable platform including a body and a plurality of bays attached to the body for carrying loads, the method comprising:

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

and determining a first holder in the holders as a main holder according to the main holder selection instruction, wherein the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.

The method of claim 1,

the determining that a first cradle head of the plurality of cradle heads is a main cradle head according to the main cradle head selection instruction includes:

and switching the main holder of the movable platform from a second holder to the first holder according to the main holder selection instruction.

Method according to claim 1 or 2, characterized in that said main head selection command comprises identification information of said first head.

The method according to any one of claims 1-3, further comprising:

and controlling the yaw attitude of the machine body according to the yaw attitude of the main holder.

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

acquiring a yaw attitude control instruction of the fuselage;

controlling the main holder to move in the yaw direction according to the yaw attitude control instruction of the machine body;

controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder, comprising:

and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction.

The method according to claim 4 or 5, wherein before controlling the fuselage in yaw attitude according to yaw attitude of the main head, the method further comprises:

acquiring a yaw attitude difference between the main holder and the fuselage;

according to the driftage gesture control of main cloud platform the driftage gesture of fuselage includes:

and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder and the yaw attitude difference.

The method of claim 5, wherein the obtaining yaw attitude control commands for the fuselage comprises:

and receiving a yaw attitude control command of the machine body sent by a control terminal of the movable platform, wherein the yaw attitude control command of the machine body is obtained by the control terminal detecting a yaw attitude control operation of the machine body input by a user.

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

and responding to the main holder selection instruction or the yawing attitude control instruction of the machine body, and acquiring the yawing attitude difference between the main holder and the machine body.

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

acquiring a yaw attitude control instruction of a main holder;

and responding to a yaw attitude control command of the main holder, and controlling the main holder to move in a yaw direction.

The method of claim 2, further comprising:

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

The method of claim 10, wherein the movable platform comprises a plurality of interfaces disposed on the body, wherein each of the plurality of bays is coupled to a respective one of the plurality of interfaces, the plurality of interfaces comprising a reference interface;

the determining the second pan/tilt head as the main pan/tilt head of the movable platform according to a preset selection strategy includes:

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

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

and sending prompt information indicating that the main holder is the second holder to a control terminal of the movable platform.

The method according to any one of claims 1 to 12, wherein said obtaining a main pan-tilt selection command comprises:

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

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

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

A control method of a movable platform is characterized in that the control method is applied to a control terminal of the movable platform, the movable platform comprises a machine body and a plurality of cloud platforms which are connected to the machine body and used for bearing loads, and the method comprises the following steps:

detecting a main holder selection operation of a user;

generating a main holder selection instruction according to the main holder selection operation;

sending a main holder selection instruction to the movable platform so that the movable platform determines a first holder in the holders as a main holder according to the main holder selection instruction;

and the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.

The method according to claim 15, wherein said main head selection command is used to instruct the main head of said movable platform to be switched from a second head of said plurality of heads to said first head.

Method according to claim 15 or 16, characterized in that said main head selection command comprises identification information of said first head.

The method of any one of claims 15-17, further comprising:

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

and generating a yaw attitude control command of the body according to the yaw attitude control operation of the body, and sending the yaw attitude control command of the body to the movable platform so that the movable platform controls the main holder to move in the yaw direction, and controlling the yaw attitude of the body according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction.

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

detecting yaw attitude control operation of a main holder of a user;

and generating a yaw attitude control command of the main holder according to the yaw attitude control operation of the main holder, and sending the yaw attitude control command of the main holder to the movable platform so that the movable platform controls the main holder to move in the yaw direction.

The method of claim 16, further comprising:

and after the movable platform is powered on and started up, receiving prompt information which is sent by the movable platform and indicates that the main holder is the second holder.

The method of claim 20, wherein the movable platform comprises a plurality of interfaces disposed on the body, wherein each of the plurality of bays is coupled to a respective one of the plurality of interfaces, and wherein the plurality of interfaces comprises a reference interface;

the holder connected with the reference interface is the second holder.

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

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

simultaneously displaying images shot by the shooting devices carried by the plurality of cloud platforms;

the detecting of the main holder selection operation of the user comprises the following steps:

and detecting the image selection operation of the user on the shooting device carried by the first holder.

The control equipment of a movable platform, characterized in that, the movable platform includes the fuselage and with a plurality of connections be in on the fuselage and be used for bearing the cloud platform of load, control equipment includes: a memory and a processor;

the memory for storing program code;

the processor, invoking the program code, when executed, is configured to:

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

and determining a first holder in the holders as a main holder according to the main holder selection instruction, wherein the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.

The control device of claim 23, wherein the processor is specifically configured to:

and switching the main holder of the movable platform from a second holder to the first holder according to the main holder selection instruction.

The control apparatus according to claim 23 or 24, characterized in that said main head selection instruction comprises identification information of said first head.

The control apparatus of any one of claims 23-25, wherein the processor is further configured to control a yaw attitude of the fuselage according to a yaw attitude of the main head.

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

acquiring a yaw attitude control instruction of the fuselage before controlling the fuselage to be in a yaw attitude according to the yaw attitude of the main holder; controlling the main holder to move in the yaw direction according to the yaw attitude control instruction of the machine body;

the processor is specifically configured to, when controlling the yaw attitude of the body according to the yaw attitude of the main pan/tilt head: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction.

The control apparatus according to claim 26 or 27, wherein the processor is further configured to obtain a yaw attitude difference between the main pan/tilt and the body before controlling the body to a yaw attitude according to the yaw attitude of the main pan/tilt;

the processor is specifically configured to, when controlling the yaw attitude of the body according to the yaw attitude of the main pan/tilt head: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder and the yaw attitude difference.

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

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

The control device of claim 28, wherein the processor is specifically configured to: and responding to the main holder selection instruction or the yawing attitude control instruction of the machine body, and acquiring the yawing attitude difference between the main holder and the machine body.

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

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

The control apparatus of claim 32, wherein the movable platform comprises a plurality of interfaces disposed on the body, wherein each of the plurality of bays is coupled to a respective one of the plurality of interfaces, the plurality of interfaces comprising a reference interface;

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

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

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

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

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

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

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

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

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

and determining a first holder in the holders as a main holder according to the main holder selection instruction, wherein the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.

The movable platform of claim 37, wherein the processor is specifically configured to:

and switching the main holder of the movable platform from a second holder to the first holder according to the main holder selection instruction.

The movable platform of claim 37 or 38, wherein the main head selection instruction comprises identification information of the first head.

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

The movable platform of claim 40, wherein the processor is further configured to obtain yaw attitude control commands for the main body before controlling the main body to a yaw attitude according to a yaw attitude of the main head; controlling the main holder to move in the yaw direction according to the yaw attitude control instruction of the machine body;

the processor is specifically configured to, when controlling the yaw attitude of the body according to the yaw attitude of the main pan/tilt head: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder in the process of controlling the main holder to move in the yaw direction.

The movable platform of claim 40 or 41, wherein the processor is further configured to obtain a yaw attitude difference between the main pan/tilt and the fuselage before controlling the fuselage to a yaw attitude according to the yaw attitude of the main pan/tilt;

the processor is specifically configured to, when controlling the yaw attitude of the body according to the yaw attitude of the main pan/tilt head: and controlling the yaw attitude of the fuselage according to the yaw attitude of the main holder and the yaw attitude difference.

The movable platform of claim 41, further comprising: a communication device;

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

The movable platform of claim 42, wherein the processor is specifically configured to: and responding to the main holder selection instruction or the yawing attitude control instruction of the machine body, and acquiring the yawing attitude difference between the main holder and the machine body.

The movable platform of any one of claims 37-44, wherein the processor is further configured to obtain yaw attitude control commands for the main head; and responding to a yaw attitude control command of the main holder, and controlling the main holder to move in a yaw direction.

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

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

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

The movable platform of claim 46 or 47, further comprising: a communication device;

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

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

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

The movable platform of claim 49, wherein the load comprises a camera;

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

The utility model provides a control terminal for control movable platform, but movable platform includes the fuselage and is connected with a plurality of the cloud platform that just is used for bearing load on the fuselage, control terminal includes:

the interaction device is used for detecting the main holder selection operation of a user;

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

the communication device is used for sending a main holder selection instruction to the movable platform so that the movable platform determines a first holder in the holders as a main holder according to the main holder selection instruction;

and the yawing attitude of the machine body is controlled according to the yawing attitude of the main holder.

The control terminal of claim 51, wherein the main pan-tilt selection instruction is configured to instruct the main pan-tilt of the movable platform to be switched from the second pan-tilt to the first pan-tilt of the plurality of pan-tilts.

The control terminal according to claim 51 or 52, wherein the main pan/tilt head selection command comprises identification information of the first pan/tilt head.

The control terminal according to any of claims 51-53,

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

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

the communication device is further used for sending a yaw attitude control command of the machine body to the movable platform so that the movable platform controls the main holder to move in the yaw direction, and in the process of controlling the main holder to move in the yaw direction, the yaw attitude of the machine body is controlled according to the yaw attitude of the main holder.

The control terminal according to any of claims 51-54,

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

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

the communication device is further used for sending a yaw attitude control command of the main holder to the movable platform so that the movable platform controls the main holder to move in the yaw direction.

The control terminal according to claim 52, wherein the communication device is further configured to receive, after the movable platform is powered on and started up, a prompt message indicating that the main cradle head is the second cradle head, where the prompt message is sent by the movable platform.

The control terminal of claim 56, wherein the movable platform comprises a plurality of interfaces disposed on the body, wherein each of the plurality of holders is coupled to a respective one of the plurality of interfaces, and wherein the plurality of interfaces comprises a reference interface;

the holder connected with the reference interface is the second holder.

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

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

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

when detecting a main pan-tilt selection operation of a user, the interaction device is specifically configured to: and detecting the image selection operation of the user on the shooting device carried by the first holder.

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