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WO2020042186A1 - 可移动平台的控制方法、可移动平台、终端设备和系统 - Google Patents

可移动平台的控制方法、可移动平台、终端设备和系统 Download PDF

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Publication number
WO2020042186A1
WO2020042186A1 PCT/CN2018/103678 CN2018103678W WO2020042186A1 WO 2020042186 A1 WO2020042186 A1 WO 2020042186A1 CN 2018103678 W CN2018103678 W CN 2018103678W WO 2020042186 A1 WO2020042186 A1 WO 2020042186A1
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WO
WIPO (PCT)
Prior art keywords
identification information
target
instruction
movable platform
pattern
Prior art date
Application number
PCT/CN2018/103678
Other languages
English (en)
French (fr)
Inventor
唐克坦
于亦奇
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/103678 priority Critical patent/WO2020042186A1/zh
Priority to CN201880040407.3A priority patent/CN110785727A/zh
Priority to EP18931617.7A priority patent/EP3845992A4/en
Publication of WO2020042186A1 publication Critical patent/WO2020042186A1/zh
Priority to US17/167,531 priority patent/US20210181769A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1417—2D bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing

Definitions

  • Embodiments of the present invention relate to the technical field of mobile platforms, and in particular, to a control method of a mobile platform, a mobile platform, a terminal device, and a system.
  • Users can control the mobile platform through interaction with the mobile platform.
  • a mobile platform as an example of a drone
  • One way is: the user interacts with the drone through a control terminal (mobile phone, remote control, etc.), That is, the user operates the control terminal to send control instructions to the drone to control the drone.
  • the user interacts with the drone through interactive information such as gestures. For example, the drone can recognize the user's gesture and then execute the The operation corresponding to the gesture.
  • the user can control the drone through gestures without the need to control the terminal, which saves costs, but requires the drone to have a high recognition ability for gestures, and there are certain errors in the recognition of gestures by the drone, for example, what the user does Gesture is to control the drone to rotate 10 degrees. Due to the error of gesture recognition, it will cause the drone to rotate 5 degrees. Therefore, controlling the drone by gesture has the problem of insufficient control accuracy.
  • Embodiments of the present invention provide a control method, a movable platform, a terminal device, and a system for a movable platform, which are used to control the movable platform through a pattern, thereby improving the control accuracy of the movable platform.
  • an embodiment of the present invention provides a control method of a movable platform, which is applied to a movable platform and includes:
  • an embodiment of the present invention provides a control method of a movable platform, which is applied to a terminal device and includes:
  • Receiving the target pattern or target identification information sent by the mobile platform wherein after receiving the target pattern sent by the mobile platform, identifying the target pattern, and obtaining the identification information of the target pattern as target identification information;
  • an embodiment of the present invention provides a movable platform including: an image acquisition device and a processor;
  • the image acquisition device is used to acquire an image
  • the processor is configured to collect an image including a target pattern through an image acquisition device; and identify the target pattern to obtain identification information of the target pattern as target identification information; and control the movable according to the target identification information
  • the platform executes a target action instruction corresponding to the target identification information.
  • an embodiment of the present invention provides a terminal device, including: a communication device and a processor;
  • the communication device is configured to receive a target pattern or target identification information sent by the mobile platform, where the target identification information is identification information of a target pattern identified by the mobile platform;
  • the processor is configured to determine a target action instruction corresponding to the target identification information according to the target identification information;
  • the processor is further configured to identify the target pattern after the communication device receives the target pattern sent by the movable platform, and obtain identification information of the target pattern as target identification information;
  • the communication device is further configured to send a control instruction to the movable platform, where the control instruction is used to control the movable platform to execute the target action instruction.
  • an embodiment of the present invention provides a control system for a movable platform, where the control system includes the movable platform in the third aspect and the terminal device in the fourth aspect.
  • an embodiment of the present invention provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, where the computer program includes at least one piece of code, and the at least one piece of code can be executed by a computer to control all
  • the computer executes the control method of the movable platform according to the first aspect or the second aspect.
  • an embodiment of the present invention provides a computer program for implementing the control method of the movable platform according to the first aspect or the second aspect when the computer program is executed by a computer.
  • the mobile platform control method, mobile platform, terminal device and system provided by the embodiments of the present invention collect an image containing a target pattern through an image acquisition device; then identify the target pattern and obtain identification information of the target pattern as a target Identification information; and then controlling the mobile platform to execute a target action instruction corresponding to the target identification information according to the target identification information. Therefore, it is possible to interact with the mobile platform through the target pattern, without the need for an additional control terminal to communicate with the mobile platform. In addition, in this embodiment, the control accuracy of the mobile platform is high.
  • FIG. 1 is a schematic architecture diagram of a control system of a movable platform according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a control method of a movable platform according to an embodiment of the present invention
  • FIG. 3 is a flowchart of a control method of a movable platform according to another embodiment of the present invention.
  • FIG. 4 is a flowchart of a control method of a movable platform according to another embodiment of the present invention.
  • FIG. 5 is a flowchart of a control method of a movable platform according to another embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a control system of a movable platform according to an embodiment of the present invention.
  • Embodiments of the present invention provide a control method of a movable platform, a movable platform, a terminal device, and a system.
  • the movable platform may be, for example, a drone, an unmanned ship, an unmanned car, a robot, or the like.
  • the drone may be a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through air, and the embodiment of the present invention is not limited thereto.
  • FIG. 1 is a schematic architecture diagram of a control system of a movable platform according to an embodiment of the present invention. This embodiment is described by using a movable platform as a drone as an example.
  • the supervisory control system 100 of the mobile platform may include a drone 110 and a terminal device 140.
  • the unmanned aerial vehicle 110 is an unmanned aerial vehicle, which may include a power system 150, a control system 160, a rack, and a gimbal 120 carried on the rack.
  • the drone 110 may perform wireless communication with the terminal device 140.
  • the drone may also be an unmanned vehicle or an unmanned ship.
  • the frame may include a fuselage and a tripod (also called a landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and one or more arms extend radially from the center frame.
  • the tripod is connected to the fuselage, and is used to support the UAV 110 when landing.
  • the control system 160 is disposed in the fuselage.
  • the power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more electric motors 152 corresponding to the one or more propellers 153.
  • the motor 152 is connected between the ESC 151 and the propeller 153, and the motor 152 and the propeller 153 are disposed on the arm of the drone 110.
  • the ESC 151 is configured to receive a driving signal generated by the control system 160 and provide a driving current to the motor 152 according to the driving signal to control the rotation speed of the motor 152. It should be noted that one ESC 151 may correspond to multiple motors, and multiple ESCs 151 may correspond to one motor 152, respectively.
  • the motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom.
  • the drone 110 may rotate about one or more rotation axes.
  • the rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (Pitch).
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brushed motor.
  • the control system 160 may include a controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and status information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be GPS.
  • the controller 161 is used to control the flight or operation of the drone 110.
  • the controller 161 may control the flight or operation of the drone 110 according to the attitude information measured by the sensing system 162. It should be understood that the controller 161 may control the UAV 110 according to a pre-programmed program instruction.
  • the gimbal 120 may include a gimbal motor 122.
  • the gimbal is used to carry the photographing device 123.
  • the controller 161 can control the movement of the PTZ 120 by controlling the rotation of the PTZ motor 122.
  • the PTZ 120 may further include a PTZ controller for controlling the movement of the PTZ 120 by controlling the PTZ motor 122.
  • the gimbal 120 may be independent of the drone 110 or may be a part of the drone 110.
  • the gimbal motor 122 may be a DC motor or an AC motor.
  • the gimbal motor 122 may be a brushless motor or a brushed motor.
  • the gimbal can be located on top of the drone, or on the bottom of the drone, on the front of the drone, on the back of the drone, or on the drone's The left part can also be located on the right part of the drone.
  • the photographing device 123 may be, for example, a device for capturing an image, such as a camera or a video camera.
  • the photographing device 123 may communicate with the flight controller and perform shooting under the control of the flight controller.
  • the photographing device 123 of this embodiment includes at least a photosensitive element.
  • the photosensitive element is, for example, a complementary metal oxide semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor. It can be understood that the shooting device 123 can also be directly fixed on the drone 110, so that the PTZ 120 can be omitted.
  • CMOS complementary metal oxide semiconductor
  • CCD charge-coupled device
  • the terminal device 140 may be located on the ground side of the control system 100 of the mobile platform, and may communicate with the drone 110 wirelessly, wherein the terminal device 140 may communicate with the drone through a Software Development Kit (SDK) interface.
  • SDK Software Development Kit
  • the man-machine 110 performs a programming process to control the flight of the drone.
  • the terminal device 140 may also communicate with the drone 110 in a wired manner; further, the terminal device 140 may also program the drone 110 through a suitable method such as an API interface.
  • the terminal device 140 may include a display screen, and the display screen may be used to display attitude information of the drone 110.
  • an image captured by the imaging device may also be displayed on the display screen.
  • Terminal device In the embodiment of the present invention, it refers to a wireless terminal device, which refers to a device with wireless transceiver function, which can be deployed on land, including indoor or outdoor, handheld or vehicle; it can also be deployed on the water (such as a ship Etc.); can also be deployed in the air (such as aircraft, balloons, satellites, etc.).
  • a wireless terminal device which refers to a device with wireless transceiver function, which can be deployed on land, including indoor or outdoor, handheld or vehicle; it can also be deployed on the water (such as a ship Etc.); can also be deployed in the air (such as aircraft, balloons, satellites, etc.).
  • the terminal device may be a remote control device, a mobile phone, a tablet, a computer with a wireless transmitting and receiving function, a wearable device, a virtual reality (VR) terminal, and an augmented reality (AR) Terminal, wireless terminal in industrial control, wireless terminal in self driving, wireless terminal in remote medical, wireless terminal in smart grid, transportation security ( Wireless terminals in transportation, wireless terminals in smart cities, wireless terminals in smart homes, etc. are not limited here.
  • the movable platform in the embodiments of the present invention collects an image containing a target pattern through an image acquisition device, it obtains a target action instruction according to the target pattern, and then controls the movable platform to execute the target action instruction.
  • FIG. 2 is a flowchart of a control method of a mobile platform according to an embodiment of the present invention. As shown in FIG. 2, this embodiment uses a mobile platform as a drone as an example. The method of this embodiment is applied to a drone The method may include:
  • S201 Collect an image including a target pattern through an image acquisition device.
  • the UAV is controlled by a pattern.
  • the drone collects images through an image acquisition device mounted on the body, and when the user wants to control the drone to perform an action, the pattern can be placed at a position where the image acquisition device of the drone can capture, so that no one The machine can capture an image containing the target pattern through the image acquisition device.
  • the image acquisition device may be, for example, the aforementioned imaging device 123.
  • the image acquisition device is located in front, rear, left, right, above, or below the drone.
  • the image acquisition device of the drone may be at least one, wherein the at least one image acquisition device may be located at different positions of the drone. Accordingly, the drone may acquire images containing the target pattern through at least one image acquisition device located at different positions of the drone.
  • the target pattern may be one or more.
  • the drone of this embodiment first obtains an image acquisition setting instruction, and the image acquisition setting instruction is used to select an image acquisition mode. The drone then selects the image acquisition mode according to the image acquisition setting instruction, and then acquires an image containing the target pattern through the image acquisition device according to the image acquisition mode.
  • the target pattern may be one or more.
  • the image acquisition mode includes: a single image acquisition device acquires a single image or multiple images.
  • a drone may acquire a single image by using a single image acquisition device, and the acquired single image may be included, and the drone may obtain a target pattern from the single image.
  • the drone can acquire multiple images through a single image acquisition device.
  • the three frames of the image include an image containing a target pattern.
  • the drone can acquire the target pattern from the three frames of images, or a single image acquisition device can simultaneously acquire Multiple target patterns.
  • a single image acquisition device is used to acquire an image, and the frame rate of image acquisition can be improved.
  • the image acquisition mode includes: multiple image acquisition devices alternately acquire multiple images.
  • This embodiment uses two image acquisition devices as an example.
  • One image acquisition device is located in front of the drone, and the other image acquisition device is located below the drone.
  • a drone may first control an image acquisition device located in front of the drone to acquire a single image or multiple images, and then control an image acquisition device located below the drone to acquire a single image or multiple images.
  • the image collected by the image acquisition device obtains a target pattern. Therefore, in this embodiment, collecting image acquisition devices located at different positions of the drone to acquire images can improve the flexibility of image acquisition without taking up too much memory and ensuring the normal operation of the drone.
  • the image acquisition mode includes: multiple image acquisition devices acquire multiple images simultaneously.
  • This embodiment uses two image acquisition devices as an example.
  • One image acquisition device is located in front of the drone, and the other image acquisition device is located below the drone.
  • the drone can simultaneously control the image acquisition device located in front of the drone and the image acquisition device located below the drone to acquire a single image or multiple images, and then obtain the images acquired by the two image acquisition devices above to obtain Target pattern.
  • one of the target patterns can be obtained from an image acquired by an image acquisition device located in front of the drone, and the other object pattern can be acquired by an image acquisition device located below the drone. Obtained in the image. If there is one target pattern, the target pattern can be obtained from an image collected by an image acquisition device in front of the drone, and the image acquired by the image acquisition device below the drone does not include the target pattern; or, the target pattern It can be obtained from the image acquired by the image acquisition device below the drone, and the image acquired by the image acquisition device in front of the drone does not include the target pattern.
  • the image collected by the image acquisition device in front of the drone may include a part of the target pattern, and the image acquired by the image acquisition device below the drone includes another part of the target pattern. Therefore, the drone A complete target pattern can be obtained by an image captured by an image acquisition device in front of the drone and an image acquisition device below the drone.
  • the target pattern is identified, and identification information of the target pattern is obtained.
  • the identification information of the target pattern is referred to herein as target identification information.
  • the target pattern may include a two-dimensional code, and the two-dimensional code may include, for example, QR code, Data matrix, April Tag, and the like.
  • the target pattern may include a random dot matrix. It should be noted that the target pattern in this embodiment is not limited to this, and may also be other special patterns, such as arrows and the like.
  • S203 Control the drone to execute a target action instruction corresponding to the target identification information according to the target identification information.
  • the drone after obtaining the target identification information of the target pattern, according to the target identification information, the drone is controlled to execute the target action instruction corresponding to the target identification information, so that the target pattern is used to communicate with the drone. Interaction.
  • the target action instruction includes: instructions for instructing take-off, landing, lap, ascent, descent, forward, backward, rollover, arc, and follow. It should be noted that the target operation instruction in this embodiment is not limited to the above instruction.
  • the target action instruction is the instruction to take off; if the target identification information is ID1, the target action instruction is the instruction to reverse; if the target identification information is ID2, the target action instruction is to back If the target identification information is ID3, the target action instruction is an instruction to fly with the target pattern.
  • the drone may preset the priority of the target action instruction corresponding to the target identification information. For example, when the target identification information is ID1 and ID2, the target action instructions are respectively an instruction to reverse and an instruction to reverse. Accordingly, the drone may perform the action of reversing first and then reversing, for example. In another embodiment, the drone may also perform the backward and reverse actions at the same time, which is not limited herein.
  • an image containing a target pattern is collected by an image acquisition device; the target pattern is identified, and identification information of the target pattern is obtained as target identification information; and then the drone is controlled according to the target identification information And execute a target action instruction corresponding to the target identification information. Therefore, the target pattern can be used to interact with the drone, and no additional control terminal is required to communicate with the drone. In addition, the accuracy of the control of the drone in this embodiment is high.
  • the image containing the target pattern is displayed on a display carrier for acquisition by an image acquisition device of the drone.
  • the display carrier includes one or more of the following: a mobile phone, a tablet computer, a notebook computer, a wearable device, a flexible screen, a tablet, and paper. Therefore, when the user wants to control the drone to execute the motion instruction, the corresponding pattern is displayed in any of the above display carriers, and the drone can execute the corresponding motion instruction after collecting the pattern. In this way, the control operation of the drone by the user is simplified, the user's interest in the operation of the drone is improved, and it is also suitable for application scenarios such as classrooms.
  • the display carriers in the embodiments of the present invention are not limited to the above. Any suitable carriers that can be used to display the target pattern, such as mats and other suitable carriers, are all within the protection scope of the present invention.
  • the UAV of this embodiment before the UAV of this embodiment executes the target action instruction, it also obtains parameter information of the UAV.
  • the parameter information includes at least one of the following: attitude information, speed information, acceleration information, altitude information, position information, distance information, orientation information, power information, temperature information, time information, currently performed action information, calculations Resource information. Then, according to the parameter information of the drone, it is determined whether the drone executes a target action instruction. If it is determined that the drone executes the target action instruction, the target action instruction is executed. If it is determined that the drone does not execute the target action instruction, the drone is controlled not to execute the target action instruction to ensure the flight safety of the drone.
  • the target action instruction is an instruction to descend, and it is determined that the drone is currently on the ground according to the parameter information of the drone, it means that the drone cannot execute the instruction to descend.
  • the target action instruction is an instruction to ascend, and it is determined that the drone is currently at the maximum altitude according to the parameter information of the drone, it means that the drone cannot execute the instruction to ascend.
  • the target action instruction is a take-off instruction, and it is determined that the drone has not taken off according to the parameter information of the drone, then the drone can execute the take-off instruction.
  • the target action instruction is a flip instruction, and it is determined that the drone is in the air according to the parameter information of the drone, it means that the drone can execute the flip instruction.
  • the drone when it is determined that the drone cannot execute the target action instruction according to the parameter information of the drone, the drone does not execute the target action instruction for instructing descent. Further, the drone may generate a prompt instruction to remind the user that the target action instruction cannot be executed.
  • FIG. 3 is a flowchart of a control method of a movable platform provided by another embodiment of the present invention. As shown in FIG. 3, this embodiment uses a movable platform as a drone as an example. The method of this embodiment is applied to an unmanned platform. Machine, the method may include:
  • S301 Collect an image including a target pattern through an image acquisition device.
  • an identification information database is set in advance, and the identification information database includes at least one correspondence relationship between the identification information and the action instruction.
  • the identification information database is set on a drone. Further, if the correspondence between the at least one type of identification information and the action instruction includes: the correspondence between the target identification information and the target action instruction, the drone may query the identification information database according to the target identification information. To obtain a correspondence between the target identification information and the target action instruction, and determine, based on the correspondence, the action instruction corresponding to the target identification information as the target action instruction. The drone then controls the drone to execute the target action instruction.
  • an image containing a target pattern is collected by an image acquisition device, and then the target pattern is identified, and identification information of the target pattern is obtained as target identification information, and then preset according to the target identification information and a drone
  • the identification information database determines that the action instruction corresponding to the target identification information is a target action instruction, and controls the drone to execute the target action instruction. Therefore, the target pattern can be used to interact with the drone to control the drone to execute the preset target motion instruction, and no additional control terminal is required to communicate with the drone. In addition, the accuracy of the drone control in this embodiment high.
  • the above-mentioned identification information database may be pre-programmed into the flash storage of the drone.
  • the user may modify the identification information database of the drone, for example, the user may modify the identification information database by operating the drone or the terminal device.
  • the identification information database is set on the drone, an implementation process in which the user modifies the identification information database of the drone by operating the terminal device may be shown in FIG. 4, which is a flowchart of another embodiment of the present invention.
  • FIG. 4 is a flowchart of another embodiment of the present invention.
  • a flowchart of a control method for a mobile platform. The method in this embodiment may include:
  • the terminal device detects, through the interactive device, a modification instruction of the UAV's identification information database.
  • the terminal device can communicate with the drone in a wireless manner, for example, the terminal device can send an instruction to the drone.
  • the terminal device can detect the modification instruction of the identification information base of the drone input by the user.
  • the terminal device includes one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, and a wearable device, and details are not described herein again.
  • the terminal device detecting the identification information database modification instruction may be, for example, that the terminal device detects the identification information database modification instruction through an interactive device.
  • the interaction device may be an important part of the terminal device and an interface for interacting with the user. The user can operate the drone by operating the interaction device.
  • the user when the user wants to When the identification information base of the mobile phone is modified, the user operates the interactive device to input the identification information base modification instruction, and the terminal device detects the identification information base modification instruction through the interaction device.
  • the interaction device may be, for example, one or more of a touch screen, a keyboard, a joystick, and a pulsator of a terminal device.
  • the terminal device sends an identification information database modification instruction to the drone. Accordingly, the drone receives the identification information base modification instruction sent by the terminal device.
  • the terminal device detects the identification information database modification instruction, and can determine that the user modifies the identification information database of the drone. Then, the terminal device sends an identification information base modification instruction to the drone, where the identification information base modification instruction is used to instruct to modify a preset identification information base in the drone.
  • the drone in this embodiment receives the identification information database modification instruction sent by the terminal device.
  • the user can operate the drone to modify the drone's identification information database, that is, the user enters the drone's identification information database modification instruction (for example, the user makes a drone for the drone).
  • the drone receives the identification information database modification instruction.
  • the drone modifies the identification information base according to the identification information base modification instruction.
  • the drone modifies the identification information base according to the identification information base modification instruction.
  • the modification of the identification information base may be to modify the identification information in the identification information base, or modify the operation instructions in the identification information base, or increase the correspondence between the identification information and the operation instructions, or delete the identification information Correspondence between.
  • the modified identification information database may be used in the embodiment shown in FIG. 3.
  • the identification information database can be modified, so that the operation of the UAV performing the motion instruction according to the pattern is more in line with the habits and interests of the user.
  • modifying the identification information base may include modifying a pattern.
  • the terminal device detects the pattern modification instruction of the drone input by the user through the interactive device.
  • the terminal device then sends a pattern modification instruction to the drone, where the pattern modification instruction is used to instruct to modify the correspondence between the at least one identification information in the identification information database and the target action instruction to the target identification information of the target pattern and the target identification information.
  • the corresponding relationship between the target action instructions is described.
  • the drone receives the pattern modification instruction sent by the terminal device, and then according to the pattern modification instruction, modifies the correspondence between at least one identification information in the identification information database and the target action instruction to the target pattern.
  • the correspondence between the target identification information and the target action instruction may include modifying a pattern.
  • the terminal device detects the pattern modification instruction of the drone input by the user through the interactive device.
  • the terminal device then sends a pattern modification instruction to the drone, where the pattern modification instruction is used to instruct to modify the correspondence between the at least one identification information in the identification information database and the target action
  • this embodiment is not limited to modifying identification information corresponding to the target action instruction, and may also modify identification information corresponding to other action instructions. It can be understood that the user can also modify the pattern in the identification information database by changing the target pattern, for example, only changing the correspondence between the target pattern and the target identification information, but the correspondence between the target identification information and the target action instruction remains unchanged. change.
  • modifying the identification information base may include modifying an action instruction.
  • the terminal device detects the action modification instruction of the drone input by the user through the interactive device.
  • the terminal device then sends an action modification instruction to the drone, where the action modification instruction is used to instruct the action instruction corresponding to the target identification information of the target pattern in the identification information database to be modified to the target action instruction.
  • the drone receives the motion modification instruction sent by the terminal device, and then modifies the motion instruction corresponding to the target identification information of the target pattern in the identification information database into the target motion instruction according to the motion modification instruction.
  • the modified target motion instruction may be a different motion instruction, or only the parameters of the motion instruction may be changed, which is not limited herein. It should be noted that this embodiment is not limited to modifying the action instruction corresponding to the target identification information of the target pattern, and may also modify the action instruction corresponding to the identification information of other patterns.
  • modifying the identification information database may include adding a correspondence between the identification information and the action instruction.
  • the terminal device detects the target increase instruction of the drone input by the user through the interactive device.
  • the terminal device then sends a target increase instruction to the drone, where the target increase instruction is used to indicate a correspondence between the target identification information that adds the target pattern in the identification information database and the target action instruction.
  • the drone receives the target adding instruction sent by the terminal device, and then adds a corresponding relationship between the target identification information and the target action instruction to the identification information database according to the target adding instruction.
  • this embodiment is not limited to adding the correspondence between the target identification information of the target pattern and the target action instruction in the identification information database, and may also add the correspondence between other identification information and other action instructions.
  • modifying the identification information database may include deleting the correspondence between the identification information and the action instruction.
  • the terminal device detects the target deletion instruction of the drone input by the user through the interactive device.
  • the terminal device then sends a target deletion instruction to the drone, where the target deletion instruction is used to indicate a correspondence between the target identification information of the target pattern and the target action instruction in the identification information database.
  • the drone receives the target deletion instruction sent by the terminal device, and then deletes the correspondence between the target identification information and the target action instruction from the identification information database according to the target deletion instruction. It should be noted that this embodiment is not limited to deleting the correspondence between the target identification information of the target pattern and the target action instruction in the identification information database, and may also delete the correspondence between other identification information and other action instructions.
  • the drone of this embodiment may also save the above-mentioned modified identification information database.
  • the target action instruction executed by the drone is obtained from the terminal device.
  • the identification information database may be set on a drone or on a terminal device. In one implementation scenario, the identification information database is set on the drone, and the identification information database is not set on the terminal device, but the identification information database does not include the target action instruction corresponding to the target identification information. In an implementation scenario, an identification information database is set on the drone, and an identification information database is also set on the terminal device, but the identification information database of the drone does not include the target action instruction corresponding to the target identification information, and the identification of the terminal device The information base includes target action instructions corresponding to the target identification information. In one implementation scenario, no identification information database is set on the drone.
  • FIG. 5 is a flowchart of a control method of a mobile platform according to another embodiment of the present invention. The method in this embodiment may include:
  • the drone collects an image including a target pattern through an image acquisition device.
  • the drone recognizes the target pattern, and obtains identification information of the target pattern as target identification information.
  • the drone after the drone recognizes the target pattern and obtains the identification information of the target pattern as the target identification information, it queries the preset identification information database in the drone, where the identification information database includes at least one type of identification information and action instructions. Correspondence between the two, if the target identification information is not queried in the identification information database, the drone executes S503. Optionally, if the target identification information is queried in the identification information database, refer to the solution shown in FIG. 3.
  • the drone sends the target identification information to the terminal device.
  • the drone sends the target identification information of the target pattern to the terminal device. Accordingly, the terminal device receives the target identification information sent by the drone.
  • the drone can identify the target pattern and send the target pattern to the terminal device. Accordingly, the terminal device receives all the data sent by the drone. The target pattern is described, and then the terminal device recognizes the target pattern and obtains target identification information of the target pattern.
  • the terminal device determines a target action instruction corresponding to the target identification information according to the target identification information.
  • the terminal device determines the target action instruction corresponding to the target identification information according to the received target identification information or the target identification information obtained by identifying the target pattern.
  • an identification information database may be set in the terminal device in advance, and the identification information database includes a correspondence relationship between at least one type of identification information and a target instruction. After receiving the target identification information sent by the drone or identifying the target pattern to obtain the target identification information, the terminal device determines a target action instruction corresponding to the target identification information according to the target identification information and the identification information database.
  • the terminal device includes a display screen. After receiving the target identification information sent by the drone or identifying the target pattern to obtain the target identification information, the terminal device displays the target identification information through the display screen, so that the user can know the target identification of the target pattern collected by the drone. Information, the user can determine the action instruction corresponding to the target identification information, and then the user inputs a drone control operation to the interactive device of the terminal device.
  • the drone control operation is to input the action instruction corresponding to the target identification information as the target action instruction. operating. Accordingly, the terminal device detects the drone control operation input by the user through the interactive device, and determines the action instruction corresponding to the target identification information as the target action instruction according to the drone control operation.
  • the terminal device may further display the target pattern through the display screen, so that the user can know the target pattern collected by the drone.
  • the terminal device sends a control instruction to the drone. Accordingly, the drone receives the control instruction sent by the terminal device.
  • the terminal device then sends a control instruction to the drone.
  • the control instruction is used to control the drone to execute the target action instruction.
  • the drone of this embodiment further sends parameter information of the drone to the terminal device.
  • the terminal device receives the parameter information of the drone sent by the drone, and according to the drone's Parameter information to determine whether the UAV executes the target action instruction. If it is determined that the drone executes the target action instruction, the control instruction is sent to the drone. If it is determined that the drone does not execute the target action instruction, the above control instruction is not sent to the drone to ensure the safety of the drone.
  • the parameter information includes at least one of the following: attitude information, speed information, acceleration information, altitude information, position information, distance information, orientation information, power information, temperature information, time information, information on currently performed actions, Computing resource information.
  • the drone determines that the drone is currently in the air according to the parameter information of the drone, then it is determined that the drone can execute the instruction to flip the instruction, and send the instruction to the drone.
  • the human machine sends a control instruction indicating the flip instruction.
  • the drone controls the drone to execute the target action instruction according to the control instruction.
  • the UAV controls the UAV to execute the foregoing target action instruction according to the control instruction.
  • terminal device involved in FIG. 5 and the terminal device involved in FIG. 4 may be the same terminal device, or may be different terminal devices.
  • the drone collects an image containing a target pattern through an image acquisition device, recognizes the target pattern, obtains identification information of the target pattern as target identification information, and sends the target identification information to a terminal device.
  • the terminal device determines a target action instruction corresponding to the target identification information according to the target identification information, and sends a control instruction to the drone.
  • the drone controls the drone to execute the target action instruction according to the control instruction.
  • the terminal device can be used to control the drone to collect the image containing the target pattern and execute the corresponding target action instruction, so that the user can control the drone programmatically, which can be used in teaching scenarios. Stimulate students' interest in programming drones.
  • the user can modify the identification information database of the terminal device, for example, the user can modify the terminal device by operating the terminal device (such as an interactive device of the terminal device).
  • Library of pre-set identification information Specifically, the terminal device receives an identification information base modification instruction input by a user, where the identification information base modification instruction is used to instruct to modify the identification information base, and then the terminal device modifies the identification information base according to the identification information base modification instruction.
  • the identification information base modification instruction includes a pattern modification instruction, which is used to instruct to modify a correspondence relationship between at least one identification information in the identification information base and the target action instruction to A correspondence between target identification information of the target pattern and the target action instruction.
  • a pattern modification instruction which is used to instruct to modify a correspondence relationship between at least one identification information in the identification information base and the target action instruction to A correspondence between target identification information of the target pattern and the target action instruction.
  • the identification information base modification instruction includes: a target addition instruction, the target addition instruction is used to instruct adding between the target identification information of the target pattern and the target action instruction in the identification information base.
  • the terminal device after receiving the target increase instruction, the terminal device adds a corresponding relationship between the target identification information and the target action instruction to the identification information database according to the target increase instruction.
  • the identification information base modification instruction includes an action modification instruction, where the action modification instruction is used to instruct modification of an action instruction corresponding to the target identification information in the identity information database as the target action instruction.
  • the terminal device modifies the action instruction corresponding to the target identification information in the identification information database into the target action instruction according to the action modification instruction.
  • the identification information database modification instruction includes a target deletion instruction
  • the target deletion instruction is used to instruct deletion of a correspondence between the target identification information and the target action instruction.
  • the terminal device deletes the correspondence between the target identification information in the identification information database and the target action instruction according to the target deletion instruction.
  • the terminal device in this embodiment may further store the modified identification information database.
  • An embodiment of the present invention also provides a computer storage medium.
  • the computer storage medium stores program instructions.
  • the program may include a part or all of the steps of the control method of the movable platform in the foregoing embodiments.
  • FIG. 6 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • the movable platform 600 in this embodiment may include an image acquisition device 601 and a processor 602.
  • the movable platform 600 in this embodiment may further include a communication device 603.
  • the movable platform 600 in this embodiment may further include a memory 604.
  • the image acquisition device 601, the processor 602, the communication device 603, and the memory 604 may be connected through a bus communication.
  • the image acquisition device 601 is configured to acquire an image.
  • the processor 602 is configured to collect an image including a target pattern through an image acquisition device; and identify the target pattern to obtain identification information of the target pattern as target identification information; and control the available target information according to the target identification information.
  • the mobile platform 600 executes a target action instruction corresponding to the target identification information.
  • an identification information database is set in advance, and the identification information database includes at least one correspondence between the identification information and the action instruction.
  • the processor 602 is specifically configured to determine, according to the target identification information and the identification information database, an action instruction corresponding to the target identification information as the target action instruction; and control the movable platform 600 to execute all actions The target action instruction is described.
  • the communication device 603 is configured to receive an identification information base modification instruction, and the identification information base modification instruction is used to instruct to modify the identification information base.
  • the processor 602 is further configured to modify the identification information base according to the identification information base modification instruction.
  • the identification information base modification instruction includes a pattern modification instruction, which is used to indicate a correspondence between at least one identification information in the identification information base and the target action instruction. Modify the corresponding relationship between the target identification information of the target pattern and the target action instruction;
  • the identification information base modification instruction includes: a target addition instruction, which is used to instruct to add target identification information of the target pattern and the target action instruction in the identification information base.
  • the processor 602 is specifically configured to add a corresponding relationship between the target identification information and the target action instruction to the identification information database according to the target addition instruction.
  • the identification information base modification instruction includes: an action modification instruction, where the action modification instruction is used to instruct modification of an action instruction corresponding to the target identification information in the identity information database as the target action instruction;
  • the processor 602 is specifically configured to modify the action instruction corresponding to the target identification information in the identification information database into the target action instruction according to the action modification instruction.
  • the identification information base modification instruction includes a target deletion instruction
  • the target deletion instruction is used to instruct deletion of a correspondence between the target identification information and the target action instruction.
  • the processor 602 is specifically configured to delete the correspondence between the target identification information in the identification information database and the target action instruction according to the target deletion instruction.
  • the memory 604 is configured to store the modified identification information database.
  • the identification information database is disposed on the movable platform 600.
  • the processor 602 is further configured to obtain parameter information of the movable platform 600 before executing a target action instruction corresponding to the target identification information; according to the target identification information and the parameters Information to determine whether the movable platform 600 executes the target action instruction.
  • the communication device 603 is configured to send the target identification information to a terminal device before the processor controls the movable platform to execute a target action instruction corresponding to the target identification information, so that The terminal device generates a control instruction according to the target identification information, and sends the control instruction to the movable platform 600, wherein the control instruction is used to control the movable platform to execute the target action instruction; After the device sends the target pattern, the device identifies the target pattern, and obtains identification information of the target pattern as target identification information;
  • the communication device 603 is further configured to receive the control instruction.
  • the communication device 603 is further configured to send parameter information of the mobile platform 600 to the terminal device before receiving a control instruction sent by the terminal device;
  • the terminal device determines whether the control instruction is used to control the movable platform 600 to execute the target action instruction according to the target identification information and the parameter information.
  • the parameter information includes at least one of the following: attitude information, speed information, acceleration information, altitude information, position information, distance information, orientation information, power information, temperature information, time information, and currently performed actions Information, computing resource information.
  • the target pattern includes a two-dimensional code or a random dot matrix.
  • the image acquisition device 601 is located in front, rear, left, right, above, or below the movable platform 600.
  • At least one of the image acquisition devices 601 is located at different positions on the movable platform 600.
  • an image acquisition device 601 is taken as an example, but this embodiment is not limited thereto.
  • the processor 602 is further configured to acquire an image acquisition setting instruction before acquiring an image including a target pattern through the image acquisition device 601, where the image acquisition setting instruction is used to select an image acquisition mode;
  • the processor 602 collects an image including a target pattern through the image acquisition device 601, it is specifically configured to: according to the image acquisition mode, acquire an image including the target pattern through the image acquisition device 601.
  • the image acquisition device 601 is at least one, and the image acquisition mode includes: single image acquisition device 601 acquisition includes a single image or multiple images, multiple image acquisition devices 601 alternately acquire multiple images, multiple images The acquisition device 601 acquires multiple images simultaneously.
  • the target action instruction includes: instructions for instructing take-off, landing, lap, ascent, descent, forward, backward, rollover, arc, and follow.
  • the image containing the target pattern is displayed on a display carrier.
  • the display carrier includes one or more of the following: a mobile phone, a tablet computer, a notebook computer, a wearable device, a flexible screen, a tablet, and paper.
  • the foregoing memory 604 is used to store program code.
  • the movable platform 600 may implement the foregoing technical solution.
  • the processor 602 may include a flight controller.
  • the movable platform of this embodiment can be used to implement the technical solutions of the drone in the foregoing method embodiments of the present invention.
  • the implementation principles and technical effects are similar, and will not be repeated here.
  • FIG. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
  • the terminal device 700 in this embodiment may include a communication device 701 and a processor 702.
  • the terminal device 700 in this embodiment may further include a display screen 703 and an interactive device 704.
  • the terminal device 700 in this embodiment may further include a memory 705.
  • the communication device 701, the processor 702, the display screen 703, the interaction device 704, and the memory 705 may be connected through a bus communication.
  • the communication device 701 is configured to receive a target pattern or target identification information sent by a movable platform;
  • the processor 702 is configured to determine a target action instruction corresponding to the target identification information according to the target identification information;
  • the processor 702 is further configured to identify the target pattern after the communication device 701 receives the target pattern sent by the mobile platform, and obtain identification information of the target pattern as target identification information;
  • the communication device 701 is further configured to send a control instruction to the movable platform, where the control instruction is used to control the movable platform to execute the target action instruction.
  • the processor 702 is configured to display the target pattern or the target identification information through the display screen 703, and detect a user-entered mobile platform control operation through an interactive device 704; and according to The movable platform control operation determines the target action instruction.
  • the communication device 701 is further configured to receive parameter information of the mobile platform sent by the mobile platform before sending a control instruction to the mobile platform; according to the information of the mobile platform, Parameter information to determine whether the movable platform executes the target action instruction.
  • the parameter information includes at least one of the following: attitude information, speed information, acceleration information, altitude information, position information, distance information, orientation information, power information, temperature information, time information, and currently performed actions Information, computing resource information.
  • an identification information database is set in advance, and the identification information database includes at least one correspondence between the identification information and the action instruction;
  • the processor is specifically configured to determine, according to the target identification information and the identification information database, an action instruction corresponding to the target identification information as the target action instruction.
  • the communication device 701 is further configured to receive an identification information base modification instruction, where the identification information base modification instruction is used to instruct to modify the identification information base;
  • the processor 702 is further configured to modify the identification information base according to the identification information base modification instruction.
  • the identification information base modification instruction includes: a pattern modification instruction
  • the pattern modification instruction is used to instruct to modify a correspondence relationship between at least one identification information in the identification information database and a target action instruction to a correspondence relationship between target identification information of a target pattern and the target action instruction.
  • the identification information base modification instruction includes: a target addition instruction, which is used to indicate a correspondence between target identification information that adds a target pattern and a target action instruction in the identification information base. .
  • the identification information base modification instruction includes: a motion modification instruction, which is used to indicate that the motion instruction corresponding to the target identification information that modifies the target pattern in the identification information base is a target motion instruction.
  • the identification information base modification instruction includes a target deletion instruction, and the target deletion instruction is used to instruct deletion of a correspondence between the target identification information and the target action instruction.
  • the memory 705 is configured to store the modified identification information database.
  • the identification information database is set on the terminal device.
  • the target pattern includes a two-dimensional code or a random dot matrix.
  • the memory 705 is configured to store program code.
  • the terminal device 700 may implement the foregoing technical solution.
  • the terminal device in this embodiment may be used to execute the technical solution of the terminal device in the foregoing method embodiment of the present invention.
  • the implementation principles and technical effects are similar, and details are not described herein again.
  • the processor involved in any of the above embodiments may be a central processing unit (CPU), and the processor may also be another general-purpose processor, a digital signal processor (DSP), or a dedicated integration.
  • Circuit Application Specific Integrated Circuit, ASIC
  • ready-made programmable gate array Field-Programmable Gate Array, FPGA
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • FIG. 8 is a schematic structural diagram of a control system for a mobile platform according to an embodiment of the present invention.
  • the control system 800 for a mobile platform in this embodiment may include: a mobile platform 801 and a terminal device 802 .
  • the movable platform 801 may adopt the structure of the embodiment shown in FIG. 6, and correspondingly, the technical solutions of the drones in the foregoing method embodiments may be implemented. The implementation principles and technical effects thereof are similar, and will not be repeated here.
  • the terminal device 802 may adopt the structure of the embodiment shown in FIG. 7.
  • the technical solution of the terminal device in each of the foregoing method embodiments may be implemented.
  • the implementation principles and technical effects are similar, and are not described herein again.
  • the foregoing program may be stored in a computer-readable storage medium.
  • the program is executed, the program is executed.
  • the foregoing storage medium includes: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc. The medium.

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Abstract

一种可移动平台的控制方法、可移动平台、终端设备和系统，此方法包括：通过图像采集装置采集包含目标图案的图像；再识别目标图案，获得目标图案的标识信息为目标标识信息；然后根据目标标识信息，控制可移动平台执行目标标识信息对应的目标动作指令。从而可以通过目标图案来与可移动平台交互，无需额外控制终端与可移动平台进行通信，同时对可移动平台的控制精确度更高。

Description

可移动平台的控制方法、可移动平台、终端设备和系统 技术领域
本发明实施例涉及可移动平台技术领域，尤其涉及一种可移动平台的控制方法、可移动平台、终端设备和系统。
背景技术
用户可以通过与可移动平台之间的交互来控制可移动平台。例如，以可移动平台为无人机举例，目前用户与无人机之间的交互存在两种方式，一种方式为：用户通过控制终端(手机、遥控器等)与无人机进行交互，即用户操作控制终端向无人机发送控制指令以控制无人机，另一种方式为：用户通过手势等交互信息与无人机进行交互，例如无人机可以识别用户的手势，然后执行该手势对应的操作。其中，用户通过手势来控制无人机可以无需控制终端，节省成本，但是需要无人机对手势的识别能力要求很高，而且无人机对手势的识别存在一定的误差，例如：用户做的手势是控制无人机旋转10度，由于手势识别的误差，会造成无人机旋转5度，因此通过手势方式控制无人机会存在控制精确度不够高的问题。
发明内容
本发明实施例提供一种可移动平台的控制方法、可移动平台、终端设备和系统，用于实现通过图案来控制可移动平台，提高了可移动平台的控制精确度。
第一方面，本发明实施例提供一种可移动平台的控制方法，应用于可移动平台，包括：
通过图像采集装置采集包含目标图案的图像；
识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；
根据所述目标标识信息，控制所述可移动平台执行所述目标标识信息对应的目标动作指令。
第二方面，本发明实施例提供一种可移动平台的控制方法，应用于终端 设备，包括：
接收所述可移动平台发送的目标图案或目标标识信息，其中，当接收所述可移动平台发送的目标图案后，识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；
根据所述目标标识信息，确定所述目标标识信息对应的目标动作指令；
向所述可移动平台发送控制指令，所述控制指令用于控制所述可移动平台执行所述目标动作指令。
第三方面，本发明实施例提供一种可移动平台，包括：图像采集装置和处理器；
所述图像采集装置，用于采集图像；
所述处理器，用于通过图像采集装置采集包含目标图案的图像；以及识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；根据所述目标标识信息，控制所述可移动平台执行所述目标标识信息对应的目标动作指令。
第四方面，本发明实施例提供一种终端设备，包括：通信装置和处理器；
所述通信装置，用于接收所述可移动平台发送的目标图案或目标标识信息，所述目标标识信息为所述可移动平台识别的目标图案的标识信息；
所述处理器，用于根据所述目标标识信息，确定所述目标标识信息对应的目标动作指令；
其中，所述处理器，还用于当所述通信装置接收所述可移动平台发送的目标图案后，识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；
所述通信装置，还用于向所述可移动平台发送控制指令，所述控制指令用于控制所述可移动平台执行所述目标动作指令。
第五方面，本发明实施例提供一种可移动平台的控制系统，所述控制系统包括第三方面的可移动平台和第四方面的终端设备。
第六方面，本发明实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行第一方面或第二方面所述的可移动平台的控制方法。
第七方面，本发明实施例提供一种计算机程序，当所述计算机程序被计算机执行时，用于实现第一方面或第二方面所述的可移动平台的控制方法。
本发明实施例提供的可移动平台的控制方法、可移动平台、终端设备和系统，通过图像采集装置采集包含目标图案的图像；再识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；然后根据所述目标标识信息，控制所述可移动平台执行所述目标标识信息对应的目标动作指令。因此可以通过目标图案来与可移动平台交互，无需额外控制终端与可移动平台进行通信，此外，本实施例对可移动平台的控制精确度高。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本发明的实施例的可移动平台的控制系统的示意性架构图；
图2为本发明一实施例提供的可移动平台的控制方法的流程图；
图3为本发明另一实施例提供的可移动平台的控制方法的流程图；
图4为本发明另一实施例提供的可移动平台的控制方法的流程图；
图5为本发明另一实施例提供的可移动平台的控制方法的流程图；
图6为本发明一实施例提供的可移动平台的一种结构示意图；
图7为本发明一实施例提供的终端设备的一种结构示意图；
图8为本发明一实施例提供的可移动平台的控制系统的一种结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明的实施例提供了可移动平台的控制方法、可移动平台、终端设备 和系统。该可移动平台例如可以是无人机、无人船、无人汽车、机器人等。其中无人机例如可以是旋翼飞行器(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼飞行器，本发明的实施例并不限于此。
图1是根据本发明的实施例的可移动平台的控制系统的示意性架构图。本实施例以可移动平台为无人机为例进行说明。
可移动平台的监管控制系统100可以包括无人机110和终端设备140。其中，本实施例中，所述无人机110以无人飞行器为例，其可以包括动力系统150、控制系统160、机架和承载在机架上的云台120。无人机110可以与终端设备140进行无线通信。在其他实施例中，所述无人机也可以为无人车或无人船。
机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接，用于在无人机110着陆时起支撑作用。所述控制系统160设置在所述机身内。
动力系统150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152。其中电机152连接在电调151与螺旋桨153之间，电机152和螺旋桨153设置在无人机110的机臂上。电调151用于接收控制系统160产生的驱动信号，并根据驱动信号提供驱动电流给电机152，以控制电机152的转速。需要说明的是，一个电调151可以对应多个电机，也可以多个电调151分别对应一个电机152。电机152用于驱动螺旋桨旋转，从而为无人机110的飞行提供动力，该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中，无人机110可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴(Roll)、偏航轴(Yaw)和俯仰轴(Pitch)。应理解，电机152可以是直流电机，也可以交流电机。另外，电机152可以是无刷电机，也可以是有刷电机。
控制系统160可以包括控制器161和传感系统162。传感系统162用于测量无人机的姿态信息，即无人机110在空间的位置信息和状态信息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感系统162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial  Measurement Unit，IMU)、视觉传感器、全球导航卫星系统和气压计等传感器中的至少一种。例如，全球导航卫星系统可以是GPS。控制器161用于控制无人机110的飞行或运行，例如，可以根据传感系统162测量的姿态信息控制无人机110的飞行或运行。应理解，控制器161可以按照预先编好的程序指令对无人机110进行控制。
云台120可以包括云台电机122。云台用于携带拍摄装置123。控制器161可以通过控制云台电机122转动的方式来控制云台120的运动。可选地，作为另一实施例，云台120还可以包括云台控制器，用于通过控制云台电机122来控制云台120的运动。应理解，云台120可以独立于无人机110，也可以为无人机110的一部分。应理解，云台电机122可以是直流电机，也可以是交流电机。另外，云台电机122可以是无刷电机，也可以是有刷电机。还应理解，云台可以位于无人机的顶部，也可以位于无人机的底部，也可以位于无人机的前部，也可以位于无人机的后部，也可以位于无人机的左部，也可以位于无人机的右部。
拍摄装置123例如可以是照相机或摄像机等用于捕获图像的设备，拍摄装置123可以与飞行控制器通信，并在飞行控制器的控制下进行拍摄。本实施例的拍摄装置123至少包括感光元件，该感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)传感器或电荷耦合元件(Charge-coupled Device，CCD)传感器。可以理解，拍摄装置123也可直接固定于无人机110上，从而云台120可以省略。
终端设备140可以位于可移动平台的控制系统100的地面端，可以通过无线方式与无人机110进行通信，其中，终端设备140可以通过软件开发工具包(Software Development Kit,SDK)接口对对无人机110进行编程处理，以对无人机的飞行进行控制。在其他实施例中，终端设备140也可以通过有线方式与无人机110进行通信；进一步地，终端设备140也可以通过API接口等合适的方式对无人机110进行编程处理，本实施例仅为示例性说明，在此不作限定。可选地，终端设备140可以包括显示屏，该显示屏可以用于显示无人机110的姿态信息，另外，还可以在显示屏上显示成像装置拍摄的图像。
应理解，上述对于无人机系统各组成部分的命名仅是出于标识的目的， 并不应理解为对本发明的实施例的限制。
终端设备：本发明实施例中是指是无线终端设备，是指一种具有无线收发功能的设备，可以部署在陆地上，包括室内或室外、手持或车载；也可以部署在水面上(如轮船等)；还可以部署在空中(例如飞机、气球和卫星上等)。所述终端设备可以是遥控装置、手机(mobile phone)、平板电脑(Pad)、带无线收发功能的电脑、穿戴式设备、虚拟现实(Virtual Reality，VR)终端、增强现实(Augmented Reality，AR)终端、工业控制(industrial control)中的无线终端、无人驾驶(self driving)中的无线终端、远程医疗(remote medical)中的无线终端、智能电网(smart grid)中的无线终端、运输安全(transportation safety)中的无线终端、智慧城市(smart city)中的无线终端、智慧家庭(smart home)中的无线终端等等，在此不作限定。
本发明各实施例中的可移动平台通过图像采集装置采集包含目标图案的图像后，根据目标图案获得目标动作指令，然后控制可移动平台执行该目标动作指令。下面对各实施方案进行描述。
图2为本发明一实施例提供的可移动平台的控制方法的流程图，如图2所示，本实施例以可移动平台为无人机为例，本实施例的方法应用于无人机，该方法可以包括：
S201、通过图像采集装置采集包含目标图案的图像。
本实施例是通过图案来控制无人机执行动作。其中，无人机通过搭载在其身上的图像采集装置采集图像，当用户想要控制无人机执行动作时，可以将图案放置在无人机的图像采集装置可以采集到的位置，这样无人机可以通过该图像采集装置采集到包含目标图案的图像。该图像采集装置例如可以是指上述的拍摄装置123。
可选地，所述图像采集装置位于所述无人机的前方、后方、左方、右方、上方或者下方。
可选地，无人机的图像采集装置可以为至少一个，其中，该至少一个图像采集装置可以位于该无人机的不同位置。相应地，无人机可以通过位于无人机的不同位置的至少一个图像采集装置采集包含目标图案的图像。可选地，该目标图案可以为一个或多个。
在一些实施例中，本实施例的无人机先获取图像采集设置指令，该图像 采集设置指令用于选择图像采集模式。然后无人机根据该图像采集设置指令，选择该图像采集模式，然后根据该图像采集模式，通过图像采集装置采集包含目标图案的图像。可选地，该目标图案可以为一个或多个。
可选地，该图像采集模式包括：单个图像采集装置采集单图像或多图像。例如：无人机可以通过单个图像采集装置采集单图像，该采集的单图像可以为包含，无人机可以从该单图像中获取目标图案。或者，该无人机可以通过单个图像采集装置采集多图像，例如3帧图像中包括包含目标图案的图像，无人机可以从该3帧图像中获取目标图案，或者单个图像采集装置同时采集到多个目标图案。如此，本实施例采用单个图像采集装置来采集图像，可以提高图像采集的帧率。
可选地，该图像采集模式包括：多个图像采集装置交替采集多图像。本实施例以两个图像采集装置为例，一个图像采集装置位于无人机的前方，另一个图像采集装置位于无人机的下方。相应地，无人机可以先控制位于无人机的前方的图像采集装置采集单图像或多图像，再控制位于无人机的下方的图像采集装置采集单图像或多图像，然后根据上述两个图像采集装置采集的图像，获得目标图案。因此，本实施例采集位于无人机的不同位置的图像采集装置来采集图像，可以提高图像采集的灵活性，同时不会占用过多内存，保证无人机正常工作。
可选地，该图像采集模式包括：多个图像采集装置同时采集多图像。本实施例以两个图像采集装置为例，一个图像采集装置位于无人机的前方，另一个图像采集装置位于无人机的下方。相应地，无人机可以同时控制位于无人机的前方的图像采集装置以及位于无人机的下方的图像采集装置采集单图像或多图像，然后根据上述两个图像采集装置采集的图像，获得目标图案。
例如：若目标图案为两个，其中，一个目标图案可以通过位于无人机的前方的图像采集装置采集的图像中获得，另一个目标图案可以通过位于无人机的下方的图像采集装置采集的图像中获得。若目标图案为一个，该目标图案可以通过无人机的前方的图像采集装置采集的图像中获得，而无人机的下方的图像采集装置采集的图像中不包含目标图案；或者，该目标图案可以通过无人机的下方的图像采集装置采集的图像中获得，而无人机的前方的图像采集装置采集的图像中不包含目标图案。若目标图案为一个，无人机的前方 的图像采集装置采集的图像中可以包含一部分目标图案，而无人机的下方的图像采集装置采集的图像中包含另一部分目标图案，因此，无人机通过无人机的前方的图像采集装置以及无人机的下方的图像采集装置采集的图像可以获取完整的目标图案。
S202、识别所述目标图案，获得所述目标图案的标识信息为目标标识信息。
本实施例中，在无人机获取到包含目标图案的图像之后，识别该目标图案，获得该目标图案的标识信息，该目标图案的标识信息此处称为目标标识信息。
可选地，该目标图案可以包括二维码，该二维码例如可以包括QR code、Data Matrix、AprialTag等。或者，该目标图案可以包括随机点阵(random dot marker)。需要说明的是，本实施例的目标图案并不限于此，也可以为其它特殊的图案，例如箭头等。
S203、根据所述目标标识信息，控制无人机执行所述目标标识信息对应的目标动作指令。
本实施例中，在获得到目标图案的目标标识信息之后，根据该目标标识信息，控制无人机执行该目标标识信息对应的目标动作指令，因此实现了通过目标图案，来与无人机进行交互。
可选地，所述目标动作指令包括：指示起飞、降落、转圈、上升、下降、前进、后退、翻转、弧线、跟随的指令。需要说明的是，本实施例的目标动作指令不限于上述指令。
例如：若目标标识信息为ID0，则目标动作指令为指示起飞的指令；若目标标识信息为ID1，则目标动作指令为指示翻转的指令；若目标标识信息为ID2，则目标动作指令为指示后退的指令；目标标识信息为ID3，则目标动作指令为指示跟随该目标图案飞行的指令。
可选地，若目标标识信息为多个，无人机可以预先设置所述目标标识信息对应的目标动作指令的优先级。例如当目标标识信息分别为ID1和ID2，则目标动作指令分别为指示翻转的指令和指示后退的指令，相应地，无人机例如可以执行先后退再翻转的动作。在另一种实施例中，无人机也可以同时执行后退和翻转的动作，在此不作限定。
本实施例中，通过图像采集装置采集包含目标图案的图像；再识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；然后根据所述目标标识信息，控制所述无人机执行所述目标标识信息对应的目标动作指令。因此可以通过目标图案来与无人机交互，无需额外控制终端与无人机进行通信，此外，本实施例对无人机的控制精确度高。
可选地，该包含目标图案的图像显示在显示载体上，以供无人机的图像采集装置采集。可选地，该显示载体包括以下中的一种或多种：手机、平板电脑、笔记本电脑、可穿戴设备、柔性屏幕、平板、纸张。因此，当用户想要控制无人机执行动作指令时，在上述任一显示载体中显示对应的图案，无人机采集到该图案后就可执行相应的动作指令。如此，简化了用户对无人机的控制操作，提高了用户对无人机操作的兴趣度，还适合类似课堂这样的应用场景。可以理解，本发明实施例的显示载体不局限于以上几种，任何合适的可用于显示目标图案的载体，如垫子等合适的载体，均在本发明保护范围之内。
在一些实施例中，本实施例的无人机在执行目标动作指令之前，还获取该无人机的参数信息。可选地，该参数信息包括以下至少一种：姿态信息、速度信息、加速度信息、高度信息、位置信息、距离信息、朝向信息、电量信息、温度信息、时间信息、当前执行的动作信息、运算资源信息。然后根据该无人机的参数信息，确定该无人机是否执行目标动作指令。若确定该无人机执行目标动作指令，则执行上述目标动作指令。若确定该无人机不执行目标动作指令，则控制无人机不执行该目标动作指令，以保证无人机的飞行安全。
例如：若该目标动作指令为指示下降的指令，而且根据无人机的参数信息确定无人机当前处于地面上，则说明无人机还不能执行指示下降的指令。若该目标动作指令为指示上升的指令，而且根据无人机的参数信息确定无人机当前处于最大高度，则说明无人机还不能执行指示上升的指令。若该目标动作指令为指示起飞指令，而且根据无人机的参数信息确定无人机未起飞，则说明无人机可以执行起飞指令。若该目标动作指令为指示翻转指令，而且根据无人机的参数信息确定无人机在空中，则说明无人机可以执行翻转指令。
在一种实施例中，当根据无人机的参数信息确定无人机不能执行目标动 作指令时，无人机不执行所述用于指示下降的目标动作指令。进一步地，无人机还可生成提示指令，提示用户该目标动作指令无法被执行。
图3为本发明另一实施例提供的可移动平台的控制方法的流程图，如图3所示，本实施例以可移动平台为无人机为例，本实施例的方法应用于无人机，该方法可以包括：
S301、通过图像采集装置采集包含目标图案的图像。
S302、识别所述目标图案，获得所述目标图案的标识信息为目标标识信息。
本实施例中，S301和S302的具体实现过程可以参见图2所示实施例的相关描述，此处不再赘述。
S303、根据所述目标标识信息以及标识信息库，确定所述目标标识信息对应的动作指令为目标动作指令。
S304、控制无人机执行所述目标动作指令。
本实施例中，预先设置有标识信息库，所述标识信息库包括至少一种标识信息与动作指令之间的对应关系。在一种实施例中，所述标识信息库设置在无人机上。进一步地，若该至少一种标识信息与动作指令之间的对应关系包括：该目标标识信息与目标动作指令之间的对应关系，则无人机可以根据该目标标识信息，查询该标识信息库，获得该目标标识信息与目标动作指令之间的对应关系，并根据该对应关系，确定所述目标标识信息对应的动作指令为所述目标动作指令。然后无人机控制该无人机执行该目标动作指令。
本实施例中，通过图像采集装置采集包含目标图案的图像，再识别所述目标图案，获得所述目标图案的标识信息为目标标识信息，然后根据所述目标标识信息，以及无人机预先设置的标识信息库，确定所述目标标识信息对应的动作指令为目标动作指令，并控制无人机执行所述目标动作指令。因此可以通过目标图案来与无人机交互，以控制无人机执行预先设置的目标动作指令，无需额外控制终端与无人机进行通信，此外，所以本实施例对无人机的控制精确度高。
可选地，上述的标识信息库可以是预先烧录到无人机的flash存储中。
在一些实施例中，若上述的标识信息库不能满足用户的对无人机的控制需求，用户可以修改无人机的标识信息库，例如用户可以通过操作无人机或 终端设备修改标识信息库。例如，当标识信息库设置在无人机上时，用户通过操作终端设备修改无人机的标识信息库的一种实现过程可以如图4所示，图4为本发明另一实施例提供的可移动平台的控制方法的流程图，本实施例的方法可以包括：
S401、终端设备通过交互装置检测到用户输入的无人机的标识信息库修改指令。
本实施例中，终端设备可以通过无线方式与无人机进行通信，例如终端设备可以向无人机发送指令。其中，该终端设备可以检测用户输入的无人机的标识信息库修改指令。该终端设备包括遥控器、智能手机、平板电脑、膝上型电脑、穿戴式设备中的一种或多种，此处不再赘述。其中，终端设备检测上述标识信息库修改指令例如可以为：该终端设备通过交互装置检测到标识信息库修改指令。其中，交互装置可以是终端设备的重要组成部分，是与用户进行交互的接口，用户可以通过对交互装置的操作，实现对无人机的操作；本实施例中，当用户想要对无人机的标识信息库进行修改时，用户便对交互装置进行操作以输入标识信息库修改指令，终端设备通过交互装置会检测到该标识信息库修改指令。该交互装置例如可以是终端设备的触摸屏、键盘、摇杆、波轮中的一种或多种。
S402、终端设备向所述无人机发送标识信息库修改指令。相应地，无人机接收终端设备发送的标识信息库修改指令。
本实施例中，终端设备检测到标识信息库修改指令，可以确定用户修改无人机的标识信息库。然后终端设备向无人机发送标识信息库修改指令，所述标识信息库修改指令用于指示修改所述无人机中预先设置的标识信息库。
相应地，本实施例的无人机接收终端设备发送的标识信息库修改指令。
在一种可替换S401和S402的方案中，用户可以操作无人机来修改无人机的标识信息库，也就是，用户对无人机输入标识信息库修改指令(例如用户对无人机机身上的其中一按键进行操作等)，相应地，无人机接收到标识信息库修改指令。
S403、无人机根据所述标识信息库修改指令，修改所述标识信息库。
无人机根据所述标识信息库修改指令，修改所述标识信息库。其中，修改标识信息库可以是修改标识信息库中标识信息，也可以修改标识信息库中 的动作指令，也可以增加标识信息与动作指令之间的对应关系，也可以删除标识信息与动作指令之间的对应关系。
其中，修改后标识信息库可以用于上述图3所示的实施例中。
因此，通过图4所示的实施例可以修改标识信息库，使得无人机根据图案执行动作指令的操作更加符合用户的习惯和兴趣。
在一些实施例中，修改标识信息库可以包括修改图案。具体为：终端设备通过交互装置检测到用户输入的无人机的图案修改指令。然后终端设备向无人机发送图案修改指令，该图案修改指令用于指示将所述标识信息库中的至少一个标识信息与目标动作指令之间的对应关系修改为目标图案的目标标识信息与所述目标动作指令之间的对应关系。无人机接收终端设备发送的图案修改指令，然后将根据该图案修改指令，将所述标识信息库中的至少一个标识信息与所述目标动作指令之间的对应关系修改为所述目标图案的目标标识信息与所述目标动作指令之间的对应关系。需要说明的是，本实施例不限于修改该目标动作指令对应的标识信息，还可以修改其它动作指令对应的标识信息。可以理解，用户也可以通过改变目标图案来实现对标识信息库中的图案进行修改，例如仅改变目标图案与目标标识信息的对应关系，但目标标识信息与目标动作指令之间的对应关系保持不变。
在一些实施例中，修改标识信息库可以包括修改动作指令。具体为：终端设备通过交互装置检测到用户输入的无人机的动作修改指令。然后终端设备向无人机发送动作修改指令，该动作修改指令用于指示所述标识信息库中的目标图案的目标标识信息对应的动作指令修改为目标动作指令。无人机接收终端设备发送的动作修改指令，然后将根据该动作修改指令，将所述标识信息库中的目标图案的目标标识信息对应的动作指令修改为目标动作指令。可以理解，修改后的目标动作指令可以为不同的动作指令，也可以仅改变动作指令的参数，在此不作限定。需要说明的是，本实施例不限于修改该目标图案的目标标识信息对应的动作指令，还可以修改其它图案的标识信息对应的动作指令。
在一些实施例中，修改标识信息库可以包括增加标识信息与动作指令之间的对应关系。具体为：终端设备通过交互装置检测到用户输入的无人机的目标增加指令。然后终端设备向无人机发送目标增加指令，该目标增加指令 用于指示在所述标识信息库中增加所述目标图案的目标标识信息与所述目标动作指令之间的对应关系。无人机接收终端设备发送的目标增加指令，然后将根据该目标增加指令，将所述目标标识信息与所述目标动作指令之间的对应关系增加至所述标识信息库中。需要说明的是，本实施例不限于在标识信息库中增加该目标图案的目标标识信息与目标动作指令之间的对应关系，还可以增加其它标识信息与其它动作指令之间的对应关系。
在一些实施例中，修改标识信息库可以包括删除标识信息与动作指令之间的对应关系。具体为：终端设备通过交互装置检测到用户输入的无人机的目标删除指令。然后终端设备向无人机发送目标删除指令，该目标删除指令用于指示在所述标识信息库中删除所述目标图案的目标标识信息与所述目标动作指令之间的对应关系。无人机接收终端设备发送的目标删除指令，然后将根据该目标删除指令，从标识信息库中删除所述目标标识信息与所述目标动作指令之间的对应关系。需要说明的是，本实施例不限于在标识信息库中删除该目标图案的目标标识信息与目标动作指令之间的对应关系，还可以删除其它标识信息与其它动作指令之间的对应关系。
可选地，本实施例的无人机还可以保存上述修改后的标识信息库。
另外，无人机执行的目标动作指令是从终端设备获得的。进一步地，所述标识信息库可以设置在无人机上，也可以设置在终端设备上。在一种实现场景中，标识信息库设置在无人机上，而且该标识信息库未设置在终端设备上，但标识信息库未包括目标标识信息对应的目标动作指令。在一种实现场景中，无人机上设置有标识信息库，终端设备也设置有标识信息库，但无人机的标识信息库中未包括目标标识信息对应的目标动作指令，而终端设备的标识信息库中包括目标标识信息对应的目标动作指令。在一种实现场景中，无人机上未设置有标识信息库。上述各实现场景均可用于图5所示的方案，但图5所示的方案并不限于上述实现场景。如图5所示，图5为本发明另一实施例提供的可移动平台的控制方法的流程图，本实施例的方法可以包括：
S501、无人机通过图像采集装置采集包含目标图案的图像。
S502、无人机识别所述目标图案，获得所述目标图案的标识信息为目标标识信息。
本实施例中，S501和S502的具体实现过程可以参见图2所示实施例的 相关描述，此处不再赘述。
在一些实施例中，无人机识别目标图案，获得目标图案的标识信息为目标标识信息之后，查询无人机中预先设置的标识信息库，该标识信息库包括至少一种标识信息与动作指令之间的对应关系，若在该标识信息库中未查询到该目标标识信息，则无人机执行S503。可选地，若在该标识信息库中查询到该目标标识信息，则可以参见图3所示的方案。
在一些实施例中，无人机识别目标图案，获得目标图案的标识信息为目标标识信息之后，执行S503。
S503、无人机向终端设备发送所述目标标识信息。
本实施例中，无人机向终端设备发送目标图案的目标标识信息。相应地，终端设备接收无人机发送的目标标识信息。
在一种替换上述S502-S503的方案中，在无人机执行S501之后，无人机可以识别所述目标图案，并向终端设备发送目标图案，相应地，终端设备接收无人机发送的所述目标图案，然后终端设备识别该目标图案，获得该目标图案的目标标识信息。
S504、终端设备根据所述目标标识信息，确定所述目标标识信息对应的目标动作指令。
本实施例中，终端设备根据接收的该目标标识信息或者通过识别目标图案获得的目标标识信息，确定该目标标识信息对应的目标动作指令。
在一些实施例中，该终端设备中可以预先设置有标识信息库，该标识信息库中包括至少一种标识信息与目标指令之间的对应关系。终端设备接收到无人机发送的目标标识信息或者识别目标图案获得目标标识信息之后，根据该目标标识信息和标识信息库，确定该目标标识信息对应的目标动作指令。
在一些实施例中，该终端设备包括显示屏。终端设备在接收到无人机发送的目标标识信息或者识别目标图案获得目标标识信息之后，通过所述显示屏显示所述目标标识信息，以便让用户获知无人机采集到的目标图案的目标标识信息，用户可以决定该目标标识信息对应的动作指令，然后用户对终端设备的交互装置输入无人机控制操作，该无人机控制操作为输入该目标标识信息对应的动作指令为目标动作指令的操作。相应地，终端设备通过交互装置检测到用户输入的无人机控制操作，并根据该无人机控制操作，确定该目 标标识信息对应的动作指令为目标动作指令。
可选地，终端设备接收无人机发送的所述目标图案后，终端设备还可以通过上述显示屏显示所述目标图案，以便让用户获知无人机采集到的目标图案。
S505、终端设备向所述无人机发送控制指令。相应地，无人机接收终端设备发送的该控制指令。
然后终端设备向无人机发送控制指令。该控制指令用于控制该无人机执行该目标动作指令。
可选地，本实施例的无人机还向终端设备发送该无人机的参数信息，相应地，终端设备接收无人机发送的该无人机的参数信息，并根据该无人机的参数信息，确定无人机是否执行所述目标动作指令。若确定该无人机执行目标动作指令，则向无人机发送上述控制指令。若确定该无人机不执行目标动作指令，则不向无人机发送上述控制指令，以保证无人机的安全。
可选地，所述参数信息包括以下至少一种：姿态信息、速度信息、加速度信息、高度信息、位置信息、距离信息、朝向信息、电量信息、温度信息、时间信息、当前执行的动作信息、运算资源信息。
例如：若用户想要控制无人机执行指示翻转指令，而且无人机根据无人机的参数信息确定无人机当前处于空中，则确定无人机可以执行该指示翻转的指令，并向无人机发送指示所述翻转指令的控制指令。
S506、无人机根据所述控制指令，控制无人机执行所述目标动作指令。
本实施例中，无人机接收到终端设备发送的控制指令之后，根据该控制指令控制无人机执行上述的目标动作指令。
需要说明的是，图5中涉及的终端设备与图4中涉及的终端设备可以为同一终端设备，也可以是不同的终端设备。
本实施例中，无人机通过图像采集装置采集包含目标图案的图像，识别所述目标图案，获得所述目标图案的标识信息为目标标识信息，向终端设备发送所述目标标识信息。终端设备根据所述目标标识信息，确定所述目标标识信息对应的目标动作指令，向无人机发送控制指令。无人机根据所述控制指令，控制无人机执行所述目标动作指令。本实施例中，可通过终端设备来控制无人机采集到包含目标图案的图像之后执行对应的目标动作指令，从而 使得用户可通过编程的方式来控制无人机，可以用于教学场景下，激发学生学习对无人机编程的兴趣。
在一些实施例中，若终端设备中预先设置有标识信息库，则用户可以修改该终端设备的标识信息库，例如用户可以通过操作该终端设备(例如终端设备的交互装置)来修改该终端设备中预先设置的标识信息库。具体地，终端设备接收用户输入的标识信息库修改指令，所述标识信息库修改指令用于指示修改所述标识信息库，然后终端设备根据该标识信息库修改指令，修改该标识信息库。
可选地，所述标识信息库修改指令包括：图案修改指令，所述图案修改指令用于指示将所述标识信息库中的至少一个标识信息与所述目标动作指令之间的对应关系修改为所述目标图案的目标标识信息与所述目标动作指令之间的对应关系。相应地，终端设备接收到图案修改指令后，根据所述图案修改指令，将所述标识信息库中的至少一个标识信息与所述目标动作指令之间的对应关系修改为所述目标图案的目标标识信息与所述目标动作指令之间的对应关系。
可选地，所述标识信息库修改指令包括：目标增加指令，所述目标增加指令用于指示在所述标识信息库中增加所述目标图案的目标标识信息与所述目标动作指令之间的对应关系。相应地，终端设备接收到目标增加指令后，根据所述目标增加指令，将所述目标标识信息与所述目标动作指令之间的对应关系增加至所述标识信息库中。
可选地，所述标识信息库修改指令包括：动作修改指令，所述动作修改指令用于指示修改所述标识信息库中所述目标标识信息对应的动作指令为所述目标动作指令。相应地，终端设备接收到动作修改指令后，根据所述动作修改指令，将所述标识信息库中所述目标标识信息对应的动作指令修改为所述目标动作指令。
可选地，所述标识信息库修改指令包括目标删除指令，所述目标删除指令用于指示删除所述目标标识信息与所述目标动作指令之间的对应关系。相应地，终端设备接收到目标删除指令后，根据所述目标删除指令，将所述标识信息库中所述目标标识信息与所述目标动作指令之间的对应关系删除。
可选地，本实施例的终端设备还可以保存上述修改后的标识信息库。
本发明实施例中还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括上述各实施例中的可移动平台的控制方法的部分或全部步骤。
图6为本发明一实施例提供的可移动平台的一种结构示意图，如图6所示，本实施例的可移动平台600可以包括：图像采集装置601和处理器602。可选地，本实施例的可移动平台600还可以包括：通信装置603。可选地，本实施例的可移动平台600还可以包括：存储器604。其中，图像采集装置601、处理器602、通信装置603和存储器604可以通过总线通信连接。
所述图像采集装置601，用于采集图像。
所述处理器602，用于通过图像采集装置采集包含目标图案的图像；以及识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；根据所述目标标识信息，控制所述可移动平台600执行所述目标标识信息对应的目标动作指令。
在一些实施例中，预先设置有标识信息库，所述标识信息库包括至少一种标识信息与动作指令之间的对应关系。
所述处理器602，具体用于：根据所述目标标识信息以及所述标识信息库，确定所述目标标识信息对应的动作指令为所述目标动作指令；以及控制所述可移动平台600执行所述目标动作指令。
在一些实施例中，所述通信装置603，用于接收标识信息库修改指令，所述标识信息库修改指令用于指示修改所述标识信息库。
所述处理器602，还用于根据所述标识信息库修改指令，修改所述标识信息库。
在一些实施例中，所述标识信息库修改指令包括：图案修改指令，所述图案修改指令用于指示将所述标识信息库中的至少一个标识信息与所述目标动作指令之间的对应关系修改为所述目标图案的目标标识信息与所述目标动作指令之间的对应关系；
所述处理器602，具体用于：根据所述图案修改指令，将所述标识信息库中的至少一个标识信息与所述目标动作指令之间的对应关系修改为所述目标图案的目标标识信息与所述目标动作指令之间的对应关系。
在一些实施例中，所述标识信息库修改指令包括：目标增加指令，所述 目标增加指令用于指示在所述标识信息库中增加所述目标图案的目标标识信息与所述目标动作指令之间的对应关系；
所述处理器602，具体用于：根据所述目标增加指令，将所述目标标识信息与所述目标动作指令之间的对应关系增加至所述标识信息库中。
在一些实施例中，所述标识信息库修改指令包括：动作修改指令，所述动作修改指令用于指示修改所述标识信息库中所述目标标识信息对应的动作指令为所述目标动作指令；
所述处理器602，具体用于：根据所述动作修改指令，将所述标识信息库中所述目标标识信息对应的动作指令修改为所述目标动作指令。
在一些实施例中，所述标识信息库修改指令包括目标删除指令，所述目标删除指令用于指示删除所述目标标识信息与所述目标动作指令之间的对应关系。所述处理器602，具体用于：根据所述目标删除指令，将所述标识信息库中所述目标标识信息与所述目标动作指令之间的对应关系删除。
在一些实施例中，所述存储器604，用于保存修改后的所述标识信息库。
在一些实施例中，所述标识信息库设置在所述可移动平台600。
在一些实施例中，所述处理器602，还用于在执行所述目标标识信息对应的目标动作指令之前，获取所述可移动平台600的参数信息；根据所述目标标识信息和所述参数信息，确定所述可移动平台600是否执行所述目标动作指令。
在一些实施例中，所述通信装置603，用于在所述处理器控制所述可移动平台执行所述目标标识信息对应的目标动作指令之前，向终端设备发送所述目标标识信息，以使得所述终端设备根据所述目标标识信息生成控制指令，并发送至所述可移动平台600，其中，所述控制指令用于控制所述可移动平台执行所述目标动作指令；当向所述终端设备发送所述目标图案后，识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；
所述通信装置603，还用于接收所述控制指令。
在一些实施例中，所述通信装置603，还用于在接收所述终端设备发送的控制指令之前，向所述终端设备发送所述可移动平台600的参数信息；
其中，所述终端设备根据所述目标标识信息和所述参数信息，确定所述控制指令是否用于控制所述可移动平台600执行所述目标动作指令。
在一些实施例中，所述参数信息包括以下至少一种：姿态信息、速度信息、加速度信息、高度信息、位置信息、距离信息、朝向信息、电量信息、温度信息、时间信息、当前执行的动作信息、运算资源信息。
在一些实施例中，所述目标图案包括：二维码或者随机点阵。
在一些实施例中，所述图像采集装置601位于所述可移动平台600的前方、后方、左方、右方、上方或者下方。
在一些实施例中，至少一个所述图像采集装置601位于所述可移动平台600的不同位置。其中，图6中示以一个图像采集装置601为例示出，但本实施例并不限于此。
在一些实施例中，所述处理器602，还用于通过图像采集装置601采集包含目标图案的图像之前，获取图像采集设置指令，所述图像采集设置指令用于选择图像采集模式；
所述处理器602在通过图像采集装置601采集包含目标图案的图像时，具体用于：根据所述图像采集模式，通过所述图像采集装置601采集包含目标图案的图像。
在一些实施例中，所述图像采集装置601为至少一个，所述图像采集模式包括：单个图像采集装置601采集包括单图像或多图像、多个图像采集装置601交替采集多图像、多个图像采集装置601同时采集多图像。
在一些实施例中，所述目标动作指令包括：指示起飞、降落、转圈、上升、下降、前进、后退、翻转、弧线、跟随的指令。
在一些实施例中，所述包含目标图案的图像显示在显示载体上。
在一些实施例中，所述显示载体包括以下中的一种或多种：手机、平板电脑、笔记本电脑、可穿戴设备、柔性屏幕、平板、纸张。
可选地，上述的存储器604用于存储程序代码，当程序代码被执行时，所述可移动平台600可以实现上述技术方案。
可选地，所述处理器602可以包括飞行控制器。
本实施例的可移动平台，可以用于执行本发明上述各方法实施例中无人机的技术方案，其实现原理和技术效果类似，此处不再赘述。
图7为本发明一实施例提供的终端设备的一种结构示意图，如图7所示，本实施例的终端设备700可以包括：通信装置701和处理器702。可选地， 本实施例的终端设备700还可以包括显示屏703和交互装置704。可选地，本实施例的终端设备700还可以包括存储器705。其中，通信装置701、处理器702、显示屏703、交互装置704和存储器705可以通过总线通信连接。
所述通信装置701，用于接收可移动平台发送的目标图案或目标标识信息；
所述处理器702，用于根据所述目标标识信息，确定所述目标标识信息对应的目标动作指令；
其中，所述处理器702，还用于当所述通信装置701接收所述可移动平台发送的目标图案后，识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；
所述通信装置701，还用于向所述可移动平台发送控制指令，所述控制指令用于控制所述可移动平台执行所述目标动作指令。
在一些实施例中，所述处理器702，用于通过所述显示屏703显示所述目标图案或所述目标标识信息，并通过交互装置704检测到用户输入的可移动平台控制操作；以及根据所述可移动平台控制操作确定所述目标动作指令。
在一些实施例中，所述通信装置701，还用于向所述可移动平台发送控制指令之前，接收所述可移动平台发送的所述可移动平台的参数信息；根据所述可移动平台的参数信息，确定所述可移动平台是否执行所述目标动作指令。
在一些实施例中，所述参数信息包括以下至少一种：姿态信息、速度信息、加速度信息、高度信息、位置信息、距离信息、朝向信息、电量信息、温度信息、时间信息、当前执行的动作信息、运算资源信息。
在一些实施例中，预先设置有标识信息库，所述标识信息库包括至少一种标识信息与动作指令之间的对应关系；
所述处理器，具体用于：根据所述目标标识信息以及所述标识信息库，确定所述目标标识信息对应的动作指令为所述目标动作指令。
在一些实施例中，所述通信装置701，还用于接收标识信息库修改指令，所述标识信息库修改指令用于指示修改所述标识信息库；
所述处理器702，还用于根据所述标识信息库修改指令，修改所述标识信息库。
在一些实施例中，所述标识信息库修改指令包括：图案修改指令；
所述图案修改指令用于指示将所述标识信息库中的至少一个标识信息与目标动作指令之间的对应关系修改为目标图案的目标标识信息与所述目标动作指令之间的对应关系。
在一些实施例中，所述标识信息库修改指令包括：目标增加指令，所述目标增加指令用于指示在所述标识信息库中增加目标图案的目标标识信息与目标动作指令之间的对应关系。
在一些实施例中，所述标识信息库修改指令包括：动作修改指令，所述动作修改指令用于指示修改所述标识信息库中目标图案的目标标识信息对应的动作指令为目标动作指令。
在一些实施例中，所述标识信息库修改指令包括目标删除指令，所述目标删除指令用于指示删除所述目标标识信息与所述目标动作指令之间的对应关系。
在一些实施例中，存储器705，用于保存修改后的所述标识信息库。
在一些实施例中，所述标识信息库设置在所述终端设备。
在一些实施例中，所述目标图案包括：二维码或者随机点阵。
可选地，存储器705用于存储程序代码，当程序代码被执行时，所述终端设备700可以实现上述技术方案。
本实施例的终端设备，可以用于执行本发明上述方法实施例中终端设备的技术方案，其实现原理和技术效果类似，此处不再赘述。
其中，上述任一实施例中涉及的处理器可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
图8为本发明一实施例提供的可移动平台的控制系统的一种结构示意图，如图8所示，本实施例的可移动平台的控制系统800可以包括：可移动平台801和终端设备802。其中，可移动平台801可以采用图6所示实施例的结构， 其对应地，可以执行上述各方法实施例中无人机的技术方案，其实现原理和技术效果类似，此处不再赘述。终端设备802可以采用图7所示实施例的结构，其对应地，可以执行上述各方法实施例中终端设备的技术方案，其实现原理和技术效果类似，此处不再赘述。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (71)

  1. 一种可移动平台的控制方法，其特征在于，应用于可移动平台，包括：
    通过图像采集装置采集包含目标图案的图像；
    识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；
    根据所述目标标识信息，控制所述可移动平台执行所述目标标识信息对应的目标动作指令。
  2. 根据权利要求1所述的方法，其特征在于，预先设置有标识信息库，所述标识信息库包括至少一种标识信息与动作指令之间的对应关系，所述根据所述目标标识信息，控制所述可移动平台执行所述目标标识信息对应的目标动作指令，包括：
    根据所述目标标识信息以及所述标识信息库，确定所述目标标识信息对应的动作指令为所述目标动作指令；
    控制所述可移动平台执行所述目标动作指令。
  3. 根据权利要求2所述的方法，其特征在于，还包括：
    接收标识信息库修改指令，所述标识信息库修改指令用于指示修改所述标识信息库；
    根据所述标识信息库修改指令，修改所述标识信息库。
  4. 根据权利要求3所述的方法，其特征在于，所述标识信息库修改指令包括：图案修改指令，所述图案修改指令用于指示将所述标识信息库中的至少一个标识信息与所述目标动作指令之间的对应关系修改为所述目标图案的目标标识信息与所述目标动作指令之间的对应关系；
    所述根据所述标识信息库修改指令，修改所述标识信息库，包括：根据所述图案修改指令，将所述标识信息库中的至少一个标识信息与所述目标动作指令之间的对应关系修改为所述目标图案的目标标识信息与所述目标动作指令之间的对应关系。
  5. 根据权利要求3所述的方法，其特征在于，所述标识信息库修改指令包括：目标增加指令，所述目标增加指令用于指示在所述标识信息库中增加所述目标图案的目标标识信息与所述目标动作指令之间的对应关系；
    所述根据所述标识信息库修改指令，修改所述标识信息库，包括：根据所述目标增加指令，将所述目标标识信息与所述目标动作指令之间的对应关 系增加至所述标识信息库中。
  6. 根据权利要求3所述的方法，其特征在于，所述标识信息库修改指令包括：动作修改指令，所述动作修改指令用于指示修改所述标识信息库中所述目标标识信息对应的动作指令为所述目标动作指令；
    所述根据所述标识信息库修改指令，修改所述标识信息库，包括：根据所述动作修改指令，将所述标识信息库中所述目标标识信息对应的动作指令修改为所述目标动作指令。
  7. 根据权利要求3所述的方法，其特征在于，所述标识信息库修改指令包括目标删除指令，所述目标删除指令用于指示删除所述目标标识信息与所述目标动作指令之间的对应关系；
    所述根据所述标识信息库修改指令，修改所述标识信息库，包括：根据所述目标删除指令，将所述标识信息库中所述目标标识信息与所述目标动作指令之间的对应关系删除。
  8. 根据权利要求3-7任一项所述的方法，其特征在于，还包括：
    保存修改后的所述标识信息库。
  9. 根据权利要求2所述的方法，其特征在于，所述标识信息库设置在所述可移动平台。
  10. 根据权利要求1所述的方法，其特征在于，可移动平台执行所述目标标识信息对应的目标动作指令之前，还包括：
    获取所述可移动平台的参数信息；
    根据所述目标标识信息和所述参数信息，确定所述可移动平台是否执行所述目标动作指令。
  11. 根据权利要求1所述的方法，其特征在于，
    所述根据所述目标标识信息，控制所述可移动平台执行所述目标标识信息对应的目标动作指令之前，还包括：
    向终端设备发送所述目标图案或所述目标标识信息，以使得所述终端设备根据所述目标图案或所述目标标识信息生成控制指令，并发送至所述可移动平台，其中，所述控制指令用于控制所述可移动平台执行所述目标动作指令；当向所述终端设备发送所述目标图案后，所述终端设备识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；
    接收所述控制指令。
  12. 根据权利要求11所述的方法，其特征在于，所述接收所述控制指令之前，还包括：
    向所述终端设备发送所述可移动平台的参数信息；
    其中，所述终端设备根据所述目标标识信息和所述参数信息，确定所述控制指令是否用于控制所述可移动平台执行所述目标动作指令。
  13. 根据权利要求10或12所述的方法，其特征在于，所述参数信息包括以下至少一种：姿态信息、速度信息、加速度信息、高度信息、位置信息、距离信息、朝向信息、电量信息、温度信息、时间信息、当前执行的动作信息、运算资源信息。
  14. 根据权利要求1所述的方法，其特征在于，所述目标图案包括：二维码或者随机点阵。
  15. 根据权利要求1所述的方法，其特征在于，所述图像采集装置位于所述可移动平台的前方、后方、左方、右方、上方或者下方。
  16. 根据权利要求1所述的方法，其特征在于，至少一个所述图像采集装置位于所述可移动平台的不同位置。
  17. 根据权利要求1所述的方法，其特征在于，所述通过图像采集装置采集包含目标图案的图像之前，还包括：
    获取图像采集设置指令，所述图像采集设置指令用于选择图像采集模式；
    所述通过图像采集装置采集包含目标图案的图像，包括：
    根据所述图像采集模式，通过所述图像采集装置采集包含目标图案的图像。
  18. 根据权利要求17所述的方法，其特征在于，所述图像采集装置为至少一个，所述图像采集模式包括：单个图像采集装置采集包括单图像或多图像、多个图像采集装置交替采集多图像、多个图像采集装置同时采集多图像。
  19. 根据权利要求1所述的方法，其特征在于，所述目标动作指令包括：指示起飞、降落、转圈、上升、下降、前进、后退、翻转、弧线、跟随的指令。
  20. 根据权利要求1所述的方法，其特征在于，所述包含目标图案的图像显示在显示载体上。
  21. 根据权利要求20所述的方法，其特征在于，所述显示载体包括以下中的一种或多种：手机、平板电脑、笔记本电脑、可穿戴设备、柔性屏幕、平板、纸张。
  22. 一种可移动平台的控制方法，其特征在于，应用于终端设备，包括：
    接收所述可移动平台发送的目标图案或目标标识信息，其中，当接收所述可移动平台发送的目标图案后，识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；
    根据所述目标标识信息，确定所述目标标识信息对应的目标动作指令；
    向所述可移动平台发送控制指令，所述控制指令用于控制所述可移动平台执行所述目标动作指令。
  23. 根据权利要求22所述的方法，其特征在于，所述终端设备还包括显示屏；
    通过所述显示屏显示所述目标图案或所述目标标识信息，并通过交互装置检测到用户输入的可移动平台控制操作；
    根据所述可移动平台控制操作确定所述目标动作指令。
  24. 根据权利要求22或23所述的方法，其特征在于，所述向所述可移动平台发送控制指令之前，还包括：
    接收所述可移动平台发送的所述可移动平台的参数信息；
    根据所述可移动平台的参数信息，确定所述可移动平台是否执行所述目标动作指令。
  25. 根据权利要求24所述的方法，其特征在于，所述参数信息包括以下至少一种：姿态信息、速度信息、加速度信息、高度信息、位置信息、距离信息、朝向信息、电量信息、温度信息、时间信息、当前执行的动作信息、运算资源信息。
  26. 根据权利要求22所述的方法，其特征在于，预先设置有标识信息库，所述标识信息库包括至少一种标识信息与动作指令之间的对应关系，所述根据所述目标标识信息，确定所述目标标识信息对应的目标动作指令，包括：
    根据所述目标标识信息以及所述标识信息库，确定所述目标标识信息对应的动作指令为所述目标动作指令。
  27. 根据权利要求26所述的方法，其特征在于，还包括：
    接收标识信息库修改指令，所述标识信息库修改指令用于指示修改所述标识信息库；
    根据所述标识信息库修改指令，修改所述标识信息库。
  28. 根据权利要求27所述的方法，其特征在于，所述标识信息库修改指令包括：图案修改指令，所述图案修改指令用于指示将所述标识信息库中的至少一个标识信息与所述目标动作指令之间的对应关系修改为所述目标图案的目标标识信息与所述目标动作指令之间的对应关系；
    所述根据所述标识信息库修改指令，修改所述标识信息库，包括：根据所述图案修改指令，将所述标识信息库中的至少一个标识信息与所述目标动作指令之间的对应关系修改为所述目标图案的目标标识信息与所述目标动作指令之间的对应关系。
  29. 根据权利要求27所述的方法，其特征在于，所述标识信息库修改指令包括：目标增加指令，所述目标增加指令用于指示在所述标识信息库中增加所述目标图案的目标标识信息与所述目标动作指令之间的对应关系；
    所述根据所述标识信息库修改指令，修改所述标识信息库，包括：根据所述目标增加指令，将所述目标标识信息与所述目标动作指令之间的对应关系增加至所述标识信息库中。
  30. 根据权利要求27所述的方法，其特征在于，所述标识信息库修改指令包括：动作修改指令，所述动作修改指令用于指示修改所述标识信息库中所述目标标识信息对应的动作指令为所述目标动作指令；
    所述根据所述标识信息库修改指令，修改所述标识信息库，包括：根据所述动作修改指令，将所述标识信息库中所述目标标识信息对应的动作指令修改为所述目标动作指令。
  31. 根据权利要求27所述的方法，其特征在于，所述标识信息库修改指令包括目标删除指令，所述目标删除指令用于指示删除所述目标标识信息与所述目标动作指令之间的对应关系；
    所述根据所述标识信息库修改指令，修改所述标识信息库，包括：根据所述目标删除指令，将所述标识信息库中所述目标标识信息与所述目标动作指令之间的对应关系删除。
  32. 根据权利要求27-31任一项所述的方法，其特征在于，还包括：
    保存修改后的所述标识信息库。
  33. 根据权利要求26所述的方法，其特征在于，所述标识信息库设置在所述终端设备。
  34. 根据权利要求22所述的方法，其特征在于，所述目标图案包括：二维码或者随机点阵。
  35. 一种可移动平台，其特征在于，包括：图像采集装置和处理器；
    所述图像采集装置，用于采集图像；
    所述处理器，用于通过图像采集装置采集包含目标图案的图像；以及识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；根据所述目标标识信息，控制所述可移动平台执行所述目标标识信息对应的目标动作指令。
  36. 根据权利要求35所述的可移动平台，其特征在于，预先设置有标识信息库，所述标识信息库包括至少一种标识信息与动作指令之间的对应关系；
    所述处理器，具体用于：根据所述目标标识信息以及所述标识信息库，确定所述目标标识信息对应的动作指令为所述目标动作指令；以及控制所述可移动平台执行所述目标动作指令。
  37. 根据权利要求36所述的可移动平台，其特征在于，还包括通信装置；
    所述通信装置，用于接收标识信息库修改指令，所述标识信息库修改指令用于指示修改所述标识信息库；
    所述处理器，还用于根据所述标识信息库修改指令，修改所述标识信息库。
  38. 根据权利要求37所述的可移动平台，其特征在于，所述标识信息库修改指令包括：图案修改指令，所述图案修改指令用于指示将所述标识信息库中的至少一个标识信息与所述目标动作指令之间的对应关系修改为所述目标图案的目标标识信息与所述目标动作指令之间的对应关系；
    所述处理器，具体用于：根据所述图案修改指令，将所述标识信息库中的至少一个标识信息与所述目标动作指令之间的对应关系修改为所述目标图案的目标标识信息与所述目标动作指令之间的对应关系。
  39. 根据权利要求37所述的可移动平台，其特征在于，所述标识信息库修改指令包括：目标增加指令，所述目标增加指令用于指示在所述标识信息 库中增加所述目标图案的目标标识信息与所述目标动作指令之间的对应关系；
    所述处理器，具体用于：根据所述目标增加指令，将所述目标标识信息与所述目标动作指令之间的对应关系增加至所述标识信息库中。
  40. 根据权利要求37所述的可移动平台，其特征在于，所述标识信息库修改指令包括：动作修改指令，所述动作修改指令用于指示修改所述标识信息库中所述目标标识信息对应的动作指令为所述目标动作指令；
    所述处理器，具体用于：根据所述动作修改指令，将所述标识信息库中所述目标标识信息对应的动作指令修改为所述目标动作指令。
  41. 根据权利要求37所述的可移动平台，其特征在于，所述标识信息库修改指令包括目标删除指令，所述目标删除指令用于指示删除所述目标标识信息与所述目标动作指令之间的对应关系；
    所述处理器，具体用于：根据所述目标删除指令，将所述标识信息库中所述目标标识信息与所述目标动作指令之间的对应关系删除。
  42. 根据权利要求37-41任一项所述的可移动平台，其特征在于，还包括：
    存储器，用于保存修改后的所述标识信息库。
  43. 根据权利要求36所述的可移动平台，其特征在于，所述标识信息库设置在所述可移动平台。
  44. 根据权利要求35所述的可移动平台，其特征在于，所述处理器，还用于在执行所述目标标识信息对应的目标动作指令之前，获取所述可移动平台的参数信息；根据所述目标标识信息和所述参数信息，确定所述可移动平台是否执行所述目标动作指令。
  45. 根据权利要求35所述的可移动平台，其特征在于，还包括通信装置；
    所述通信装置，用于在所述处理器控制所述可移动平台执行所述目标标识信息对应的目标动作指令之前，向终端设备发送所述目标图案或目标标识信息，以使得所述终端设备根据所述目标图案或所述目标标识信息生成控制指令，并发送至所述可移动平台，其中，当向所述终端设备发送所述目标图案后，识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；所述控制指令用于控制所述可移动平台执行所述目标动作指令；以及
    接收所述控制指令。
  46. 根据权利要求45所述的可移动平台，其特征在于，所述通信装置， 还用于在接收所述终端设备发送的控制指令之前，向所述终端设备发送所述可移动平台的参数信息；
    其中，所述终端设备根据所述目标标识信息和所述参数信息，确定所述控制指令是否用于控制所述可移动平台执行所述目标动作指令。
  47. 根据权利要求44或46所述的可移动平台，其特征在于，所述参数信息包括以下至少一种：姿态信息、速度信息、加速度信息、高度信息、位置信息、距离信息、朝向信息、电量信息、温度信息、时间信息、当前执行的动作信息、运算资源信息。
  48. 根据权利要求35所述的可移动平台，其特征在于，所述目标图案包括：二维码或者随机点阵。
  49. 根据权利要求35所述的可移动平台，其特征在于，所述图像采集装置位于所述可移动平台的前方、后方、左方、右方、上方或者下方。
  50. 根据权利要求35所述的可移动平台，其特征在于，至少一个所述图像采集装置位于所述可移动平台的不同位置。
  51. 根据权利要求35所述的可移动平台，其特征在于，所述处理器，还用于通过图像采集装置采集包含目标图案的图像之前，获取图像采集设置指令，所述图像采集设置指令用于选择图像采集模式；
    所述处理器在通过图像采集装置采集包含目标图案的图像时，具体用于：根据所述图像采集模式，通过所述图像采集装置采集包含目标图案的图像。
  52. 根据权利要求51所述的可移动平台，其特征在于，所述图像采集装置为至少一个，所述图像采集模式包括：单个图像采集装置采集包括单图像或多图像、多个图像采集装置交替采集多图像、多个图像采集装置同时采集多图像。
  53. 根据权利要求35所述的可移动平台，其特征在于，所述目标动作指令包括：指示起飞、降落、转圈、上升、下降、前进、后退、翻转、弧线、跟随的指令。
  54. 根据权利要求35所述的可移动平台，其特征在于，所述包含目标图案的图像显示在显示载体上。
  55. 根据权利要求54所述的可移动平台，其特征在于，所述显示载体包括以下中的一种或多种：手机、平板电脑、笔记本电脑、可穿戴设备、柔性 屏幕、平板、纸张。
  56. 一种终端设备，其特征在于，包括：通信装置和处理器；
    所述通信装置，用于接收可移动平台发送的目标图案或目标标识信息；
    所述处理器，用于根据所述目标标识信息，确定所述目标标识信息对应的目标动作指令；
    其中，所述处理器，还用于当所述通信装置接收所述可移动平台发送的目标图案后，识别所述目标图案，获得所述目标图案的标识信息为目标标识信息；
    所述通信装置，还用于向所述可移动平台发送控制指令，所述控制指令用于控制所述可移动平台执行所述目标动作指令。
  57. 根据权利要求56所述的终端设备，其特征在于，所述终端设备还包括显示屏和交互装置；
    所述处理器，用于通过所述显示屏显示所述目标图案或所述目标标识信息，并通过交互装置检测到用户输入的可移动平台控制操作；以及根据所述可移动平台控制操作确定所述目标动作指令。
  58. 根据权利要求56或57所述的终端设备，其特征在于，所述通信装置，还用于向所述可移动平台发送控制指令之前，接收所述可移动平台发送的所述可移动平台的参数信息；根据所述可移动平台的参数信息，确定所述可移动平台是否执行所述目标动作指令。
  59. 根据权利要求58所述的终端设备，其特征在于，所述参数信息包括以下至少一种：姿态信息、速度信息、加速度信息、高度信息、位置信息、距离信息、朝向信息、电量信息、温度信息、时间信息、当前执行的动作信息、运算资源信息。
  60. 根据权利要求56所述的终端设备，其特征在于，预先设置有标识信息库，所述标识信息库包括至少一种标识信息与动作指令之间的对应关系；
    所述处理器，具体用于：根据所述目标标识信息以及所述标识信息库，确定所述目标标识信息对应的动作指令为所述目标动作指令。
  61. 根据权利要求60所述的终端设备，其特征在于，
    所述通信装置，还用于接收标识信息库修改指令，所述标识信息库修改指令用于指示修改所述标识信息库；
    所述处理器，还用于根据所述标识信息库修改指令，修改所述标识信息库。
  62. 根据权利要求61所述的终端设备，其特征在于，所述标识信息库修改指令包括：图案修改指令，所述图案修改指令用于指示将所述标识信息库中的至少一个标识信息与目标动作指令之间的对应关系修改为目标图案的目标标识信息与所述目标动作指令之间的对应关系。
  63. 根据权利要求61所述的终端设备，其特征在于，所述标识信息库修改指令包括：目标增加指令，所述目标增加指令用于指示在所述标识信息库中增加目标图案的目标标识信息与目标动作指令之间的对应关系。
  64. 根据权利要求61所述的终端设备，其特征在于，所述标识信息库修改指令包括：动作修改指令，所述动作修改指令用于指示修改所述标识信息库中目标图案的目标标识信息对应的动作指令为目标动作指令。
  65. 根据权利要求61所述的终端设备，其特征在于，所述标识信息库修改指令包括目标删除指令，所述目标删除指令用于指示删除所述目标标识信息与所述目标动作指令之间的对应关系。
  66. 根据权利要求61-65任一项所述的终端设备，其特征在于，还包括：
    存储器，用于保存修改后的所述标识信息库。
  67. 根据权利要求60所述的终端设备，其特征在于，所述标识信息库设置在所述终端设备。
  68. 根据权利要求56所述的终端设备，其特征在于，所述目标图案包括：二维码或者随机点阵。
  69. 一种可移动平台的控制系统，其特征在于，包括：如权利要求35-55任一项所述的可移动平台以及如权利要求56-68任一项所述的终端设备。
  70. 一种计算机存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行如权利要求1-21任一项或者如权利要求22-34任一项所述的可移动平台的控制方法。
  71. 一种计算机程序，其特征在于，当所述计算机程序被计算机执行时，用于实现如权利要求1-21任一项或者如权利要求22-34任一项所述的可移动平台的控制方法。
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