CN107077144B - Method, system and control device for displaying state of movable device - Google Patents
Method, system and control device for displaying state of movable device Download PDFInfo
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- CN107077144B CN107077144B CN201680002256.3A CN201680002256A CN107077144B CN 107077144 B CN107077144 B CN 107077144B CN 201680002256 A CN201680002256 A CN 201680002256A CN 107077144 B CN107077144 B CN 107077144B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 12
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- 238000010586 diagram Methods 0.000 description 11
- 230000036544 posture Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
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- 238000013519 translation Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
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- 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
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Abstract
The invention discloses a method for displaying the state of a movable device, a corresponding system, a control device and a computer readable medium, wherein the method comprises the following steps: acquiring state information of the movable device; acquiring state information of a control device; and displaying the respective state information of the control device and the movable device on the same display interface. The invention also provides a method for displaying the state information of the movable device and the state information of the load thereof on the display interface. The invention can enable the user to instantly master the instant flight state and the load running state of the movable device, is convenient for the user to control and improves the user control experience.
Description
Copyright declaration
The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.
Technical Field
The invention relates to a method, a system and a control device for displaying the state of a movable device.
Background
In recent years, unmanned aerial vehicles (including fixed wing drones and rotary wing drones), automobiles, submarines and ships, as well as satellites, space stations, airships, and the like have been widely used, and the control of these mobile devices is usually performed by a user through a remote control device. In many applications, a carrier may be carried by a movable device such as a drone, for example, some drones are equipped with a pan-tilt that carries a camera or a light to take an aerial photograph using the camera.
However, when a user manipulates the mobile device through the remote control device, it is difficult to manipulate the mobile device by visual observation when the mobile device is far away from the user (e.g., four or five hundred meters away). Furthermore, in applications such as aerial photography using a drone, the operator often needs to know the relative position of the movable device and the user and the motion state of the movable device, and to perform the control according to the relative position and the motion state in real time. The existing remote control device cannot effectively display the real-time relative position, the motion state and the like, so that the user has poor control experience and misoperation is easily caused.
Disclosure of Invention
One aspect of the present invention provides a method for displaying a state of a movable device, comprising: acquiring state information of the movable device; acquiring state information of a control device for controlling movement of the movable device; and displaying the respective state information of the control device and the movable device on the same display interface.
In another aspect, the present invention provides a system for displaying a state of a movable device, the system comprising: communication means for acquiring status information of the movable means and status information of the control means, the control means being for controlling the movable means; a storage device storing computer readable instructions; and processing means for executing the computer readable instructions to control display of respective control information of the control means and the movable means on the same display interface.
In still another aspect, the present invention provides a control device for displaying a state of a movable device, including: a communication interface for acquiring status information of the mobile device and status information of the control device for controlling the mobile device; a memory storing computer readable instructions; and the processor is used for executing the computer readable instructions to control the display of the respective state information of the control device and the movable device on the same display interface.
Furthermore, the present invention is also directed to a computer readable medium having stored thereon computer executable instructions for performing the aforementioned method for displaying a state of a movable apparatus.
Drawings
FIG. 1A is an application scenario diagram of one embodiment of the system of the present invention showing the state of a movable device;
FIG. 1B is a flow chart of a method of the present invention for displaying the status of a movable device;
FIG. 2A is a schematic view of a first embodiment of a display interface in the control device of the present invention;
FIG. 2B is a schematic view of a second embodiment of a display interface in the control device of the present invention;
FIG. 3 is a schematic view of a third embodiment of a display interface in the control device of the present invention;
FIGS. 4A to 4C are schematic views of a fourth embodiment of a display interface in the control device of the present invention;
FIG. 5 is a schematic view of a fifth embodiment of a display interface in the control device of the present invention;
FIG. 6 is a schematic block diagram of a system for displaying the status of a mobile device in accordance with the present invention;
fig. 7 is a schematic structural diagram of a control device for displaying the state of a movable device according to the present invention.
Detailed Description
For remote control movable devices such as unmanned aerial vehicles, unmanned vehicles and the like, the invention mainly considers how to better display the relative position between the movable device and the remote control terminal and the real-time moving state of the movable device on the remote control terminal, so that a user can control the movable device more conveniently, efficiently or more interestingly, and the control experience of the user is improved.
In the following, when the solution of the present invention is specifically described, although an unmanned aerial vehicle is taken as an example for illustration, the method, the apparatus and the system of the present invention are not limited to this field, and the present invention can be reasonably utilized in any field where a movable apparatus is operated by a wired or wireless remote control, such as various unmanned vehicles, and various application devices and application scenarios that do not require a person to directly operate on an apparatus body, such as satellites, robotics, virtual reality technologies, and the like.
The term "movable" in the present invention refers to any relative motion in three-dimensional space, including translation, rotation, and various combinations of translation and rotation, such as movement in different spaces of flight, road running, sneak, etc., and different movement modes of translation, turning, pitching, tilting, etc.
The "module" and "unit" mentioned in the present invention may be any hardware device or parts of a device, such as a processor, and may also be logical modules or units of software. The hardware device or components of the device may also perform the corresponding method according to a computer program stored in a non-volatile computer readable medium stored in a memory.
The "control device" referred to in the present invention means any device capable of operating the movable device by wire or wireless. It is generally provided with buttons, handles, etc. for manipulation by a user so that the user generates control signals to transmit to the movable device through the manipulation in order to control the moving state of the movable device.
Generally, the present invention proposes to display the status information of the control device and the movable device graphically on the same display interface. The precondition for displaying the status information of both is that the control device can acquire the status information of both in real time. The state information may include various information regarding the position, posture, load state, and the like of the movable device and the control device.
The control device and the mobile device are displayed in a graphical mode on the same display interface, so that a user can visually know the relative relation between the current mobile device and the control device, the problem that the user is difficult to feel the practical feeling of the distance and the direction of the mobile device when the display interface only displays the state information of the mobile device is solved, the control feedback of the user is enhanced, and the control experience is improved.
Wherein the status information comprises location information. The location information of the mobile device may be received directly from the mobile device or provided by a third party platform, such as a base station, satellite, etc. When the mobile device itself has a position acquisition device (e.g., a GPS module), it can itself obtain its real-time position information and send it to the control device. The position information of the control device can be generated by itself or can be obtained from the outside, and in the special application case, the position of the control device can be fixed, so that the position information can be obtained through direct input. When obtained by itself, it may also be provided with a position acquisition device (e.g. a GPS module).
Although the present invention is not limited to a specific graphical display, it is preferred that the control device itself is rotated in response to the user's manipulation, considering that the position of the mobile device may be in any orientation relative to the user's control device, and therefore, it is preferred that the position information of the control device and the mobile device is displayed in a circular area of the display interface. In this way, no matter what kind of change takes place in relative position and orientation of the mobile device and the control device, it can not change the display effect because of the change of angle in the display area. Of course, the circular area is taken as the preferred mode of the present invention to indicate that the present invention is not limited to the shape of the display area, and the scheme of simultaneously displaying the movable device and the control device based on the present invention can also adopt other shapes of display areas to display, such as a square or a triangle.
As a way of graphical display, the movable device and the control device may be represented in the display interface with a specific graphical identifier. For example, the drone may be represented by a circle, a triangle, an arrow, or the like, and the control device may be represented by a circle, a square, or the like. Of course, a more vivid character logo may alternatively be used, and the invention is not limited to a particular logo pattern.
Further, the actual position of the movable device and the control device may be indicated using the position of the graphical marker on the display interface. Preferably, the actual spatial geographical position may be represented in an equal scale manner, so that the positions of the graphical identifications of the two are displayed on the display interface in an equal scale manner. However, the present invention is not limited to the proportional mode, and other corresponding relations may be used for display. Because the positions of the two are displayed on the same display interface, the related position relation of the two can be clearly understood.
In order to more visually display the state of the movable apparatus, the state information includes posture information of the movable apparatus the present invention preferably displays the posture information of the movable apparatus on the display interface. Attitude information herein refers to any information that may reflect the attitude of a mobile device during movement. Taking an unmanned aerial vehicle as an example, the attitude information includes orientation information, a pitch angle, a roll angle, and the like. The real-time attitude information of the mobile device can be acquired in real time by its own sensor and transmitted to the control device through its communication means.
The pitching angle is an angle of the unmanned aerial vehicle head pitching down or up in the height direction; the roll angle is the angle that unmanned aerial vehicle revolved around aircraft nose and tail line relative horizontal plane rotation.
The present invention preferably displays the posture information in a graphical manner on a display interface. For example, for a drone, the drone may be represented by a geometric shape, and the location information of the drone may be represented by the position of the geometric shape in the interface. For the orientation information, attitude information, etc. of the drone, it can also be represented graphically (for example, pitch and roll angles, etc. are represented by dynamic horizon, which will be described in detail in the following embodiments), etc. It should be understood that the present invention is not limited to the graphical manner in which the above-described status information is displayed, and those skilled in the art can make various designs to enhance the visual experience of the user under the guidance of the design concept of the present invention.
Furthermore, it is contemplated that the mobile device of the present invention may itself carry a load, and that the load may also require the user to be concerned about its operating status in real time or to manipulate it to change its operating status while working. Therefore, the present invention also preferably displays the state information of the load on the display interface at the same time. Also, the state information includes any information reflecting the operation state of the load during the movement. For example, for an unmanned aerial vehicle, a camera can be mounted through a pan-tilt for real-time shooting, and the camera needs real-time angle changing, posture adjusting and the like during shooting. Generally, can carry on the camera on unmanned aerial vehicle's cloud platform, the user can adjust the gesture of camera and control the camera through wireless control cloud platform and shoot. Therefore, the invention can display the orientation of the holder, the visual range of the camera and the like on the display interface of the control device in a graphical mode, thereby reflecting the current postures of the holder and the camera so that a user can intuitively know the current working state of the camera. Likewise, the present invention is not limited to the graphical way in which the status information of the load is displayed, and those skilled in the art can make various designs to increase the visual experience of the user under the guidance of the design concept of the present invention.
FIG. 1A is a diagram of an application scenario of one embodiment of the system of the present invention displaying the state of a movable device. As shown in fig. 1A, the system is an unmanned aerial vehicle remote control system, and includes a remote control device 1 and an unmanned aerial vehicle 2, and a camera 4 is mounted on a pan/tilt head of the unmanned aerial vehicle 2. Wireless communication can be carried out between remote control 1 and unmanned aerial vehicle 2 to the user controls unmanned aerial vehicle's flight and controls the work of camera 4 through operation remote control 1. As shown in fig. 1, the remote control device 1 has a display screen 3 thereon, and the display screen 3 has a display interface. Can show the running state information about unmanned aerial vehicle and the camera that carries on the display interface, the user can be through looking over this display screen 3 and controlling unmanned aerial vehicle 2 and the camera 4 that carries on in real time.
FIG. 1B is a flow chart of a method of the present invention for displaying the status of a movable device. As shown in fig. 1B, the method includes: s1, acquiring the state information of the movable device; s2, acquiring the state information of the control device; and S3, displaying the respective state information of the control device and the movable device on the same display interface. Step S1 and step S2 are not always in a fixed sequential order. The above steps S1 to S3 may be repeated at a fixed frequency to update the position and/or state information of the remote control device 1 and the drone 2 on the display interface in real time.
Fig. 2A is a schematic diagram of a first embodiment of a display interface in the control device of the present invention. As shown in fig. 2A, in this embodiment, a remote control device of the drone is still taken as an example for description. The mobile device (drone) and the control device (remote control) are both displayed as one graphical identification, i.e. the remote control device identification 11 and the drone identification 12, the remote control device identification 11 and the drone identification 12 are both displayed in one circular area 10. In this embodiment, the remote control device identification 11 is always located at the center of the circular area, shown as a circle with a center marked with an "H", the drone marker 12 is a smaller circle (fig. 2A is a circle with a grid) the drone identification 12 is correspondingly shown in the circular area 10 according to the actual distance and orientation of the movable device relative to the remote control device 11, to visualize the direction and distance of the drone relative to the user (remote control device).
Preferably, the scale of the circular area may vary with the distance between the drone and the remote control device, so that both signs are displayed on the display interface at the appropriate scale.
In this embodiment, the position information of the drone may be obtained by its own GPS module and transmitted to the control device, and the position information of the remote control device is fixed information or obtained by its own GPS module.
Fig. 2B is a schematic diagram of a second embodiment of a display interface in the control device of the present invention. Unlike the first embodiment, in which the remote control identification 11 is always located at the center of the circular area 10, in the second embodiment, as shown in fig. 2B, the center of the circular area 10 represents a specific geographical location point. That is, the center cross point of the circular area 10 is used in the display interface to represent specific address location information. In this embodiment, the particular geo-location point is the origin geo-location of the drone 12. In some scenarios, a person operating the remote control device to control the drone may also carry the remote control device away from the point of departure of the drone, and thus the remote control device may also be offset with respect to a particular geographic location. In fig. 2B, the identity of the remote control device is also offset to the upper left in the display interface with respect to the departure point of the drone as the operator walks.
In order to adapt to different application scenarios, the specific geographic location point is not limited to the starting point of the movable device (drone), but may be set to any geographic location, such as a destination of the movable device, a specially set take-off and landing point, or a specific geographic location.
Fig. 3 is a schematic diagram of a third embodiment of a display interface in the control device of the present invention. In this embodiment, in addition to the elements shown in fig. 2A and 2B, the display interface further includes an orientation information auxiliary identifier. The orientation information auxiliary marker comprises any visual marker capable of helping a user judge the orientation of the movable device or the control device in the display interface. In this embodiment, the orientation information auxiliary mark includes a control device front face orientation mark 13, a due north direction mark 14, and a distance auxiliary mark 15. The control device front facing indicator 13 defines the front facing of the control device (in this embodiment the remote control of the drone) which does not change position in the display interface, in this embodiment a triangular indicator directly above the display interface. Due north direction indicator 14 represents the direction of due north relative to the control device, which may change in the display interface as the orientation of the remote control device changes. In this embodiment, it is located at the periphery of the circular area. And the distance assistance mark 15 is a concentric circle composed of a dotted line in this embodiment, for representing the distance index in the display area. Although the specific orientation information is displayed in a specific shape and identification pattern to assist identification in this embodiment, those skilled in the art may make various changes according to design requirements.
Fig. 4A to 4C are schematic diagrams of a fourth embodiment of a display interface in the control device of the present invention. As shown, in this embodiment, in addition to the elements shown in fig. 3, it also displays the status information of the drone and the load (including the pan-tilt and the camera) mounted thereon in a graphical manner.
Fig. 4A to 4C illustrate the drone by using an arrow, where 16 is the direction of the vertex angle of the arrow, which is used to represent the flight direction or the head orientation of the drone. When the flight direction of the drone changes, the direction of this arrow changes. Further, reference numeral 17 is a dynamic water line pattern for representing the flight attitude of the drone. The dynamic water level line is positioned below the circular area and simulates the movement mode of water in a flat container along with the change of the flying attitude. In the embodiment, the elevation angle of the unmanned aerial vehicle is represented by the height of the water level line, and the roll angle of the unmanned aerial vehicle is represented by the inclination angle of the water level line. This kind of mode can vividly show current unmanned aerial vehicle's gesture information, convenience of customers discerns. Fig. 4A shows the case where the pitch angle of the drone is zero, but the roll angle is not zero, when the water line is exactly at the center of the circle. The water level tilting to the left in the figure represents that the drone is tilted to the left around the roll axis. Furthermore, as shown in fig. 4B, when the pitch angle of the drone is not zero, the horizontal plane will be higher than the center of the circular area. In fig. 4B, it is shown that when the drone is pitched down, the center of the horizontal plane is higher than the center of the circular area. Similarly, when the drone is raised upwards, its level is below the center of the circular area. Fig. 4C shows a situation where the drone is simultaneously tilted in both roll and pitch directions.
Fig. 5 is a schematic diagram of a fifth embodiment of a display interface in the control device of the present invention. As shown, the status information of the load is also displayed in this embodiment. In this embodiment, the load includes a pan-tilt head of the drone and a camera on the pan-tilt head. Reference numeral 18 is a sector area for indicating the visible range of the camera. While the annular section 19 located at the periphery of the circular area 10 represents the offset angle of the head. In this embodiment, the field of view 18 has a yaw angle relative to the nose orientation 16 of the drone. For the pan/tilt head, the tilt angle of the pan/tilt head of the unmanned aerial vehicle usually has an allowable range, for example, 0 to 270 degrees. If the tolerance range is about to be reached or exceeded, the user is alerted in this embodiment by a change in the color of the annular section 19. For example, it is displayed in green when it is within the allowable range, in yellow when it approaches the allowable range, and in red when it exceeds the allowable range.
The above embodiments mainly describe exemplary embodiments of the method for displaying the state of a movable apparatus of the present invention. It should be understood that the above-described methods of the present invention may be implemented in hardware or software. The forms in which the mode of the invention can be implemented are schematically illustrated by way of specific examples.
Fig. 6 is a schematic diagram of a system for displaying the status of a mobile device according to the present invention. As shown, the system 20 includes: communication means 21 for acquiring current status information of the mobile device and current status information of the control means; a storage device 22 storing computer readable instructions; the processing device 23 is configured to execute the computer readable instructions to control displaying the respective status information of the control device and the movable device on the same display interface. In this embodiment, the system may be implemented as a stand-alone device or may be implemented by a distributed device. The system may include the display device 24 or may not include the display device 24, for example, the communication device 21 may be implemented by a sensor (e.g., various wireless sensors) having a communication capability to acquire the current status information of the mobile device and the current status information of the control device. The processing means may be implemented by a computer, a mobile phone, a tablet or a PLA (programmable logic array) with processing capabilities, etc. The storage device 22 may be implemented as various media such as magnetic recording, semiconductor recording, optical recording, etc., according to the application environment. Further, when the system includes a display device 24, it may be a liquid display screen, a projection, or the like, in a variety of ways.
Fig. 7 is a schematic structural diagram of a control device for displaying the state of a movable device according to the present invention. As shown, as a physical control device, for example, a remote controller dedicated to the drone, or a control device 30 implemented by a mobile phone, it includes a communication interface 31, a processor 33, a memory 32, and a display 34. The control device is also essentially an implementation of the system of fig. 6, wherein the communication interface 31 is adapted to obtain status information of the mobile device and status information of the control device; a memory 32 storing computer readable instructions; the processor 33 is configured to execute the computer readable instructions to control the display of the respective status information of the control device and the movable device on the same display interface of the display 34.
The above-described methods, systems or apparatus according to embodiments of the invention may be implemented by an electronic device having computing capabilities executing software containing computer instructions. The system may include storage to implement the various storage described above. The computing-capable electronic device may include, but is not limited to, a general-purpose processor, a digital signal processor, a special-purpose processor, a reconfigurable processor, and the like capable of executing computer instructions. Execution of such instructions causes the electronic device to be configured to perform the operations described above in accordance with the present invention. The methods and/or modules described above may be implemented in one electronic device, or may be implemented in different electronic devices.
Embodiments of the present invention use software that may be stored in the form of volatile memory or non-volatile storage (such as storage devices like ROM), whether erasable or rewritable, or in the form of memory (e.g., RAM, memory chips, devices or integrated circuits), or on optically or magnetically readable media (e.g., CD, DVD, magnetic disk or tape, etc.).
It should be appreciated that the storage devices and storage media are embodiments of machine-readable storage suitable for storing a program or programs comprising instructions which, when executed, implement the methods of the present invention. Further, these programs may be delivered electronically via any medium (e.g., communication signals carried via a wired connection or a wireless connection), and embodiments suitably include these programs.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (44)
1. A method for displaying a state of a movable device, the movable device being a drone, a load of the drone including a pan-tilt, the method comprising:
acquiring state information of the movable device;
acquiring state information of a control device for controlling movement of the movable device;
displaying the respective state information of the control device and the movable device on the same display interface; the state information comprises position information, and the position information of the control device and the position information of the movable device are displayed in a circular display area of the same display interface; displaying a vertical diameter and a horizontal diameter within the circle, the vertical diameter and the horizontal diameter intersecting at a center of the circle;
the state information of the movable device comprises a pitch angle and/or a roll angle, and the pitch angle and/or the roll angle of the unmanned aerial vehicle are represented by using the position relation between a dynamic water level line and a circle center in a circular area; the dynamic water level line is used for simulating a motion mode of water in a flat container along with the change of flight attitude; an annular section of the circular display area is used to represent the offset angle of the pan/tilt head, and the color of the annular section is changed to warn the user that the pan/tilt head is about to reach or exceed a tolerance range.
2. The method of claim 1, wherein the scale of the circular area varies with the distance between the movable device and a remote control device.
3. The method of claim 1, wherein the center of the circular area is set to a specific geographic location point or a real-time location of the control device.
4. The method of claim 3, wherein the specific geographic location comprises any one of a starting point of the mobile device, a destination of the mobile device.
5. The method of claim 1, wherein the status information of the mobile device and the control device is displayed graphically.
6. The method of claim 5, wherein the movable device and the control device are represented using graphical indicia.
7. The method of claim 6, wherein the status information includes position information indicating an actual position of the movable device relative to the control device using a position graphically identified on the display interface.
8. The method of claim 7, wherein the display interface further comprises an orientation information auxiliary mark.
9. The method of claim 8, wherein the orientation information auxiliary mark comprises at least one of a control device front orientation mark, a north orientation mark and a distance auxiliary mark.
10. The method of claim 5, wherein the mobile device is a drone, the status information includes pose information of the drone, and the pose information is displayed graphically on the display interface.
11. The method of claim 10, wherein the pose information further comprises orientation information.
12. The method of claim 11, wherein the drone is represented using an arrow, and the orientation information of the drone is represented using a direction of the arrow.
13. The method of claim 5, wherein the status information comprises load information of the mobile device.
14. The method of claim 1, wherein the load further comprises a camera on a pan/tilt head, and wherein a sector is used to represent a field of view of the camera.
15. A system for displaying a state of a movable device, the movable device being a drone, a load of the drone including a pan-tilt, the system comprising:
communication means for acquiring state information of the movable apparatus and state information of control means for controlling the movable apparatus;
a storage device having computer readable instructions stored thereon; and
the processing device is used for executing the computer readable instructions to control the display of the respective control information of the control device and the movable device on the same display interface; the state information comprises position information, the position information of the control device and the position information of the movable device are displayed in a circular display area of the same display interface, a vertical diameter and a horizontal diameter are displayed in the circle, and the vertical diameter and the horizontal diameter are intersected at the center of the circle;
the state information of the movable device comprises a pitch angle and/or a roll angle, and the pitch angle and/or the roll angle of the unmanned aerial vehicle are represented by using the position relation between a dynamic water level line and a circle center in a circular area; the dynamic water level line is used for simulating a motion mode of water in a flat container along with the change of flight attitude; an annular section of the circular display area is used to represent the offset angle of the pan/tilt head, and the color of the annular section is changed to warn the user that the pan/tilt head is about to reach or exceed a tolerance range.
16. The system of claim 15, wherein the scale of the circular area varies with the distance between the movable device and a remote control device.
17. The system of claim 15, wherein the center of the circular area is set to a specific geographic location point or a real-time location of the control device.
18. The system of claim 17, wherein the specific geographic location point comprises any one of a departure point of the movable device, a destination of the movable device.
19. The system of claim 15, wherein status information of the mobile device and the control device is displayed graphically.
20. The system of claim 19, wherein the movable device and the control device are represented using graphical indicia.
21. The system of claim 20, wherein the status information includes position information indicating an actual position of the movable device relative to the control device using a graphical indication of a position on the display interface.
22. The system of claim 21, wherein the display interface further comprises an orientation information auxiliary identifier.
23. The system of claim 22, wherein the orientation information auxiliary mark comprises at least one of a control device front orientation mark, a north orientation mark and a distance auxiliary mark.
24. The system of claim 19, wherein the mobile device is a drone, the status information includes pose information for the drone, and the pose information is displayed graphically on the display interface.
25. The system of claim 23, wherein the pose information further comprises orientation information.
26. The system of claim 25, wherein the drone is represented using an arrow, the orientation information of the drone being represented using a direction of the arrow.
27. The system of claim 19, wherein the status information includes load information for the mobile device.
28. The system of claim 15, wherein the load further comprises a camera on a pan/tilt head, and wherein a sector is used to represent a field of view of the camera.
29. A control device for displaying a state of a movable device, the movable device being a drone, a load of the drone including a pan-tilt, the device comprising:
a communication interface for acquiring status information of the mobile device and status information of the control device for controlling the mobile device;
a memory storing computer readable instructions;
a processor for executing the computer readable instructions to control display of respective status information of the control device and the mobile device on the same display interface; the state information comprises position information, and the position information of the control device and the position information of the movable device are displayed in a circular display area of the same display interface; displaying a vertical diameter and a horizontal diameter within the circle, the vertical diameter and the horizontal diameter intersecting at a center of the circle;
the state information of the movable device comprises a pitch angle and/or a roll angle, and the pitch angle and/or the roll angle of the unmanned aerial vehicle are represented by using the position relation between a dynamic water level line and a circle center in a circular area; the dynamic water level line is used for simulating a motion mode of water in a flat container along with the change of flight attitude; an annular section of the circular display area is used to represent the offset angle of the pan/tilt head, and the color of the annular section is changed to warn the user that the pan/tilt head is about to reach or exceed a tolerance range.
30. The control device of claim 29, further comprising a display for displaying the display interface.
31. The control device of claim 29, wherein the scale of the circular area varies with the distance between the movable device and a remote control device.
32. The control device of claim 29, wherein the center of the circular area is set to a specific geographic location point or a real-time location of the control device.
33. The control device of claim 32, wherein the specific geographic location includes any one of a departure point of the movable device, a destination of the movable device.
34. The control device of claim 30, wherein status information of the mobile device and the control device is graphically displayed.
35. The control device of claim 34, wherein the movable device and the control device are represented using graphical indicia.
36. The control device of claim 35, wherein the status information includes position information indicating an actual position of the movable device relative to the control device using a position on the display interface of the graphical indicia.
37. The control device of claim 36, wherein the display interface further comprises an orientation information auxiliary mark.
38. The control device of claim 37, wherein the orientation information auxiliary mark comprises at least one of a control device front orientation mark, a north orientation mark and a distance auxiliary mark.
39. The control device of claim 34, wherein the movable device is a drone, the status information includes pose information of the drone, and the pose information is graphically displayed on the display interface.
40. The control device of claim 39, wherein the attitude information further comprises orientation information.
41. The control device of claim 40, wherein the arrow is used to represent a drone, and the direction of the arrow is used to represent orientation information of the drone.
42. The control device of claim 34, wherein the status information includes load information of the movable device.
43. The control device of claim 29, wherein the load further comprises a camera on a pan/tilt head, and a sector is used to represent a field of view of the camera.
44. A computer-readable medium having stored thereon computer-executable instructions for performing the method of any one of claims 1 to 14.
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| PCT/CN2016/109243 WO2018045654A1 (en) | 2016-09-09 | 2016-12-09 | Method and system for displaying state of mobile device and control device |
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| CN108983819A (en) * | 2018-08-14 | 2018-12-11 | 苏敏华 | A kind of unmanned plane management-control method, apparatus and system |
| WO2020198998A1 (en) * | 2019-03-29 | 2020-10-08 | 深圳市大疆创新科技有限公司 | Control method and device for movable platform, and movable platform |
| CN112771350A (en) * | 2020-04-24 | 2021-05-07 | 深圳市大疆创新科技有限公司 | Flight guidance method, device and system, remote control terminal and readable storage medium |
| CN117804281A (en) * | 2023-05-11 | 2024-04-02 | 深圳市安卫普科技有限公司 | Display method and display control device of aircraft countering equipment and related equipment |
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| CN104871524A (en) * | 2012-11-01 | 2015-08-26 | 谷歌公司 | Multi-directional content capture on mobile devices |
| CN104914864A (en) * | 2015-05-22 | 2015-09-16 | 深圳市大疆创新科技有限公司 | Mobile device, mobile device control system and control method |
| CN105518487A (en) * | 2014-10-27 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Method and apparatus for prompting position of air vehicle |
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| FR2614694B1 (en) * | 1987-04-28 | 1989-06-30 | Equip Navigation Aerienne | INTEGRATED ATTITUDE CENTER FOR AERODYNE |
| FR2919066B1 (en) * | 2007-07-17 | 2009-11-06 | Thales Sa | EMERGENCY INSTRUMENT FOR AIRCRAFT |
| EP2662722B1 (en) * | 2012-05-11 | 2016-11-23 | AGUSTAWESTLAND S.p.A. | Helicopter and method for displaying a visual information associated to flight parameters to an operator of an helicopter |
| FR2998873B1 (en) * | 2012-11-30 | 2016-10-14 | Airbus | AID FOR THE CONTROL OF AN AIRCRAFT IN THE SITUATION |
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| CN104736965A (en) * | 2012-10-23 | 2015-06-24 | 高通股份有限公司 | Real-time path suggestion for a location-enabled mobile device |
| CN104871524A (en) * | 2012-11-01 | 2015-08-26 | 谷歌公司 | Multi-directional content capture on mobile devices |
| CN105518487A (en) * | 2014-10-27 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Method and apparatus for prompting position of air vehicle |
| CN104914864A (en) * | 2015-05-22 | 2015-09-16 | 深圳市大疆创新科技有限公司 | Mobile device, mobile device control system and control method |
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