CN112313595A - Operation planning method and system of movable platform and control terminal - Google Patents

Operation planning method and system of movable platform and control terminal Download PDF

Info

Publication number
CN112313595A
CN112313595A CN201980040066.4A CN201980040066A CN112313595A CN 112313595 A CN112313595 A CN 112313595A CN 201980040066 A CN201980040066 A CN 201980040066A CN 112313595 A CN112313595 A CN 112313595A
Authority
CN
China
Prior art keywords
reference direction
reference point
movable platform
control terminal
setting operation
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN201980040066.4A
Other languages
Chinese (zh)
Inventor
贾向华
王璐
闫光
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN112313595A publication Critical patent/CN112313595A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

A method, a system and a control terminal for planning the operation of a movable platform are provided, the method comprises the following steps: detecting a first setting operation of a user, and determining a first reference point and a first reference direction according to the detected first setting operation, wherein the first reference direction is a reference direction corresponding to the first reference point (S301); detecting a second setting operation of the user, and determining a second reference point and a second reference direction according to the detected second setting operation, the second reference direction being a reference direction corresponding to the second reference point, wherein the working area of the movable platform is an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction (S302); therefore, the working area of the movable platform is not limited to the rectangular area any more, and the working efficiency of the movable platform is improved.

Description

Operation planning method and system of movable platform and control terminal
Technical Field
The embodiment of the application relates to the technical field of movable platforms, in particular to a method and a system for planning operation of a movable platform and a control terminal.
Background
With the increasing popularization of consumption-level unmanned aerial vehicles, industrial-level application unmanned aerial vehicles also begin to completely reveal the corner, and for the agricultural industry, agricultural unmanned aerial vehicles occupy an important position as industrial-level application unmanned aerial vehicles, and can perform plant protection operation on farmland, such as spraying operation (spraying moisture, pesticides, seeds and the like), so that great convenience is brought to the agricultural field, such as saving user time, improving operation efficiency, increasing operation income, improving utilization efficiency of agricultural machinery and the like. At present, an agricultural unmanned aerial vehicle can automatically generate a corresponding air route for a rectangular operation area according to a specific air route, and complete operation tasks such as flying, spraying and the like according to the air route. However, in a non-rectangular work area, a user needs to manually operate the agricultural drone, which reduces work efficiency.
Disclosure of Invention
The embodiment of the application provides a method and a system for planning the operation of a movable platform and a control terminal, which are used for improving the operation efficiency of the movable platform.
In a first aspect, an embodiment of the present application provides a method for planning operations of a movable platform, which is applied to a control terminal, and the method includes:
detecting a first setting operation of a user, and determining a first reference point and a first reference direction according to the detected first setting operation, wherein the first reference direction is a reference direction corresponding to the first reference point;
detecting a second setting operation of a user, and determining a second reference point and a second reference direction according to the detected second setting operation, wherein the second reference direction is a reference direction corresponding to the second reference point, and the working area of the movable platform is an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction.
In a second aspect, an embodiment of the present application provides a control terminal, including:
the interaction device is used for detecting a first setting operation of a user;
the processor is used for determining a first reference point and a first reference direction according to a first setting operation detected by the interaction device, wherein the first reference direction is a reference direction corresponding to the first reference point;
the interaction device is also used for detecting a second setting operation of the user;
the processor is further configured to determine a second reference point and a second reference direction according to a second setting operation detected by the interaction device, where the second reference direction is a reference direction corresponding to the second reference point, and the working area of the movable platform is an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction.
In a third aspect, an embodiment of the present application provides a work planning system for a movable platform, including the movable platform and the control terminal according to the second aspect.
In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a computer program is stored; when executed, the computer program implements a method for job planning for a movable platform according to an embodiment of the present application.
In a fifth aspect, the present application provides a program product, where the program product includes a computer program, where the computer program is stored in a readable storage medium, and the computer program can be read by at least one processor of a control terminal from the readable storage medium, and the at least one processor executes the computer program to enable the control terminal to implement the job planning method for a movable platform according to the first aspect.
According to the operation planning method, the operation planning system and the control terminal of the movable platform, the first setting operation of the user is detected, the first reference point and the first reference direction are determined according to the detected first setting operation, the first setting operation of the user is detected, the second reference point and the second reference direction are determined according to the detected second setting operation, and the operation area of the movable platform is an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point along the first reference direction and a reference line extending from the second reference point along the second reference direction. Therefore, the user sets two reference points and reference directions corresponding to the two reference points respectively through the operation of the control terminal, the operation area of the movable platform can be flexibly planned, the operation area is not limited to a rectangle any more, and the operation efficiency of the movable platform is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic architecture diagram of a drone system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present application;
fig. 3 is a flowchart of an operation planning method for a movable platform according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a working area of a moveable platform according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating an embodiment of adjusting the position and heading of a movable platform;
FIG. 6 is a schematic illustration of generating a course within a work area of a movable platform provided by an embodiment of the present application;
fig. 7 is a flowchart of a method for planning operations of a movable platform according to another embodiment of the present application;
fig. 8 is a schematic structural diagram of a control terminal according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an operation planning system of a movable platform according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the application provides a method and a system for planning the operation of a movable platform and a control terminal. The movable platform may be, for example, an unmanned aerial vehicle, an unmanned ship, an unmanned automobile, a robot, or the like. Where the drone may be, for example, a rotorcraft (rotorcraft), e.g., a multi-rotor aircraft propelled through air by a plurality of propulsion devices, embodiments of the present application are not limited thereto.
Fig. 1 is a schematic architecture diagram of a drone system according to an embodiment of the present application. The present embodiment is described by taking a rotor unmanned aerial vehicle as an example.
The drone system 100 may include a drone 110, a display device 130, and a control terminal 140. In this embodiment, the unmanned aerial vehicle 110 is an unmanned aerial vehicle, and may include a power system 150, a control system 160, a frame, and a cradle head 120 carried on the frame. The drone 110 may be in wireless communication with the control terminal 140 and the display device 130. In other embodiments, the drone may also be an unmanned vehicle or an unmanned ship.
The airframe may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected with the fuselage for play the supporting role when unmanned aerial vehicle 110 lands.
The power system 150 may include one or more electronic governors (referred to simply as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153. Wherein motor 152 is connected between electricity accent 151 and screw 153, and motor 152 and screw 153 set up on unmanned aerial vehicle 110's horn. The electronic controller 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 electric tilt 151 may correspond to a plurality of motors, and also a plurality of electric tilts 151 may correspond to one motor 152 respectively. The motor 152 is used to drive the propeller in rotation, thereby providing power for the flight of the drone 110, which power enables the drone 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the drone 110 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a Roll axis (Roll), a Yaw axis (Yaw) and a pitch axis (pitch). It should be understood that the motor 152 may be a dc motor or an ac motor. The motor 152 may be a brushless motor or a brush motor.
The control system 160 may include a controller 161 and a sensing system 162. The sensing system 162 is used to measure attitude information of the drone, i.e., 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, three-dimensional angular velocity, and the like. The sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the Global navigation satellite System may be a Global Positioning System (GPS). The controller 161 is used to control the flight or operation of the drone 110, for example, the flight or operation of the drone 110 may be controlled based on attitude information measured by the sensing system 162. It should be understood that the controller 161 may control the drone 110 according to preprogrammed instructions, or may control the drone 110 in response to one or more control instructions from the control terminal 140.
The pan/tilt head 120 may include a pan/tilt motor 122. The pan/tilt head is used to carry the photographing device 123. The controller 161 may control the movement of the pan/tilt head 120 through the pan/tilt head motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a pan/tilt controller for controlling the movement of the pan/tilt head 120 by controlling the pan/tilt motor 122. It should be understood that the pan/tilt head 120 may be separate from the drone 110, or may be part of the drone 110. It should be understood that the pan/tilt motor 122 may be a dc motor or an ac motor. In addition, the pan/tilt motor 122 may be a brushless motor or a brush motor. It should also be understood that the pan/tilt head may be located at the top of the drone, as well as at the bottom of the drone.
The photographing device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photographing under the control of the flight controller. The image capturing Device 123 of this embodiment at least includes a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 may also be directly fixed to the drone 110, such that the pan/tilt head 120 may be omitted.
The display device 130 is located at the ground end, can communicate with the drone 110 in a wireless manner, and can be used to display the pose information of the drone 110. In addition, an image taken by the imaging device may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated into the control terminal 140.
The control terminal 140 is located at the ground end of the drone system 100, and can communicate with the drone 110 in a wireless manner, for remote control of the drone 110.
Taking an unmanned aerial vehicle as an agricultural unmanned aerial vehicle as an example, as shown in fig. 2, a liquid storage tank 170 is further mounted between foot rests of the unmanned aerial vehicle, and the liquid storage tank 170 is used for storing liquid medicine or water; the spray head 180 is mounted at the end of the arm, and the liquid in the liquid tank 170 is pumped into the spray head 180 by the pump and is sprayed out by the spray head 180.
In addition, a continuous wave radar 190 may be mounted on the foot stool, the continuous wave radar 190 is a rotating continuous wave radar, and the continuous wave radar 190 may be used for distance measurement, but is not limited to distance measurement. Wherein, agricultural unmanned aerial vehicle can include two or more than two foot rests, and continuous wave radar 190 carries on one of them foot rest.
It should be understood that the above-mentioned nomenclature for the components of the drone system is for identification purposes only, and should not be construed as limiting the embodiments of the present application. The scheme of the application is explained below by taking a movable platform as an unmanned aerial vehicle as an example.
Fig. 3 is a flowchart of an operation planning method for a movable platform according to an embodiment of the present application, and as shown in fig. 3, the method of the present embodiment is applied to a control terminal, and the method of the present embodiment may include:
s301, detecting a first setting operation of a user, and determining a first reference point and a first reference direction according to the detected first setting operation, wherein the first reference direction is a reference direction corresponding to the first reference point.
The control terminal in this embodiment may be a control terminal of a movable platform, and the control terminal includes one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, and a wearable device, which is not described herein again. The control terminal can detect the operation of a user through the interaction device, wherein the interaction device can be an important component of the control terminal and is an interface for interacting with the user, and the user can realize the control of the movable platform through the operation of the interaction device; when a user wants to control the movable platform, the user operates the interaction device of the control terminal, and the control terminal detects the operation of the user through the interaction device. The interaction device can be one or more of a touch screen, a keyboard, a rocker and a wave wheel of the control terminal; meanwhile, the touch screen can also display parameters (such as position, course, heading and the like) of the movable platform during operation, and can display pictures shot by the movable platform.
In this embodiment, when a user wants to plan a working area of a movable platform in a to-be-planned area, the user needs to set two reference points and reference directions corresponding to the two reference points, where the two reference points are respectively referred to as a first reference point and a second reference point, and the reference directions corresponding to the two reference points are referred to as a reference direction corresponding to the first reference point and a reference direction corresponding to the second reference point.
When a user wants to set a first reference point and a reference direction corresponding to the first reference point, the user performs a first setting operation on the interaction device, and the interaction device detects a first device operation of the user, so that the control terminal can detect the first setting operation of the user through the interaction device. After detecting the first setting operation, the control terminal determines a first reference point and a reference direction corresponding to the first reference point according to the first setting operation, wherein the reference direction corresponding to the first reference point is called as a first reference direction. The first reference point is a reference point in the area to be planned, and the terminal is correspondingly controlled to determine the first reference point from the area to be planned, namely, a user sets a reference point in the area to be planned.
It should be noted that the first setting operation may be one operation, and the control terminal determines the first reference point and the first reference direction at the same time according to the first setting operation. Alternatively, the first setting operation may be a plurality of operations, the first setting operation including a first reference point setting operation and a first direction setting operation, and accordingly, the control terminal detects the first reference point setting operation of the user, determines the first reference point according to the detected first reference point setting operation, detects the first direction setting operation of the user again, and determines the first reference direction according to the detected first direction setting operation.
S302, detecting a second setting operation of the user, and determining a second reference point and a second reference direction according to the detected second setting operation, wherein the second reference direction is a reference direction corresponding to the second reference point, and the working area of the movable platform is an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point along the first reference direction, and a reference line extending from the second reference point along the second reference direction.
When the user wants to set a second reference point and a reference direction corresponding to the second reference point, the user performs a second setting operation on the interaction device, and the interaction device detects a second device operation of the user, so that the control terminal can detect the second setting operation of the user through the interaction device. And after detecting a second setting operation, the control terminal determines a second reference point and a reference direction corresponding to the second reference point according to the second setting operation, wherein the reference direction corresponding to the second reference point is called as a second reference direction. The second reference point is also a reference point in the area to be planned, and accordingly the control terminal determines the second reference point from the area to be planned, namely, the user sets another reference point from the area to be planned.
After the control terminal determines the first reference point, the second reference point, the first reference direction, and the second reference direction, the working area of the movable platform is also determined accordingly, that is, an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction, as shown in fig. 4, the first reference point is a reference point a, and the second reference point is a reference point B. The working area of the movable platform may be a partial area in the area to be planned, so that a plurality of working areas may be determined from the planned area by the solution of this embodiment.
Optionally, the control terminal may further determine, according to the first reference point, the second reference point, the first reference direction, and the second reference direction, the working area of the movable platform as an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction. Or, optionally, the control terminal notifies the movable platform of the first reference point, the second reference point, the first reference direction, and the second reference direction, and accordingly, the movable platform determines, according to the first reference point, the second reference point, the first reference direction, and the second reference direction, an operation area of the movable platform as an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction.
It should be noted that the second setting operation may be one operation, and the control terminal determines the second reference point and the second reference direction at the same time according to the second setting operation. Alternatively, the second setting operation may be a plurality of operations, the second setting operation including a second reference point setting operation and a second direction setting operation, and accordingly, the control terminal detects the second reference point setting operation of the user, determines the second reference point according to the detected second reference point setting operation, detects the second direction setting operation of the user again, and determines the second reference direction according to the detected second direction setting operation.
In the present embodiment, by detecting the first setting operation by the user, determining the first reference point and the first reference direction according to the detected first setting operation, and detecting the first setting operation by the user, and determining the second reference point and the second reference direction according to the detected second setting operation, the working area of the movable platform is an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction. Therefore, the user sets two reference points and reference directions corresponding to the two reference points respectively through the operation of the control terminal, the operation area of the movable platform can be flexibly planned, the operation area is not limited to a rectangle any more, and the operation efficiency of the movable platform is improved.
In some embodiments, at least one of the first reference direction and the second reference direction is an orientation of the acquired movable platform.
The first reference direction is the orientation of the movable platform collected when the control terminal detects the first setting operation; or the second reference direction is the orientation of the movable platform collected when the control terminal detects the second setting operation; or the first reference direction is the orientation of the movable platform collected when the control terminal detects the first setting operation, and the second reference direction is the orientation of the movable platform collected when the control terminal detects the second setting operation.
In some embodiments, at least one of the first reference point and the second reference point is a position of the movable platform that is acquired.
The first reference point is the position of the movable platform acquired when the control terminal detects the first setting operation; or the second reference point is the position of the movable platform acquired when the control terminal detects the second setting operation; or the first reference point is the position of the movable platform acquired when the control terminal detects the first setting operation, and the second reference point is the position of the movable platform acquired when the control terminal detects the second setting operation.
In some embodiments, one possible implementation manner of determining the first reference point and the first reference direction according to the detected first setting operation in S301 is as follows: in response to the detected first setting operation, the acquired position of the movable platform is set as a first reference point, and the acquired orientation of the movable platform is set as a first reference direction. The control terminal detects a first setting operation of a user, acquires the position of the movable platform and the orientation of the movable platform collected when the first setting operation is detected, sets the collected position of the movable platform as a first reference point, and sets the collected orientation of the movable platform as a first reference direction.
One possible implementation manner of determining the second reference point and the second reference direction according to the detected second setting operation in S302 is as follows: in response to the detected second setting operation, the acquired position of the movable platform is set as a second reference point, and the acquired orientation of the movable platform is set as a second reference direction. The control terminal detects a second setting operation of the user, acquires the position of the movable platform and the orientation of the movable platform collected when the second setting operation is detected, sets the collected position of the movable platform as a second reference point, and sets the collected orientation of the movable platform as a second reference direction.
Thus, the present embodiment can determine the working area of the movable platform by the position and orientation of the movable platform.
In some embodiments, the control terminal further detects a first movement control operation of the user before performing the above S301, and controls the movable platform to move to the first reference point according to the detected first movement control operation.
If the current position of the movable platform is not located at the position desired by the user, the user may perform a first movement control operation on the control terminal, and accordingly, the control terminal detects the first movement control operation of the user and controls the movable platform to move according to the first movement control operation until the movable platform moves to the first position (i.e., the first reference point) desired by the user, for example, as shown in fig. 5, the user controls the movement of the movable platform by sliding upwards on the touch screen of the control terminal, and it should be noted that the first movement control operation is not limited thereto. And then after the control terminal detects the first setting operation, setting the position of the movable platform as a first reference point according to the first setting operation.
Before executing the above S302, the control terminal further detects a second movement control operation of the user, and controls the movable platform to move to the second reference point according to the detected second movement control operation.
If the current position of the movable platform is not located at the position desired by the user, the user can execute a second movement control operation on the control terminal, and accordingly, the control terminal detects the second movement control operation of the user and controls the movable platform to move according to the second movement control operation until the movable platform moves to a second position (namely, a second reference point) desired by the user. And then after the control terminal detects the second setting operation, setting the position of the movable platform as a second reference point according to the second setting operation.
Therefore, the user controls the movement of the movable platform by operating the control terminal, and the first reference point and the second reference point can be flexibly and accurately set, so that the determined working area of the movable platform is more accurate.
In some embodiments, the control terminal further detects a first orientation control operation of the user before performing the above S301, and adjusts the orientation of the movable platform to the first reference direction according to the detected first orientation control operation.
If the current orientation of the movable platform is not the orientation desired by the user, the user may perform a first orientation control operation on the control terminal, and accordingly, the control terminal detects the first orientation control operation of the user and controls the movable platform to rotate according to the first orientation control operation until the orientation of the movable platform rotates to the direction desired by the user (i.e., the first reference direction). And then after the control terminal detects the first setting operation, setting the orientation of the movable platform as a first reference direction according to the first setting operation.
The control terminal further detects a second orientation control operation of the user before performing the above S302, and adjusts the orientation of the movable platform to a second reference direction according to the detected second orientation control operation.
If the current orientation of the movable platform is not the orientation desired by the user, the user can perform a second orientation control operation on the control terminal, and accordingly, the control terminal detects the second orientation control operation of the user and controls the movable platform to rotate according to the second orientation control operation until the orientation of the movable platform rotates to the direction desired by the user (i.e., a second reference direction). And then the control terminal sets the orientation of the movable platform as a second reference direction according to the second setting operation after detecting the second setting operation.
Therefore, the user controls the orientation of the movable platform by operating the control terminal, and the first reference direction and the second reference direction can be flexibly and accurately set, so that the determined working area of the movable platform is more accurate.
Optionally, the orientation of the movable platform includes a heading of the movable platform body or a heading of the camera of the movable platform.
Optionally, the heading of the movable platform body is a heading of a handpiece of the movable platform.
In some embodiments, the control terminal further acquires and displays an image captured by the movable platform, and displays an indicator indicating a heading of the movable platform on the image.
In this embodiment, the movable platform can gather the image, and the movable platform sends the image of gathering for control terminal, and control terminal receives the image of movable platform collection to the image of gathering of movable platform is shown through display device. The control terminal may also obtain a heading of the movable platform, for example: acquiring the course of a movable platform body as the course of the movable platform, or acquiring the course of a shooting device of the movable platform as the course of the movable platform; and the control terminal displays an indication mark for indicating the course of the movable platform on the image acquired by the movable platform.
Correspondingly, the user determines whether the heading of the movable platform is the heading expected by the user through the displayed image and the indication mark displayed on the image, if not, the user can execute the first heading control operation and/or the second heading control operation on the control terminal to adjust the heading of the movable platform so as to set the first reference direction and the second reference direction.
The user can observe the area to be planned around the movable platform through the image, in addition, the user can know which direction of the area to be planned the course of the movable platform points to through observing the indication mark, and the user can determine the course of the movable platform indicated by the indication mark as the first reference direction and/or the second reference direction according to the requirement of the user. The indication mark may be a mark such as an indication line or an indication arrow. Therefore, the heading of the movable platform can be accurately adjusted to the heading desired by the user in combination with the image acquired by the movable platform to ensure that the first reference direction and the second reference direction are accurately set.
In some embodiments, the control terminal further acquires and displays an image captured by the movable platform, and displays an indicator indicating a position of the movable platform on the image.
In this embodiment, the movable platform can gather the image, and the movable platform sends the image of gathering for control terminal, and control terminal receives the image of movable platform collection to the image of gathering of movable platform is shown through display device. The control terminal can also acquire the position of the movable platform, and the control terminal displays an indication mark for indicating the position of the movable platform on the image acquired by the movable platform.
Accordingly, the user determines whether the position of the movable platform is the position desired by the user through the displayed image and the indication mark displayed on the image, and if not, the user can execute the first movement control operation and/or the second movement control operation on the control terminal to adjust the position of the movable platform so as to set the first reference point and the second reference point.
Therefore, the position of the movable platform can be accurately adjusted to a position desired by a user in conjunction with the image captured by the movable platform to ensure that the first reference point and the second reference point are accurately set.
In some embodiments, at least one of the first reference direction and the second reference direction is an orientation of the collected control terminal.
The first reference direction is the orientation of the control terminal acquired when the control terminal detects the first setting operation; or the second reference direction is the orientation of the control terminal acquired when the control terminal detects the second setting operation; or the first reference direction is the orientation of the control terminal acquired when the control terminal detects the first setting operation, and the second reference direction is the orientation of the control terminal acquired when the control terminal detects the second setting operation.
In some embodiments, at least one of the first reference point and the second reference point is a collected position of the control terminal.
The first reference direction is the position of the control terminal acquired when the control terminal detects the first setting operation; or the second reference point is the position of the control terminal acquired when the control terminal detects the second setting operation; or the first reference point is the position of the control terminal acquired when the control terminal detects the first setting operation, and the second reference point is the position of the control terminal acquired when the control terminal detects the second setting operation.
In some embodiments, one possible implementation manner of determining the first reference point and the first reference direction according to the detected first setting operation in S301 is as follows: and in response to the detected first setting operation, setting the collected position of the control terminal as a first reference point and the collected orientation of the control terminal as a first reference direction. The control terminal detects a first setting operation of a user, acquires the position of the control terminal and the orientation of the control terminal acquired when the first setting operation is detected, sets the acquired position of the control terminal as a first reference point, and sets the acquired orientation of the control terminal as a first reference direction.
One possible implementation manner of determining the second reference point and the second reference direction according to the detected second setting operation in S302 is as follows: and in response to the detected second setting operation, setting the collected position of the control terminal as a second reference point, and setting the collected orientation of the movable platform as a second reference direction. The control terminal detects a second setting operation of the user, acquires the position of the control terminal and the orientation of the control terminal acquired when the second setting operation is detected, sets the acquired position of the control terminal as a second reference point, and sets the acquired orientation of the control terminal as a second reference direction.
Therefore, the present embodiment can determine the working area of the movable platform by controlling the position and orientation of the terminal.
In some embodiments, the control terminal also acquires and displays a digital map. The digital map is, for example, the above-mentioned digital map of the area to be planned.
Accordingly, one possible implementation manner of the above S301 is: detecting a first setting operation of a user on the displayed digital map, and determining the first reference point and the first reference direction according to the detected first setting operation. The user may set a first reference point and a first reference direction based on the displayed digital map, and in particular, the user performs a first setting operation on the displayed digital map through an interaction device of the control terminal, and accordingly, the control terminal detects the first setting operation on the displayed digital map by the user through the interaction device, and then determines the first reference point and the first reference direction on the digital map according to the detected first setting operation and the displayed digital map.
Accordingly, one possible implementation manner of the above S302 is: and detecting a second setting operation of the user on the displayed digital map, and determining the second reference point and the second reference direction according to the detected second setting operation. The user may set the second reference point and the second reference direction based on the displayed digital map, and in particular, the user performs a second setting operation on the displayed digital map through the interaction device of the control terminal, and accordingly, the control terminal detects the second setting operation on the displayed digital map by the user through the interaction device, and then determines the second reference point and the second reference direction on the digital map according to the detected second setting operation and the displayed digital map.
Therefore, the first reference point, the first reference direction, the second reference point, and the second reference direction may be accurately set in conjunction with the digital map to ensure the accuracy of the working area of the movable platform.
In some embodiments, the control terminal further acquires and displays a digital map, and displays the first reference point and the first reference direction, the second reference point and the second reference direction on the digital map. So that the user can determine the working area of the movable platform through the displayed digital map and the first reference point and the first reference direction, the second reference point and the second reference direction displayed on the digital map in time. If the determined working area of the movable platform does not meet the expectations of the user, the user may adjust in a timely manner.
In some embodiments, after performing the above S301 and S302, the control terminal further controls the movable platform to perform the work task in the work area according to the first reference point and the first reference direction, and the second reference point and the second reference direction.
After determining the first reference point, the first reference direction, the second reference point and the second reference direction, the control terminal controls the movable platform to execute a work task in an area (namely, a work area) defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point along the first reference direction and a reference line extending from the second reference point along the second reference direction according to the first reference point, the first reference direction, the second reference point and the second reference direction. Optionally, the control terminal generates a flight path of the movable platform in the working area according to a first reference point and the first reference direction, and the second reference point and the second reference direction; controlling the movable platform to perform work tasks within the work area according to the flight path, such as: and correspondingly, the movable platform receives the operation instruction sent by the control terminal and executes a work task according to the air route in the operation instruction.
An optional implementation manner for generating the route of the movable platform in the operation area is as follows: as shown in FIG. 6, the longitude and latitude of the first reference point, point A, are determined to be (lon)A，latA) The first reference direction (e.g. the heading of the movable platform at point A) is YawAThe longitude and latitude of the point B of the second reference point are (lon)B，latB) The second reference direction (e.g. the heading of the movable platform at point B) is YawBThe control terminal sets the operation interval determined according to the detected operation interval of the user to be l, and the course of the movable platform moving along the extension line of the reference line between the point A and the point B is YawABFurther, the angular difference θ between the direction of the extended line of the reference line between the points A and B and the first reference direction can be obtainedA＝(YawA-YawAB) And the difference in angle between the direction of the extension of the reference line between the point A and the point B and the second reference direction is thetaB＝(YawB-YawAB) Then, combining the operation interval l, the distance l between the next waypoint A' along the point A of the first reference direction and the point A can be obtained according to the following formulaA-A′And the next waypoint B' along the second reference direction B is at a distance l from point BB-B′：
lA-A′＝l/sinθA
lB-B′＝l/sinθB
Then converting the formula and l according to the longitude and latitudeA-A′The longitude and latitude coordinates of A' can be obtained, and the formula are converted according to the longitude and latitudeB-B′The latitude and longitude coordinates of B' can be obtained. Accordingly, other waypoints can be obtained by analogy with the above process, and are not described in detail herein.
In some embodiments, after the control terminal determines the first reference point and the first reference direction, the second reference point and the second reference direction, the user may operate the control terminal at any time to control the movable platform to perform the work task in the work area, when the user wants to control the movable platform to perform the work task, the user performs a job starting operation on the control terminal through the interaction device, and accordingly, after the control terminal detects the job starting operation of the user, the control terminal controls the movable platform to perform the work task in the work area according to the first reference point and the first reference direction, the second reference point and the second reference direction, so as to improve the user's controllability.
In some embodiments, the control terminal further determines whether the first reference direction and the second reference direction satisfy a preset pointing relationship before controlling the movable device to perform the work task in the target area according to the first reference point and the first reference direction, and the second reference point and the second reference direction. When the first reference direction and the second reference direction meet a preset pointing relationship, the control terminal controls the movable platform to execute the work task in the work area according to the first reference point, the first reference direction, the second reference point and the second reference direction, so that the movable platform can be ensured to execute the work task in the work area efficiently and smoothly.
In some embodiments, the control terminal further determines whether the first reference direction and the second reference direction satisfy a preset directional relationship. And when the first reference direction and the second reference direction do not meet the preset pointing relationship, displaying prompt information. The prompt information can prompt that the first reference direction and the second reference direction do not meet the preset pointing relationship and cannot control the movable platform to execute the work task in the operation area; alternatively, the prompt may prompt that the work area planning was unsuccessful. So that the user can readjust the first reference direction or the second reference direction through the prompt message.
In some embodiments, one possible implementation manner of determining whether the first reference direction and the second reference direction satisfy the preset directional relationship may be: determining whether the first reference direction and the second reference direction both point to the same one of the two sides of a reference line between the first reference point and the second reference point. If the first reference direction and the second reference direction both point to the same side of two sides of a reference line between the first reference point and the second reference point, it means that the first reference direction and the second reference direction satisfy a preset pointing relationship. If the first reference direction and the second reference direction do not all point to the same side of two sides of the reference line between the first reference point and the second reference point, the first reference direction and the second reference direction do not meet the preset pointing relationship. The determined working area is indicated to be advantageous for the movable platform to perform the work task if the first reference direction and the second reference direction both point to the same one of the two sides of the reference line between the first reference point and the second reference point.
In some cases, an agricultural drone (e.g., a plant protection machine) is a drone platform that can be manipulated by a user to perform tasks such as flying and spraying. This type of unmanned aerial vehicle has the GPS module usually for the real-time positional information of accurate positioning unmanned aerial vehicle, generally can be equipped with modules such as compass, barometer, is used for measuring information such as the course angle and the flight altitude of aircraft, and in addition, the control terminal (for example the remote controller) that carries out the communication with the plant protection machine generally can set up button or APP graphical interface, realizes the interaction of user and aircraft. At present, the existing unmanned aerial vehicle mainly has the following several kinds to the operation means of the same plot:
for plots operated in a non-airline mode, the same operation mode is generally adopted when a user operates again, the user needs to control the whole operation process in a manual mode and an M + mode, and when the operation area is large, repeated operation consumes time and labor; for the operation mode of two reference points (AB points), a user still needs to perform re-dotting planning during repeated operation, and if repeated planning is needed in the operation process, the same operation is also needed during re-operation, so that repeated operation is often needed for the operation on the same land parcel in a non-airline mode, and the operation efficiency is very low. How to conveniently and efficiently repeat the operation on the same land is a long-standing problem in the field.
Secondly, utilize proprietary survey and drawing unmanned aerial vehicle, carry out accurate survey and drawing to the topography earlier, carry out autonomous operation again behind the generation airline, but need the user additionally to purchase special survey and drawing unmanned aerial vehicle equipment, need carry out the survey and drawing preparation before the operation promptly, increased user's operating cost again.
In order to overcome the defects, the embodiment of the application provides an interaction method for uploading/storing/calling the operation route, the unmanned aerial vehicle records the flight information of the unmanned aerial vehicle in the user operation process in real time and displays the flight information to the APP interface of the control terminal, and the unmanned aerial vehicle can automatically generate the three-dimensional route of the unmanned aerial vehicle operation after the operation is completed, or the user clicks the unmanned aerial vehicle after uploading the three-dimensional route, so that the three-dimensional route of the unmanned aerial vehicle operation can be automatically generated. And simultaneously, the control terminal stores the three-dimensional route, or the control terminal uploads the three-dimensional route to a remote server for storage. When a user needs to do repeated operation on the same land, the flight path information can be directly called to quickly do secondary operation, full-autonomous flight operation is achieved, the mode is flexible, operation is simple and easy, and operation efficiency of the user is greatly improved. In addition, the user still can adjust airline operation height, airspeed and spray the flow according to the growth of crop, health status, when guaranteeing the operating efficiency, the operation effect of the autonomic operation of strengthening again can effectively improve plant protection unmanned aerial vehicle's use value.
One embodiment as shown in fig. 7, this embodiment may include the following steps: the method comprises the steps that a user uses manual operation modes such as M + and AB points or semi-automatic operation modes, an unmanned aerial vehicle (such as a flight controller) can record flight state information of the unmanned aerial vehicle in real time at a certain frequency in the operation process, the unmanned aerial vehicle (such as the flight controller) can automatically calculate a three-dimensional flight route according to operation information after operation is completed, the three-dimensional flight route is displayed by a control terminal (namely the unmanned aerial vehicle sends the three-dimensional flight route to the control terminal, the control terminal displays the three-dimensional flight route through a corresponding APP interface), if the user selects to upload the flight route, the control terminal detects the flight route uploading operation of the user, the three-dimensional flight route of a task is automatically stored locally or uploaded to equipment such as a remote server for storage according to the flight route uploading operation, and otherwise, the control terminal clears the flight route. Optionally, the three-dimensional flight path may also be calculated by the control terminal according to the flight state information of the unmanned aerial vehicle. In this embodiment, the airline uploading operation is not limited to be executed through an option in an APP interface in a control terminal (for example, a remote controller), and may also be executed through a key on the remote controller or the like.
When the user works the same plot again, the stored three-dimensional flight route can be directly called through the APP interface of the control terminal, and then the unmanned aerial vehicle is controlled to finish full-automatic route flight. Before operation, a user can set the height, the flying speed, the spraying flow and the like of the three-dimensional flight route according to the information of the growth condition, the health condition and the like of crops.
Therefore, the uploading, saving and calling of the operation route can be completed through the steps.
The embodiment of the present application further provides a computer storage medium, in which program instructions are stored, and when the program is executed, the program may include some or all of the steps of the methods in the embodiments described above.
Fig. 8 is a schematic structural diagram of a control terminal according to an embodiment of the present application, and as shown in fig. 8, the control terminal 800 according to this embodiment may include: an interaction device 801 and a processor 802. The interaction device 801 and the processor 802 may be communicatively connected by a bus. The Processor 802 may be a Central Processing Unit (CPU), and the Processor 802 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. Optionally, the control terminal 800 of this embodiment may further include: a display device 803. The display device 803 may be communicatively coupled to the above components via a bus.
The interaction device 801 is configured to detect a first setting operation of a user.
The processor 802 is configured to determine a first reference point and a first reference direction according to a first setting operation detected by the interaction apparatus 801, where the first reference direction is a reference direction corresponding to the first reference point.
The interaction device 801 is further configured to detect a second setting operation of the user.
The processor 802 is further configured to determine a second reference point and a second reference direction according to a second setting operation detected by the interaction device 801, where the second reference direction is a reference direction corresponding to the second reference point, and the working area of the movable platform is an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point along the first reference direction, and a reference line extending from the second reference point along the second reference direction.
In some embodiments, the processor 802 is further configured to determine the working area of the movable platform according to the first reference point and the first reference direction, the second reference point and the second reference direction.
In some embodiments, at least one of the first reference direction and the second reference direction is an orientation of the acquired movable platform.
In some embodiments, when determining the first reference point and the first reference direction according to the first setting operation detected by the interaction device 801, the processor 802 is specifically configured to: in response to the first setting operation detected by the interaction device 801, setting the acquired position of the movable platform as the first reference point, and setting the acquired orientation of the movable platform as the first reference direction;
when determining the second reference point and the second reference direction according to the second setting operation detected by the interaction device 801, the processor 802 is specifically configured to:
in response to the second setting operation detected by the interaction means 801, the acquired position of the movable platform is set as a second reference point, and the acquired orientation of the movable platform is set as the second reference direction.
In some embodiments, the interaction device 801 is further configured to detect a first movement control operation of a user;
the processor 802 is further configured to control the movable platform to move to the first reference point according to the first movement control operation detected by the interaction device 801;
the interaction device 801 is further configured to detect a second movement control operation of the user;
the processor 802 is further configured to control the movable platform to move to the second reference point according to the second movement control operation detected by the interaction device 801.
In some embodiments, the interaction device 801 is further configured to detect a first orientation control operation of a user;
the processor 802 is further configured to adjust the orientation of the movable platform to the first reference direction according to the first orientation control operation detected by the interaction device 801;
the interaction device 801 is further configured to detect a second orientation control operation of the user;
the processor 802 is further configured to adjust the orientation of the movable platform to the second reference direction according to the second orientation control operation detected by the interaction device 801.
In some embodiments, the orientation of the moveable platform includes a heading of a moveable platform body or a heading of a camera of the moveable platform.
In some embodiments, the heading of the moveable platform body is a heading of a handpiece of the moveable platform.
In some embodiments, the processor 802 is further configured to acquire an image captured by the movable platform;
the display device 803 is configured to display an image acquired by the movable platform, and display an indication identifier indicating a heading of the movable platform on the image.
In some embodiments, at least one of the first reference direction and the second reference direction is an acquired orientation of the control terminal.
In some embodiments, when determining the first reference point and the first reference direction according to the first setting operation detected by the interaction device 801, the processor 802 is specifically configured to:
in response to a first setting operation detected by the interaction device 801, setting the collected position of the control terminal 800 as the first reference point, and setting the collected orientation of the control terminal 800 as the first reference direction;
when determining the second reference point and the second reference direction according to the second setting operation detected by the interaction device 801, the processor 802 is specifically configured to:
in response to the second setting operation detected by the interaction device 801, the collected position of the control terminal 800 is set as the second reference point, and the collected orientation of the control terminal 800 is set as the second reference direction.
In some embodiments, the processor 802 is further configured to obtain a digital map;
the display device 803 is used for displaying the digital map;
when detecting the first setting operation of the user, the interaction device 801 is specifically configured to: detecting a first setting operation of a user on the displayed digital map;
when detecting the second setting operation of the user, the interaction device 801 is specifically configured to: and detecting a second setting operation of the user on the display digital map.
In some embodiments, the processor 802 is further configured to obtain a digital map;
the display device 803 is configured to display the digital map, and display the first reference point and the first reference direction, the second reference point and the second reference direction on the digital map.
In some embodiments, the processor 802 is further configured to control the movable platform to perform a work task within the work area according to the first reference point and the first reference direction, the second reference point and the second reference direction.
In some embodiments, the processor 802 is specifically configured to: generating a course of the movable platform according to the first reference point and the first reference direction, and the second reference point and the second reference direction; and controlling the movable platform to execute a work task in the work area according to the air route.
In some embodiments, the processor 802 is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship;
the processor 802 is specifically configured to, when controlling the movable task to execute the work task in the work area according to the first reference point and the first reference direction, and the second reference point and the second reference direction:
and when the preset pointing relation is met, controlling the movable work task to be executed in the work area according to the first reference point and the first reference direction, and the second reference point and the second reference direction.
In some embodiments, the processor 802 is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship;
the display device 803 is configured to display a prompt message when the processor 802 determines that the preset pointing relationship is not satisfied.
In some embodiments, when determining whether the first reference direction and the second reference direction satisfy the preset pointing relationship, the processor 802 is specifically configured to:
determining whether the first reference direction and the second reference direction both point to the same one of the two sides of a reference line between the first reference point and the second reference point.
Optionally, the control terminal 800 of this embodiment may further include a memory (not shown in the figure), where the memory is used to store the program code, and when the program code is executed, the control terminal 800 may implement the technical solutions of the foregoing embodiments.
The control terminal of this embodiment may be configured to execute the technical solution of the control terminal in each of the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.
Fig. 9 is a schematic structural diagram of an operation planning system of a movable platform according to an embodiment of the present application, and as shown in fig. 9, the operation planning system 900 of the movable platform of the present embodiment may include: a movable platform 901 and a control terminal 902. The control terminal 902 may adopt the structure of the embodiment shown in fig. 8, and accordingly, may execute the technical solutions of the control terminal in the above method embodiments, which have similar implementation principles and technical effects, and are not described herein again.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (37)

1. A method for planning operation of a movable platform is applied to a control terminal and is characterized by comprising the following steps:
detecting a first setting operation of a user, and determining a first reference point and a first reference direction according to the detected first setting operation, wherein the first reference direction is a reference direction corresponding to the first reference point;
detecting a second setting operation of a user, and determining a second reference point and a second reference direction according to the detected second setting operation, wherein the second reference direction is a reference direction corresponding to the second reference point, and the working area of the movable platform is an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction.
2. The method of claim 1, wherein at least one of the first reference direction and the second reference direction is an orientation of the acquired movable platform.
3. The method of claim 2,
the determining a first reference point and a first reference direction according to the detected first setting operation includes:
setting the acquired position of the movable platform as the first reference point and the acquired orientation of the movable platform as the first reference direction in response to the detected first setting operation;
the determining a second reference point and a second reference direction according to the detected second setting operation includes:
setting the acquired position of the movable platform as a second reference point and the acquired orientation of the movable platform as the second reference direction in response to the detected second setting operation.
4. The method of claim 3, further comprising:
detecting a first movement control operation of a user, and controlling the movable platform to move to the first reference point according to the detected first movement control operation;
and detecting a second movement control operation of the user, and controlling the movable platform to move to the second reference point according to the detected second movement control operation.
5. The method according to any one of claims 2-4, further comprising:
detecting a first orientation control operation of a user, and adjusting the orientation of the movable platform to the first reference direction according to the detected first orientation control operation;
and detecting a second orientation control operation of the user, and adjusting the orientation of the movable platform to the second reference direction according to the detected second orientation control operation.
6. The method of any of claims 2-5, wherein the orientation of the movable platform comprises a heading of a body of the movable platform or a heading of a camera of the movable platform.
7. The method of claim 6, wherein the heading of the moveable platform body is a heading of a handpiece of the moveable platform.
8. The method according to any one of claims 2-7, further comprising:
acquiring and displaying an image acquired by a movable platform;
displaying an indicator indicating a heading of the movable platform on the image.
9. The method according to any of claims 1-8, characterized in that at least one of the first reference direction and the second reference direction is the acquired orientation of the control terminal.
10. The method of claim 9,
the determining a first reference point and a first reference direction according to the detected first setting operation includes:
setting the collected position of the control terminal as the first reference point and the collected orientation of the control terminal as the first reference direction in response to the detected first setting operation;
the determining a second reference point and a second reference direction according to the detected second setting operation includes:
and in response to the detected second setting operation, setting the collected position of the control terminal as the second reference point, and setting the collected orientation of the control terminal as the second reference direction.
11. The method according to any one of claims 1-10, further comprising:
acquiring and displaying a digital map;
the detecting a first setting operation of a user, determining a first reference point and a first reference direction according to the detected first setting operation, includes:
detecting a first setting operation of a user on the displayed digital map, and determining the first reference point and the first reference direction according to the detected first setting operation;
the detecting a second setting operation of the user, determining a second reference point and a second reference direction according to the detected second setting operation, includes:
and detecting a second setting operation of the user on the display digital map, and determining the second reference point and the second reference direction according to the detected second setting operation.
12. The method according to any one of claims 1-11, further comprising:
acquiring and displaying a digital map;
displaying the first reference point and the first reference direction, the second reference point and the second reference direction on the digital map.
13. The method according to any one of claims 1-12, further comprising:
and controlling the movable platform to execute a work task in the working area according to the first reference point and the first reference direction, and the second reference point and the second reference direction.
14. The method of claim 13,
the controlling the movable platform to perform a work task in the work area according to the first reference point and the first reference direction, and the second reference point and the second reference direction includes:
generating a course of the movable platform according to the first reference point and the first reference direction, and the second reference point and the second reference direction;
and controlling the movable platform to execute a work task in the work area according to the air route.
15. The method according to claim 13 or 14, characterized in that the method further comprises:
determining whether the first reference direction and the second reference direction meet a preset pointing relationship;
the controlling the movable to perform the work task in the work area according to the first reference point and the first reference direction, and the second reference point and the second reference direction includes:
and when the preset pointing relation is met, controlling the movable work task to be executed in the work area according to the first reference point and the first reference direction, and the second reference point and the second reference direction.
16. The method according to any one of claims 1-15, further comprising:
determining whether the first reference direction and the second reference direction meet a preset pointing relationship;
and when the preset pointing relation is not met, displaying prompt information.
17. The method according to claim 15 or 16,
the determining whether the first reference direction and the second reference direction satisfy a preset pointing relationship includes:
determining whether the first reference direction and the second reference direction both point to the same one of the two sides of a reference line between the first reference point and the second reference point.
18. A control terminal, comprising:
the interaction device is used for detecting a first setting operation of a user;
the processor is used for determining a first reference point and a first reference direction according to a first setting operation detected by the interaction device, wherein the first reference direction is a reference direction corresponding to the first reference point;
the interaction device is also used for detecting a second setting operation of the user;
the processor is further configured to determine a second reference point and a second reference direction according to a second setting operation detected by the interaction device, where the second reference direction is a reference direction corresponding to the second reference point, and the working area of the movable platform is an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction.
19. The control terminal of claim 18, wherein at least one of the first reference direction and the second reference direction is an orientation of the collected movable platform.
20. The control terminal of claim 19,
the processor, when determining the first reference point and the first reference direction according to the first setting operation detected by the interaction device, is specifically configured to:
setting the collected position of the movable platform as the first reference point and the collected orientation of the movable platform as the first reference direction in response to the first setting operation detected by the interaction device;
the processor, when determining a second reference point and a second reference direction according to a second setting operation detected by the interaction device, is specifically configured to:
setting the collected position of the movable platform as a second reference point and the collected orientation of the movable platform as the second reference direction in response to the second setting operation detected by the interaction device.
21. The control terminal of claim 20,
the interaction device is also used for detecting a first movement control operation of a user;
the processor is further used for controlling the movable platform to move to the first reference point according to the first movement control operation detected by the interaction device;
the interaction device is also used for detecting a second movement control operation of the user;
the processor is further configured to control the movable platform to move to the second reference point according to a second movement control operation detected by the interaction device.
22. The control terminal according to any of claims 19-21,
the interaction device is further used for detecting a first orientation control operation of a user;
the processor is further used for adjusting the orientation of the movable platform to the first reference direction according to the first orientation control operation detected by the interaction device;
the interaction device is further used for detecting a second orientation control operation of the user;
the processor is further configured to adjust the orientation of the movable platform to the second reference direction according to a second orientation control operation detected by the interaction device.
23. The control terminal of any of claims 19-22, wherein the orientation of the moveable platform comprises a heading of a body of the moveable platform or a heading of a camera of the moveable platform.
24. The control terminal of claim 23, wherein the heading of the moveable platform body is a heading of a handpiece of the moveable platform.
25. The control terminal according to any of claims 19-24, further comprising: a display device;
the processor is also used for acquiring images acquired by the movable platform;
the display device is used for displaying the image collected by the movable platform and displaying an indication mark indicating the course of the movable platform on the image.
26. The control terminal according to any of claims 18-25, wherein at least one of the first reference direction and the second reference direction is an acquired orientation of the control terminal.
27. The control terminal of claim 26,
the processor, when determining the first reference point and the first reference direction according to the first setting operation detected by the interaction device, is specifically configured to:
setting the collected position of the control terminal as the first reference point and the collected orientation of the control terminal as the first reference direction in response to the first setting operation detected by the interaction device;
the processor, when determining a second reference point and a second reference direction according to a second setting operation detected by the interaction device, is specifically configured to:
and responding to a second setting operation detected by the interaction device, setting the collected position of the control terminal as the second reference point, and setting the collected orientation of the control terminal as the second reference direction.
28. The control terminal according to any of claims 18-27, further comprising: a display device;
the processor is further used for acquiring a digital map;
the display device is used for displaying the digital map;
when detecting a first setting operation of a user, the interaction device is specifically configured to: detecting a first setting operation of a user on the displayed digital map;
when detecting a second setting operation of the user, the interaction device is specifically configured to: and detecting a second setting operation of the user on the display digital map.
29. The control terminal according to any of claims 18-28, further comprising: a display device;
the processor is further used for acquiring a digital map;
the display device is used for displaying the digital map and displaying the first reference point and the first reference direction, and the second reference point and the second reference direction on the digital map.
30. The control terminal of any of claims 18-29, wherein the processor is further configured to control the movable platform to perform a work task within the work area based on the first reference point and the first reference direction, the second reference point and the second reference direction.
31. The control terminal of claim 30, wherein the processor is specifically configured to: generating a course of the movable platform according to the first reference point and the first reference direction, and the second reference point and the second reference direction; and controlling the movable platform to execute a work task in the work area according to the air route.
32. The control terminal according to claim 30 or 31, wherein the processor is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship;
the processor is specifically configured to, when controlling the movable task to be executed in the working area according to the first reference point and the first reference direction, and the second reference point and the second reference direction:
and when the preset pointing relation is met, controlling the movable work task to be executed in the work area according to the first reference point and the first reference direction, and the second reference point and the second reference direction.
33. The control terminal according to any of claims 18-32, further comprising: a display device;
the processor is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship;
and the display device is used for displaying prompt information when the processor determines that the preset pointing relation is not met.
34. The control terminal according to claim 32 or 33,
when determining whether the first reference direction and the second reference direction satisfy a preset directional relationship, the processor is specifically configured to:
determining whether the first reference direction and the second reference direction both point to the same one of the two sides of a reference line between the first reference point and the second reference point.
35. A mobile platform operation planning system comprising a mobile platform and a control terminal according to any one of claims 18 to 34.
36. The system of claim 35, wherein the movable platform comprises a drone, a drone vehicle, a drone, a robot, or an autonomous automobile.
37. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program; the computer program, when executed, implementing a method of job planning for a movable platform according to any of claims 1-17.
CN201980040066.4A 2019-10-31 2019-10-31 Operation planning method and system of movable platform and control terminal Pending CN112313595A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/114713 WO2021081894A1 (en) 2019-10-31 2019-10-31 Work planning method and system for movable platform, and control terminal

Publications (1)

Publication Number Publication Date
CN112313595A true CN112313595A (en) 2021-02-02

Family

ID=74336568

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980040066.4A Pending CN112313595A (en) 2019-10-31 2019-10-31 Operation planning method and system of movable platform and control terminal

Country Status (2)

Country Link
CN (1) CN112313595A (en)
WO (1) WO2021081894A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108805885A (en) * 2018-06-13 2018-11-13 广州极飞科技有限公司 Plot dividing method and terminal, flight course planning method and mobile device control method
CN109154503A (en) * 2017-11-21 2019-01-04 深圳市大疆创新科技有限公司 The planing method and ground end equipment in unmanned machine operation course line
US20190057461A1 (en) * 2017-08-21 2019-02-21 The Climate Corporation Digital modeling and tracking of agricultural fields for implementing agricultural field trials
CN109871030A (en) * 2019-03-01 2019-06-11 上海戴世智能科技有限公司 A kind of unmanned mechanical paths planning method

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE527992C2 (en) * 2004-12-09 2006-08-01 Exechon Ab Parallel kinematic machine with active measurement system
CN103950540B (en) * 2014-04-01 2016-02-03 东北农业大学 A kind of plant protection unmanned plane based on wireless sensor network sprays operational method
CN106679684A (en) * 2016-12-27 2017-05-17 湖南挚新科技发展有限公司 Path planning method and system of automatic operating device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190057461A1 (en) * 2017-08-21 2019-02-21 The Climate Corporation Digital modeling and tracking of agricultural fields for implementing agricultural field trials
CN109154503A (en) * 2017-11-21 2019-01-04 深圳市大疆创新科技有限公司 The planing method and ground end equipment in unmanned machine operation course line
CN108805885A (en) * 2018-06-13 2018-11-13 广州极飞科技有限公司 Plot dividing method and terminal, flight course planning method and mobile device control method
CN109871030A (en) * 2019-03-01 2019-06-11 上海戴世智能科技有限公司 A kind of unmanned mechanical paths planning method

Also Published As

Publication number Publication date
WO2021081894A1 (en) 2021-05-06

Similar Documents

Publication Publication Date Title
JP5947634B2 (en) Aerial photography imaging method and aerial photography imaging system
JP6390013B2 (en) Control method for small unmanned aerial vehicles
WO2020237471A1 (en) Flight route generation method, terminal and unmanned aerial vehicle
US20180267561A1 (en) Autonomous control of unmanned aircraft
US11798172B2 (en) Maximum temperature point tracking method, device and unmanned aerial vehicle
WO2019119239A1 (en) Method and device for measuring spray area
WO2021168819A1 (en) Return control method and device for unmanned aerial vehicle
US20210208608A1 (en) Control method, control apparatus, control terminal for unmanned aerial vehicle
CN111344651B (en) Unmanned aerial vehicle control method and unmanned aerial vehicle
WO2019227289A1 (en) Time-lapse photography control method and device
WO2020048365A1 (en) Flight control method and device for aircraft, and terminal device and flight control system
CN113079698A (en) Control device and control method for controlling flight of aircraft
CN111650962A (en) Multi-rotor unmanned aerial vehicle route planning and aerial photography method suitable for banded survey area
WO2019227287A1 (en) Data processing method and device for unmanned aerial vehicle
CN109154834A (en) Control method, the device and system of unmanned plane
WO2021159249A1 (en) Route planning method and device, and storage medium
US20220214700A1 (en) Control method and device, and storage medium
CN112313595A (en) Operation planning method and system of movable platform and control terminal
WO2018045654A1 (en) Method and system for displaying state of mobile device and control device
JP7352908B2 (en) System, method, program, and storage medium storing the program for correcting the estimated position of an unmanned aircraft
CN113874716A (en) Operation method of movable platform, movable platform and electronic equipment
CN110892353A (en) Control method, control device and control terminal of unmanned aerial vehicle
WO2023139628A1 (en) Area setting system and area setting method
JP2020101391A (en) Unmanned aircraft system
CN113490971A (en) Movable platform control method, control terminal and computer readable storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination