WO2021068122A1 - 返航控制方法、控制终端及系统 - Google Patents

返航控制方法、控制终端及系统 Download PDF

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Publication number
WO2021068122A1
WO2021068122A1 PCT/CN2019/110092 CN2019110092W WO2021068122A1 WO 2021068122 A1 WO2021068122 A1 WO 2021068122A1 CN 2019110092 W CN2019110092 W CN 2019110092W WO 2021068122 A1 WO2021068122 A1 WO 2021068122A1
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WO
WIPO (PCT)
Prior art keywords
home point
home
point
confirmed
position information
Prior art date
Application number
PCT/CN2019/110092
Other languages
English (en)
French (fr)
Inventor
陈卓伟
李博文
刘雨奇
盛欣哲
冯纬洲
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980033822.0A priority Critical patent/CN112154396A/zh
Priority to PCT/CN2019/110092 priority patent/WO2021068122A1/zh
Publication of WO2021068122A1 publication Critical patent/WO2021068122A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements

Definitions

  • This application relates to the field of control technology, and in particular to a return-to-home control method, control terminal and system.
  • the movable platform can provide automatic return to home function. For example, during the flight of a movable platform, upon receiving a return instruction sent by the control terminal, its take-off location can be used as the home-return point to automatically return to the take-off location.
  • the user can set another location point outside the take-off location as the new home point, for example, the current location point of the movable platform can be used as the home point, or the current location point of the control terminal can be used as the home point.
  • the control terminal may provide button 1 "using the position of the aircraft as the home point" and button 2 "using the position of the remote control as the home point".
  • button 1 the control terminal can obtain the current position point of the movable platform, and use the current position point of the movable platform as the new home point of the movable platform.
  • the control terminal can obtain its own current location point and use its own current location point as the home point of the movable platform.
  • the embodiments of the present application provide a return home control method, control terminal, and system to solve the problem that the update range of the return home point in the prior art is relatively limited, and it is difficult to meet the needs of users.
  • an embodiment of the present application provides a return home control method, which is applied to a control terminal, and includes:
  • the home point setting operation Acquire the home point setting operation input by the user according to the current position information of the home point to be confirmed to generate a home point setting instruction, and the home point setting instruction is used to set the movable home point according to the current position information of the home point to be confirmed The home point to be validated on the platform; wherein the home point setting operation includes an operation for customizing the current position information of the home point to be confirmed;
  • the location information of the home point to be validated is determined, and the movable platform is controlled to be able to return home according to the location information of the home point to be validated.
  • an embodiment of the present application provides a control terminal, including:
  • the display screen is used to display information
  • One or more processors working individually or together, are used to execute the method described in any one of the above-mentioned first aspects.
  • an embodiment of the present application provides a return home control system, including: a movable platform and the control terminal according to any one of the second aspect.
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, the at least one piece of code can be executed by a computer to control the The computer executes the method described in any one of the first aspects above.
  • an embodiment of the present application provides a computer program, when the computer program is executed by a computer, it is used to implement the method described in any one of the above-mentioned first aspects.
  • the embodiments of the present application provide a return home control method, control terminal and system.
  • the home point setting operation input by the user according to the current position information of the home point to be confirmed outputted by the control terminal, the home point setting operation to determine the return point to be validated Position information, and control the movable platform to return home based on the position information of the home point to be validated.
  • the home point setting operation includes the operation of customizing the current position information of the home point to be confirmed
  • the user can set it flexibly according to needs
  • the current position information of the home point to be confirmed so as to flexibly set the position information of the home point of the movable platform, and only select one of the current position point of the control terminal and the current position point of the movable platform to update the home position of the movable platform
  • the update range of the home point of the movable platform is expanded, so that the actual home point of the movable platform can be consistent with the position of the home point expected by the user, which improves the user experience.
  • FIGS 1 to 2 are schematic diagrams of application scenarios of the return home control method provided by the embodiments of this application;
  • FIG. 3 is a schematic flowchart of a return home control method provided by an embodiment of the application.
  • FIG. 4 is a schematic flowchart of a return home control method provided by another embodiment of this application.
  • FIG. 5 is a schematic flowchart of a return home control method provided by another embodiment of this application.
  • 6A-8 are schematic diagrams showing the return home control method provided by the embodiments of this application.
  • FIG. 9 is a schematic structural diagram of a control terminal provided by an embodiment of the application.
  • FIG. 1 is a schematic diagram of an application scenario of a return home control method provided by an embodiment of the application.
  • the application scenario may include a control terminal 11 and a movable platform 12.
  • the control terminal 11 is in communication connection with the movable platform 12, the movable platform 12 can support the function of automatically returning to the home point, and the user can use the control terminal 11 to control the home point of the movable platform 12.
  • the control terminal 11 may include a remote controller with a screen, a smart phone, a tablet computer, a palmtop computer, and the like.
  • the movable platform 12 may include an unmanned aerial vehicle, a pan-tilt vehicle, and the like.
  • the movable platform 12 may include a pan/tilt, and the pan/tilt may include a two-axis or three-axis pan/tilt.
  • the return home may refer to the voyage of the movable platform 12 returning to the home point.
  • the movable platform may specifically refer to the voyage of the unmanned aerial vehicle back to the home point.
  • the control terminal 11 may directly communicate with the movable platform 12, or, as shown in FIG. 2, the control terminal 11 may communicate with the movable platform 12 through a relay device.
  • the relay device may include a remote controller.
  • the relay device may include other unmanned aerial vehicles.
  • the control terminal 11 can control the movable platform 12 to take off and return home, and can also control the movement of the pan/tilt, such as controlling the pan/tilt to lock, move freely, follow, and return.
  • the movable platform can only use the location (for example, take-off point), the current position of the control terminal, or the current position of the movable platform as the home point of the movable platform.
  • the mobile platform may default to the take-off point as the home-home point.
  • the control terminal 11 can provide two buttons, namely button 1 and button 2. When the user chooses to use button 1, the control terminal can control the movable platform to use the current position of the movable platform as the home point; when the user selects the button At 2 o'clock, the control terminal can control the movable platform to use the current position of the control terminal as the home point.
  • the current position information of the return point to be confirmed can be displayed through the control terminal 11, and the return point setting operation input by the user according to the current position information of the return point to be confirmed can be obtained.
  • the user can modify the current position information of the return point to be confirmed, so that the user can flexibly set the current position information of the return point to be confirmed according to the needs to set the movable
  • the position information of the home point of the platform can only be selected from the current position point of the control terminal and the current position point of the movable platform to update the home point of the movable platform, which expands the update of the home point of the movable platform. Scope, improve the user experience.
  • FIG. 3 is a schematic flowchart of a return home control method provided by an embodiment of the application.
  • the execution subject of this embodiment may be the control terminal 11, and specifically may be the processor of the control terminal 11.
  • the method of this embodiment may include:
  • Step 301 Display the current position information of the home point to be confirmed.
  • the home point to be confirmed can refer to the home point that is waiting to be confirmed whether it needs to take effect.
  • the home point to be confirmed can be used as the home point to be effective after it is confirmed, and the home point to be confirmed can not be used as the home to take effect without confirmation. point.
  • the return point to be validated may refer to the return point that is waiting for the mobile platform to take effect. After the return point to be validated is validated by the movable platform, the mobile platform can return according to the return point to be validated. The return point to be validated is not valid. The mobile platform is valid, and the movable platform cannot return to the home according to the return point to be validated.
  • home point 1 is the home point to be confirmed
  • home point 1 can be understood as the home point to be validated.
  • the mobile platform can perform according to home point 1. Return home, that is, the mobile platform can automatically return to home point 1.
  • the current location information of the home point to be confirmed may specifically include one or more of any type of information that can characterize the current location of the home point to be confirmed.
  • the current location information of the home point to be confirmed may include the current location coordinates of the home point to be confirmed.
  • the current position information of the home point to be confirmed displayed in step 301 may change with the real-time position of the home point to be confirmed.
  • the user can know the current location of the home point to be confirmed, which is beneficial for the user to determine the position relationship between the home point to be confirmed and its expected home point.
  • Step 302 Acquire the home point setting operation input by the user according to the current position information of the home point to be confirmed to generate a home point setting instruction, the home point setting instruction being used according to the current position information of the home point to be confirmed, Setting the home point to be validated on the movable platform; wherein the home point setting operation includes an operation for customizing the current position information of the home point to be confirmed.
  • the home point setting operation is used for the user to set the home point to be validated on the movable platform according to the current position information of the home point to be validated. Since the home point setting operation includes the operation for modifying the current position information of the home point to be confirmed, the user can customize the current position information of the home point to be confirmed, that is, the user can flexibly set the current position of the home point to be confirmed according to the needs. Position information, so that not only can the mobile platform return home according to the current position information of the return point to be confirmed pushed by the display interface of the control terminal, but also the current position information of the return point to be confirmed can be controlled by the user to control the return of the movable platform for flexibility. Set the position of the home point to be effective.
  • control terminal can collect the voice input by the user through a microphone "select the control terminal as the home point".
  • the display interface of the control terminal can acquire the home point setting operation of the user to customize the current location information of the home point to be confirmed.
  • the home point setting operation may include a voice input operation.
  • the control terminal may collect the user input voice "moving 20 meters northward" through a microphone, and update the current location information of the home point to be confirmed according to the voice.
  • the home point setting operation may include a text input operation.
  • the control terminal may obtain the text “moving 20 meters northward” input by the user through a text box, and update the current location information of the home point to be confirmed according to the text.
  • Step 303 Determine the position information of the home point to be validated according to the home-home point setting operation, and control the movable platform to be able to return home according to the position information of the home-to-be-validated home point.
  • the control terminal can modify the current position information of the home point to be validated according to the home point setting operation. After the home point to be confirmed is confirmed, the current position information of the home point to be confirmed is used as the position information of the home point to be validated. And control the movable platform to be able to return home based on the position information of the return home point to be validated. After the control terminal controls the movable platform to return home based on the position information of the return point to be validated, the movable platform uses the return point to be validated as its actual return point for return. After that, when the movable platform needs to return automatically, it can be moved The platform can return home based on its actual homeward point.
  • the user can flexibly set the current position information of the home point to be confirmed through the home point setting operation according to requirements, the user can flexibly set the home point location information of the movable platform through the home point setting operation.
  • the home point setting operation is used to determine the position information of the home point to be validated, and the movable platform can be controlled according to the The position information of the home point to be confirmed is valid for returning home.
  • the home point setting operation includes the operation for custom modification of the current position information of the home point to be confirmed
  • the user can flexibly set the current position information of the home point to be confirmed according to the needs, so as to be flexible Setting the position information of the home point of the movable platform, compared with only selecting one of the current position point of the control terminal and the current position point of the movable platform to update the home point of the movable platform, expands the return point of the movable platform
  • the update range of the point enables the actual home point of the movable platform to be consistent with the position of the home point expected by the user, which improves the user experience.
  • control terminal can confirm the home point to be confirmed when the timer arrives as the home point to be validated, and the timer can be used to limit the time for the user to input the home point setting operation , which helps to simplify user operations.
  • the home-point setting operation may include: home-point confirmation operation.
  • step 302 may specifically include: obtaining a home point confirmation operation input by the user according to the current position information of the home point to be confirmed to generate a home point confirmation instruction, the home point confirmation instruction being used to instruct to change the home point to be confirmed The current position information of the home point is used as the position information of the home point to be validated.
  • the home point confirmation operation input by the user can be obtained through the confirmation button.
  • the user can confirm by input operation that the home point to be confirmed is the home point that needs to be validated, that is, the home point to be validated, that is, the home point to be confirmed by the user through the home point confirmation operation can be used as the home point to be validated Point to ensure the accuracy of the return point to be validated.
  • Fig. 4 is a schematic flow chart of a return home control method provided by another embodiment of the application. This embodiment mainly describes the optional implementation of the home return point setting operation based on the embodiment shown in Fig. 3, as shown in Fig. 4 , The method of this embodiment may include:
  • Step 401 Display the current position information of the home point to be confirmed.
  • step 401 is similar to step 301, and will not be repeated here.
  • Step 402 Obtain the home point modification operation input by the user according to the current position information of the home point to be confirmed to generate a home point modification instruction, where the home point modification instruction is used to modify the current position information of the home point to be confirmed.
  • Step 403 According to the home point modification operation, update the current location information of the home point to be confirmed.
  • the home-point modification operation may include a first home-point modification operation.
  • step 402 may specifically include: acquiring a first home point modification operation input by the user according to the current position information of the home point to be confirmed to generate a first home point modification instruction, and the first home point modification instruction is used for Instruct to use the current position information of the movable platform as the current position information of the return point to be confirmed.
  • Step 403 may specifically include: taking the current position information of the movable platform as the current position information of the home point to be confirmed according to the first home point modification operation.
  • the first home point modification operation it is realized that the user can select the current position of the movable platform as the current position of the home point to be confirmed.
  • the user needs to use the current position of the movable platform or its vicinity as the home point to be validated, there is Conducive to improving the user's setting efficiency.
  • using the current position information of the movable platform as the current position information of the home point to be confirmed according to the first home point modification operation may specifically include: according to the first home point modification operation, Determine whether the current position information of the movable platform can be obtained, and if the current position information of the movable platform can be obtained, use the current position information of the movable platform as the current position of the return point to be confirmed information.
  • the method of this embodiment may further include: if the current position information of the movable platform cannot be obtained, outputting prompt information, which is used to indicate that the current position information of the movable platform is not As the reason for the current position information of the home point to be confirmed.
  • the user can learn the specific reason why the current position of the movable platform is not used as the current position of the return point to be confirmed, which can prevent the user from mistaking the control
  • the abnormality of the terminal results in the inability to respond to the first home point modification operation, which is beneficial to improve the user experience.
  • the type of the first home point modification operation may include a voice type.
  • the control terminal may collect the voice input by the user through a microphone "select a movable platform as the home point", and then send the current position information of the movable platform according to the voice As the current position information of the home point to be confirmed.
  • a home point modification operation can modify the current position information of the home point to be confirmed. For example, when the movable platform can be moved to position 1, if the user inputs the first home point modification operation, position 1 can be used as the current position of the home point to be confirmed. Further, when the movable platform is moved to position 2, If the user inputs the first home point modification operation, position 2 can be used as the current position of the home point to be confirmed.
  • the method of this embodiment may further include: displaying a first modification button, where the first modification button is used by the user to input the first home point modification operation.
  • the first home point operation may include a click operation of the first modification button.
  • the first modification button allows the user to input the first home point modification operation through the button. Compared with inputting the first home point modification operation through voice, the user does not need to memorize voice instructions, which is beneficial to simplify the user input.
  • the home-point modification operation may include a second home-point modification operation.
  • step 402 may specifically include: acquiring a second home point modification operation input by the user according to the current position information of the home point to be confirmed to generate a second home point modification instruction, and the second home point modification instruction is used for Instruct to use the current position information of the control terminal as the current position information of the home point to be confirmed.
  • Step 403 may specifically include: using the current position information of the control terminal as the current position information of the home point to be confirmed according to the second home point modification operation.
  • the user can select the current position of the control terminal as the current position of the home point to be confirmed.
  • using the current position information of the control terminal as the current position information of the home point to be confirmed according to the second home point modification operation may specifically include: determining according to the second home point modification operation Whether the current position information of the control terminal can be obtained, and if the current position information of the control terminal can be obtained, the current position information of the control terminal is used as the current position information of the return point to be confirmed.
  • the method of this embodiment may further include: if the current location information of the control terminal cannot be obtained, outputting prompt information, which is used to indicate that the current location information of the control terminal is not used as the location information. State the reason for the current position information of the home point to be confirmed.
  • the user can learn the specific reason why the current position of the control terminal is not used as the current position of the return point to be confirmed, which can prevent the user from mistakenly thinking that the control terminal is abnormal As a result, it is unable to respond to the modification operation of the second home point, which is conducive to improving the user experience.
  • the type of the second home point modification operation may include the voice type.
  • the control terminal may collect the voice input by the user through a microphone "select the control terminal as the home point", and use the current position information of the control terminal as the waiting point according to the voice. Confirm the current location information of the home point.
  • the current position information of the control terminal corresponding to the multiple second home-point modification operations may be different, so that the current position information of the control terminal corresponding to the multiple second home-point modification operations may be different.
  • the point modification operation can modify the current position information of the home point to be confirmed. For example, when the control terminal can move to position 3, if the user inputs the second home point modification operation, position 3 can be used as the current position of the home point to be confirmed. Further, when the control terminal moves to position 4, if the user Enter the second home point modification operation, and position 4 can be used as the current location of the home point to be confirmed.
  • the method of this embodiment may further include: displaying a second modification button, where the second modification button is used by the user to input the second home point modification operation.
  • the second home point operation may include a double-click operation of the second modification button.
  • the second modification button allows the user to input the second home point modification operation through the button. Compared with inputting the second home point modification operation through voice, the user does not need to memorize voice instructions, which is beneficial to simplify the user input.
  • the home-point modification operation may include a third home-point modification operation.
  • step 402 may specifically include: obtaining a third home point modification operation input by the user according to the current position information of the home point to be confirmed to generate a third home point modification instruction, and the third home point modification instruction is used for Instruct to use the target location information as the current location information of the return point to be confirmed.
  • step 403 may specifically include: using the target location information as the current location information of the home point to be confirmed according to the third home point modification operation.
  • the user can flexibly choose to modify the current position information of the home point to be confirmed to the target position information according to the needs, which is beneficial to improve the flexibility of the user to set the location of the home point to be confirmed.
  • the home point modification operation may include the first home point modification operation and the third home point modification operation.
  • the user can use the current position 1 of the movable platform as the current position of the home point to be confirmed according to the first home point modification operation.
  • the user can select other locations near the current location 1 as the current location of the home point to be confirmed according to the third home point modification operation.
  • the home point modification operation may include the second home point modification operation and the third home point modification operation.
  • the user can use the current position 3 of the control terminal as the current position of the home point to be confirmed according to the second home point modification operation.
  • the user can select other locations near the current position 3 as the current location of the home point to be confirmed according to the third home point modification operation.
  • the efficiency of the user setting the home point to be effective can be improved.
  • the step of using the target position information as the current position information of the home point to be confirmed according to the third home point modification operation may specifically include: determining the current position information of the home point to be confirmed according to the third home point modification operation. Whether the distance between the target location information and the current location information of the target device is less than a distance threshold; if the distance between the target location information and the current location information of the target device is less than the distance threshold, the target The position information is used as the current position information of the return point to be confirmed.
  • the position of the home point to be confirmed can be limited to the distance from the target device.
  • the step of using the target location information as the current location information of the home point to be confirmed according to the third home point modification operation may also include: if the target location information is related to the target device's current location information If the distance between the current position information is greater than the distance threshold, output first prompt information, where the first prompt information is used to indicate that the target position information is not used as the reason for the current position information of the return point to be confirmed.
  • the first prompt message may be, for example, "too far away from the movable platform and the control terminal".
  • the user can learn the specific reason why the target location information cannot be used as the current location information of the return point to be confirmed, which is beneficial Reduce the user's wrong operation to modify the current position information of the home point to be confirmed.
  • the specific type of the first prompt information may not be limited in this application.
  • the type of the first prompt information may include one or more of the following: voice prompt, text prompt, indicator prompt, or vibration prompt.
  • the first prompt message can be output through a toast box, where toast is a simple message prompt box in Android.
  • the method further includes: determining the current location information of the home point to be confirmed and Whether the distance between the current location information of the target device is greater than the distance threshold; if the distance between the current location information of the return point to be confirmed and the current location information of the target device is greater than the distance threshold, return home
  • the point confirmation button is set to be inoperable, and the home point confirmation button is used by the user to input the home point confirmation operation.
  • the home point confirmation button used for the user to input the home point confirmation operation is set to be inoperable, and the position of the home point to be confirmed can be restricted.
  • the safety problem caused by the return point of the movable platform being too far away from the target device can be avoided, which is beneficial to improve safety.
  • the home point confirmation button After the home point confirmation button is set as inoperable, it can indicate that the user cannot enter the home point confirmation operation, that is, the user cannot confirm the home point to be validated. It is understandable that when the distance between the current location information of the home point to be confirmed and the current location information of the target device is less than the distance threshold, the home point confirmation button may be operable, which may indicate that the user can input The home point confirmation operation means that the user can confirm the home point to be validated.
  • the specific method of setting the home point confirmation button to be inoperable is not limited in the embodiment of this application. As an example, it can be set to be inoperable by graying the home point confirmation button. .
  • the method of this embodiment may further include: if the distance between the current location information of the return point to be confirmed and the current location information of the target device is greater than the distance threshold, outputting second prompt information,
  • the second prompt message is used to indicate the reason why the home point confirmation button is set to be inoperable.
  • the first prompt message may be, for example, "too far away from the movable platform and the control terminal".
  • the number of target devices may be one or more. When the number of target devices is more than one, it may specifically include: if the target location information is between the target device and one of the target devices If the distance is less than the distance threshold, the target position information is used as the current position information of the home point to be confirmed.
  • the target device includes the movable platform and/or the control terminal.
  • the distance threshold can be flexibly designed according to requirements.
  • the distance threshold can be 2 kilometers.
  • the target location information after using the target location information as the current location information of the home point to be confirmed according to the third home point modification operation, it may further include: determining the current location information of the home point to be confirmed Whether it is located in the target area, the target area includes the area that the movable platform is not allowed to reach; if the current location information of the home point to be confirmed is located in the target area, the home point confirmation button is set to be inoperable, so The home point confirmation button is used by the user to input the home point confirmation operation.
  • the home point confirmation button for the user to input the home point confirmation operation is set to be inoperable, and the position of the home point to be confirmed can be restricted outside the target area. , It can avoid the safety problems caused by the return point of the movable platform located in the target area, which is beneficial to improve the safety.
  • the target area may include a no-fly zone.
  • the method of this embodiment may further include: if the current location information of the home point to be confirmed is located in the target area, outputting second prompt information, where the second prompt information is used to indicate the home point confirmation button Set the reason for inoperability.
  • the second prompt message may be, for example, “cannot be installed in the no-fly zone”.
  • the specific type of the second prompt information may not be limited in this application.
  • the type of the second prompt information may include one or more of the following: voice prompt, text prompt, indicator light prompt, or vibration prompt.
  • the second prompt information can be output through a toast box.
  • the home point modification operation input by the user according to the current position information of the home point to be confirmed is obtained to generate the home point modification instruction.
  • the home point modification instruction is used to modify the current position information of the home point to be confirmed, according to the home point Modify the operation, update the current position information of the home point to be confirmed, and realize the update of the current position information of the home point to be confirmed according to the home point modification operation, so that the user can flexibly set the current position information of the home point to be confirmed according to the needs, so that the flexible setting can be set.
  • the location information of the home point of the mobile platform is used to modify the current position information of the home point to be confirmed, according to the home point Modify the operation, update the current position information of the home point to be confirmed, and realize the update of the current position information of the home point to be confirmed according to the home point modification operation, so that the user can flexibly set the current position information of the home point to be confirmed according to the needs, so that the flexible setting can be set.
  • Fig. 5 is a schematic flowchart of a return home control method provided by another embodiment of this application.
  • this embodiment mainly describes a specific implementation method of displaying the current location information of the return point to be confirmed on a map.
  • the method of this embodiment may include:
  • Step 501 Display a home point identifier and a map including the home point to be confirmed, where the home point identifier is used to identify the current location information of the home point to be confirmed in the map.
  • the location identified by the home point identifier on the map is the current location information of the home point to be confirmed corresponding to the location on the map.
  • a movable platform identifier a control terminal identifier, the orientation of the movable platform, or the movable platform identifier and the The connection between the home point identifiers; wherein the movable platform identifier is used to identify the current position information of the movable platform in the map; the control terminal identifier is used to identify that the control terminal is in the Current location information in the map.
  • the user can intuitively know the current position of the movable platform from the map, which is helpful for the user to determine the position relationship between the current position of the return point to be confirmed and the current position of the movable platform, so that the user can follow the position
  • the relationship determines the position of the desired home point to be validated, so that the efficiency of updating the home point can be improved.
  • the user can intuitively know the current position of the control terminal from the map, which is helpful for the user to determine the position relationship between the current position of the home point to be confirmed and the current position of the control terminal, so that the user can determine the desired position based on the position relationship.
  • the position of the home point to be validated so as to improve the efficiency of updating the home point.
  • the user can intuitively know the orientation of the movable platform from the map, which is helpful for the user to determine the azimuth relationship between the current position of the return point to be confirmed and the orientation of the movable platform, so that the user can follow the azimuth relationship Determining the location of the desired home point to be validated helps to improve the efficiency of updating the home point.
  • the user can intuitively know the position relationship between the current position of the home-point to be confirmed and the current position of the movable platform, so that the user can determine the desired waiting position based on the position relationship.
  • the position of the home point in effect is helpful to improve the efficiency of updating the home point.
  • the movable platform identifier and the orientation of the movable platform may be displayed separately; or, the movable platform identifier may also be used to identify the orientation of the movable platform, so that the displayed orientation can be reduced.
  • the number of elements simplifies the interface.
  • “H” can represent the home point identification
  • the triangular arrow icon on the right side can represent the first modification button
  • the remote control icon below the triangular arrow icon can represent the second modification button.
  • the triangular arrow below "H” may indicate a movable platform identification.
  • the "Confirm” button in Figures 6A and 6B can be used for the user to input the aforementioned home point confirmation operation
  • the "Cancel” button can be used for the user to input a cancel operation
  • the home point logo can be cancelled after the user enters the cancel operation.
  • a map including the return point to be confirmed can be confirmed.
  • Step 502 Acquire the home point setting operation input by the user according to the current position information of the home point to be confirmed to generate a home point setting instruction, where the home point setting instruction is used according to the current position information of the home point to be confirmed, Set the return point for the movable platform to be effective.
  • the home-point setting operation includes a home-point modification operation
  • the home-point modification operation includes a map drag operation and/or a home-point identification moving operation
  • the map update operation may include using For the operation of dragging the map
  • the home-point mark moving operation includes an operation for moving the home-point mark position.
  • the map drag operation and the home-point mark moving operation can be understood as an optional implementation manner of the aforementioned third home-point modification operation under the display of the current location information of the home-point to be confirmed in a map mode.
  • step 502 may specifically include the following steps A to C.
  • Step A Obtain a map drag operation input by the user according to the current position information of the home point to be confirmed to generate a map drag instruction, where the map drag instruction is used to indicate the geographic range that needs to be displayed after dragging.
  • Step B According to the map drag operation, the position of the home point indicator in the map display area is kept fixed, and the map corresponding to the geographic range is displayed.
  • Step C Using the map location information corresponding to the current location of the home point identifier in the map display area in the map as the current location information of the home point to be confirmed.
  • the home point modification operation includes a map drag operation, so that the user can update the current position information of the home point to be confirmed through the same operation method as the map, which is easy for the user to grasp and intuitive, which is beneficial to the user.
  • a prompt message of "drag to relocate the home point" can also be displayed.
  • step 502 may specifically include: acquiring a home-point identification movement operation input by the user according to the current location information of the home-point to be confirmed to generate a home-point identification movement instruction, the home-point identification movement instruction It is used to indicate the target position of the home-point mark in the map display area; according to the movement operation of the home-point mark, keep the map fixed, and adjust the position of the home-point mark in the map display area to the desired position
  • the target location; the map location information corresponding to the current location of the home point identifier in the map display area on the map is used as the current location information of the home point to be confirmed.
  • the moving operation of the home point identifier may specifically be any type of operation that can move the position of the home point identifier on the map.
  • the moving operation of the home point identifier may include a drag operation of the home point identifier.
  • the home-point modification operation includes the movement operation of the home-point identifier, so that the user can update the current position information of the home-point to be confirmed by moving the identifier, which is intuitive and beneficial to the user.
  • the method of this embodiment may further include: acquiring a map zoom-in/out operation input by the user according to the current location information of the return point to be confirmed to generate a map zoom-in/out instruction, and the map zoom-in/out instruction is used for the map zoom-in/out instruction.
  • This enables users to select a suitable map scale to view the map according to their needs, which is beneficial to improve the user experience.
  • the specific types of map zooming in/out operations are not limited in the embodiment of the present application. Illustratively, it may include two-finger zooming and the like. Among them, the default map scale may be 1:50 meters, for example.
  • the method of this embodiment may also include step A and step B, so that the user can drag the map Selecting the range of the map that needs to be viewed will help improve the user experience.
  • Step 503 Determine the position information of the home point to be validated according to the home-home point setting operation, and control the movable platform to be able to return home according to the position information of the home-to-be-validated home point.
  • the controlling the movable platform to be able to return home according to the position information of the home-to-be-validated home point may specifically include: sending the position information of the home-to-be-validated home point to the movable platform, so that The movable platform validates the home point according to the position information of the home point to be validated.
  • control terminal may directly send the position information of the return point to be validated to the movable platform. This is conducive to simplifying the implementation, reducing the waiting time for the user from the return point to be validated after the setting is completed to the return point being successfully validated by the mobile platform, and improving the user experience.
  • control terminal may perform coordinate system conversion on the position information of the return point to be validated, obtain the converted position information of the return point to be validated, and send the converted position information to the movable platform.
  • control terminal and the movable platform can use different coordinate systems to indicate the position of the home point, which is beneficial to improve flexibility.
  • the method may further include: determining validation result information of the movable platform, where the validation result information is used to indicate whether the movable platform successfully validates the return point to be validated; according to the validation result Message, output the third prompt message.
  • the third prompt message may be, for example, "Home point update is successful"; when the effective result information indicates that the movable platform is successfully effective and the return point is to be effective, the third prompt message For example, it can be "Home Point Update Failed".
  • the specific method for determining the effective result information of the movable platform may not be limited in the embodiment of the present application.
  • the control terminal receives an Acknowledge (ACK) message sent by the movable platform, it may be determined that the validation result information is specifically used to indicate that the movable platform successfully validates the return point to be validated.
  • the control terminal does not receive the confirmation message sent by the movable platform, or receives the (Non-Acknowledge, ACK) message sent by the movable platform, it may be determined that the effective result information is specifically used to indicate that the movable platform has not The return point to be validated that is successfully validated.
  • the specific type of the third prompt information may not be limited in this application.
  • the type of the third prompt information may include one or more of the following: voice prompt, text prompt, indicator light prompt, or vibration prompt.
  • the third prompt information may be output through a toast box.
  • the output of the third prompt information includes: displaying a main page of a target application (Application program, APP), the main page includes the third prompt information, and the target APP is used to control the mobile platform.
  • the main page includes the third prompt information, so that when the third prompt information is output, the user can understand and control the movable platform through the main page in time, so that the user can use the control terminal to control the movable platform.
  • the main page further includes: a real-time image obtained by shooting from a first angle of view of the movable platform.
  • a real-time image obtained by shooting from a first angle of view of the movable platform is helpful for the user to know the real-time image obtained from the first perspective of the movable platform.
  • the display content of the main page may be as shown in FIG. 7A.
  • "Home Point Update Successfully” is the third prompt message;
  • P can indicate that the UAV's flight mode is P mode, that is, positioning mode;
  • 80% indicates the remaining power of the UAV,
  • RC can indicate the remote controller of the unmanned aerial vehicle,
  • height means the flying height of the unmanned aerial vehicle,
  • distance means the distance between the unmanned aerial vehicle and the remote controller, and
  • speed means the flying speed of the unmanned aerial vehicle.
  • "Auto” means automatic (AUTO) camera mode;
  • "+3.0” means that the exposure compensation amount is +3 exposure values (EV);
  • AE means exposure is locked.
  • the display content of the main page may be as shown in FIG. 7B.
  • “Home Point Update Failed” is the third prompt message
  • the "Cancel” button is used by the user to input a cancel operation to cancel the pending home point as the home point of the UAV
  • the "Retry” button is used to The user inputs a retry operation to perform the above-mentioned step again "control the movable platform to be able to return home based on the position information of the return point to be validated”.
  • the home point identification is used to identify the current position information of the home point to be confirmed on the map, and obtain the information input by the user according to the current position information of the home point to be confirmed.
  • the home point setting operation is to determine the position information of the home point to be validated according to the home point setting operation, and control the movable platform to be able to return home according to the position information of the home point to be validated, because the home point setting operation includes the current home point to be confirmed.
  • the operation of custom modification of the location information allows the user to flexibly set the location of the home-point mark in the map according to the needs to set the current location information of the home-point to be confirmed, which improves the intuitiveness of the home-point of the mobile platform for the user.
  • the displaying the current location information of the home point to be confirmed may specifically include: obtaining the home point update operation input by the user to generate an update home point instruction, the update home point instruction It is used to indicate that the home point of the movable platform needs to be updated; according to the update home point operation, the current position information of the home point to be confirmed is displayed.
  • the user can choose whether to display the current location information of the home point to be confirmed, so that the display of the current location information of the home point to be confirmed can meet the user's needs and help improve the user experience.
  • the method may further include: displaying a setting page, the setting page includes an update home point entry, and the update home point entry is used by the user to input the update Home point operation.
  • the update home point entry is used by the user to input the update Home point operation.
  • the method may further include: displaying a setting page, the setting page includes a shortcut menu (Shortcurs) entry, the shortcut menu entry is used to obtain the user input A shortcut menu operation to generate a shortcut menu command, the shortcut menu command is used to instruct to display a shortcut menu, the shortcut menu includes an update home point entry, the update home point entry is used for the user to input the update home point operation .
  • the shortcut menu entry in the setting page and the update home point entry in the shortcut menu the user can update the home point operation through the update home point entry provided in the shortcut menu of the setting page, and realize the classified management of the operation entry.
  • the setting page can be as shown in Figure 8.
  • “Quick” in Figure 8 can indicate the shortcut menu entry, and the shortcut menu can include "Update Home Point", “Flight Mode”, and “Image Format” "", “Mobile phone charging” and “Gimbal back to center” entrance, where “update home point” can mean the entrance to update home point, “flight mode” can mean the entrance for setting flight mode, "image format “Can mean the entrance for image settings, "connect” can mean the entrance for connection settings, “mobile phone charging” can mean the entrance for mobile phone charging settings, and "yuntai back to center” can mean the entrance for connecting Entrance set in the center of the pan-tilt.
  • the settings page can also include other options. Among them, “Safety” is used for users to make safety-related settings, and “Control” is used for users. Set the control-related settings of the movable platform, “Camera” is used for the user to set the camera-related settings, and “Image” is used for the user to set the image-related settings.
  • the display setting interface may specifically include: obtaining a setting operation input by a user to generate a setting instruction, the setting instruction being used to instruct to display the setting interface; and displaying the setting interface according to the setting operation.
  • the user can choose whether to display the setting interface, so that the display of the setting interface can meet the user's needs, which is conducive to improving the user's experience.
  • the setting operation of obtaining user input may specifically include: displaying a main page of a target application APP, the main page including a setting entry, the target APP is used to control the movable platform; and obtaining a user The setting operation entered through the setting entry.
  • the setting entrance may be, for example, an icon in the upper right corner of FIG. 7A and FIG. 7B with a circle in the middle and a hexagon at the edge.
  • the main page may further include: an image obtained by shooting from a first angle of view of the movable platform, such as a real-time image.
  • the displaying the current position information of the home point to be confirmed according to the operation of updating the home point may specifically include: after receiving the home point updating operation, determining whether the home point update condition is satisfied; If the home point update condition is stated, the current position information of the home point to be confirmed will be displayed.
  • the home point update condition may refer to the conditions that need to be met to update the home point. When the home point update condition is met, it can indicate that the home point is allowed to be updated, so that the current location information of the home point to be confirmed can be displayed. When the home point update conditions are not met, it can mean that the home point is not allowed to be updated, so that the current location information of the home point to be confirmed may not be displayed.
  • the home-point update conditions can be flexibly designed according to requirements.
  • the home point update condition may include one or more of the following: the movable platform has begun to move, the current position information of the movable platform has been obtained, or the current position information of the control terminal has been obtained. location information.
  • the home-point update condition includes that the movable platform has started to move, so as to prevent the user from invalidating the home-point setting when the movable platform has not started to move, which is conducive to improving the user's experience.
  • the home point update condition includes the current position information of the movable platform, which can ensure that the user can know the current position of the movable platform when updating the home point, so that the user can determine the current position of the home point and the mobile platform according to the current position of the home point to be confirmed.
  • the position relationship of the current position determines the position of the desired home point to be validated, which is beneficial to improve the efficiency and accuracy of the user to update the home point.
  • the home point update condition includes the current position information of the control terminal, which can ensure that the user can know the current position of the control terminal when updating the home point, so that the user can be based on the current position of the home point to be confirmed and the current position of the control terminal.
  • the position relationship determines the position of the desired home point to be validated, which is beneficial to improve the efficiency and accuracy of the user to update the home point.
  • it may also include: if the home point update condition is not met, outputting fourth prompt information, where the fourth prompt information is used to indicate the reason why the current location information of the home point to be confirmed is not displayed.
  • the fourth prompt information is used to indicate the reason why the current location information of the home point to be confirmed is not displayed.
  • the specific type of the fourth prompt information may not be limited in this application.
  • the type of the fourth prompt information may include one or more of the following: voice prompt, text prompt, indicator light prompt, or vibration prompt.
  • the fourth prompt information can be output through a toast box.
  • the displaying the current position information of the home point to be confirmed according to the operation of updating the home point may specifically include: according to the operation of updating the home point, displaying the current position information of the home point to be confirmed in a pop-up window.
  • the current position information of the home point to be confirmed is displayed through the pop-up window, which realizes the independent display of the current position information of the home point to be confirmed in a window, so that the size of the display area of the current position information of the home point to be confirmed is no longer limited to others
  • the display of information is helpful for the user to understand and modify the current position information of the home point to be confirmed.
  • the initial position information of the return point to be confirmed includes the current position information of the movable platform or the current position information of the control terminal.
  • the initial position information of the home point to be confirmed can be understood as the current position information of the home point to be confirmed before the user modifies the current position information of the home point to be confirmed.
  • the current position information of the home point to be confirmed includes the current position information of the movable platform or the current position information of the control terminal, so that the user can be at the home point to be confirmed.
  • the current position information is the basis of the current position information of the movable platform or the control terminal.
  • it may further include the following step: if the current position information of the movable platform has been obtained, determining that the initial position information of the return point to be confirmed includes the current position information of the movable platform. Therefore, when the current position information of the movable platform can be obtained, the current position information of the movable platform is used as the initial position information of the home point to be confirmed, so that the user can modify the current position of the home point to be confirmed according to the mobile platform first. .
  • the method may further include the following step: if the current position information of the movable platform is not obtained, determining that the initial position position information of the return point to be confirmed includes the current position information of the control terminal. Therefore, on the basis that the current position information of the movable platform cannot be obtained, the current position information of the control terminal can be used as the initial position information of the home point to be confirmed, so as to ensure that the user can modify the home point to be confirmed according to the relevant position. 'S current location.
  • FIG. 9 is a schematic structural diagram of a control terminal provided by an embodiment of this application. As shown in FIG. 9, the control terminal 900 may include:
  • the display screen 901 is used to display information; and,
  • One or more processors 902, working individually or collectively, are used to perform the following operations:
  • the home point setting operation Acquire the home point setting operation input by the user according to the current position information of the home point to be confirmed to generate a home point setting instruction, and the home point setting instruction is used to set the movable home point according to the current position information of the home point to be confirmed The home point to be validated on the platform; wherein the home point setting operation includes an operation for customizing the current position information of the home point to be confirmed;
  • the location information of the home point to be validated is determined, and the movable platform is controlled to be able to return home according to the location information of the home point to be validated.
  • control terminal provided in this embodiment can be used to execute the technical solutions of the foregoing method embodiments, and its implementation principles and technical effects are similar to those of the method embodiments, and will not be repeated here.
  • a person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware.
  • the aforementioned program can be stored in a computer readable storage medium. When the program is executed, it executes the steps including the foregoing method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

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Abstract

一种返航控制方法、控制终端及系统，该方法包括：显示待确认返航点的当前位置信息；获取用户根据所述待确认返航点的当前位置信息输入的返航点设置操作，以生成返航点设置指令，所述返航点设置指令用于根据所述待确认返航点的当前位置信息，设置可移动平台的待生效返航点；其中，所述返航点设置操作包括用于对所述待确认返航点的当前位置信息进行自定义修改的操作；根据所述返航点设置操作，确定所述待生效返航点的位置信息，并控制所述可移动平台能够根据所述待生效返航点的位置信息进行返航。本申请实施例扩大了返航点的更新范围。

Description

返航控制方法、控制终端及系统 技术领域
本申请涉及控制技术领域，尤其涉及一种返航控制方法、控制终端及系统。
背景技术
可移动平台可以提供自动返航功能。例如可移动平台飞行过程中，在接收到控制终端发送的返航指令时，可以将其起飞地点作为返航点以自动返回到起飞地点。
通常，用户可以设置起飞地点之外的其他位置点作为新的返航点，例如，可以将可移动平台的当前位置点作为返航点，或者，将控制终端的当前位置点作为返航点。具体的，控制终端可以提供“以飞机位置为返航点”的按钮1和“以遥控器位置为返航点”的按钮2。当用户点击按钮1时，控制终端可以获得可移动平台的当前位置点，并将可移动平台的当前位置点作为可移动平台新的返航点。当用户点击按钮2时，控制终端可以获得自身的当前位置点，并将自身的当前位置点作为可移动平台的返航点。
然而，上述返航点的更新范围较为局限，难以满足用户的需求。
发明内容
本申请实施例提供一种返航控制方法、控制终端及系统，用以解决现有技术中返航点的更新范围较为局限，难以满足用户的需求的问题。
第一方面，本申请实施例提供一种返航控制方法，应用于控制终端，包括：
显示待确认返航点的当前位置信息；
获取用户根据所述待确认返航点的当前位置信息输入的返航点设置操作，以生成返航点设置指令，所述返航点设置指令用于根据所述待确认返航点的当前位置信息，设置可移动平台的待生效返航点；其中，所述返航点设置操作包括用于对所述待确认返航点的当前位置信息进行自定义修改的操作；
根据所述返航点设置操作，确定所述待生效返航点的位置信息，并控制所述可移动平台能够根据所述待生效返航点的位置信息进行返航。
第二方面，本申请实施例提供一种控制终端，包括：
显示屏，用于显示信息；以及，
一个或多个处理器，单独地或共同地工作，用于执行上述第一方面任一项所述的方法。
第三方面，本申请实施例提供一种返航控制系统，包括：可移动平台以及第二方面任一项所述的控制终端。
第四方面，本申请实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行上述第一方面任一项所述的方法。
第五方面，本申请实施例提供一种计算机程序，当所述计算机程序被计算机执行时，用于实现上述第一方面任一项所述的方法。
本申请实施例提供一种返航控制方法、控制终端及系统，通过获取用户根据控制终端输出的待确认返航点的当前位置信息输入的返航点设置操作，根据返航点设置操作确定待生效返航点的位置信息，并控制可移动平台能够根据待生效返航点的位置信息进行返航，由于返航点设置操作包括用于对待确认返航点的当前位置信息进行自定义修改的操作，使得用户可以根据需求灵活设置待确认返航点的当前位置信息，从而灵活设置可移动平台的返航点的位置信息，与只能从控制终端的当前位置点和可移动平台的当前位置点中选择一者更新可移动平台的返航点相比，扩大了可移动平台的返航点的更新范围，使得可移动平台实际的返航点可以与用户期望的返航点的位置一致，提高了用户的使用体验。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1-图2为本申请实施例提供的返航控制方法的应用场景示意图；
图3为本申请一实施例提供的返航控制方法的流程示意图；
图4为本申请另一实施例提供的返航控制方法的流程示意图；
图5为本申请又一实施例提供的返航控制方法的流程示意图；
图6A-图8为本申请实施例提供的返航控制方法的显示示意图；
图9为本申请一实施例提供的控制终端的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
图1为本申请实施例提供的返航控制方法的应用场景示意图。如图1所示，该应用场景可以包括控制终端11和可移动平台12。其中，控制终端11与可移动平台12通信连接，可移动平台12可以支持自动返航至返航点的功能，用户可以使用控制终端11对可移动平台12的返航点进行控制。示例性的，控制终端11可以包括带屏遥控器、智能手机、平板电脑、掌上电脑等。示例性的，可移动平台12可以包括无人飞行器、云台车等。可移动平台12可以包括云台，云台可以包括二轴或三轴云台。
其中，返航可以是指可移动平台12返回返航点的航程。示例性的，对于可移动平台具体可以是指无人飞行器飞回返航点的航程。
需要说明的是，对于控制终端11与可移动平台12通信连接的具体方式，本申请不做限定。可选的，控制终端11可以与可移动平台12直接通信连接， 或者，如图2所示，控制终端11可以通过中继设备与可移动平台12通信连接。以控制终端11为智能手机，可移动平台12为无人飞行器为例，中继设备可以包括遥控器。以控制终端11为带屏遥控器，可移动平台12为无人飞行器为例，中继设备可以包括其他无人飞行器。控制终端11可以控制可移动平台12起飞、返航、还可以控制云台的移动，例如控制云台锁定、自由移动、跟随、回中等。
通常，可移动平台只能将开始移动的地点(例如，起飞点)、控制终端的当前位置点或可移动平台的当前位置点作为可移动平台的返航点。具体的，可移动平台可以默认将起飞点作为返航点。进一步的，控制终端11可以提供两个按钮分别为按钮1和按钮2，当用户选择使用按钮1时，控制终端可以控制可移动平台将可移动平台的当前位置点作为返航点；当用户选择按钮2时，控制终端可以控制可移动平台将控制终端的当前位置点作为返航点。由于传统技术中只能从控制终端的当前位置点和可移动平台的当前位置点中选择一者更新可移动平台的返航点，返航点的更新范围较为局限，难以满足用户的需求。
本申请实施例提供的返航控制方法，通过控制终端11可以显示待确认返航点的当前位置信息，获取用户根据待确认返航点的当前位置信息输入的返航点设置操作，该返航点设置操作包括用于对待确认返航点的当前位置信息进行修改的操作，例如，用户能够对待确认返航点的当前位置信息进行修改，实现了用户可以根据需求灵活设置待确认返航点的当前位置信息，以设置可移动平台的返航点的位置信息，与只能从控制终端的当前位置点和可移动平台的当前位置点中选择一者更新可移动平台的返航点相比，扩大了可移动平台的返航点的更新范围，提高了用户的使用体验。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图3为本申请一实施例提供的返航控制方法的流程示意图，本实施例的执行主体可以为控制终端11，具体可以为控制终端11的处理器。如图3所示，本实施例的方法可以包括：
步骤301，显示待确认返航点的当前位置信息。
本步骤中，待确认返航点可以是指等待确认是否需要生效的返航点，待确认返航点经确认需要生效之后可以作为待生效返航点，待确认返航点未经 确认需要生效不能作为待生效返航点。
待生效返航点可以是指等待可移动平台进行生效的返航点，待生效返航点在经可移动平台生效之后，可移动平台能够根据所述待生效返航点进行返航，待生效返航点未经可移动平台生效，可移动平台无法根据待生效返航点进行返航。
例如，假设返航点1为待确认返航点，则确认返航点1之后，返航点1可以理解为待生效返航点，可移动平台对返航点1进行生效之后，可移动平台能够根据返航点1进行返航，即可移动平台可以自动返回到返航点1。
待确认返航点的当前位置信息具体可以包括能够表征待确认返航点的当前位置的任意类型信息中的一种或多种。示例性的，待确认返航点的当前位置信息可以包括待确认返航点的当前位置坐标。
需要说明的是，步骤301所显示的待确认返航点的当前位置信息可以随着待确认返航点的实时位置发生变化。通过显示待确认返航点的当前位置信息，使得用户可以获知待确认返航点的当前位置，有利于用户确定待确认返航点与其期望的返航点的位置关系。
步骤302，获取用户根据所述待确认返航点的当前位置信息输入的返航点设置操作，以生成返航点设置指令，所述返航点设置指令用于根据所述待确认返航点的当前位置信息，设置可移动平台的待生效返航点；其中，所述返航点设置操作包括用于对所述待确认返航点的当前位置信息进行自定义修改的操作。
本步骤中，返航点设置操作用于用户根据待生效返航点的当前位置信息，设置可移动平台的待生效返航点。由于返航点设置操作包括用于对待确认返航点的当前位置信息进行修改的操作，因此用户可以对待确认返航点的当前位置信息进行自定义修改，即用户能够根据需求灵活设置待确认返航点的当前位置信息，从而不仅能依照控制终端的显示界面推送的待确认返航点的当前位置信息控制可移动平台返航，还能由用户自定义待确认返航点的当前位置信息控制可移动平台返航，以灵活设置待生效返航点的位置。例如控制终端可以通过麦克风采集用户输入的语音“选择控制终端作为返航点”。又例如，控制终端的显示界面可以获取用户的返航点设置操作，以自定义待确认返航点的当前位置信息。
示例性的，返航点设置操作可以包括语音输入操作，例如，控制终端可 以通过麦克风采集用户输入的语音“向北移动20米”，并根据该语音对待确认返航点的当前位置信息进行更新。
示例性的，返航点设置操作可以包括文字输入操作，例如，控制终端可以通过文本框获取用户输入的文字“向北移动20米”，并根据该文字对待确认返航点的当前位置信息进行更新。
步骤303，根据所述返航点设置操作，确定所述待生效返航点的位置信息，并控制所述可移动平台能够根据所述待生效返航点的位置信息进行返航。
本步骤中，控制终端可以根据返航点设置操作，修改待生效返航点的当前位置信息，在待确认返航点经确认之后，将待确认返航点的当前位置信息作为待生效返航点的位置信息，并控制可移动平台能够根据待生效返航点的位置信息进行返航。在控制终端控制可移动平台能够根据待生效返航点的位置信息进行返航后，可移动平台将待生效返航点作为其实际的返航点进行返航，之后，在可移动平台需要自动返航时，可移动平台可以根据其实际的返航点进行返航。
由于用户通过返航点设置操作能够根据需求灵活设置待确认返航点的当前位置信息，因此用户通过返航点设置操作能够灵活设置可移动平台的返航点的位置信息。
本实施例中，通过获取用户根据控制终端输出的待确认返航点的当前位置信息输入的返航点设置操作，根据返航点设置操作确定待生效返航点的位置信息，并控制可移动平台能够根据待生效返航点的位置信息进行返航，由于返航点设置操作包括用于对待确认返航点的当前位置信息进行自定义修改的操作，使得用户可以根据需求灵活设置待确认返航点的当前位置信息，从而灵活设置可移动平台的返航点的位置信息，与只能从控制终端的当前位置点和可移动平台的当前位置点中选择一者更新可移动平台的返航点相比，扩大了可移动平台的返航点的更新范围，使得可移动平台实际的返航点可以与用户期望的返航点的位置一致，提高了用户的使用体验。
在图3所示实施例的基础上，可选的，控制终端可以将定时器到达时的待确认返航点确认为待生效返航点，该定时器可以用于限制用户输入返航点设置操作的时长，从而有利于简化用户操作。
或者，可选的，返航点设置操作可以包括：返航点确认操作。相应的，步骤302具体可以包括：获取用户根据所述待确认返航点的当前位置信息输入 的返航点确认操作，以生成返航点确认指令，所述返航点确认指令用于指示将所述待确认返航点的当前位置信息作为所述待生效返航点的位置信息。示例性的，可以通过确认按钮获取用户输入的返航点确认操作。通过返航点确认操作，使得用户可以通过输入操作的方式确认待确认返航点是需要生效的返航点即待生效返航点，即在用户通过返航点确认操作确认的待确认返航点才能作为待生效返航点，有利于确保待生效返航点的准确性。
图4为本申请另一实施例提供的返航控制方法的流程示意图，本实施例在图3所示实施例的基础上，主要描述了返航点设置操作的可选实现方式，如图4所示，本实施例的方法可以包括：
步骤401，显示待确认返航点的当前位置信息。
需要说明的是，步骤401与步骤301类似，在此不再赘述。
步骤402，获取用户根据所述待确认返航点的当前位置信息输入的返航点修改操作，以生成返航点修改指令，所述返航点修改指令用于修改所述待确认返航点的当前位置信息。
步骤403，根据所述返航点修改操作，更新所述待确认返航点的当前位置信息。
示例性的，所述返航点修改操作可以包括第一返航点修改操作。相应的，步骤402具体可以包括：获取用户根据所述待确认返航点的当前位置信息输入的第一返航点修改操作，以生成第一返航点修改指令，所述第一返航点修改指令用于指示将所述可移动平台的当前位置信息作为所述待确认返航点的当前位置信息。步骤403具体可以包括：根据所述第一返航点修改操作，将所述可移动平台的当前位置信息作为所述待确认返航点的当前位置信息。通过第一返航点修改操作，实现了用户可以选择可移动平台的当前位置作为待确认返航点的当前位置，在用户需要将可移动平台的当前位置或者其附近位置作为待生效返航点时，有利于提高用户的设置效率。
其中，所述根据所述第一返航点修改操作，将所述可移动平台的当前位置信息作为所述待确认返航点的当前位置信息，具体可以包括：根据所述第一返航点修改操作，确定是否能够获取到所述可移动平台的当前位置信息，若能够获取到所述可移动平台的当前位置信息，则将所述可移动平台的当前位置信息作为所述待确认返航点的当前位置信息。可选的，本实施例的方法还可以包括：若不能够获取到所述可移动平台的当前位置信息，则输出提示 信息，该提示信息用于指示未将所述可移动平台的当前位置信息作为所述待确认返航点的当前位置信息的原因。通过在不能够获取到所述可移动平台的当前位置信息时该提示信息，使得用户可以获知未将可移动平台的当前位置作为待确认返航点的当前位置的具体原因，能够避免用户误认为控制终端异常导致无法响应第一返航点修改操作，有利于提高用户的使用体验。
示例性的，第一返航点修改操作的类型可以包括语音类型，例如控制终端可以通过麦克风采集用户输入的语音“选择可移动平台作为返航点”，并根据该语音将可移动平台的当前位置信息作为待确认返航点的当前位置信息。
需要说明的是，在可移动平台移动的过程中，当用户多次输入第一返航点修改操作时，多个第一返航点修改操作对应的可移动平台的当前位置信息可以不同，从而通过第一返航点修改操作能够修改待确认返航点的当前位置信息。例如，在可移动平台可以移动至位置1时，若用户输入第一返航点修改操作，则可以将位置1作为待确认返航点的当前位置，进一步的，在可移动平台移动至位置2时，若用户输入第一返航点修改操作，则可以将位置2作为待确认返航点的当前位置。
示例性的，本实施例的方法还可以包括：显示第一修改按钮，所述第一修改按钮用于所述用户输入所述第一返航点修改操作。例如，第一返航点操作可以包括所述第一修改按钮的单击操作。通过第一修改按钮使得用户可以通过按钮输入第一返航点修改操作，与通过语音方式输入第一返航点修改操作相比用户无需记忆语音指令，有利于可以简化用户输入。
示例性的，所述返航点修改操作可以包括第二返航点修改操作。相应的，步骤402具体可以包括：获取用户根据所述待确认返航点的当前位置信息输入的第二返航点修改操作，以生成第二返航点修改指令，所述第二返航点修改指令用于指示将所述控制终端的当前位置信息作为所述待确认返航点的当前位置信息。步骤403具体可以包括：根据所述第二返航点修改操作，将所述控制终端的当前位置信息作为所述待确认返航点的当前位置信息。通过第二返航点修改操作，实现了用户可以选择控制终端的当前位置作为待确认返航点的当前位置，在用户需要将控制终端的当前位置或者其附近位置作为待生效返航点时，有利于提高用户的设置效率。
其中，所述根据所述第二返航点修改操作，将所述控制终端的当前位置 信息作为所述待确认返航点的当前位置信息，具体可以包括：根据所述第二返航点修改操作，确定是否能够获取到所述控制终端的当前位置信息，若能够获取到所述控制终端的当前位置信息，则将所述控制终端的当前位置信息作为所述待确认返航点的当前位置信息。可选的，本实施例的方法还可以包括：若不能够获取到所述控制终端的当前位置信息，则输出提示信息，该提示信息用于指示未将所述控制终端的当前位置信息作为所述待确认返航点的当前位置信息的原因。通过在不能够获取到所述控制终端的当前位置信息时该提示信息，使得用户可以获知未将控制终端的当前位置作为待确认返航点的当前位置的具体原因，能够避免用户误认为控制终端异常导致无法响应第二返航点修改操作，有利于提高用户的使用体验。
示例性的，第二返航点修改操作的类型可以包括语音类型，例如控制终端可以通过麦克风采集用户输入的语音“选择控制终端作为返航点”，并根据该语音将控制终端的当前位置信息作为待确认返航点的当前位置信息。
需要说明的是，在控制终端移动的过程中，当用户多次输入第二返航点修改操作时，多个第二返航点修改操作对应的控制终端的当前位置信息可以不同，从而通过第二返航点修改操作能够修改待确认返航点的当前位置信息。例如，在控制终端可以移动至位置3时，若用户输入第二返航点修改操作，则可以将位置3作为待确认返航点的当前位置，进一步的，在控制终端移动至位置4时，若用户输入第二返航点修改操作，则可以将位置4作为待确认返航点的当前位置。
示例性的，本实施例的方法还可以包括：显示第二修改按钮，所述第二修改按钮用于所述用户输入所述第二返航点修改操作。例如，第二返航点操作可以包括所述第二修改按钮的双击操作。通过第二修改按钮使得用户可以通过按钮输入第二返航点修改操作，与通过语音方式输入第二返航点修改操作相比用户无需记忆语音指令，有利于可以简化用户输入。
示例性的，所述返航点修改操作可以包括第三返航点修改操作。相应的，步骤402具体可以包括：获取用户根据所述待确认返航点的当前位置信息输入的第三返航点修改操作，以生成第三返航点修改指令，所述第三返航点修改指令用于指示将目标位置信息作为所述待确认返航点的当前位置信息。步骤403具体可以包括：根据所述第三返航点修改操作，将所述目标位置信息作为所述待确认返航点的当前位置信息。通过第三返航点修改操作，使得用户可 以灵活选择根据需求将待确认返航点的当前位置信息修改为目标位置信息，有利于提高用户设置待确认返航点的位置的灵活性。
需要说明的是，前述第一返航点修改操作、第二返航点修改操作、第三返航点修改操作可以任意组合。例如，返航点修改操作可以包括第一返航点修改操作和第三返航点修改操作，用户可以根据第一返航点修改操作将可移动平台的当前位置1作为待确认返航点的当前位置，进一步的，用户可以根据第三返航点修改操作选择当前位置1附近的其他位置作为待确认返航点的当前位置。又例如，返航点修改操作可以包括第二返航点修改操作和第三返航点修改操作，用户可以根据第二返航点修改操作将控制终端的当前位置3作为待确认返航点的当前位置，进一步的，用户可以根据第三返航点修改操作选择当前位置3附近的其他位置作为待确认返航点的当前位置。通过第一返航点修改操作和/或第二返航点修改操作与第三返航点修改操作组合，可以提高用户设置待生效返航点的效率。
示例性的，所述根据所述第三返航点修改操作，将所述目标位置信息作为所述待确认返航点的当前位置信息，具体可以包括：根据所述第三返航点修改操作，确定所述目标位置信息与目标设备的当前位置信息之间的距离是否小于距离阈值；若所述目标位置信息与所述目标设备的当前位置信息之间的距离小于所述距离阈值，则将所述目标位置信息作为所述待确认返航点的当前位置信息。通过在目标位置信息与目标设备的当前位置信息之间的距离小于距离阈值时，将目标位置信息作为待确认返航点的当前位置信息，可以实现将待确认返航点的位置限制在距离目标设备的当前位置的一定范围内，可以避免由于可移动平台的返航点距离目标设备过远所带来的安全问题，有利于提高安全性，例如可以避免由于可移动平台的返航点距离目标设备过远导致可移动平台的电量无法支持可移动平台返回至返航点的问题。
示例性的，所述根据所述第三返航点修改操作，将所述目标位置信息作为所述待确认返航点的当前位置信息，还可以包括：若所述目标位置信息与所述目标设备的当前位置信息之间的距离大于所述距离阈值，则输出第一提示信息，所述第一提示信息用于指示未将所述目标位置信息作为所述待确认返航点的当前位置信息的原因。此时，第一提示信息例如可以为“距离可移动平台和控制终端过远”。通过在目标位置信息与目标设备的当前位置信息之间的距离大于距离阈值时输出第一提示信息，使得用户可以获知不能将目 标位置信息作为待确认返航点的当前位置信息的具体原因，有利于减小用户修改待确认返航点的当前位置信息的错误操作。
需要说明的是，对于第一提示信息的具体类型，本申请可以不做限定。示例性的，第一提示信息的类型可以包括下述中的一种或多种：语音提示、文字提示、指示灯提示或振动提示。示例性的，可以通过吐丝(toast)框输出第一提示信息，其中，toast是安卓(android)中的一种简易的消息提示框。
示例性的，所述根据所述第三返航点修改操作，将所述目标位置信息作为所述待确认返航点的当前位置信息之后，还包括：确定所述待确认返航点的当前位置信息与所述目标设备的当前位置信息之间的距离是否大于距离阈值；若所述待确认返航点的当前位置信息与所述目标设备的当前位置信息之间的距离大于所述距离阈值，则将返航点确认按钮设置为不可操作，所述返航点确认按钮用于所述用户输入所述返航点确认操作。通过在目标位置信息与目标设备的当前位置信息之间的距离大于距离阈值时，将用于用户输入返航点确认操作的返航点确认按钮设置为不可操作，可以实现将待确认返航点的位置限制在距离目标设备的当前位置的一定范围内，可以避免由于可移动平台的返航点距离目标设备过远所带来的安全问题，有利于提高安全性。
在将返航点确认按钮设置为不可操作之后，可以表示用户无法输入返航点确认操作，即用户无法确认待生效返航点。可以理解的是，在所述待确认返航点的当前位置信息与所述目标设备的当前位置信息之间的距离小于所述距离阈值时，返航点确认按钮可以为可操作，可以表示用户可以输入返航点确认操作，即用户可以确认待生效返航点。
需要说明的是，对于将返航点确认按钮设置为不可操作的具体方式，本申请实施例可以不做限定，示例性的，可以通过将返航点确认按钮置灰的方式，将其设置为不可操作。
示例性的，本实施例的方法还可以包括：若所述待确认返航点的当前位置信息与所述目标设备的当前位置信息之间的距离大于所述距离阈值，则输出第二提示信息，所述第二提示信息用于指示所述返航点确认按钮设置为不可操作的原因。此时，第一提示信息例如可以为“距离可移动平台和控制终端过远”。通过在目标位置信息与目标设备的当前位置信息之间的距离大于距离阈值时输出第二提示信息，使得用户可以获知返航点确认按钮不可操作的具体原因，有利于减小用户修改待确认返航点的当前位置信息的错误操作。
需要说明的是，目标设备的个数可以为一个或多个，当目标设备的个数为多个时，具体可以包括：若所述目标位置信息与多个目标设备中一个目标设备之间的距离小于距离阈值，则将所述目标位置信息作为所述待确认返航点的当前位置信息。示例性的，所述目标设备包括所述可移动平台和/或所述控制终端。
其中，距离阈值可以根据需求灵活设计，示例性的，距离阈值可以为2公里。
示例性的，所述根据所述第三返航点修改操作，将所述目标位置信息作为所述待确认返航点的当前位置信息之后，还可以包括：确定所述待确认返航点的当前位置信息是否位于目标区域，所述目标区域包括不允许所述可移动平台移动到达的区域；若所述待确认返航点的当前位置信息位于目标区域中，则将返航点确认按钮设置为不可操作，所述返航点确认按钮用于所述用户输入所述返航点确认操作。通过在待确认返航点的当前位置信息位于目标区域中时，将用于用户输入返航点确认操作的返航点确认按钮设置为不可操作，可以实现将待确认返航点的位置限制在目标区域之外，可以避免由于可移动平台的返航点位于目标区域所带来的安全问题，有利于提高安全性。
需要说明的是，当可移动平台为无人飞行器时，目标区域可以包括禁飞区。
示例性的，本实施例的方法还可以包括：若所述待确认返航点的当前位置信息位于目标区域，则输出第二提示信息，所述第二提示信息用于指示所述返航点确认按钮设置为不可操作的原因。此时，第二提示信息例如可以为“无法设置在禁飞区”。通过待确认返航点的当前位置信息位于目标区域时输出第二提示信息，使得用户可以获知返航点确认按钮不可操作的具体原因，有利于减小用户修改待确认返航点的当前位置信息的错误操作。
需要说明的是，对于第二提示信息的具体类型，本申请可以不做限定。示例性的，第二提示信息的类型可以包括下述中的一种或多种：语音提示、文字提示、指示灯提示或振动提示。示例性的，可以通过吐丝(toast)框输出第二提示信息。
本实施例中，通过获取用户根据待确认返航点的当前位置信息输入的返航点修改操作，以生成返航点修改指令，返航点修改指令用于修改待确认返航点的当前位置信息，根据返航点修改操作，更新待确认返航点的当前位置 信息，实现了根据返航点修改操作更新待确认返航点的当前位置信息，使得用户可以根据需求灵活设置待确认返航点的当前位置信息，从而灵活设置可移动平台的返航点的位置信息。
图5为本申请又一实施例提供的返航控制方法的流程示意图，本实施例在前述实施例的基础上，主要描述了一种通过地图显示待确认返航点的当前位置信息的具体实现方式，如图5所示，本实施例的方法可以包括：
步骤501，显示返航点标识以及包括待确认返航点的地图，所述返航点标识用于标识所述待确认返航点在所述地图中的当前位置信息。
本步骤中，返航点标识在地图中所标识出的位置即为待确认返航点的当前位置信息对应于地图中的位置。通过显示返航点标识以及包括待确认返航点的地图，使得用户可以从地图中直观的获知待确认返航点的当前位置信息，有利于提高用户的使用体验。
可选的，在步骤501的基础上，还可以显示下述中的一种或多种：可移动平台标识、控制终端标识、所述可移动平台的朝向或所述可移动平台标识与所述返航点标识之间的连线；其中，所述可移动平台标识用于标识所述可移动平台在所述地图中的当前位置信息；所述控制终端标识用于标识所述控制终端在所述地图中的当前位置信息。
通过显示可移动平台标识，使得用户可以从地图中直观获知可移动平台的当前位置，有利于用户确定待确认返航点的当前位置与可移动平台的当前位置的位置关系，使得用户可以根据该位置关系确定期望的待生效返航点的位置，从而能够提高更新返航点的效率。
通过显示控制终端标识，使得用户可以从地图中直观获知控制终端的当前位置，有利于用户确定待确认返航点的当前位置与控制终端的当前位置的位置关系，使得用户可以根据该位置关系确定期望的待生效返航点的位置，从而能够提高更新返航点的效率。
通过显示可移动平台的朝向，使得用户可以从地图中直观获知可移动平台的朝向，有利于用户确定待确认返航点的当前位置与可移动平台的朝向的方位关系，使得用户可以根据该方位关系确定期望的待生效返航点的位置，有利于提高更新返航点的效率。
通过显示可移动平台标识与返航点标识之间的连线，用户可以直观的获知待确认返航点的当前位置与可移动平台的当前位置的位置关系，使得用户 可以根据该位置关系确定期望的待生效返航点的位置，有利于提高更新返航点的效率。
示例性的，所述可移动平台标识和所述可移动平台的朝向可以分别显示；或者，所述可移动平台标识还可以用于标识所述可移动平台的朝向，从而能够减小所显示的元素数量，简化界面。
例如，如图6A和图6B所示，“H”可以表示返航点标识，右侧的三角箭头图标可以表示第一修改按钮，三角箭头图标下方遥控图标可以表示第二修改按钮。例如，如图6B所示，“H”下方的三角箭头可以表示可移动平台标识。需要说明的是，图6A和图6B中“确认”按钮可以用于用户输入前述返航点确认操作，“取消”按钮可以用于用户输入取消操作，在用户输入取消操作后可以取消显示返航点标识以及包括待确认返航点的地图。
步骤502，获取用户根据所述待确认返航点的当前位置信息输入的返航点设置操作，以生成返航点设置指令，所述返航点设置指令用于根据所述待确认返航点的当前位置信息，设置可移动平台的待生效返航点。
本步骤中，示例性的，所述返航点设置操作包括返航点修改操作，所述返航点修改操作包括地图拖动操作和/或返航点标识移动操作，其中，所述地图更新操作可以包括用于拖动地图的操作；所述返航点标识移动操作包括用于移动返航点标识位置的操作。需要说明的是，所述地图拖动操作和返航点标识移动操作，可以理解为前述第三返航点修改操作在通过地图方式显示待确认返航点的当前位置信息下的一种可选实现方式。
示例性的，步骤502具体可以包括如下步骤A至步骤C。
步骤A，获取用户根据所述待确认返航点的当前位置信息输入的地图拖动操作，以生成地图拖动指令，所述地图拖动指令用于指示拖动后需要显示的地理范围。
步骤B，根据所述地图拖动操作，保持所述返航点标识在地图显示区域中的位置固定，并显示所述地理范围对应的地图。
步骤C，将所述地图中，所述返航点标识在所述地图显示区域中的当前位置所对应的地图位置信息，作为所述待确认返航点的当前位置信息。
通过返航点修改操作包括地图拖动操作，使得用户能够通过与地图相同的操作方式更新待确认返航点的当前位置信息，便于用户掌握且直观性强，有利于用户使用。为了便于用户获知可以通过拖动地图的方式修改待确认返 航点的当前位置信息，如图6A和图6B所示，还可以显示“拖动以重新定位返航点”的提示信息。
和/或，示例性的，步骤502具体可以包括：获取用户根据所述待确认返航点的当前位置信息输入的返航点标识移动操作，以生成返航点标识移动指令，所述返航点标识移动指令用于指示所述返航点标识在地图显示区域中的目标位置；根据所述返航点标识移动操作，保持所述地图固定，将所述返航点标识在所述地图显示区域中的位置调整至所述目标位置；将所述地图中，所述返航点标识在所述地图显示区域中的当前位置所对应的地图位置信息，作为所述待确认返航点的当前位置信息。
其中，返航点标识移动操作具体可以为能够移动返航点标识在地图中的位置的任意类型操作。示例性的，返航点标识移动操作可以包括返航点标识拖动操作。通过返航点修改操作包括返航点标识移动操作，使得用户能够通过移动标识的方式更新待确认返航点的当前位置信息，直观性强，有利于用户使用。
示例性的，本实施例的方法还可以包括：获取用户根据所述待确认返航点的当前位置信息输入的地图放大/缩小操作，以生成地图放大/缩小指令，所述地图放大/缩小指令用于指示放大/缩小后需要显示的地理范围；根据所述地图放大/缩小操作，保持所述返航点标识在地图显示区域中的位置固定，并显示所述地理范围对应的地图。从而使得用户能够根据需求选择合适的地图比例尺查看地图，有利于提高用户的使用体验。需要说明的是，对于地图放大/缩小操作的具体类型，本申请实施例不做限定，示例性的，可以包括双指缩放等。其中，默认的地图比例尺例如可以为1:50米。
需要说明的是，在返航点修改操作不包括地图拖动操作时，与地图放大/缩小操作类似，本实施例的方法还可以包括步骤A和步骤B，从而使得用户能够通过拖动地图的方式选择需要查看的地图范围，有利于提高用户的使用体验。
步骤503，根据所述返航点设置操作，确定所述待生效返航点的位置信息，并控制所述可移动平台能够根据所述待生效返航点的位置信息进行返航。
本步骤中，所述控制所述可移动平台能够根据所述待生效返航点的位置信息进行返航，具体可以包括：将所述待生效返航点的位置信息发送至所述可移动平台，以使所述可移动平台根据所述待生效返航点的位置信息生效所 述返航点。
示例性的，控制终端可以直接将所述待生效返航点的位置信息发送至所述可移动平台。从而有利于简化实现，减小用户从设置完成待生效返航点到可移动平台成功生效该返航点的等待时长，提高了用户的使用体验。
或者，示例性的，控制终端可以对待生效返航点的位置信息进行坐标系转换，得到待生效返航点的转换后的位置信息，并将转换后的位置信息发送至所述可移动平台。从而使得控制终端和可移动平台可以使用不同的坐标系表示返航点的位置，有利于提高灵活性。
示例性的，步骤503之后还可以包括：确定所述可移动平台的生效结果信息，所述生效结果信息用于指示所述可移动平台是否成功生效所述待生效返航点；根据所述生效结果信息，输出第三提示信息。当生效结果信息指示可移动平台成功生效待生效返航点时，第三提示信息例如可以为“返航点更新成功”；当生效结果信息指示可移动平台成功生效待生效返航点时，第三提示信息例如可以为“返航点更新失败”。通过根据生效结果信息输出第三提示信息，使得用户能够获知可移动平台是否成功生效待生效返航点，有利于用户了解可移动平台实际的返航点。
需要说明的是，对于确定所述可移动平台的生效结果信息的具体方式，本申请实施例可以不做限定。示例性的，当控制终端接收可移动平台发送的确认(Acknowledge，ACK)消息时，可以确定生效结果信息具体用于指示所述可移动平台成功生效所述待生效返航点。示例性的，当控制终端未接收可移动平台发送的确认消息，或者接收到可移动平台发送的(Non-Acknowledge，ACK)消息时，可以确定生效结果信息具体用于指示所述可移动平台未成功生效所述待生效返航点。
需要说明的是，对于第三提示信息的具体类型，本申请可以不做限定。示例性的，第三提示信息的类型可以包括下述中的一种或多种：语音提示、文字提示、指示灯提示或振动提示。示例性的，可以通过吐丝(toast)框输出第三提示信息。
示例性的，所述输出第三提示信息包括：显示目标应用程序(Application program，APP)的主页面，所述主页面中包括所述第三提示信息，所述目标APP用于控制所述可移动平台。通过主页面包括第三提示信息，使得在输出第三提示信息时，用户能够及时通过主页面了解、控制可移动平台，便于用 户使用控制终端控制可移动平台。
示例性的，所述主页面中还包括：所述可移动平台的第一视角拍摄获得的实时图像。从而有利于用户获知可移动平台的第一视角获得的实时图像。
以可移动平台为无人飞行器为例，当第三提示信息用于提示可移动平台成功生效待生效返航点时，主页面的显示内容可以如图7A所示。图7A中，“返航点更新成功”即为第三提示信息；“P”可以表示无人飞行器的飞行模式是P模式，即定位模式；“80％”表示无人飞行器的剩余电量，“RC”表示无人飞行器的遥控器(Remote Controller)，“高度”表示无人飞行器的飞行高度，“距离”表示无人飞行器与遥控器的距离，“速度”表示无人飞行器的飞行速度。“自动”表示自动(AUTO)拍照模式；“+3.0”表示曝光补偿量为+3曝光值(Exposure Values，EV)；“AE”表示曝光锁定。
以可移动平台为无人飞行器为例，当第三提示信息用于提示可移动平台未成功生效待生效返航点时，主页面的显示内容可以如图7B所示。图7B中，“返航点更新失败”即为第三提示信息；“取消”按钮用于用户输入取消操作，以取消将待生效返航点作为无人飞行器的返航点；“重试”按钮用于用户输入重试操作，以再次执行上述步骤“控制所述可移动平台能够根据所述待生效返航点的位置信息进行返航”。需要说明的是，图7B中与图7A中的相同内容，可以参见图7A中的相关描述，在此不再赘述。
本实施例中，通过显示返航点标识以及包括待确认返航点的地图，返航点标识用于标识待确认返航点在地图中的当前位置信息，获取用户根据待确认返航点的当前位置信息输入的返航点设置操作，根据返航点设置操作确定待生效返航点的位置信息，并控制可移动平台能够根据待生效返航点的位置信息进行返航，由于返航点设置操作包括用于对待确认返航点的当前位置信息进行自定义修改的操作，使得用户可以根据需求灵活设置地图中返航点标识的位置，以设置待确认返航点的当前位置信息，提高了用户设置可移动平台的返航点的直观性。
可选的，在上述实施例的基础上，所述显示待确认返航点的当前位置信息，具体可以包括：获取用户输入的更新返航点操作，以生成更新返航点指令，所述更新返航点指令用于指示需要更新所述可移动平台的返航点；根据所述更新返航点操作，显示待确认返航点的当前位置信息。通过更新返航点操作，用户可以选择是否显示待确认返航点的当前位置信息，使得待确认返 航点的当前位置信息的显示能够符合用户需求，有利于提高用户的使用体验。
示例性的，所述获取用户输入的更新返航点操作之前，还可以包括：显示设置页面，所述设置页面中包括更新返航点入口，所述更新返航点入口用于所述用户输入所述更新返航点操作。通过设置页面中包括更新返航点入口，使得用户可以通过设置页面提供的更新返航点入口输入更新返航点操作，实现了操作入口的统一管理，有利于用户查找更新返航点入口。
或者，示例性的，所述获取用户输入的更新返航点操作之前，还可以包括：显示设置页面，所述设置页面中包括快捷菜单(Shortcurs)入口，所述快捷菜单入口用于获取用户输入的快捷菜单操作，以生成快捷菜单指令，所述快捷菜单指令用于指示显示快捷菜单，所述快捷菜单包括更新返航点入口，所述更新返航点入口用于所述用户输入所述更新返航点操作。通过设置页面中包括快捷菜单入口，快捷菜单中包括更新返航点入口，使得用户可以通过设置页面的快捷菜单中提供的更新返航点入口输入更新返航点操作，实现了操作入口的分类管理，在可移动平台的操作入口较多时，有利于用户快速找到更新返航点入口。
以可移动平台为无人飞行器为例，设置页面可以如图8所示，图8中“快捷”可以表示快捷菜单入口，快捷菜单可以包括“更新返航点”、“飞行模式”、“图像格式”、“手机充电”和“云台回中”入口的至少一个，其中，“更新返航点”可以表示更新返航点入口，“飞行模式”可以表示用于进行飞行模式设置的入口，“图像格式”可以表示用于进行图像设置的入口，“连接”可以表示用于进行连接设置的入口，“手机充电”可以表示用于进行手机充电设置的入口，“云台回中”可以表示用于对云台进行回中设置的入口。如图8所示，设置页面中除了包括“快捷菜单”，还可以包括其他选项，其中，“安全”(Safety)，用于用户进行安全相关的设置，“控制”(Control)，用于用户进行可移动平台的控制相关的设置，“相机”(Camera)，用于用户进行相机相关的设置，“图像”(Image)用于用户进行图像相关的设置。
示例性的，所述显示设置界面，具体可以包括：获取用户输入的设置操作，以生成设置指令，所述设置指令用于指示显示设置界面；根据所述设置操作，显示所述设置界面。通过获取用户输入的设置操作，并根据设置操作显示设置界面，用户可以选择是否显示设置界面，使得设置界面的显示能够符合用户需求，有利于提高用户的使用体验。
示例性的，所述获取用户输入的设置操作，具体可以包括：显示目标应用程序APP的主页面，所述主页面中包括设置入口，所述目标APP用于控制所述可移动平台；获取用户通过所述设置入口输入的设置操作。通过主页面中包括设置入口，使得用户在操作主页面时能够输入设置操作，有利于方便用户输入设置操作。其中，设置入口例如可以为图7A和图7B右上角的、中间是圆形且边缘是六边形的图标。
示例性的，所述主页面中还可以包括：所述可移动平台的第一视角拍摄获得的图像，例如实时图像。
示例性的，所述根据所述更新返航点操作，显示待确认返航点的当前位置信息，具体可以包括：在接收到所述更新返航点操作后，确定是否满足返航点更新条件；若满足所述返航点更新条件，则显示待确认返航点的当前位置信息。其中，返航点更新条件可以是指需要更新返航点需要满足的条件，当满足返航点更新条件时，可以表示允许对返航点进行更新，从而可以显示待确认返航点的当前位置信息。当不满足返航点更新条件时，可以表示不允许对返航点进行更新，从而可以不显示待确认返航点的当前位置信息。
需要说明的是，返航点更新条件可以根据需求灵活设计。示例性的，所述返航点更新条件，可以包括下述中的一种或多种：可移动平台已开始移动、已获得所述可移动平台的当前位置信息或已获得所述控制终端的当前位置信息。
当可移动平台为无人飞行器时，所述可移动平台已开始移动具体可以为可移动平台已起飞。通过返航点更新条件包括可移动平台已开始移动，避免用户在可移动平台未开始移动时，对返航点进行无效设置，有利于提高用户的使用体验。
通过返航点更新条件包括已获得可移动平台的当前位置信息，能够确保用户在更新返航点时能够获知可移动平台的当前位置，从而使得用户能够根据待确认返航点的当前位置与可移动平台的当前位置的位置关系确定期望的待生效返航点的位置，有利于提高用户更新返航点的效率及准确性。
通过返航点更新条件包括已获得控制终端的当前位置信息，能够确保用户在更新返航点时能够获知控制终端的当前位置，从而使得用户能够根据待确认返航点的当前位置与控制终端的当前位置的位置关系确定期望的待生效返航点的位置，有利于提高用户更新返航点的效率及准确性。
示例性的，还可以包括：若不满足所述返航点更新条件，则输出第四提示信息，所述第四提示信息用于指示未显示待确认返航点的当前位置信息的原因。通过在不满足返航更新条件时输出第四提示信息，使得用户可以获知未显示待确认返航点的当前位置信息的具体原因，能够避免用户误认为控制终端异常导致无法响应更新返航点操作，有利于提高用户的使用体验。
需要说明的是，对于第四提示信息的具体类型，本申请可以不做限定。示例性的，第四提示信息的类型可以包括下述中的一种或多种：语音提示、文字提示、指示灯提示或振动提示。示例性的，可以通过吐丝(toast)框输出第四提示信息。
示例性的，所述根据所述更新返航点操作，显示待确认返航点的当前位置信息，具体可以包括：根据所述更新返航点操作，弹窗显示待确认返航点的当前位置信息。通过弹窗显示待确认返航点的当前位置信息，实现了将待确认返航点的当前位置信息独立显示在一个窗口中，使得待确认返航点的当前位置信息的显示区域大小不再受限于其他信息的显示，有利于用户了解并修改待确认返航点的当前位置信息。
可选的，在上述实施例的基础上，所述待确认返航点的初始位置信息包括所述可移动平台的当前位置信息或所述控制终端的当前位置信息。其中，待确认返航点的初始位置信息可以理解为用户未对待确认返航点的当前位置信息进行修改之前，待确认返航点的当前位置信息。通过待确认返航点的当前位置信息包括可移动平台的当前位置信息或控制终端的当前位置信息，使得用户可以在待确认返航点的当前位置信息是可移动平台或控制终端的当前位置信息的基础上进一步的对待确认返航点的当前位置信息进行修改，由于用户期望的返航点通常与可移动平台或控制终端的当前位置相关，因此能够便于用户修改待确认返航点的当前位置，有利于提高用户的使用体验。
示例性的，还可以包括如下步骤：若已获得所述可移动平台的当前位置信息，则确定所述待确认返航点的初始位置信息包括所述可移动平台的当前位置信息。从而能够实现在能够获得可移动平台的当前位置信息时，便将可移动平台的当前位置信息作为待确认返航点的初始位置信息，使得用户能够优先根据可移动平台修改待确认返航点的当前位置。
示例性的，还可以包括如下步骤：若未获得所述可移动平台的当前位置信息，则确定所述待确认返航点的初始位置位置信息包括所述控制终端的当 前位置信息。从而能够实现在无法获得可移动平台的当前位置信息的基础上，还可以将控制终端的当前位置信息作为待确认返航点的初始位置信息，从而能够尽量确保用户可以根据相关位置修改待确认返航点的当前位置。
图9为本申请一实施例提供的控制终端的结构示意图，如图9所示，该控制终端900可以包括：
显示屏901，用于显示信息；以及，
一个或多个处理器902，单独地或共同地工作，用于执行以下操作：
显示待确认返航点的当前位置信息；
获取用户根据所述待确认返航点的当前位置信息输入的返航点设置操作，以生成返航点设置指令，所述返航点设置指令用于根据所述待确认返航点的当前位置信息，设置可移动平台的待生效返航点；其中，所述返航点设置操作包括用于对所述待确认返航点的当前位置信息进行自定义修改的操作；
根据所述返航点设置操作，确定所述待生效返航点的位置信息，并控制所述可移动平台能够根据所述待生效返航点的位置信息进行返航。
本实施例提供的控制终端，可以用于执行前述方法实施例的技术方案，其实现原理和技术效果与方法实施例类似，在此不再赘述。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (41)

  1. 一种返航控制方法，应用于控制终端，其特征在于，包括：
    显示待确认返航点的当前位置信息；
    获取用户根据所述待确认返航点的当前位置信息输入的返航点设置操作，以生成返航点设置指令，所述返航点设置指令用于根据所述待确认返航点的当前位置信息，设置可移动平台的待生效返航点；其中，所述返航点设置操作包括用于对所述待确认返航点的当前位置信息进行自定义修改的操作；
    根据所述返航点设置操作，确定所述待生效返航点的位置信息，并控制所述可移动平台能够根据所述待生效返航点的位置信息进行返航。
  2. 根据权利要求1所述的方法，其特征在于，所述返航点设置操作包括返航点确认操作；
    所述获取用户根据所述待确认返航点的当前位置信息输入的返航点设置操作，包括：
    获取用户根据所述待确认返航点的当前位置信息输入的返航点确认操作，以生成返航点确认指令，所述返航点确认指令用于指示将所述待确认返航点的当前位置信息作为所述待生效返航点的位置信息。
  3. 根据权利要求1所述的方法，其特征在于，所述返航点设置操作包括返航点修改操作；
    所述获取用户根据所述待确认返航点的当前位置信息输入的返航点设置操作，包括：
    获取用户根据所述待确认返航点的当前位置信息输入的返航点修改操作，以生成返航点修改指令，所述返航点修改指令用于修改所述待确认返航点的当前位置信息；
    根据所述返航点修改操作，更新所述待确认返航点的当前位置信息。
  4. 根据权利要求3所述的方法，其特征在于，所述返航点修改操作包括第一返航点修改操作；
    所述获取用户根据所述待确认返航点的当前位置信息输入的返航点修改操作，包括：
    获取用户根据所述待确认返航点的当前位置信息输入的第一返航点修改操作，以生成第一返航点修改指令，所述第一返航点修改指令用于指示将所 述可移动平台的当前位置信息作为所述待确认返航点的当前位置信息；
    所述根据所述返航点修改操作，更新所述待确认返航点的当前位置信息，包括：根据所述第一返航点修改操作，将所述可移动平台的当前位置信息作为所述待确认返航点的当前位置信息。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    显示第一修改按钮，所述第一修改按钮用于所述用户输入所述第一返航点修改操作。
  6. 根据权利要求3-5任一项所述的方法，其特征在于，所述返航点修改操作包括第二返航点修改操作；
    所述获取用户根据所述待确认返航点的当前位置信息输入的返航点修改操作，包括：
    获取用户根据所述待确认返航点的当前位置信息输入的第二返航点修改操作，以生成第二返航点修改指令，所述第二返航点修改指令用于指示将所述控制终端的当前位置信息作为所述待确认返航点的当前位置信息；
    所述根据所述返航点修改操作，更新所述待确认返航点的当前位置信息，包括：根据所述第二返航点修改操作，将所述控制终端的当前位置信息作为所述待确认返航点的当前位置信息。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    显示第二修改按钮，所述第二修改按钮用于所述用户输入所述第二返航点修改操作。
  8. 根据权利要求3-7任一项所述的方法，其特征在于，所述返航点修改操作包括第三返航点修改操作；
    所述获取用户根据所述待确认返航点的当前位置信息输入的返航点修改操作，包括：
    获取用户根据所述待确认返航点的当前位置信息输入的第三返航点修改操作，以生成第三返航点修改指令，所述第三返航点修改指令用于指示将目标位置信息作为所述待确认返航点的当前位置信息；
    所述根据所述返航点修改操作，更新所述待确认返航点的当前位置信息，包括：根据所述第三返航点修改操作，将所述目标位置信息作为所述待确认返航点的当前位置信息。
  9. 根据权利要求8所述的方法，其特征在于，所述根据所述第三返航点 修改操作，将所述目标位置信息作为所述待确认返航点的当前位置信息，包括：
    根据所述第三返航点修改操作，确定所述目标位置信息与目标设备的当前位置信息之间的距离是否小于距离阈值；
    若所述目标位置信息与目标设备的当前位置信息之间的距离小于所述距离阈值，则将所述目标位置信息作为所述待确认返航点的当前位置信息。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    若所述目标位置信息与所述目标设备的当前位置信息之间的距离大于所述距离阈值，则输出第一提示信息，所述第一提示信息用于指示未将所述目标位置信息作为所述待确认返航点的当前位置信息的原因。
  11. 根据权利要求8所述的方法，其特征在于，所述根据所述第三返航点修改操作，将所述目标位置信息作为所述待确认返航点的当前位置信息之后，还包括：
    确定所述待确认返航点的当前位置信息与目标设备的当前位置信息之间的距离是否大于距离阈值；
    若所述待确认返航点的当前位置信息与所述目标设备的当前位置信息之间的距离大于所述距离阈值，则将返航点确认按钮设置为不可操作，所述返航点确认按钮用于所述用户输入所述返航点确认操作。
  12. 根据权利要求9-11任一项所述的方法，其特征在于，所述目标设备包括所述可移动平台和/或所述控制终端。
  13. 根据权利要求8所述的方法，其特征在于，所述根据所述第三返航点修改操作，将所述目标位置信息作为所述待确认返航点的当前位置信息之后，还包括：
    确定所述待确认返航点的当前位置信息是否位于目标区域中，所述目标区域包括不允许所述可移动平台到达的区域；
    若所述待确认返航点的当前位置信息位于目标区域中，则将返航点确认按钮设置为不可操作，所述返航点确认按钮用于所述用户输入所述返航点确认操作。
  14. 根据权利要求13所述的方法，其特征在于，所述目标区域包括禁飞区。
  15. 根据权利要求11或13所述的方法，其特征在于，所述方法还包括：
    输出第二提示信息，所述第二提示信息用于指示所述返航点确认按钮设置为不可操作的原因。
  16. 根据权利要求1所述的方法，其特征在于，所述显示待确认返航点的当前位置信息，包括：
    显示返航点标识以及包括待确认返航点的地图，所述返航点标识用于标识所述待确认返航点在所述地图中的当前位置信息。
  17. 根据权利要求16所述的方法，其特征在于，所述返航点设置操作包括返航点修改操作，所述返航点修改操作包括地图拖动操作和/或返航点标识移动操作，其中，所述地图拖动操作包括用于拖动地图的操作，所述返航点标识移动操作包括用于移动返航点标识位置的操作。
  18. 根据权利要求17所述的方法，其特征在于，所述获取用户根据所述待确认返航点的当前位置信息输入的返航点设置操作，包括：
    获取用户根据所述待确认返航点的当前位置信息输入的地图拖动操作，以生成地图拖动指令，所述地图拖动指令用于指示拖动后需要显示的地理范围；
    根据所述地图拖动操作，保持所述返航点标识在地图显示区域中的位置固定，并显示所述地理范围对应的地图；
    将所述地图中，所述返航点标识在所述地图显示区域中的当前位置所对应的地图位置信息，作为所述待确认返航点的当前位置信息。
  19. 根据权利要求17所述的方法，其特征在于，所述获取用户根据所述待确认返航点的当前位置信息输入的返航点设置操作，包括：
    获取用户根据所述待确认返航点的当前位置信息输入的返航点标识移动操作，以生成返航点标识移动指令，所述返航点标识移动指令用于指示所述返航点标识在地图显示区域中的目标位置；
    根据所述返航点标识移动操作，保持所述地图固定，将所述返航点标识在所述地图显示区域中的位置调整至所述目标位置；
    将所述地图中，所述返航点标识在所述地图显示区域中的当前位置所对应的地图位置信息，作为所述待确认返航点的当前位置信息。
  20. 根据权利要求16-19任一项所述的方法，其特征在于，所述方法还包括：显示下述中的一种或多种：
    可移动平台标识、控制终端标识、所述可移动平台的朝向或所述可移动 平台标识与所述返航点标识之间的连线；
    其中，所述可移动平台标识用于标识所述可移动平台在所述地图中的当前位置信息；所述控制终端标识用于标识所述控制终端在所述地图中的当前位置信息。
  21. 根据权利要求1-20任一项所述的方法，其特征在于，所述控制所述可移动平台能够根据所述待生效返航点的位置信息进行返航，包括：
    将所述待生效返航点的位置信息发送至所述可移动平台，以使所述可移动平台能够根据所述待生效返航点的位置信息生效所述返航点。
  22. 根据权利要求21所述的方法，其特征在于，所述方法还包括：
    确定所述可移动平台的生效结果信息，所述生效结果信息用于指示所述可移动平台是否成功生效所述待生效返航点；
    根据所述生效结果信息，输出第三提示信息。
  23. 根据权利要求22所述的方法，其特征在于，所述输出第三提示信息包括：
    显示目标应用程序APP的主页面，所述主页面中包括所述第三提示信息，所述目标APP用于控制所述可移动平台。
  24. 根据权利要求1-23任一项所述的方法，其特征在于，所述显示待确认返航点的当前位置信息，包括：
    获取用户输入的更新返航点操作，以生成更新返航点指令，所述更新返航点指令用于指示需要更新所述可移动平台的返航点；
    根据所述更新返航点操作，显示待确认返航点的当前位置信息。
  25. 根据权利要求24所述的方法，其特征在于，所述获取用户输入的更新返航点操作之前，还包括：
    显示设置页面，所述设置页面中包括更新返航点入口，所述更新返航点入口用于所述用户输入所述更新返航点操作。
  26. 根据权利要求24所述的方法，其特征在于，所述获取用户输入的更新返航点操作之前，还包括：
    显示设置页面，所述设置页面中包括快捷菜单入口，所述快捷菜单入口用于获取用户输入的快捷菜单操作，以生成快捷菜单指令，所述快捷菜单指令用于指示显示快捷菜单，所述快捷菜单包括更新返航点入口，所述更新返航点入口用于所述用户输入所述更新返航点操作。
  27. 根据权利要求25或26所述的方法，其特征在于，所述显示设置界面，包括：
    获取用户输入的设置操作，以生成设置指令，所述设置指令用于指示显示设置界面；
    根据所述设置操作，显示所述设置界面。
  28. 根据权利要求27所述的方法，其特征在于，所述获取用户输入的设置操作，包括：
    显示目标应用程序APP的主页面，所述主页面中包括设置入口，所述目标APP用于控制所述可移动平台；
    获取用户通过所述设置入口输入的设置操作。
  29. 根据权利要求28所述的方法，其特征在于，所述主页面中还包括：所述可移动平台的第一视角拍摄获得的实时图像。
  30. 根据权利要求24-29任一项所述的方法，其特征在于，所述根据所述更新返航点操作，显示待确认返航点的当前位置信息，包括：
    在接收到所述更新返航点操作后，确定是否满足返航点更新条件；
    若满足所述返航点更新条件，则显示待确认返航点的当前位置信息。
  31. 根据权利要求30所述的方法，其特征在于，所述返航点更新条件，包括下述中的一种或多种：
    可移动平台已开始移动、已获得所述可移动平台的当前位置信息或已获得所述控制终端的当前位置信息。
  32. 根据权利要求30所述的方法，其特征在于，所述方法还包括：
    若不满足所述返航点更新条件，则输出第四提示信息，所述第四提示信息用于指示未显示待确认返航点的当前位置信息的原因。
  33. 根据权利要求24所述的方法，其特征在于，所述根据所述更新返航点操作，显示待确认返航点的当前位置信息，包括：
    根据所述更新返航点操作，弹窗显示待确认返航点的当前位置信息。
  34. 根据权利要求1所述的方法，其特征在于，所述待确认返航点的初始位置信息包括所述可移动平台的当前位置信息或所述控制终端的当前位置信息。
  35. 根据权利要求34所述的方法，其特征在于，所述方法还包括：
    若已获得所述可移动平台的当前位置信息，则确定所述待确认返航点的 初始位置信息包括所述可移动平台的当前位置信息。
  36. 根据权利要求34所述的方法，其特征在于，所述方法还包括：
    若未获得所述可移动平台的当前位置信息，则确定所述待确认返航点的初始位置位置信息包括所述控制终端的当前位置信息。
  37. 一种控制终端，其特征在于，包括：
    显示屏，用于显示信息；以及，
    一个或多个处理器，单独地或共同地工作，用于执行权利要求1至36任一项所述的方法。
  38. 根据权利要求37所述的控制终端，其特征在于，所述控制终端包括带屏遥控器和/或智能手机。
  39. 一种返航控制系统，其特征在于，包括：可移动平台以及权利要求37或38所述的控制终端。
  40. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行如权利要求1-36任一项所述的方法。
  41. 一种计算机程序，其特征在于，当所述计算机程序被计算机执行时，用于实现如权利要求1-36任一项所述的方法。
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