WO2024087024A1

WO2024087024A1 - Information processing method, information processing device, aircraft system and storage medium

Info

Publication number: WO2024087024A1
Application number: PCT/CN2022/127430
Authority: WO
Inventors: 吴伟佳; 杨兴隆; 纪祥; 陆泽早; 何纲
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2024-05-02

Abstract

An information processing method, comprising: generating a first identifier, wherein the first identifier is used for identifying the altitude distribution of object points in a vertical plane corresponding to the heading of an aircraft in the surrounding environment of the aircraft (S101); generating a second identifier, wherein the second identifier is used for identifying the altitude position of the aircraft in the environment (S102); and simultaneously displaying on a user interface the first identifier and the second identifier (S103). In the present application, the display of safe flight and reliable operation information of an aircraft can be constructed. Further provided are an information processing device, an aircraft system and a storage medium.

Description

Information processing method, information processing device, aircraft system and storage medium

Technical Field

The present application relates to the field of aircraft, and in particular to an information processing method, an information processing device, an aircraft system and a storage medium.

Background technique

With the development of science and technology, more and more aircraft are used for low-altitude operations. The environment of low-altitude airspace is often more complex, with changeable terrain and more obstacles.

During low-altitude operations of aircraft, users lack good observation of the environment in front of the aircraft, and lack observation of information such as terrain undulations and obstacles. As a result, there is a lack of effective perception of whether the aircraft's own motion information can adapt to environmental information to ensure flight safety. Flight accidents occur frequently, which reduces users' confidence in the operation of flight equipment.

Summary of the invention

Based on this, the embodiments of the present application provide an aircraft information processing method, an information processing device, an aircraft system and a storage medium, aiming to solve the technical problem of how to construct a display of aircraft safe flight and reliable operation information.

In a first aspect, an embodiment of the present application provides an information processing method, the method comprising:

generating a first identifier, the first identifier being used to identify the height distribution of object points in the surrounding environment of the aircraft in a vertical plane corresponding to the heading of the aircraft;

generating a second identifier, the second identifier being used to identify the altitude position of the aircraft in the environment;

The first identifier and the second identifier are displayed simultaneously on the user interface.

In a second aspect, an embodiment of the present application provides an aircraft information processing method, the method comprising:

Obtaining the position of an object point in the surrounding environment of the aircraft in a vertical plane corresponding to the heading of the aircraft;

Projecting the position of the object point on the plane formed by the heading and vertical direction of the aircraft to generate an environmental object point display mark in the surrounding environment;

Acquiring motion vector information of the aircraft, wherein the motion vector information includes one or more information of trajectory, speed, or acceleration of the aircraft;

Projecting the motion vector information onto a plane to generate a motion status display mark of the aircraft;

The environmental object point display mark and the motion state display mark are displayed on the user interface at the same time.

In a third aspect, an embodiment of the present application provides an information processing method for an aircraft, wherein the aircraft is equipped with a shooting device, and the method includes:

Acquire a planned route, where the planned route includes a first route and a second route planned in the waiting operation area, and the first route intersects with the second route;

In the process of moving along the route, the shooting device is controlled at different positions to obtain images of surface objects at different pitch angles.

In a fourth aspect, an embodiment of the present application provides an information processing device, the information processing device including one or more processors, working individually or collectively to perform the following steps:

In a fifth aspect, an embodiment of the present application provides an information processing device of an aircraft, the information processing device comprising one or more processors, working individually or collectively to perform the following steps:

In a sixth aspect, an embodiment of the present application provides an information processing device for an aircraft, the aircraft is equipped with a shooting device, and the information processing device includes one or more processors, which work individually or together to perform the following steps:

In a seventh aspect, an embodiment of the present application provides an aircraft system, and the aircraft system includes the information processing device of any embodiment of the present application specification.

In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the information processing method of any embodiment of the present application specification are implemented.

The embodiment of the present application provides an information processing method, an information processing device, an aircraft system and a storage medium, wherein a first identifier is generated, the first identifier is used to identify the height distribution of object points in the vertical plane corresponding to the heading of the aircraft in the surrounding environment of the aircraft, a second identifier is generated, the second identifier is used to identify the height position of the aircraft in the environment, and the first identifier and the second identifier are displayed simultaneously on the user interface. An intuitive display of the aircraft's safe flight and reliable operation information is constructed, which is convenient for users to view and analyze in real time, greatly improving the user experience and the aircraft's operation effect.

It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and cannot limit the disclosure of the embodiments of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a schematic diagram of the structure of an aircraft provided in an embodiment of the present application;

FIG2 is a flowchart of a method for processing information provided by an embodiment of the present application;

FIG3 is a schematic diagram of a user interface provided by the information processing method according to an embodiment of the present application;

FIG4 is a schematic diagram of another user interface provided by the information processing method according to an embodiment of the present application;

FIG5 is a flowchart of a method for processing aircraft information provided by an embodiment of the present application;

FIG6 is a schematic diagram of a user interface provided by an aircraft information processing method according to an embodiment of the present application;

FIG7 is a schematic diagram of another user interface provided by an aircraft information processing method according to an embodiment of the present application;

FIG8 is a schematic diagram of a user interface provided by the information processing method according to an embodiment of the present application;

FIG9 is a flowchart of another method for processing aircraft information provided by an embodiment of the present application;

FIG10 is a schematic diagram of a planned route provided in an embodiment of the present application;

FIG11A is a schematic diagram of a photographing device provided by an embodiment of the present application operating in a first route segment;

FIG11B is a schematic diagram of a photographing device provided by an embodiment of the present application operating in a second route segment;

FIG. 12 is a schematic block diagram of the structure of a control device provided in an embodiment of the present application.

Reference numerals

Aircraft 100, fuselage 110, power system 120, shooting device 130, gimbal 140, sensor 150, waiting operation area 201, first route 202, second route 203, acceleration route segment 301, braking route segment 302, forward shooting route segment 303, front-middle shooting route segment 304, front-middle-rear shooting route segment 305, middle-rear shooting route segment 306, rear shooting route segment 307, information processing device 400, processor 401, memory 402, bus 403, first mark 11, second mark 12, third mark 13, fourth mark 14, fifth mark 15, user desired ground height mark 16, environmental object point display mark 21, position display mark 22, motion state display mark 23, ground height display mark 24, obstacle height display mark 25

Detailed ways

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations/steps, nor must they be executed in the order described. For example, some operations/steps may be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and/or" used herein includes any and all combinations of one or more related listed items.

In addition, the directional terms such as up, down, front, and back that appear in this embodiment are based on the normal operating posture of the aircraft 100 and should not be considered as restrictive.

Drones have a wide range of uses and have broad application prospects in aerial photography, police, agriculture, surveying and mapping, inspection and other scenarios. For example, in surveying and mapping scenarios, aircraft can use imaging devices to model the operation area with high precision. At present, during the operation of the aircraft, users cannot observe the environment in front of and below the aircraft well, such as the undulations of the terrain, obstacle information, etc. At the same time, users cannot intuitively know whether the aircraft's own motion information can adapt to environmental information to ensure flight safety. The user experience is not good and the operation effect is poor.

In order to solve the above-mentioned technical problems, the embodiments of the present application provide an aircraft information processing method, an information processing device, an aircraft system and a storage medium, aiming to solve the technical problem of constructing a display of aircraft safe flight and reliable operation information.

Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

It should be noted that the information processing method provided in the embodiment of the present application is applied to an aircraft system. The aircraft may include a rotor-type UAV, such as a quad-rotor UAV, a hexacopter UAV, an octo-rotor UAV, or a fixed-wing UAV, or a combination of rotor-type and fixed-wing UAVs. The embodiment of the present application does not specifically limit this.

Please refer to FIG. 1 , which is a schematic diagram of the structure of an aircraft 100 provided in an embodiment of the present application. The aircraft 100 includes a fuselage 110, a power system 120, a camera 130, and a control device (not shown in FIG. 1 ). The fuselage 110 may include a nose. In some embodiments, the aircraft 100 further includes an arm, wherein the arm is connected to the fuselage 110, and the arm is used to install the power system 120. In some embodiments, the power system 120 can be directly installed on the fuselage 110.

The power system 120 is used to provide flight power for the aircraft 100, and the power system 120 may include a motor and a propeller mounted on the motor and driven by the motor. The power system 120 can drive the fuselage 110 of the aircraft 100 to rotate around one or more rotation axes. For example, the rotation axis may include a roll axis, a yaw axis, and a pitch axis. Exemplarily, when the power system 120 drives the fuselage 110 to rotate around the pitch axis, the pitch orientation of the nose of the fuselage 110 will change, that is, the pitch rotation of the fuselage 110 can be controlled by controlling the power system 120. It should be understood that the motor can be a DC motor or an AC motor. In addition, the motor can be a brushless motor or a brushed motor.

The camera 130 is directly carried on the body 110 or carried through the gimbal 140 to shoot images, which may be pictures and/or videos. The camera 130 may include one or more cameras, which may be wide-angle cameras, telephoto cameras, or thermal imaging cameras.

The aircraft 100 may include a gimbal 140, on which the camera 130 is mounted, and the gimbal 140 is connected to the fuselage 110. In some embodiments, the gimbal 140 can control the rotation of the camera 130 to adjust the orientation of the camera 130. For example, the orientation may include a yaw orientation, a pitch orientation, and a roll orientation. Specifically, the gimbal 140 may include one or more motors, which are used to control the rotation of the camera 130. The gimbal 140 can provide a stable platform for the camera 130, so that the camera 130 can also take a stable picture when the aircraft 100 is flying at high speed. In some embodiments, when the aircraft 100 is in operation, the gimbal 140 can control the pitch orientation of the camera 130 to prevent the camera 130 from being blocked by the aircraft 100 due to rotation in other directions.

In an optional embodiment, an information processing method includes: generating a first identifier, the first identifier is used to identify the height distribution of object points in the surrounding environment of the aircraft 100; generating a second identifier, the second identifier is used to identify the height position of the aircraft 100 in the environment; and displaying the first identifier and the second identifier simultaneously on a user interface.

Optionally, the distribution of object points on the vertical plane corresponding to the heading of the aircraft 100 can be obtained. Optionally, the heading of the aircraft 100 and the object points within a certain width around it can be projected onto the vertical plane corresponding to the heading, so that a fitting distribution of object points can be obtained. The heading can be the speed direction of the aircraft 100, or the direction of the nose of the aircraft 100.

Please refer to FIG. 2 , which is a flow chart of the steps of an information processing method provided in an embodiment of the present application. The information processing method is applied to the aforementioned aircraft 100 , and the information processing method includes steps S101 to S103 .

Step S101 : Generate a first identifier 11 , where the first identifier 11 is used to identify the height distribution of object points in the environment surrounding the aircraft 100 in a vertical plane corresponding to the heading of the aircraft.

Optionally, the object point includes a surface point in the ground area below the aircraft 100; the first mark 11 includes a surface envelope display mark formed by the height distribution of the surface points.

The heading may be the speed direction of the aircraft 100 or the nose direction of the aircraft 100. Optionally, the ground area below the aircraft 100 may be a ground area vertical to the flight speed direction of the aircraft 100 or a ground area vertical to the position of the aircraft 100.

Step S102: Generate a second identifier 12, where the second identifier 12 is used to identify the altitude position of the aircraft 100 in the environment.

Step S103: display the first identifier 11 and the second identifier 12 simultaneously on the user interface.

Please refer to FIG3 , which is a user interface diagram provided by the information processing method of the embodiment of the present application. For example, the first mark 11 may be an envelope line, which can better fit the ground undulations of the ground surface under the operating route of the aircraft 100, so as to facilitate the user to view and analyze. For example, the second mark 12 may be an arrow, and the front tip of the arrow represents the direction of the nose of the aircraft 100.

By simultaneously displaying the first mark 11 and the second mark 12 on the display plane, the relative height distribution of object points in the vertical plane corresponding to the heading of the aircraft in the surrounding environment of the aircraft 100 and the position height of the aircraft 100 in the environment can be intuitively represented, reflecting whether the vertical height of the aircraft 100 matches the terrain undulations of the surface, and constructing an intuitive display of the safe flight and reliable operation information of the aircraft 100, which is convenient for users to view and analyze in real time, greatly improving the user experience and the operation effect of the aircraft 100.

In some embodiments, please refer to FIG. 4, which is another user interface schematic diagram provided by the information processing method of the embodiment of the present application. The method also includes:

Generate a third identifier 13, where the third identifier 13 is used to identify the motion state information of the aircraft 100;

The second identifier 12 and the third identifier 13 are displayed in association on the user interface.

Optionally, the motion state information includes one or more information of the trajectory, speed, or acceleration of the aircraft 100 .

Optionally, the third identifier 13 includes one or more of the following display identifiers: a display identifier for representing one or more historical altitude positions, a speed state display identifier for representing a speed vector, or an acceleration state display identifier for representing an acceleration vector.

Optionally, one or more historical altitude positions of the aircraft 100 are displayed in association on the left side of the second mark 12. Optionally, a trajectory line representing the historical flight trajectory of the aircraft 100 is displayed in association on the left side of the second mark 12. Optionally, a speed state display mark representing the speed vector, or an acceleration state display mark representing the acceleration vector is displayed in association on the right side of the second mark 12. The orientation of the display mark can represent the speed or acceleration direction of the aircraft 100, and the pixel size occupied by the display mark can represent the speed or acceleration of the aircraft 100. The embodiment of the present application can not only record the historical trajectory of the aircraft 100, but also reflect the speed change of the aircraft 100 in the vertical height, and reflect the future trajectory of the aircraft 100, so that the flight status information of the aircraft 100 can be more intuitively displayed to the user.

In some embodiments, referring to FIG. 4 , the method further includes: generating a fourth identifier 14, the fourth identifier 14 being used to identify a relative height, the relative height being the height between the aircraft 100 and an object point below the aircraft 100; and displaying the first identifier, the second identifier and the fourth identifier simultaneously on the user interface.

Exemplarily, the fourth mark 14 may be a vertical line between the aircraft 100 and a ground point below the aircraft 100 , so that the height of the aircraft 100 above the ground can be more intuitively displayed to the user.

Optionally, the method further includes generating a fifth marker 15, where the fifth marker 15 is used to identify the height distribution of obstacles in the ground area below the aircraft 100; and simultaneously displaying the first marker 11, the second marker 12 and the fifth marker 15 on the user interface.

Optionally, the method further includes displaying any kind of identification on a plane formed by the heading and altitude directions of the aircraft 100 .

Optionally, the height distribution of object points in the surrounding environment of the aircraft 100 in the vertical plane corresponding to the heading of the aircraft is collected and acquired by the sensor 150 of the aircraft during the flight of the aircraft 100.

Optionally, the method further includes: generating a user-desired height-to-ground mark 16, the user-desired height-to-ground mark 16 being used to identify the user-desired height between the aircraft 100 and an object point below the aircraft 100; and simultaneously displaying the first mark 11, the second mark 12, and the user-desired height-to-ground mark 16 on the user interface. Optionally, the object point below the aircraft 100 may be an object point vertically relative to the position of the aircraft 100, or may be an object point vertically relative to the flight speed of the aircraft 100.

Optionally, the method further includes: adjusting the flight altitude of the aircraft 100 when flying over the ground area according to the altitude distribution of the ground points, so that the aircraft maintains a preset altitude above the ground.

In some embodiments, optionally, a first identifier 11 is generated, and the first identifier 11 is used to identify the height distribution of object points in the vertical plane corresponding to the heading of the aircraft in the environment around the aircraft 100. Optionally, during the flight of the aircraft 100, the sensor of the aircraft 100 collects and obtains the height distribution of object points in the environment around the aircraft 100. Optionally, the object points include surface points in the ground area below the aircraft. Optionally, the first identifier 11 includes a surface envelope identifier formed by the height distribution of the surface points. Optionally, the flight altitude of the aircraft 100 when flying over the ground area is adjusted according to the height distribution of the surface points so that the aircraft maintains a preset height above the ground. Optionally, a second identifier 12 is generated, and the second identifier 12 is used to identify the height position of the aircraft 100 in the environment. Optionally, a third identifier 13 is generated, and the third identifier 13 is used to identify the motion state information of the aircraft. Optionally, the motion state information includes one or more information of the trajectory, speed, or acceleration of the aircraft. Optionally, the third identifier 13 includes one or more of the following display identifiers: a display identifier for representing one or more historical height positions, a display identifier for representing a speed state of a speed vector, or an display identifier for representing an acceleration state of an acceleration vector. Optionally, a fourth identifier 14 is generated, and the fourth identifier 14 is used to identify a relative height, which is the height between the aircraft and an object point below the aircraft. Optionally, a fifth display identifier 15 is obtained, and the fifth identifier 15 is used to identify the height distribution of obstacles in the ground area below the aircraft 100. Optionally, a user-expected height-to-ground identifier 16 is obtained, and the user-expected height-to-ground identifier 16 is used to identify the user-expected height between the aircraft 100 and an object point below the aircraft 100. Optionally, one or more of the first identifier 11, the second identifier 12, the third identifier 13, the fourth identifier 14, the fifth identifier 15, and the user-expected height-to-ground identifier 16 are simultaneously displayed on the user interface.

Please refer to FIG. 5 , which is a flow chart of the steps of an information processing method for an aircraft provided in an embodiment of the present application. The information processing method is applied to the aforementioned aircraft 100 , and the display information processing method includes steps S201 to S205 .

Step S201: Acquire the position of an object point in the surrounding environment of the aircraft 100 in a vertical plane corresponding to the heading of the aircraft.

The heading may be the speed direction of the aircraft or the direction of the nose of the aircraft.

Step S202: Project the object point position onto a plane formed by the heading and vertical directions of the aircraft to generate an environmental object point display mark in the surrounding environment.

In some embodiments, please refer to FIG. 6 , which is a schematic diagram of a user interface provided by an aircraft information processing method according to an embodiment of the present application.

Optionally, the object point includes a surface point of the ground area below the aircraft 100; the environmental object point display mark 21 includes: a surface envelope display mark of the ground area generated by projecting the surface point onto a plane.

Specifically, the ground area may include the ground area below the heading front of the aircraft 100, and the ground area may also include the ground area below the position of the aircraft 100. In some embodiments, the ground area includes the ground area corresponding to the route that the aircraft 100 has not passed.

In some embodiments, the position information of the surface object point may include the height value of the surface object point relative to the altitude/geoid. In some embodiments, the position information of the surface object point may also include the height value of the surface object point relative to the waypoint of the aircraft 100.

Furthermore, obtaining the position of the ground surface point of the ground area below the aircraft 100 may include: during the flight of the aircraft 100, controlling the sensor 150 of the aircraft 100 to collect the position of the ground surface point of the ground area below the aircraft in front of the heading.

In some embodiments, the sensor 150 is disposed on the fuselage 110 of the aircraft 100 , and the sensor 150 includes sensors 150 facing downward and/or forward of the fuselage 110 of the aircraft 100 .

The field of view (FOV) of the sensor 150 for sensing information can cover the front lower side of the fuselage 110. In some embodiments, the sensor 150 can be a monocular vision sensor 150 or a binocular vision sensor 150, and the vision sensor 150 senses the position of the ground point of the ground area below the aircraft 100 through image ranging. In some embodiments, the sensor 150 can also be an infrared sensor 150, which can determine the distance of obstacles and provide reference information of the height of the aircraft 100 above the ground.

The surface envelope display mark can be used to better fit the ground undulations of the ground surface under the operating route of the aircraft 100, which is convenient for users to view and analyze. In some embodiments, the surface envelope display mark can be established as a map for users to check, so that when the aircraft 100 is executing the operating route, the surface terrain height information ahead of the route can be queried in advance.

Step S203 : acquiring motion vector information of the aircraft 100 , wherein the motion vector information includes one or more information of the trajectory, speed, or acceleration of the aircraft 100 .

Step S204: Project the motion vector information onto a plane to generate a motion status display mark 23 of the aircraft.

In some embodiments, the motion state display mark 23 includes one or more of the following display marks: a trajectory line display mark for representing a continuous trajectory, a speed state display mark for representing a speed vector, or an acceleration state display mark for representing an acceleration vector.

Please refer to FIG6 , optionally, a trajectory line is displayed in the plane for representing the historical flight trajectory of the aircraft 100. Optionally, a speed state display mark for representing the speed vector, or an acceleration state display mark for representing the acceleration vector is displayed in the plane, the direction of the speed state display mark or the acceleration state display mark can represent the speed direction or the acceleration direction of the aircraft 100, and the pixel size occupied by the speed state display mark or the acceleration state display mark can represent the speed or acceleration of the aircraft 100.

The motion status display mark 23 of the aircraft 100 generated according to the motion vector information provided in the embodiment of the present application can not only record the historical trajectory of the aircraft 100, but also reflect the speed change of the aircraft 100 in the vertical height and the future trajectory of the aircraft, so that the flight status information of the aircraft 100 can be displayed to the user more intuitively.

Step S205: display the environmental object point display mark 21 and the motion state display mark 23 on the user interface at the same time.

Please refer to Figure 6. The logo displayed through the user interface can intuitively reflect whether the height change of the aircraft 100 in the vertical height matches the terrain undulations of the ground, and whether the future trajectory of the aircraft can successfully cross the obstacles. An intuitive display of safe flight and reliable operation information in the flight direction of the aircraft 100 is constructed in the user interface, which is convenient for users to view and analyze in real time, greatly improving the user experience and the operation effect of the aircraft 100.

In some embodiments, please refer to FIG. 7 , which is another user interface diagram provided by an aircraft information processing method according to an embodiment of the present application. The method further includes: obtaining the current position of the aircraft 100;

Project the current position onto the plane to generate a position display logo;

Based on the current position of the aircraft, the position of the object point and the projection position relationship of the motion vector on the plane, the position display mark 22, the environmental object point display mark 21 and the motion state display mark 23 are simultaneously displayed on the user interface.

For example, the position display mark 22 may be an arrow, and the front tip of the arrow represents the direction of the nose of the aircraft 100 .

Optionally, the method further includes generating a ground height display mark 24, which is used to identify the height of the aircraft 100 relative to the vertical environmental object point corresponding to the heading of the aircraft 100; and displaying the environmental object point display mark 21, the position display mark 22, and the ground height display mark 24 on the user interface at the same time. Exemplarily, a vertical line between the aircraft 100 and the vertical ground point corresponding to the heading of the aircraft 100 can be displayed, so that the ground height of the aircraft 100 can be more intuitively displayed to the user.

Optionally, the method also includes obtaining an obstacle height display mark 25, which is used to characterize the height distribution of obstacles in the ground area below the aircraft 100; displaying the environmental object point display mark 21, the position display mark 22, the motion state display mark 23 and the obstacle height display mark 25 on the user interface at the same time can provide information reference on whether the future flight trajectory of the aircraft 100 can bypass the obstacles ahead.

Please refer to FIG8 , which is a schematic diagram of a user interface provided by the information processing method of an embodiment of the present application. In the user interface, the center of the main screen displays the picture taken by the shooting device 130. The status information of the aircraft 100 and/or the parameter information of the shooting device 130 can be displayed above the main screen, the mode of the shooting device 130 and/or the gimbal 140, the user's target point setting and other information can be displayed on the left side of the main screen, the setting information of the shooting device 130 can be displayed on the right side of the main screen, and the navigation information module displayed below the main screen mainly includes information such as the speed, altitude, direction and return point of the aircraft 100.

For example, as shown in the lower right corner of FIG8 , the user interface schematic diagram can be simultaneously presented on the interface of FIG8 . Through the user interface display, it can be intuitively reflected whether the height change of the aircraft 100 in the vertical height matches the terrain undulations of the surface, whether the future flight trajectory of the aircraft 100 can bypass the obstacles ahead, and an intuitive display of safe flight and reliable operation information in the flight direction of the aircraft 100 is constructed in the user interface, which is convenient for users to view and analyze in real time, greatly improving the user experience and the operation effect of the aircraft 100.

Furthermore, the method may also include: adjusting the flight altitude of the aircraft 100 when flying over the ground area according to the position of the ground point, so that the aircraft 100 maintains a preset altitude above the ground.

In some embodiments, the motion vector of the aircraft 100 includes a 3D motion vector during the process of adjusting the flight altitude of the aircraft 100. In some embodiments, the aircraft 100 can perform precise ground-simulating flight according to the position of the ground point, and on this basis, the shooting device 130 can maintain a fixed shooting distance from the ground.

Specifically, when the aircraft 100 is executing an operating route, such as a surveying route, it will query the terrain height of the ground area ahead of the route in advance, and then plan the subsequent movement trajectory of the aircraft 100 in real time based on the terrain height to keep the relative height between the aircraft 100 and the ground area unchanged. The movement state of the aircraft 100, the position of the surface point, the relative height between the aircraft 100 and the surface object point, and other information are displayed on the user interface in real time, constructing an intuitive display of the safe and accurate flight of the aircraft 100, which is convenient for users to view and analyze. Exemplarily, as shown in Figure 8, the aforementioned user interface can display the terrain-simulating flight information of the aircraft 100 in real time, and the preset height above the ground of the aircraft 100 can be represented by the relative ground height (Height above Ground Level, AGL). Exemplarily, AGL is 100m, indicating that the height value of the waypoint of the aircraft 100 remains unchanged at 100m relative to the ground height.

In some embodiments, the aircraft 100 flies according to a preset route, and the heading of the aircraft 100 is set according to the extension direction of the route. Exemplarily, the preset route is a 2D position point.

Furthermore, the aircraft 100 is equipped with a photographing device 130 , and the method may further include: when the aircraft 100 flies over the ground target area, collecting a surveying and mapping image of the ground target area through the photographing device 130 .

In some embodiments, the camera 130 is connected to the fuselage 110 of the aircraft 100 via the gimbal 140. When the aircraft 100 flies over a ground target area, the orientation of the camera 130 is adjusted based on the position of the surface point so that the camera 130 can collect surveying and mapping images when the optical axis is close to vertical to the ground target area.

Specifically, the orientation of the photographing device 130 may be the normal direction of the center of the vertical ground target area calculated based on the position of the ground surface point.

In the traditional surveying and mapping operation of the aircraft 100, the shooting device 130 cannot provide multi-angle surveying and mapping images at one time, and cannot shoot vertical terrain. For some terrains with large height changes, the captured images cannot fully capture the details on the inclined surface or even the vertical surface, which will cause "drawing" when the captured images are used for three-dimensional modeling in the later stage, and the details of the side of the terrain cannot be reconstructed. The embodiment of the present application can adjust the height of the aircraft 100 above the ground and the rotation angle of the gimbal 140 in real time based on the position of the surface point, so that the shooting device 130 can collect surveying and mapping images when the optical axis is close to the vertical ground target area, and can ensure that the image perpendicular to the photographed surface is captured to optimize the later three-dimensional modeling effect.

Please refer to FIG. 9 , which is a flow chart of the steps of another information processing method of an aircraft 100 provided in an embodiment of the present application. The aircraft 100 is equipped with a photographing device 130 , and the information processing method includes steps S301 to S302 .

Step S301 : obtaining a planned route, wherein the planned route includes a first route 202 and a second route 203 planned in the waiting operation area 201 , and the first route 202 and the second route 203 intersect.

In some embodiments, please refer to FIG. 10, which is a schematic diagram of a planned route provided in an embodiment of the present application, and the projections of the first route 202 and the second route 203 on the horizontal plane are perpendicular to each other. For example, in the embodiment shown in FIG. 10, the first route 202 and the second route 203 together form a tic-tac-toe-shaped route, which is convenient for users to plan routes in the user interface.

Step S302 : During the movement along the route, the camera 130 is controlled at different positions to acquire images of surface objects at different pitch angles.

Specifically, the pitch angle is a tilt angle of the camera 130 in the pitch direction.

In some embodiments, during the flight operation of the aircraft 100 along the first route 202, the camera 130 is controlled to acquire a first image of the surface object at a first pitch angle at a first position point, the camera 130 is controlled to acquire a second image of the surface object at a second pitch angle at a second position point, and the camera 130 is controlled to acquire a second image of the surface object at a third pitch angle at a third position point, wherein the first pitch angle, the second pitch angle, and the third pitch angle are all different;

During the flight operation of the aircraft 100 along the second route 203, the shooting device 130 is controlled to obtain a fourth image of the surface object at a fourth position point at a fourth pitch angle, and the shooting device 130 is controlled to obtain a fifth image of the surface object at a fifth position point at a fifth pitch angle, wherein the fourth pitch angle and the fifth pitch angle are different.

The shooting device 130 of the aircraft 100 is controlled to swing and shoot the surface objects at different pitch angles, so as to better capture the three-dimensional details of the surface objects.

In some embodiments, on one of the two planned routes, at at least three different locations, the camera 130 is controlled to acquire images of surface objects in three different directions at three different pitch angles; on the other of the two planned routes, at at least two different locations, the camera 130 is controlled to acquire images of surface objects in two different directions at two different pitch angles.

When the traditional application aircraft 100 is used for terrain mapping, for areas with large terrain fluctuations, it is necessary to first control the aircraft 100 to perform a mapping task at a higher altitude with the same height, so as to "roughly model" the terrain height of the mapping area. According to the terrain height of the "rough modeling", a refined terrain-simulating flight route is regenerated to ensure that the overlap rate and the ground sampling distance (Ground Sample Distance, GSD) are consistent, so that a high-precision terrain model can be established. The above process requires controlling the aircraft 100 to perform two mapping tasks and establish two terrain models. Among them, the image of the first mapping task and the model established for the first time are relatively rough, and can only be used as the second refined modeling, and it will also consume a lot of outdoor operation time of the aircraft 100.

The embodiment of the present application adjusts the height of the aircraft 100 above the ground in real time according to the position of the ground point, which can ensure that the aircraft 100 can directly achieve accurate real-time terrain simulation flight in one flight mission, thereby saving the operation time of the aircraft 100.

The embodiment of the present application can ensure that the aircraft 100 can capture images with consistent overlap rate and GSD by adjusting the height of the aircraft 100 above the ground and the rotation angle of the gimbal 140 in real time along the planned route. In the embodiment of the present application, when the aircraft 100 is operating along the planned route, by adjusting the rotation angle of the gimbal 140 in real time to control the camera 130 to swing and shoot in different directions, more details of the terrain slope can be captured, thereby improving the modeling effect of the terrain in the later stage.

In addition, in the embodiment of the present application, the camera 130 performs multi-directional swinging along the planned route, which can further reduce the computing resources occupied by the captured images used for modeling on the basis of ensuring the accuracy of three-dimensional modeling of surface objects. Specifically, when the aircraft 100 flies along the first route 202, the camera 130 is controlled to perform three-directional swinging of surface objects, which can be, for example, forward, positive, and backward. When the aircraft 100 flies along the second route 203, the camera 130 is controlled to perform two-directional swinging of surface objects, which can be, for example, forward and backward. Since the camera 130 has already taken positive images of surface objects on the first route 202, the positive shooting of surface objects can be omitted on the second route 203, and three-dimensional modeling of surface objects can be achieved only through images shot in five directions.

Furthermore, the planned route can be set to different route segments, and the pitch angle of the camera 130 can be set specifically on the different route segments, which can not only reduce the operation times of the camera 130, but also improve the three-dimensional modeling effect of the captured images of surface objects in the working area 201.

Please refer to FIG. 11A , which is a schematic diagram of a photographing device 130 provided by an embodiment of the present application operating in sections on a first route 202 . The aircraft 100 is outside the waiting area 201, and the route from the starting point of the first route 202 to the intersection of the first route 202 and the waiting area 201 is set as the acceleration route segment 301 of the aircraft 100; the aircraft 100 enters the vicinity of the waiting area 201, and the route is set as the forward shooting route segment 303; the aircraft 100 approaches the center area of the waiting area 201, and the route is set as the front-middle shooting route segment 304; the aircraft 100 enters the center area of the waiting area 201, and the route is set as the front-middle-back shooting route segment 305; the aircraft 100 moves away from the center area of the waiting area 201, and the route is set as the middle-back shooting route segment 306; the aircraft 100 is about to leave the waiting area 201, and the route is set as the backward shooting route segment 307; the aircraft 100 leaves the waiting area 201, and the route is set as the braking route segment 302. It should be noted that when the aircraft 100 turns around and returns, the specific setting of the route segment can refer to the corresponding principles of the aforementioned content, which will not be repeated here.

Please refer to FIG. 11B , which is a schematic diagram of a photographing device 130 provided by an embodiment of the present application operating in sections on the second route 203 . The aircraft 100 is outside the waiting area 201 , and the route from the starting point of the first route 202 to the intersection of the first route 202 and the waiting area 201 is set as the acceleration route segment 301 of the aircraft 100 ; the aircraft 100 enters the vicinity of the waiting area 201 , and the route is set as the forward shooting route segment 303 ; the aircraft 100 enters the central area of the waiting area 201 , and the route is set as the front, middle and rear shooting route segment 305 ; the aircraft 100 moves away from the central area of the waiting area 201 , and the route is set as the rear shooting route segment 307 ; the aircraft 100 leaves the waiting area 201 , and the route is set as the braking route segment 302 . It should be noted that when the aircraft 100 turns around and returns, the specific setting of the route segment can refer to the corresponding principles of the aforementioned content, which will not be repeated here.

Optionally, the position of an object point in the vertical plane corresponding to the heading of the aircraft in the surrounding environment of the aircraft 100 is obtained. Optionally, the object point includes a surface point in the ground area below the aircraft 100. Optionally, during the flight of the aircraft, the sensor 150 that controls the aircraft 100 collects the position of the surface point in the ground area below the heading of the aircraft 100. Optionally, the surface point position includes the height of the surface point. Optionally, the height of the surface point is established as a map for user inspection, which is also convenient for controlling the aircraft to perform ground-simulating flight at the height above the ground desired by the user. Optionally, the sensor 150 is set on the fuselage of the aircraft 100, and the sensor 150 includes a sensor facing the bottom and/or front of the fuselage of the aircraft 100. Optionally, the sensor 150 can be a visual sensor. Optionally, the object point position is projected on a plane formed by the heading and vertical direction of the aircraft 100 to generate an environmental object point display mark 21 in the surrounding environment. Optionally, the environmental object point display mark 21 includes: a surface envelope display mark of a ground area generated by projecting the surface point on a plane. The surface envelope display mark can be used to better fit the ground undulations of the ground surface under the operating route of the aircraft 100, which is convenient for users to view and analyze.

Optionally, motion vector information of the aircraft 100 is obtained, wherein the motion vector information includes one or more information of the trajectory, speed, or acceleration of the aircraft. Optionally, the motion vector information is projected onto a plane to generate a motion state display mark 23 of the aircraft. Optionally, the motion state display mark 23 includes one or more of the following display marks: a trajectory line display mark for representing a continuous trajectory, a speed state display mark for representing a speed vector, or an acceleration state display mark for representing an acceleration vector. The motion state display mark 23 of the aircraft 100 generated according to the motion vector information can not only record the historical trajectory of the aircraft 100, but also reflect the speed change of the aircraft 100 in the vertical height and the future trajectory of the aircraft, so that the flight state information of the aircraft 100 can be more intuitively displayed to the user.

Optionally, the current position of the aircraft is obtained. Optionally, the current position is projected on a plane to generate a position display mark 22. Optionally, a ground height display mark 24 is generated, and the ground height display mark 24 is used to identify the height of the aircraft 100 relative to the environmental object point in the vertical plane corresponding to the heading of the aircraft 100. Exemplarily, a vertical line between the aircraft 100 and the ground surface point below the aircraft 100 can be displayed, so that the real-time ground height of the aircraft 100 can be more intuitively displayed to the user.

Optionally, an obstacle height display mark 25 is obtained, and the obstacle height display mark 25 is used to represent the height distribution of obstacles in the ground area below the aircraft 100. The obstacle height display mark 25 can provide information reference whether the future flight trajectory of the aircraft 100 can bypass the obstacles ahead.

Optionally, based on the current position of the aircraft 100, the object point position and motion vector, and the projection position relationship of the obstacle position on the plane formed by the heading and vertical direction of the aircraft, one or more of the environmental object point display mark 21, the position display mark 22, the motion state display mark 23, the ground height display mark 24, and the obstacle height display mark 25 are displayed simultaneously on the user interface.

Optionally, the height mark 16 expected by the user is obtained. The height mark 16 expected by the user is used to identify the height between the aircraft 100 and the object point below the aircraft 100. The height mark 16 expected by the user is displayed on the user interface to facilitate the user to view and analyze. At the same time, the aircraft 100 is controlled to fly on the planned route according to the height above the ground expected by the user and complete the corresponding operation task. Exemplarily, the shooting task for three-dimensional reconstruction of the object is completed. Optionally, the aircraft is equipped with a shooting device 130, and the method includes: obtaining a planned route, the planned route includes a first route 202 and a second route 203 planned in the waiting operation area 201, and the first route 202 intersects with the second route 203. Optionally, the projections of the first route 202 and the second route 203 on the horizontal plane are perpendicular to each other, and a tic-tac-toe route is designed as a user interaction method to facilitate the user to plan the route. Optionally, when the aircraft 100 is executing the planned route, it will query the height of the ground point ahead of the route in advance, and then plan the trajectory of the aircraft 100 in real time according to the height of the ground point, so as to keep the relative height of the aircraft 100 to the ground at the height above the ground expected by the user. Optionally, in the process of moving along the planned route, the camera 130 is controlled at different positions to obtain images of the ground objects at different pitch angles. Optionally, during the flight operation of the aircraft 100 along the first route 202, the camera 130 is controlled to obtain a first image of the surface object at a first pitch angle at a first position, the camera 130 is controlled to obtain a second image of the surface object at a second pitch angle at a second position, and the camera 130 is controlled to obtain a second image of the surface object at a third position at a third pitch angle; wherein the first pitch angle, the second pitch angle, and the third pitch angle are all different; during the flight operation of the aircraft 100 along the second route 203, the camera 130 is controlled to obtain a fourth image of the surface object at a fourth pitch angle at a fourth position, and the camera 130 is controlled to obtain a fifth image of the surface object at a fifth pitch angle at a fifth position; wherein the fourth pitch angle and the fifth pitch angle are different. The camera 130 of the aircraft 100 is controlled to swing and shoot the surface object at different pitch angles, so as to better capture the three-dimensional details of the surface object. Optionally, the normal direction perpendicular to the center of the shooting point is calculated according to the height of the surface point. When executing the planned route, the camera swings around the normal direction to capture images perpendicular to the ground surface and to capture the surrounding environment from different angles to assist in 3D modeling.

Please refer to Figure 12, which is a schematic block diagram of the structure of an information processing device 400 provided in an embodiment of the present application. The information processing device 400 is applied to the aforementioned aircraft 100, wherein the information processing device 400 can be integrated into the aforementioned aircraft 100, or can be independently set up with the aircraft 100 and communicated with, and the aforementioned information processing method can also be applied to the information processing device 400.

As shown in Figure 12, the information processing device 400 includes a processor 401 and a memory 402. The processor 401 and the memory 402 are connected via a bus 403, and the bus 403 is, for example, an I2C (Inter-integrated Circuit) bus 403.

Specifically, the processor 401 can be a micro-controller unit (MCU), a central processing unit (CPU) or a digital signal processor 401 (Digital Signal Processor, DSP), etc.

Specifically, the memory 402 can be a Flash chip, a read-only memory 402 (ROM) disk, a CD, a USB flash drive or a mobile hard disk, etc.

The processor 401 is used to run the computer program stored in the memory 402 and implement the steps of the information processing method of the aforementioned aircraft 100 when executing the computer program.

Exemplarily, the processor 401 is used to run the computer program stored in the memory 402, and implement the following steps when executing the computer program:

Optionally, the processor 401 is further used to execute: generating a third identifier 13, where the third identifier 13 is used to identify the motion state information of the aircraft 100; and associating and displaying the second identifier 12 and the third identifier 13 on the user interface.

Optionally, the processor 401 is also used to execute: generating a fourth identifier 14, the fourth identifier 14 is used to identify a relative height, the relative height being the height between an aircraft and an object point in a vertical plane corresponding to the heading of the aircraft; and displaying the first identifier 11, the second identifier 12 and the fourth identifier 14 simultaneously on the user interface.

Optionally, the processor 401 is further configured to execute: displaying any kind of identification on a plane formed by the heading and altitude directions of the aircraft 100 .

Optionally, the height distribution of object points in the surrounding environment of the aircraft 100 in the vertical plane corresponding to the heading of the aircraft 100 is collected and acquired by the sensor 150 of the aircraft 100 during the flight of the aircraft 100 .

Optionally, the processor 401 is also used to execute: obtaining a user-desired height-over-the-ground marker 16, the height-over-the-ground marker being used to identify the height between the user-desired aircraft and an object point below the aircraft; and simultaneously displaying the first marker 11, the second marker 12 and the user-desired height-over-the-ground marker on the user interface.

Optionally, the processor 401 is further configured to: adjust the flight altitude of the aircraft 100 when flying over a ground area according to the altitude distribution of ground points, so that the aircraft 100 maintains a preset altitude above the ground.

Acquire the position of an object point in the surrounding environment of the aircraft 100 in a vertical plane corresponding to the heading of the aircraft 100;

Projecting the object point position onto the plane formed by the heading and vertical directions of the aircraft 100 to generate an environmental object point display mark 21 in the surrounding environment;

Acquiring motion vector information of the aircraft 100, wherein the motion vector information includes one or more information of a trajectory, a speed, or an acceleration of the aircraft 100;

Projecting the motion vector information onto a plane to generate a motion status display mark 23 of the aircraft 100;

The environmental object point display mark 21 and the motion state display mark 23 are displayed simultaneously on the user interface.

Optionally, the motion state display mark 23 includes one or more of the following display marks: a trajectory line display mark for representing a continuous trajectory, a speed state display mark for representing a speed vector, or an acceleration state display mark for representing an acceleration vector.

Optionally, the processor 401 is further configured to execute: obtaining a current position of the aircraft;

Project the current position on the plane to generate a position display mark 22;

Optionally, obtaining the position of the surface point of the ground area below the aircraft 100 includes: during the flight of the aircraft 100, controlling the sensor 150 of the aircraft 100 to collect the position of the surface point of the ground area below the front side of the aircraft.

Optionally, the sensor 150 is disposed on the fuselage 110 of the aircraft 100 , and the sensor 150 includes sensors 150 facing downward and/or forward of the fuselage 110 of the aircraft 100 .

Optionally, the processor 401 is further configured to: adjust the flight altitude of the aircraft 100 when flying over a ground area according to the position of the ground point, so that the aircraft 100 maintains a preset altitude above the ground.

Optionally, the aircraft 100 flies according to a preset route; the heading of the aircraft 100 is set according to the extension direction of the route.

Optionally, the aircraft 100 is equipped with a photographing device 130 ; the processor 401 is further configured to execute: when the aircraft 100 flies over a ground target area, collecting mapping images of the ground target area through the photographing device 130 .

Optionally, when the aircraft 100 flies over a ground target area, a surveying and mapping image of the ground target area is collected by the shooting device 130, including: adjusting the orientation of the shooting device 130 based on the position of the surface point so that the shooting device 130 collects the surveying and mapping image when the optical axis is close to vertical to the ground target area.

The aircraft 100 carries a photographing device 130. Exemplarily, the processor 401 is used to run a computer program stored in the memory 402, and implement the following steps when executing the computer program:

Acquire a planned route, the planned route includes a first route 202 and a second route 203 planned in the waiting operation area 201, and the first route 202 intersects with the second route 203;

During the movement along the route, the camera 130 is controlled at different positions to acquire images of surface objects at different pitch angles.

Optionally, projections of the first route 202 and the second route 203 on the horizontal plane are perpendicular to each other.

Optionally, in the process of moving along the route, controlling the shooting device 130 at different positions to acquire images of surface objects at different pitch angles includes:

During the flight operation of the aircraft 100 along the first route 202, the camera 130 is controlled to acquire a first image of the surface object at a first pitch angle at a first position point, the camera 130 is controlled to acquire a second image of the surface object at a second pitch angle at a second position point, and the camera 130 is controlled to acquire a second image of the surface object at a third pitch angle at a third position point; wherein the first pitch angle, the second pitch angle, and the third pitch angle are all different;

During the flight operation of the aircraft 100 along the second route 203, the shooting device 130 is controlled to obtain a fourth image of the surface object at a fourth position point at a fourth pitch angle, and the shooting device 130 is controlled to obtain a fifth image of the surface object at a fifth position point at a fifth pitch angle; wherein the fourth pitch angle and the fifth pitch angle are different.

An embodiment of the present application provides an aircraft system, and the aircraft system includes an information processing device of any embodiment of the present application specification.

An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the aircraft information processing method provided in the above embodiment.

The computer-readable storage medium may be an internal storage unit of the chassis of the movable platform of any of the aforementioned embodiments, such as a hard disk or memory of the chassis of the movable platform. The computer-readable storage medium may also be an external storage device of the chassis of the movable platform, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the chassis of the movable platform.

It should be understood that the terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

It will also be understood that the term "and/or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

An information processing method, characterized in that the method comprises:

generating a first identifier, the first identifier being used to identify the height distribution of object points in the surrounding environment of the aircraft in a vertical plane corresponding to the heading of the aircraft;

generating a second identifier, the second identifier being used to identify the altitude position of the aircraft in the environment;

The first identifier and the second identifier are displayed simultaneously on a user interface.
The information processing method according to claim 1, characterized in that the object points include surface points of a ground area below the aircraft;

The first identifier includes a surface envelope display identifier formed by the height distribution of the surface points.
The information processing method according to claim 1, characterized in that the method further comprises:

generating a third identifier, wherein the third identifier is used to identify the motion state information of the aircraft;

The second identifier and the third identifier are associated and displayed on the user interface.
The information processing method according to claim 3 is characterized in that the third identifier includes one or more of the following display identifiers: a display identifier for representing one or more historical altitude positions, a speed state display identifier for representing a speed vector, or an acceleration state display identifier for representing an acceleration vector.
The information processing method according to claim 1, characterized in that the method further comprises:

generating a fourth identifier, wherein the fourth identifier is used to identify a relative height, wherein the relative height is a height between the aircraft and an object point below the aircraft;

The first identifier, the second identifier and the fourth identifier are displayed simultaneously on the user interface.
The information processing method according to any one of claims 1 to 5 is characterized in that the method also includes displaying any one of the identifiers on a plane formed by the heading and altitude directions of the aircraft.
The information processing method according to claim 1 is characterized in that the height distribution of the object points in the surrounding environment of the aircraft is collected and acquired by the sensors of the aircraft during the flight of the aircraft.
The information processing method according to claim 1, characterized in that the method further comprises:

generating a height-to-ground mark expected by a user, wherein the height-to-ground mark is used to identify a height between the aircraft and an object point below the aircraft expected by the user;

The first identifier, the second identifier, and the height-over-ground identifier desired by the user are simultaneously displayed on the user interface.
The information processing method according to claim 2, characterized in that the method further comprises:

The flight altitude of the aircraft when flying over the ground area is adjusted according to the altitude distribution of the ground points so that the aircraft maintains a preset altitude above the ground.
An information processing method for an aircraft, characterized in that the method comprises:

Acquire the position of an object point in the surrounding environment of the aircraft in a vertical plane corresponding to the heading of the aircraft;

Projecting the object point position onto a plane formed by the heading and vertical direction of the aircraft to generate an environmental object point display mark in the surrounding environment;

Acquiring motion vector information of the aircraft, wherein the motion vector information includes one or more information of a trajectory, a speed, or an acceleration of the aircraft;

Projecting the motion vector information onto the plane to generate a motion status display mark of the aircraft;

The environmental object point display mark and the motion state display mark are displayed simultaneously on the user interface.
The information processing method according to claim 10, characterized in that the object points include surface points of a ground area below the aircraft;

The environmental object point display mark includes: projecting the surface point onto the plane to generate a surface envelope display mark of the ground area.
The information processing method according to claim 10 is characterized in that the motion state display identifier includes one or more of the following display identifiers: a trajectory line display identifier for representing a continuous trajectory, a speed state display identifier for representing a speed vector, or an acceleration state display identifier for representing an acceleration vector.
The information processing method according to claim 10, characterized in that the method further comprises:

Obtaining the current position of the aircraft;

Projecting the current position onto the plane to generate a position display mark;

Based on the current position of the aircraft, the object point position and the projection position relationship of the motion vector on the plane, the position display mark, the environmental object point display mark and the motion state display mark are displayed simultaneously on the user interface.
The information processing method according to claim 11, characterized in that the step of obtaining the position of a surface point in the ground area below the aircraft comprises:

During the flight of the aircraft, a sensor controlling the aircraft collects the position of a ground point in a ground area below the front side of the aircraft.
The information processing method according to claim 14 is characterized in that the sensor is arranged on the fuselage of the aircraft, and the sensor includes a sensor facing downward and/or forward of the fuselage of the aircraft.
The information processing method according to claim 11, characterized in that the method further comprises:

The flight altitude of the aircraft when flying over the ground area is adjusted according to the position of the ground point, so that the aircraft maintains a preset altitude above the ground.
The information processing method according to claim 16 is characterized in that the aircraft flies according to a preset route; and the heading of the aircraft is set according to the extension direction of the route.
The information processing method according to claim 16, characterized in that the aircraft is equipped with a photographing device;

The method further includes: when the aircraft flies over a ground target area, collecting a surveying and mapping image of the ground target area by using the shooting device.
The information processing method according to claim 18 is characterized in that, when the aircraft flies over the ground target area, the photographing device collects the surveying and mapping images of the ground target area, comprising:

The orientation of the photographing device is adjusted based on the position of the ground point, so that the photographing device collects the surveying image in a state where the optical axis is close to being perpendicular to the ground target area.
An information processing method for an aircraft, characterized in that the aircraft is equipped with a photographing device; the method comprises:

Acquire a planned route, wherein the planned route includes a first route and a second route planned in the waiting operation area, and the first route intersects with the second route;

During the movement along the route, the shooting device is controlled at different positions to acquire images of surface objects at different pitch angles.
The information processing method according to claim 20 is characterized in that the projections of the first route and the second route on the horizontal plane are perpendicular to each other.
The information processing method according to claim 20 is characterized in that, in the process of moving along the route, controlling the shooting device to acquire images of surface objects at different positions at different pitch angles comprises:

During the flight operation of the aircraft along the first route, the camera is controlled to acquire a first image of the surface object at a first pitch angle at a first position point, the camera is controlled to acquire a second image of the surface object at a second pitch angle at a second position point, and the camera is controlled to acquire a second image of the surface object at a third pitch angle at a third position point; wherein the first pitch angle, the second pitch angle, and the third pitch angle are all different;

During the flight operation of the aircraft along the second route, the shooting device is controlled to obtain a fourth image of the surface object at a fourth position point at a fourth pitch angle, and the shooting device is controlled to obtain a fifth image of the surface object at a fifth position point at a fifth pitch angle; wherein the fourth pitch angle and the fifth pitch angle are different.
An information processing device, characterized in that the information processing device includes one or more processors, which work individually or collectively to perform the following steps:

generating a first identifier, the first identifier being used to identify a height distribution of object points in an environment surrounding the aircraft in a vertical plane corresponding to a heading of the aircraft;

generating a second identifier, the second identifier being used to identify the altitude position of the aircraft in the environment;

The first identifier and the second identifier are displayed simultaneously on a user interface.
The information processing device according to claim 23, characterized in that the object point comprises a ground surface point of a ground area below the aircraft;

The first identifier includes a surface envelope display identifier formed by the height distribution of the surface points.
The information processing device according to claim 23, characterized in that the processor is further configured to execute:

generating a third identifier, wherein the third identifier is used to identify the motion state information of the aircraft;

The second identifier and the third identifier are associated and displayed on the user interface.
The information processing device according to claim 25 is characterized in that the third identifier includes one or more of the following display identifiers: a display identifier for representing one or more historical altitude positions, a speed state display identifier for representing a speed vector, or an acceleration state display identifier for representing an acceleration vector.
The information processing device according to claim 23, characterized in that the processor is further configured to execute:

generating a fourth identifier, wherein the fourth identifier is used to identify a relative height, wherein the relative height is a height between the aircraft and an object point below the aircraft;

The first identifier, the second identifier and the fourth identifier are displayed simultaneously on the user interface.
The information processing device according to any one of claims 23 to 27, wherein the processor is further configured to execute:

Any of the marks is displayed on a plane formed by the heading and altitude directions of the aircraft.
The information processing device according to claim 23 is characterized in that the height distribution of the object points in the surrounding environment of the aircraft is collected and acquired by the sensors of the aircraft during the flight of the aircraft.
The information processing device according to claim 23, characterized in that the processor is further configured to execute:

generating a height-to-ground mark expected by a user, wherein the height-to-ground mark is used to identify a height between the aircraft and an object point below the aircraft expected by the user;

The first identifier, the second identifier, and the height-over-ground identifier desired by the user are simultaneously displayed on the user interface.
The information processing device according to claim 24, characterized in that the processor is further configured to execute:

The flight altitude of the aircraft when flying over the ground area is adjusted according to the altitude distribution of the ground surface points, so that the aircraft maintains a preset altitude above the ground.
An information processing device for an aircraft, characterized in that the information processing device comprises one or more processors, working individually or together to perform the following steps:

Acquire the position of an object point in the surrounding environment of the aircraft in a vertical plane corresponding to the heading of the aircraft;

Projecting the object point position onto a plane formed by the heading and vertical direction of the aircraft to generate an environmental object point display mark in the surrounding environment;

Acquiring motion vector information of the aircraft, wherein the motion vector information includes one or more information of a trajectory, a speed, or an acceleration of the aircraft;

Projecting the motion vector information onto the plane to generate a motion status display mark of the aircraft;

The environmental object point display mark and the motion state display mark are displayed simultaneously on the user interface.
The information processing device according to claim 32, characterized in that the object point comprises a ground surface point of a ground area below the aircraft;

The environmental object point display mark includes: projecting the surface point onto the plane to generate a surface envelope display mark of the ground area.
The information processing device according to claim 32 is characterized in that the motion state display identifier includes one or more of the following display identifiers: a trajectory line display identifier for representing a continuous trajectory, a speed state display identifier for representing a speed vector, or an acceleration state display identifier for representing an acceleration vector.
The information processing device according to claim 32, characterized in that the processor is further configured to execute:

Obtaining the current position of the aircraft;

Projecting the current position onto the plane to generate a position display mark;

Based on the current position of the aircraft, the object point position and the projection position relationship of the motion vector on the plane, the position display mark, the environmental object point display mark and the motion state display mark are displayed simultaneously on the user interface.
The information processing device according to claim 33, characterized in that the obtaining of the position of the surface point of the ground area below the aircraft comprises:

During the flight of the aircraft, a sensor controlling the aircraft collects the position of a ground point in a ground area below the front side of the aircraft.
The information processing device according to claim 36 is characterized in that the sensor is arranged on the fuselage of the aircraft, and the sensor includes a sensor facing downward and/or forward of the fuselage of the aircraft.
The information processing device according to claim 33, characterized in that the processor is further configured to execute:

The flight altitude of the aircraft when flying over the ground area is adjusted according to the position of the ground point, so that the aircraft maintains a preset altitude above the ground.
The information processing device according to claim 38 is characterized in that the aircraft flies according to a preset route; and the heading of the aircraft is set according to the extension direction of the route.
The information processing device according to claim 38, characterized in that the aircraft is equipped with a photographing device;

The processor is further configured to execute: when the aircraft flies over a ground target area, collecting a surveying and mapping image of the ground target area through the shooting device.
The information processing device according to claim 40 is characterized in that when the aircraft flies over the ground target area, the mapping image of the ground target area is collected by the shooting device, including:

The orientation of the photographing device is adjusted based on the position of the ground point, so that the photographing device collects the surveying image in a state where the optical axis is close to being perpendicular to the ground target area.
An information processing device for an aircraft, characterized in that the aircraft is equipped with a photographing device;

The information processing device includes one or more processors, working individually or collectively to perform the following steps:

Acquire a planned route, wherein the planned route includes a first route and a second route planned in the waiting operation area, and the first route intersects with the second route;

During the movement along the route, the shooting device is controlled at different positions to acquire images of surface objects at different pitch angles.
The information processing device according to claim 42 is characterized in that the projections of the first route and the second route on the horizontal plane are perpendicular to each other.
The information processing device according to claim 42, characterized in that, in the process of moving along the route, controlling the shooting device to acquire images of surface objects at different pitch angles at different positions comprises:

During the flight operation of the aircraft along the first route, the camera is controlled to acquire a first image of the surface object at a first pitch angle at a first position point, the camera is controlled to acquire a second image of the surface object at a second pitch angle at a second position point, and the camera is controlled to acquire a second image of the surface object at a third pitch angle at a third position point; wherein the first pitch angle, the second pitch angle, and the third pitch angle are all different;

During the flight operation of the aircraft along the second route, the shooting device is controlled to obtain a fourth image of the surface object at a fourth position point at a fourth pitch angle, and the shooting device is controlled to obtain a fifth image of the surface object at a fifth position point at a fifth pitch angle; wherein the fourth pitch angle and the fifth pitch angle are different.
An aircraft system, characterized in that the aircraft system comprises the information processing device according to any one of claims 23 to 44.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the information processing method according to any one of claims 1 to 22 are implemented.