WO2024221306A1 - 可移动平台的作业规划方法、装置及存储介质 - Google Patents

可移动平台的作业规划方法、装置及存储介质 Download PDF

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Publication number
WO2024221306A1
WO2024221306A1 PCT/CN2023/090987 CN2023090987W WO2024221306A1 WO 2024221306 A1 WO2024221306 A1 WO 2024221306A1 CN 2023090987 W CN2023090987 W CN 2023090987W WO 2024221306 A1 WO2024221306 A1 WO 2024221306A1
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WIPO (PCT)
Prior art keywords
movable platform
dimensional model
virtual
target
image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/090987
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English (en)
French (fr)
Inventor
方恒彬
陈晨
周振
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN202380069178.9A priority Critical patent/CN119948447A/zh
Priority to PCT/CN2023/090987 priority patent/WO2024221306A1/zh
Publication of WO2024221306A1 publication Critical patent/WO2024221306A1/zh
Priority to US19/357,036 priority patent/US20260036983A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • 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
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/223—Command input arrangements on the remote controller, e.g. joysticks or touch screens
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2465—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using a 3D model of the environment
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/04815—Interaction with a metaphor-based environment or interaction object displayed as three-dimensional [3D], e.g. changing the user viewpoint with respect to the environment or object

Definitions

  • the embodiments of the present application relate to the technical field of mobile platforms, and in particular to a method, device and storage medium for planning operations of a mobile platform.
  • Mobile platforms are widely used in many fields, such as inspections, fruit picking, or drug spraying and watering through mobile platforms such as aircraft and ground platforms.
  • it is usually necessary to plan the operation of the mobile platform to determine the operating position of the mobile platform when operating in the operating area.
  • Reasonable operation planning is the premise to ensure the safe operation of the mobile platform and obtain good operation results. Therefore, it is necessary to provide a solution for the operation planning of the mobile platform.
  • the present application provides a method, device and storage medium for operation planning of a mobile platform.
  • a method for planning an operation of a movable platform comprising:
  • a plurality of target position points on the motion trajectory are determined according to the detected position confirmation operation, and the plurality of target position points are used to generate an operation path of the movable platform in the operation area.
  • a work planning device for a movable platform comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, and when the processor executes the computer program, the following steps can be implemented:
  • a plurality of target position points on the motion trajectory are determined according to the detected position confirmation operation, and the plurality of target position points are used to generate an operation path of the movable platform in the operation area.
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed, the method mentioned in the first aspect is implemented.
  • the three-dimensional model of the virtual movable platform in the operation area can be controlled.
  • the virtual movable platform moves continuously in the 3D model of the work area, and when the virtual movable platform moves to a position suitable for the work, the position confirmation operation is triggered, so that multiple target position points for generating the work path of the movable platform in the work area can be obtained.
  • FIG1 is a schematic diagram of an application scenario of an embodiment of the present application.
  • FIG2 is a flow chart of a method for planning an operation of a movable platform according to an embodiment of the present application.
  • FIG3 is a schematic diagram showing the movement of a virtual movable platform in a three-dimensional model of a work area on an interactive interface according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of adjusting an observed image to obtain a sample image according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of editing a target location point according to an embodiment of the present application.
  • FIG6( a ) is a schematic diagram of a three-dimensional model from a third-person perspective according to an embodiment of the present application.
  • FIG6( b ) is a schematic diagram of a three-dimensional model from a top-down perspective of a map according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of displaying safety prompt information on an interactive interface according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram showing a global target location point according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of the logical structure of a job planning device for a movable platform according to an embodiment of the present application.
  • Mobile platforms are widely used in many fields, such as inspections, fruit picking, or drug spraying and watering through mobile platforms such as aircraft and ground platforms.
  • the target position when taking photos is determined to ensure that the target image including the power equipment can be captured at the target position.
  • the load carried by the movable platform such as the direction and magnification of the shooting device, and other operating parameters can be recorded at the target position to make the target image captured at the target position more accurate.
  • some technologies when planning the operation of the movable platform, some technologies require the user to manually control the movable platform directly at the operation site, for example, manually adjust the position of the movable platform according to the user's observation or the operation results returned by the movable platform, and record it when it is adjusted to the appropriate position, so that in subsequent operations, the movable platform can be controlled according to the planned position points.
  • This method requires the user to manually control the movable platform at the operation site, which requires a high level of user control ability, is relatively labor-intensive, has low operation efficiency, and also poses safety risks.
  • the operation planning software can display a three-dimensional model of the operation area in an interactive interface, and the user can determine the position of the movable platform during operation by operating on the interactive interface displaying the three-dimensional model of the operation area.
  • the user can move or rotate the three-dimensional model of the operation area in the three-dimensional model, click at a location near the operation object to determine the target operation object, and then calculate the position during operation based on relevant operation distance and other information.
  • this method does not require the user to manually operate the movable platform on site, this method is not intuitive and requires the user to repeatedly adjust to obtain the operation position, which is particularly cumbersome.
  • each target location point on the job path is planned independently, and there is no connection between different target location points.
  • an embodiment of the present application provides a method for planning the operation of a movable platform.
  • the virtual movable platform can be controlled to move continuously in a three-dimensional model of the operation area, and when the virtual movable platform moves to a position suitable for the operation, a position confirmation operation is triggered, thereby obtaining multiple target position points for generating an operation path of the movable platform in the operation area.
  • the continuous movement of the virtual movable platform in the three-dimensional model of the operation area is controlled. The operation path determined in this way will be safer, more reasonable, and more accurate.
  • the job planning method provided in the embodiment of the present application can be executed by an APP or web application running on a terminal.
  • the APP or web application can be a job path planning software; or the method can also be executed by a cloud server or a server cluster; or some processing steps of the method are executed by a cloud server or a server cluster, and the processing steps are executed by an APP or web application on the terminal.
  • the specific settings can be flexibly based on actual needs, and the embodiments of the present application are not limited.
  • the execution subject of the method can be any device with sufficient performance to support the acquisition and display of the three-dimensional model.
  • the cloud server can obtain images of the working area collected by the mobile platform (the aircraft is used as an example in the figure), and then pre-build a three-dimensional model of the working area of the mobile platform based on the image.
  • the client on the terminal (which can be an APP or a web application) can obtain the three-dimensional model from the cloud server to plan the working path based on the three-dimensional model.
  • the performance of the terminal is sufficient to realize the three-dimensional model If the terminal is a computer, the construction of the three-dimensional model and the planning of the work path can be achieved on the terminal.
  • the terminal can be a mobile phone, tablet, computer, remote control and other devices.
  • the construction of the three-dimensional model of the work area can be achieved through the computer software or web page.
  • the three-dimensional model can also be displayed on the display screen.
  • the work path is planned based on a mouse, keyboard, etc.
  • the construction of the three-dimensional model of the work area can be achieved through the APP in the remote control.
  • the three-dimensional model is displayed through the UI interface of the remote control, and the work path can be planned based on the UI interface and the joystick of the remote control.
  • the movable platform of the embodiment of the present application may be a movable platform for operating a target object, and the movable platform includes a power component for driving the movable platform to move.
  • the movable platform may be an aircraft, a vehicle, a ship, an intelligent robot or other movable device.
  • the movable platform may be manned for operation, or may be an unmanned platform device.
  • the movable platform includes a load for operating, and the load may be a shooting device, a mechanical arm, a hanging system, a spraying system, etc.
  • the embodiment of the present application does not specifically limit the type of the load.
  • the aircraft may include a rotorcraft, such as a quadcopter, a hexacopter, an octocopter, or a fixed-wing aircraft, or a combination of a rotorcraft and a fixed-wing aircraft.
  • the aircraft includes an unmanned aircraft.
  • the aircraft may include but is not limited to any one of a manned aircraft, a logistics aircraft, an aerial photography aircraft, an agricultural plant protection aircraft, and an industry rescue aircraft. The above is only for illustration, and the embodiments of the present application do not specifically limit the type of aircraft.
  • any description of an aircraft such as an unmanned aerial vehicle in this application may be applicable to and used for any movable object, such as any vehicle.
  • the methods, devices, and systems disclosed in this application in the context of aerial motion may also be applicable to other types of motion, such as motion on the ground or on water, underwater motion, or motion in space.
  • the operation planning method may include the following steps:
  • a three-dimensional model of the working area of the movable platform can be obtained, which can be a call to a generated three-dimensional model, or a three-dimensional model can be generated in real time based on demand.
  • the three-dimensional model of the working area can be obtained by taking an image of the working area and then reconstructing the working area in three dimensions based on the image, or it can be obtained based on the three-dimensional point cloud by collecting the three-dimensional point cloud of the working area through a laser radar. It is not difficult to understand that any method of obtaining the three-dimensional model of the working area is applicable to the solution of the embodiment of the present application, and the embodiment of the present application is not limited.
  • step S204 after acquiring the three-dimensional model of the operation area, the motion control operation on the virtual movable platform can be detected, and then the motion trajectory of the virtual movable platform in the three-dimensional model can be controlled based on the detected motion control operation.
  • the virtual movable platform can be an identifier used to represent the movable platform.
  • the identifier can be a three-dimensional model corresponding to the movable platform, or an image identifier representing the movable platform, or can be a point representing the movable platform.
  • the motion control operation of the movable platform can be input by the user or automatically generated by the device. For example, taking the example of a user controlling the movement of a virtual mobile platform in a three-dimensional model, as shown in FIG3, after obtaining the three-dimensional model of the work area, the three-dimensional model can be displayed on the user interaction interface. At the same time, the virtual movable platform can also be displayed on the interaction interface. Then, the control method of the movable platform in the real world can be simulated to manipulate the virtual movable platform to move continuously in the three-dimensional model. After the device executing the method detects the motion control operation input by the user, it can control the virtual movable platform to perform corresponding movements in the three-dimensional model.
  • the device executing the method may include a user interaction entrance, through which the user's motion control operation is detected.
  • the device executing the method can be connected to a remote control, and the user can input motion control operations through the joystick on the remote control to control the movement of the virtual movable platform.
  • the device executing the method can also be connected to physical control devices such as a keyboard and a mouse, and the user controls the movement of the virtual movable platform through these physical control devices.
  • the device executing the method may include a touch screen, and the user can control the movement of the virtual movable platform through virtual buttons on the touch screen.
  • the device executing the method can be connected to the user's VR glasses, and the user can control the movement of the virtual movable platform through VR glasses. It is not difficult to understand that any method that can enable the user to interact with the device executing the method to input motion control instructions is applicable in the embodiments of the present application, and the embodiments of the present application are not limited.
  • motion control operations can also be automatically generated by the device.
  • the device can automatically analyze the surrounding environment or scene of the virtual movable platform, and then control the movement of the virtual movable platform according to the analysis results. That is, it is equivalent to automatically simulating human control operations through the device to achieve automatic control of the virtual movable platform.
  • step S206 in the process of controlling the movement of the virtual movable platform in the three-dimensional model based on the detected motion control operation, the position confirmation operation can be detected in real time.
  • the current position of the virtual movable platform can be used as the target position point, and then, the operation path of the movable platform in the operation area is generated based on the determined multiple target position points.
  • the position confirmation operation can be triggered after determining that the movable platform can accurately operate on the target object when it is located at the current position.
  • the position confirmation operation can be triggered by the user.
  • the user can trigger the position confirmation operation when determining that the current position is a position suitable for operating the target object.
  • the user can trigger the position confirmation operation by inputting a control instruction through voice, through a control component (such as a keyboard, a mouse, a joystick, etc.), or by clicking a designated icon on the touch screen.
  • the location confirmation operation can also be automatically triggered by the device.
  • the conditions that each target location point must meet can be set in advance.
  • the device can determine in real time whether the position meets the preset conditions. If so, the location confirmation operation is automatically triggered.
  • multiple target position points can be determined.
  • the operation path of the movable platform when operating in the operation area can be generated based on the multiple target position points.
  • the entire planning process is equivalent to simulating the control of the movable platform to move in the operation area in the real world. In this way, since the movement trajectory of the virtual movable platform in the three-dimensional model can be controlled, the rationality of the selection of the target position point can be verified at a lower cost. Therefore, determining the operation path in this way is safer, more reasonable, and more accurate.
  • the association between different target position points, the passability and safety of the connection path between different target position points can be obtained, such as whether the operation path planning is safe and reasonable, whether there are obstacles on the operation path, and whether the operation path can guarantee the operation effect, so as to achieve the effect of "what you see is what you get in operation planning", that is, controlling the operation path formed by the target position points traversed during the movement of the three-dimensional model by the movement of the virtual movable platform, that is, The working path of the movable platform when operating in a real environment is determined in this way, so that the working path is more reasonable, safe and accurate.
  • displaying the observation image of the virtual model observed during the movement of the virtual movable platform from the first target location point to the second target location point can facilitate users to understand the accessibility and safety of the connection path between the target location points, as well as the surrounding environment information.
  • the motion control logic of the virtual movable platform can simulate the control logic of the movable platform in the real world. Therefore, the motion control operation can include one or more of the lateral control operation, longitudinal control operation, altitude control operation, and yaw control operation of the virtual movable platform. Among them, the lateral control operation, longitudinal control operation, and altitude control operation can be used to control the virtual movable platform to move in six directions: left and right, front and back, and up and down.
  • the yaw control operation can control the yaw angle of the virtual movable platform. Through these control operations, the control of the virtual movable platform can be similar to the control of the movable platform in the real world.
  • the motion control operation can be triggered by a control component, and the motion control amount of the motion control operation can be determined based on the detected user's control speed of the control component (i.e., the change in the control amount per unit time) and/or the control amount.
  • the control component can be a physical component such as a mouse, keyboard, rocker, etc., or a virtual control component on a touch screen.
  • the user's control speed of the control component can be mapped to the movement speed of the virtual movable platform. For example, the user's stick speed is mapped to the movement speed of the virtual movable platform.
  • the user's control amount of the control component can be mapped to the movement distance or rotation angle of the virtual movable platform, for example, the rocker offset can be mapped to the movement distance of the virtual movable platform.
  • the control component can be a keyboard
  • the control amount of the user's control component can be determined based on the detected pressing time of the keyboard key, and then mapped to the movement distance or rotation angle of the virtual movable platform.
  • the motion control operation on the virtual movable platform can be triggered by a joystick, and the motion control amount of the motion control operation can be determined based on the detected offset of the joystick.
  • the joystick can be a physical joystick or a virtual joystick.
  • a physical joystick can be connected to a device that executes the method, and the swing direction of the physical joystick can be mapped to the movement direction of the virtual movable platform, and the offset of the physical joystick can be mapped to the movement control amount of the virtual movable platform.
  • the virtual joystick can be mapped to a change in the virtual joystick through the user's control of the keyboard or mouse, and then further mapped to a motion control amount of the virtual movable platform.
  • different keys on the keyboard can be mapped to different stick directions of the virtual joystick, and then mapped to the motion direction of the virtual movable platform.
  • the operation parameter confirmation operation can also be detected, and the operation parameters corresponding to the target position point are determined and stored according to the detected operation parameter confirmation operation, wherein the operation parameters are used to instruct the movable platform to arrive at the target position point to perform the operation.
  • the operation parameter confirmation operation can be triggered by the user or automatically generated by the device.
  • the types of operation parameters vary depending on the load carried on the mobile platform. For example, if the load carried on the mobile platform is a shooting device and its operation task is to take a photo of the target object, then the operation parameters can be the camera orientation, camera magnification, exposure parameters, etc. If the load carried on the mobile platform is a hanging system and its operation task is to transport goods, then the operation parameters can be different. The number may be the weight of the loaded goods, etc. If the load carried by the movable platform is a robotic arm, and its operation task is to pick fruits or grab objects, etc., then the operation parameters may be the grab distance, grab angle, etc.
  • the operation parameters may be the spraying amount, spraying speed, spraying time, etc.
  • the specific type of operation parameters can be flexibly set based on the actual application scenario.
  • the movable platform is equipped with a camera payload
  • the operation parameter may be an orientation parameter of the camera payload in space
  • the orientation parameter is used to indicate that the camera payload performs an operation according to the orientation parameter when the movable platform reaches the target location. For example, when the movable platform reaches the target location, the camera may adjust its orientation to the orientation indicated by the orientation parameter and then perform the photo-taking task.
  • the camera may be equipped with a gimbal, and the rotation of the gimbal may be controlled based on the operating parameters to adjust the camera's load to the direction indicated by the operating parameters.
  • the orientation of the camera payload carried on the movable platform is adjusted to determine precise operating parameters.
  • an orientation control operation for controlling the orientation of a virtual observation device on the virtual movable platform can be detected, and then the orientation of the virtual observation device can be controlled based on the detected orientation control operation.
  • the target orientation of the virtual observation device when the virtual movable platform is located at each target position point on the motion trajectory can be determined, wherein when the movable platform moves to each target position point, the camera payload carried by the movable platform can be controlled to operate according to the target orientation.
  • the orientation control operation and the orientation confirmation operation can be triggered by the user or automatically generated by the device.
  • the position confirmation operation and the operation parameter confirmation operation can be determined based on the same operation triggered by the user. For example, when a confirmation operation triggered by the user is detected, the current position of the virtual movable platform and the current operation parameters are recorded at the same time.
  • the position confirmation operation and the operation parameter confirmation operation can also be different operations triggered by the user. For example, the user can first trigger a confirmation operation to determine the target location point, and then trigger another confirmation operation to determine the operation parameters corresponding to the target location point. For another example, the user can first trigger a confirmation operation to determine the operation parameters corresponding to the target location point, and then automatically trigger another confirmation operation to determine the target location point corresponding to the operation parameters.
  • the operation result corresponding to the target location point can be further determined, and the target location point and/or the operation parameters corresponding to the target location point can be adjusted based on the operation result.
  • the operation result can be used to indicate the deviation between the completion of the operation and the ideal situation when the movable platform is located at the target location point for operation.
  • the adjusted target location point is used to regenerate the operation path of the movable platform in the operation area, and the adjusted operation parameters are used to indicate the operation parameters of the load when the movable platform is located at the adjusted target location point for operation.
  • the observation angle of the virtual observation device mounted on the virtual movable platform can be determined based on the position and posture of the virtual movable platform during the movement, and the three-dimensional model can be projected to the observation image obtained from the observation angle, and the observation image can be displayed in real time on the user interaction interface.
  • the observation image of the virtual movable platform or the virtual load on the virtual movable platform to the three-dimensional model can be displayed in real time through the interaction interface, so as to facilitate the user
  • the movable platform is located at the current position, its operating status, for example, what content is included in the image captured by the camera mounted on the movable platform, or whether the robotic arm mounted on the movable platform can grab the fruit, or whether the spraying device mounted on the movable platform can be aimed at the crops to be sprayed, etc.
  • the load carried by the movable platform may be a camera, and in the process of controlling the movement of the virtual movable platform in the three-dimensional model, the orientation information of the virtual camera on the virtual movable platform in space may be obtained, and the observation image of the virtual camera on the scene in the three-dimensional model may be determined according to the orientation information, and the observation image may be displayed. This facilitates the user to know that the movable platform is at the current position, and when the camera takes pictures according to the orientation information, whether the image it captures includes the target object to be photographed.
  • the load on the movable platform is a photographing device, and its operation task is to take pictures of the target object.
  • the operation result may be the deviation between the image taken by the photographing device and the sample image when the movable platform is located at each target position.
  • the sample image may be an image determined based on the user's adjustment operation on the observed image. For example, when the user finds based on the observed image that the current position of the virtual movable platform is not the best position for the movable platform to operate on the target object, the user may adjust the observed image so that the virtual movable platform can obtain a more accurate operation result when it is in a position where the adjusted observed image can be observed. Adjusting the observed image may be adjusting part or all of the pixel area of the observed image, and the adjustment operation may be adjusting the imaging position and size of the content corresponding to the partial pixel area in the observed image.
  • the load carried by the movable platform is a camera, and its operation task is to shoot the target object in the operation area.
  • the observation image of the virtual camera on the virtual movable platform to the three-dimensional model can be displayed in real time on the interactive interface (that is, the image that the virtual camera can shoot, which is also the image shot by the camera on the movable platform in the actual operation scene), that is, the content of the image collected by the movable platform in the real operation scene when it is located at this position can be determined based on the observation image, such as whether it can shoot the complete target object, whether the target object is located in the center of the picture, etc.
  • the observation image can be adjusted, for example, the target object is re-selected in the observation image, or the observation image is moved to place the target object in the center of the image, or the image is enlarged so that the proportion of the target object in the picture becomes larger.
  • the adjusted observation image is the sample image, and the device executing the method can readjust the target position point and/or operation parameters based on the deviation between the observation image and the sample image.
  • the position of the target point can be adjusted based on the position difference of the target object in the image, or the magnification of the camera when taking pictures can be adjusted based on the proportion difference of the target object in the image, etc.
  • the sample image can also be displayed in the interactive interface, for example, the adjusted sample image is used as a new observation image and displayed in the interactive interface.
  • the position confirmation operation or the operation parameter confirmation operation can be triggered.
  • the operation path and operation parameters of the movable platform during operation can be automatically adjusted, so that the "what you see is what you get” effect can be achieved. That is, the displayed observation image is the image taken when the movable platform is operating, making the operation planning of the movable platform more intuitive.
  • the virtual movable platform may be controlled in the three-dimensional model according to the detected motion control operation.
  • the virtual movable platform can be controlled to leave the first position in the three-dimensional model and move to other areas in the three-dimensional model according to the detected motion control operation, and then the current position of the virtual movable platform in the three-dimensional model is determined as the second position according to the detected position confirmation operation, wherein the first position and the second position are used to generate the working path of the movable platform in the working area.
  • an editing function of the target location point can be provided. After detecting the user's editing operation, one or more of the following operations can be performed: deleting the determined target location point, adjusting the position of the determined target location point, inserting a new target location point between any two adjacent target location points, and modifying the operation parameters corresponding to the target location point.
  • the user can click on a certain determined waypoint and then edit the waypoint, for example, edit the location, operation task or operation parameters of the waypoint. In this way, the user can adjust the determined target location point at any time during the operation planning process, which is more convenient and quick.
  • the information corresponding to the target location point can be displayed on the interactive interface, for example, at the target location point, the observation image of the movable platform on the three-dimensional model, the operating parameters corresponding to the target location point, the distance information between the movable platform and the surrounding objects when the movable platform is located at the target location point, etc. Therefore, when the relevant information of the previously determined target location point is traced back, the virtual movable platform can be moved to the corresponding target location point. After detecting the moving operation, the device executing this method can move the virtual movable platform from the current position to any determined target location point, and display the relevant information of the target location point in the interactive interface.
  • an identifier for representing the orientation of the virtual observation device can be displayed on the interactive interface.
  • the identifier for the orientation of the virtual observation device displayed on the interactive interface can be displayed in real time during the process of controlling the movement of the virtual movable platform in the three-dimensional model, or can be displayed when the virtual movable platform is at the target position.
  • the scenery in the three-dimensional model around the target location can be displayed in the interactive interface so that the real working environment of the movable platform can be clearly perceived.
  • the three-dimensional model after obtaining the three-dimensional model of the work area, can be displayed on the interactive interface.
  • the display perspective of the three-dimensional model on the interactive interface can include multiple perspectives, and the display perspective of the three-dimensional model can be switched based on actual needs. For example, after detecting the perspective switching operation input by the user, the display perspective of the three-dimensional model on the interactive interface can be switched to the perspective indicated by the perspective switching operation.
  • the viewpoint positions of any two of the multiple viewpoints are different, and/or the directions from the viewpoint positions of any two viewpoints to the virtual movable platform are different.
  • the multiple viewpoints can be the first-person viewpoint of the movable platform, the top-down viewpoint of the map, the second-person viewpoint, and the third-person viewpoint.
  • the observation image can be obtained by observing the three-dimensional model by displaying the movable platform in full screen on the interactive interface.
  • This perspective makes it easy for users to clearly see the observation image corresponding to the target position.
  • this is an image of the three-dimensional model displayed from the first-person perspective.
  • the overall information of each target location point in the entire operation path can be displayed, which is convenient for users to The user can determine whether any target location points are missed, as well as the horizontal information of each target location point, as shown in Figure 6(b), which is an image of the three-dimensional model displayed from a bird's-eye view of the map.
  • the position of the viewpoint of any perspective will change with the movement of the virtual movable platform, and the position of the viewpoint and the relative position of the virtual movable platform remain fixed, thereby ensuring that the environmental information around the motion trajectory of the movable platform during movement can be obtained in real time and accurately.
  • the related operation planning scheme that uses the first-person perspective to determine the operation parameters does not support the movable platform moving while operating, nor does it support directly determining the operation parameters other than taking pictures at the current perspective.
  • the present application scheme allows the user to freely determine the target position point directly from multiple perspectives such as the first-person perspective, the map overhead perspective, the third-person following perspective following the tail of the movable platform, and the fixed-angle third-person perspective, and can quickly adjust all relevant parameters related to the target position point.
  • the screen displayed on the interactive interface may be one or more of a screen presenting the three-dimensional model observed by the virtual movable platform and a screen presenting the relative position relationship between the virtual movable platform and the three-dimensional model.
  • the former facilitates the user to understand the scene in the three-dimensional model observed by the virtual movable platform when it is at the current position
  • the latter facilitates the user to understand the environmental information around the virtual movable platform when it is at the current position.
  • safety prompt information can be displayed on the interactive interface.
  • the safety prompt information can be determined based on one or more information of the relative position relationship between the target position point on the motion trajectory of the virtual movable platform and the envelope point of the three-dimensional model, and the change in the motion posture of the virtual movable platform on the motion trajectory.
  • the envelope point can be used to represent the position of an object in the three-dimensional model, for example, it can be a position point corresponding to a tree in the three-dimensional model, or a position point corresponding to the ground, etc.
  • the relative position relationship between the target position point on the motion trajectory and the envelope point of the three-dimensional model can be the distance between the target position point and the obstacle and/or the height of the target position point relative to the ground.
  • the distance between the target position point and the obstacle, the relative height to the ground, etc. it can be determined whether there is a safety risk in the movement of the virtual movable platform, for example, whether the distance to the obstacle is too close, whether the height from the ground is too low, etc. If a safety risk is found, a safety prompt message can be generated and displayed on the interactive interface to prompt the user of the potential risk. As shown in Figure 7, it is a schematic diagram of displaying safety prompt information on the interactive interface.
  • the amount of change in the motion posture of the virtual movable platform on the motion trajectory is determined, wherein the amount of change in the motion posture can be the amount of change in the motion posture of the virtual movable platform per unit time, or the amount of change in the motion posture of the virtual movable platform per unit distance. If the amount of change in the posture is too large, a safety prompt message can be displayed on the interactive interface to provide a prompt.
  • relevant obstacles can be displayed on the interactive interface in a timely and accurate manner.
  • the distance between the current virtual movable platform and the surrounding obstacles and the position information of the current virtual movable platform can be displayed in the main window of the interactive interface.
  • the distance of obstacles around the current virtual movable platform can be quickly viewed on the interactive interface, and the obstacle status of any target location can be traced back.
  • the relationship between relevant target locations and obstacles can also be displayed based on the advantage of the actual physical information in the virtual space where the three-dimensional model is located, so as to facilitate a global overview of the target operation point after completing the job planning, and/or the operation parameters of the target operation point.
  • the safety prompt information may include an auxiliary line of the height of the virtual movable platform relative to the ground when it is at the target position, and mark the height value relative to the ground near the auxiliary line.
  • the safety prompt information may directly display an icon that shows the size of the height value of the virtual movable platform at the target position relative to the ground.
  • the safety prompt information in addition to displaying the safety prompt information on the interactive interface, can also be broadcasted through voice prompts.
  • the safety prompt information can be issued in real time during the process of controlling the virtual movable platform to move the three-dimensional model, so as to facilitate the determination of the target location point based on the safety prompt.
  • the prompt can be issued after the user or device triggers the location confirmation operation to determine the target location point. In this case, the target location point can be adjusted based on the safety prompt information.
  • all target location points of the operation path can also be displayed in the interactive interface, and then the target location points with safety risks can be marked so that the user can understand which target location points of the operation path store safety risks.
  • the task to be performed by the movable platform is to inspect and photograph the target objects in the working area.
  • the control accuracy of the gimbal may be insufficient
  • it may cause a large deviation between the captured image and the expected image when reshooting at a certain target position point, especially in the scene of long-distance zoom shooting.
  • a precise reshooting method can be used to ensure accurate shooting.
  • Precise reshooting is to pre-store sample images of the target object that the movable platform needs to shoot at each target position point, so that when the movable platform performs the shooting task at the target position point, the position and posture of the movable platform can be adjusted based on whether the content of the collected image and the sample image is consistent, thereby ensuring that the captured image includes the target object.
  • the mobile platform in order to obtain a sample image to guide the mobile platform to collect images of the target object in repeated inspection tasks.
  • the mobile platform can be controlled to operate in the operation area according to the planned operation path, and the real scene image collected when the mobile platform operates along the operation path is obtained and displayed to the user, and then the image area selected by the user is intercepted from the real scene image as a sample image containing the target object, and the sample image is used to obtain the sample image. Instructing the movable platform to capture a real scene image containing the target object during subsequent operations.
  • the movable platform can be controlled to operate according to the planned operation path and operation parameters, and the real-scene image is acquired and then displayed to the user.
  • the user can select the target object from the real-scene image, and then the image area selected by the user can be stored as a sample image so as to guide the movable platform to acquire images including the target object when performing subsequent inspection tasks.
  • the three-dimensional model is obtained by three-dimensionally reconstructing the scenery of the work area and is a true portrayal of the work area. Therefore, a sample image containing the target object can also be obtained directly based on the three-dimensional model. For example, the three-dimensional model can be observed to obtain an image containing the target object, and then the image can be directly used as a sample image. For example, in some scenarios, the three-dimensional model is obtained by three-dimensionally reconstructing the image of the work area taken. Therefore, an image containing the target object with a suitable shooting angle can also be selected from the images used for three-dimensional reconstruction, and the image can be used as a sample image. In short, by determining the sample image based on the three-dimensional model, it is possible to obtain the sample image without actually controlling the movable platform to perform a work task, which is more convenient and quicker, and greatly improves the work efficiency of the movable platform.
  • the cloud can use this method to achieve a closed loop of operation planning without human presence, freeing up manpower.
  • the safety and efficiency of the operation planning of the movable platform can be improved by integrating functions such as communication interaction, precise re-shooting, cloud reconstruction, and virtual space collision monitoring where the three-dimensional model is located.
  • the movable platform can be an unmanned aerial vehicle.
  • the operation planning can be the route planning of the unmanned aerial vehicle.
  • determining the sample image based on the observed image includes any of the following methods: using the observed image as a sample image; or, using the image area where the center position of the observed image is located as a sample image; or, using the image area in the observed image selected by the user as a sample image.
  • the user when observing the three-dimensional model to obtain a sample image containing the target object, the user can rotate and drag the three-dimensional model to find a viewing angle at which the target object can be observed. Then, the device executing the method can automatically use the image containing the target object observed by the user at that viewing angle as the sample image.
  • an image containing the target object obtained by observing the three-dimensional model by the virtual movable platform can be used as a sample image.
  • the observation angle of the virtual observation device carried on the virtual movable platform can be determined based on the position of the virtual movable platform, and then the observation image obtained by projecting the three-dimensional model to the observation angle can be obtained, and the sample image can be determined based on the observation image.
  • the observation image obtained by observing the three-dimensional model can be directly used as a sample image containing the target object.
  • the size of the sample image can be pre-set, that is, the sample image is an image of fixed size. Therefore, after obtaining the observation image obtained by the virtual movable platform observing the three-dimensional model, the image area where the center position of the observation image is located can be cut out based on the specified size of the sample image as a sample image.
  • the An area including the target object is selected from the observed image of the interactive interface as a sample image.
  • the target object can be framed in the observed image, and the device executing the method can store the framed image area as a sample image.
  • the user when the user controls the movement of the virtual movable platform in the three-dimensional model, the user can display the observation image of the virtual movable platform on the three-dimensional model in real time on the interactive interface. If the user confirms that the observed image includes the target object to be photographed, and the target object is located in the middle of the image, the position confirmation operation can be triggered. At this time, the device executing the method can use the position of the virtual movable platform as the target position point, and use the observed image displayed on the interactive interface as a sample image, or cut out the image area in the middle position from the observed image as a sample image.
  • the target object can be framed out from the observed image first, and then the device executing the method can display the framed image on the interactive interface, and automatically adjust the position of the target position point based on the user's frame selection operation. If the user feels that the image at this time meets the requirements, the position confirmation operation can be triggered to store the adjusted target position point and use the adjusted observed image as a sample image.
  • the method of determining the sample image through the real scene image and the method of obtaining the sample image directly based on the three-dimensional model each have their own advantages.
  • any of the above methods can be flexibly selected based on actual needs. For example, in a scene where the accuracy of the constructed three-dimensional model is low and the size of the target object to be photographed is relatively small, if the sample image is obtained directly based on the three-dimensional model, the clarity of the sample image may be low, and it is not suitable for guiding the movable platform to collect real scene images with the same content as the sample image during the operation process. Therefore, the sample image can be obtained by collecting the real scene image.
  • the sample image can be obtained directly through the three-dimensional model, so there is no need to control the actual operation of the movable platform, which is convenient and fast, and can also avoid the problem that the target object in the collected real scene image is not clear enough due to various reasons such as weather, and the obtained sample image is not clear enough.
  • the method of determining the sample image through the real scene image and the method of obtaining the sample image directly based on the 3D model can also be combined to achieve complementary effects.
  • the real scene image can be used to determine the sample for the part of the 3D model that is not updated in time, and the sample can be determined based on the 3D model for the part of the real scene image that is blocked due to weather or external environment, so as to ensure the accuracy of the sample image.
  • the accuracy of the 3D model can also be adjusted based on the size of the target object to be photographed when constructing the 3D model. For example, for scenes with a small target object size, the accuracy of the reconstructed 3D model can be higher, and for scenes with a large target object size, the accuracy of the reconstructed 3D model can be lower.
  • the real scene image collected by the movable platform along the planned operation path can also be used to update the three-dimensional model of the operation area. For example, if the real scene image collected at the target location point is too different from the observed image on the three-dimensional model corresponding to the target location point, an update operation of the three-dimensional model through the real scene image can be triggered. This update operation can be a global update or a local update.
  • the target location point is displayed on the interactive interface; based on the operation result corresponding to the target location point, the display effect of the target location point on the interactive interface is adjusted. Based on the actual operation result of the movable platform, the target point can be marked to facilitate the user to know the task execution of the movable platform at the target point. In another optional embodiment, the target position point can be displayed on the interface in the form of a list, or can be marked at the corresponding virtual space position point of the three-dimensional model.
  • the real-life image captured for the current inspection task can be matched with the real-life image captured for the historical inspection task to determine the similarity between the two. For example, for a certain target position point on the operation path, the similarity between the image captured by the movable platform in a certain posture in the current inspection task and the image captured by the movable platform in the same posture in the previous inspection task can be determined. If the similarity is too low, for example, below a preset threshold, it may be that the current inspection task of the movable platform has failed, or it may be that the target object to be inspected is blocked or has a fault. At this point, a prompt message can be sent to the user so that the user can locate the problem.
  • the real-scene image can be further semantically recognized, the target object can be identified from each real-scene image, and then the target object can be compared to determine whether the target objects in each real-scene image are similar. If the similarity is low, it is considered that the target object may have a fault, and then a prompt message is issued.
  • a more accurate fault analysis of the target object can be performed.
  • the semantic content represented by each pixel in the current real-life image can be identified. Historically collected images can be used as a data set for semantic recognition.
  • the semantic information in the real-life image can be analyzed, such as trees, towers, cracks, snow, etc., and fault analysis can be automatically completed.
  • the target location point, operation parameters, inspection task rounds and other information corresponding to the real-life image where the problem occurs can be recorded to facilitate the user to locate the problem later.
  • the operation path can be displayed on the interactive interface, and the target location point where the problem occurs can be marked to facilitate the location point in the operation path where the problem occurs.
  • the results of multiple actual operations of the movable platform are uploaded to the cloud, and the cloud or terminal device can prompt the user of the potential risks in each operation based on the existing operation results and/or based on the user-calibrated targets, based on image matching.
  • the operation may include the energy industry, surveying and mapping industry, public safety and other operation fields.
  • taking the power grid inspection as an example it is prompted that some electrical components are damaged or missing.
  • taking the oil and gas inspection scheme as an example it is prompted that the oil and gas pipeline is broken.
  • the AEC inspection as an example, it is prompted that the construction project or project group is illegally parked or built.
  • the three-dimensional model can be generated based on the image of the operation area collected by the movable platform.
  • the movable platform can be controlled to move in the operation area, and the image of the operation area can be collected, and then the operation area is three-dimensionally reconstructed based on the image to obtain the three-dimensional model.
  • the cloud can remotely send instructions to the mobile platform within the coverage area through the base station to control the mobile platform to move to the corresponding working area.
  • the cloud can use the image to reconstruct a three-dimensional model of the working area, or the cloud can send the image to the terminal, which has modeling software and work planning software installed in it.
  • the modeling software is used to complete the modeling of the working area, and the work path is planned through the work planning software.
  • the multiple target position points can be connected to obtain an operation path of the movable platform in the operation area.
  • the multiple target position points can be connected in sequence according to the confirmation order of the target position points to obtain the operation path.
  • the order of the target location points and the order of confirming the multiple target location points may be different.
  • the multiple target location points can be sorted based on the optimal operation order, and then the multiple target location points can be connected based on the target location point order to obtain the operation path.
  • the sequence when determining the sequence of target position points, the sequence may be determined based on the movement distance or movement duration that the movable platform needs to consume when moving from the starting target position point along the trajectory line to the ending target position point. That is, when determining the sequence of multiple target position points to obtain an operation path, the movable platform is guaranteed to move as short a distance as possible or as short a movement duration as possible when moving along the operation path, so as to save energy consumption or improve operation efficiency.
  • multiple work tasks of the virtual movable platform at the target location can be determined based on the triggered work task confirmation operation, wherein the order in which the movable platform executes the multiple work tasks can be the same as the confirmation order of the multiple work tasks.
  • the target order in which the movable platform performs the multiple work tasks at the target location can be determined based on the relevant information of the multiple work tasks (for example, the content of the tasks, the posture of the movable platform when performing the tasks, etc.), so that the movable platform can perform the multiple work tasks in accordance with the target order at the target location, wherein the target work order is different from the determination order of the multiple work tasks.
  • the movable platform needs to perform multiple operations in multiple different postures at the target location point.
  • the order of confirming these multiple operation tasks is not the best task execution order
  • the order of the operation tasks can be optimized based on the operation posture of each operation task to obtain the best operation task execution order. For example, the total posture change of the movable platform when executing these multiple operation tasks can be minimized or the posture change can be continuously progressive, thereby improving the operation efficiency of the movable platform.
  • a method for planning a job for a movable platform comprising: acquiring a three-dimensional model of the working area of the movable platform; controlling the motion trajectory of the virtual movable platform in the three-dimensional model according to the detected motion control operation; and determining a plurality of target position points on the motion trajectory according to the detected position confirmation operation, the plurality of target position points being used to generate a working path for the movable platform in the working area.
  • the three-dimensional model is generated based on controlling the movable platform to capture images within the working area.
  • the method further comprises: determining the observation angle of a virtual observation device carried on the virtual movable platform based on the posture of the virtual movable platform during the movement, and displaying the observation image obtained by projecting the three-dimensional model to the observation angle in real time on the interactive interface.
  • the interactive The interface displays a screen showing the three-dimensional model observed by the virtual movable platform, and/or a screen showing the relative positional relationship between the virtual movable platform and the three-dimensional model.
  • the method further includes determining and storing the operating parameters corresponding to the target position point according to the detected operating parameter confirmation operation, and the operating parameters are used to instruct the movable platform to reach the target position point to perform the operation.
  • the movable platform is equipped with a camera load, and the operating parameters include the orientation parameters of the camera load in space, and the orientation parameters are used to instruct the camera load to perform the operation according to the orientation parameters when the movable platform reaches the target position point.
  • the method further includes: obtaining a real-life image collected when the movable platform operates in the operating area according to the operating path; and intercepting the image area selected by the user from the real-life image as a sample image containing the target object, wherein the sample image is used to instruct the movable platform to shoot a real-life image containing the target object in the subsequent operation process.
  • the method further includes determining the deviation between the real-life image corresponding to the target position point and the sample image, and adjusting the target position point and/or the operating parameters corresponding to the target position point based on the operation results.
  • an embodiment of the present application provides a method for planning an operation of a movable platform, the method comprising:
  • a target geographic position corresponding to the position of the virtual observation device in the virtual space is determined, and the target geographic position is used to instruct the movable platform to operate in the operating area.
  • an embodiment of the present application provides a method for planning an operation of a movable platform, the method comprising:
  • the movable platform is controlled to operate in the operating area based on the adjusted operating path and the adjusted operating parameters.
  • the embodiment of the present application also provides a job planning system, including a cloud, a client, and a mobile platform;
  • the movable platform is used to collect images of the working area and send them to the cloud;
  • the cloud is used to generate a three-dimensional model of the operation area based on the image and send it to the client;
  • the client is used to display the three-dimensional model on an interactive interface, and control the virtual movable platform to move in the three-dimensional model according to motion control operations input by a user, and display the observation image of the virtual movable platform on the three-dimensional model during the movement in real time on the user interactive interface; in response to a confirmation operation by the user, determine a target geographic posture corresponding to the current posture of the virtual movable platform, and the target geographic posture is used to instruct the movable platform to operate in the working area.
  • the embodiment of the present application further provides a work planning device for a movable platform, as shown in FIG9 , the device includes a processor 91, a memory 92, and a computer program stored in the memory 92 and executable by the processor 91.
  • the processor 91 executes the computer program, the following steps can be implemented:
  • a plurality of target position points on the motion trajectory are determined according to the detected position confirmation operation, and the plurality of target position points are used to generate an operation path of the movable platform in the operation area.
  • the motion control operation includes one or more of the following: a lateral control operation, a longitudinal control operation, an altitude control operation, and a yaw control operation of the virtual movable platform.
  • the motion control operation is triggered by a joystick, and the motion control amount of the motion control operation is determined based on the detected offset of the joystick.
  • the processor is further used to: determine and store the operation parameters corresponding to the target location point according to the detected operation parameter confirmation operation, and the operation parameters are used to instruct the movable platform to arrive at the target location point to perform the operation.
  • the movable platform is equipped with a camera payload
  • the operation parameters include orientation parameters of the camera payload in space
  • the orientation parameters are used to indicate that the camera payload performs the operation according to the orientation parameters when the movable platform reaches the target position point.
  • the processor is further configured to: determine a work result corresponding to the target location point, and adjust the target location point and/or the work parameter corresponding to the target location point based on the work result.
  • the load on the movable platform includes a photographing device
  • the operation result includes a deviation between an image captured by the photographing device and a sample image
  • the processor is also used to: determine the observation perspective of the virtual observation device carried on the virtual movable platform based on the posture of the virtual movable platform during the movement, and display the observation image obtained by projecting the three-dimensional model to the observation perspective in real time on the interactive interface.
  • the processor is used to control the motion trajectory of the virtual movable platform in the three-dimensional model according to the detected motion control operation, specifically to:
  • controlling the virtual movable platform to leave the first position in the three-dimensional model and move to another area in the three-dimensional model;
  • the determining of a plurality of target position points on the motion trajectory according to the detected position confirmation operation, wherein the plurality of target position points are used to generate an operation path of the movable platform in the operation area comprises:
  • the current position of the virtual movable platform in the three-dimensional model is determined as the second position, and the first position and the second position are used to generate the movable platform in the operation The working path of the area.
  • the processor is further configured to perform any of the following operations in response to the editing operation:
  • the processor is further configured to control the virtual movable platform to move from a current position to any determined target position point in response to a moving operation.
  • the processor is further used to: display on the interactive interface an identification used to characterize the orientation of the virtual observation device carried by the virtual movable platform, and/or the scenery in the three-dimensional model around the target location point.
  • the processor is further used to: display on an interactive interface a screen showing the three-dimensional model observed by the virtual movable platform, and/or a screen showing the relative position relationship between the virtual movable platform and the three-dimensional model.
  • the processor is further configured to: display the three-dimensional model on an interactive interface, wherein the display perspectives of the three-dimensional model on the interactive interface include multiple perspectives;
  • viewpoint positions of any two of the multiple viewpoints are different, and/or directions from the viewpoints of any two viewpoints to the virtual movable platform are different.
  • the processor is further configured to: change the position of the viewpoint of any of the perspectives following the movement of the virtual movable platform, and keep the relative position of the viewpoint and the virtual movable platform fixed.
  • the processor is further configured to: display safety prompt information on the interactive interface;
  • the security prompt information is generated based on one or more of the following information:
  • the processor is further used to: obtain observations of the three-dimensional model to obtain sample images containing the target object, wherein the sample images are used to instruct the movable platform to capture real-scene images containing the target object while operating along the operating path.
  • the processor when used to obtain a sample image containing a target object by observing the three-dimensional model, it is specifically used to:
  • An observation image obtained by projecting the three-dimensional model to the observation viewing angle is acquired, and the sample image is determined based on the observation image.
  • determining the sample image based on the observed image includes any of the following methods: using the observed image as a sample image; or, using the image area where the center position of the observed image is located as a sample image; or, using the image area in the observed image selected by the user as a sample image.
  • the processor is further used to: obtain a real scene image collected when the movable platform operates along the operating path in the operating area;
  • An image area selected by a user is captured from the real scene image as a sample image containing the target object, wherein the sample image is used to instruct the movable platform to capture a real scene image containing the target object during a subsequent operation.
  • the three-dimensional model is generated based on controlling a movable platform to collect images within the working area.
  • the plurality of target location points are used to generate an operation path of the movable platform in the operation area, including:
  • the processor is further configured to: determine a plurality of operating tasks of the virtual movable platform at the target location based on an operating task confirmation operation;
  • the movable platform is instructed to perform the plurality of operation tasks at the target location point according to a target operation sequence, wherein the target operation sequence is different from a determined sequence of the plurality of operation tasks.
  • the processor is further configured to: display the target location point on an interactive interface
  • the display effect of the target location point on the interactive interface is adjusted.
  • an embodiment of the present application further provides a job planning device for a mobile platform, the device comprising a processor, a memory, and a computer program stored in the memory and executable by the processor.
  • the processor executes the computer program, the following steps can be implemented:
  • a target geographic position corresponding to the position of the virtual observation device in the virtual space is determined, and the target geographic position is used to instruct the movable platform to operate in the operating area.
  • an embodiment of the present application further provides a job planning device for a mobile platform, the device comprising a processor, a memory, and a computer program stored in the memory and executable by the processor.
  • the processor executes the computer program, the following steps can be implemented:
  • the movable platform is controlled to operate in the operating area based on the adjusted operating path and the adjusted operating parameters.
  • an embodiment of the present application further provides a computer storage medium, in which a program is stored, and when the program is executed by a processor, the method in any of the above embodiments is implemented.
  • the embodiments of the present application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code.
  • Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology.
  • Information can be computer-readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • CD-ROM compact disk read-only memory
  • DVD digital versatile disk
  • magnetic cassettes magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be
  • the relevant parts can refer to the partial description of the method embodiment.
  • the device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

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Abstract

一种可移动平台的作业规划方法、装置及存储介质。所述方法包括：获取可移动平台的作业区域的三维模型；根据检测到的运动控制操作控制虚拟可移动平台在所述三维模型中的运动轨迹；根据检测到的位置确认操作确定所述运动轨迹上的多个目标位置点，多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径。通过模拟在真实世界中对可移动平台的控制，控制虚拟可移动平台在作业区域的三维模型中的运动轨迹，从而确定目标位置点，利用这种方式确定的作业路径会更加安全合理、准确度也更高。

Description

可移动平台的作业规划方法、装置及存储介质 技术领域
本申请实施例涉及可移动平台技术领域，具体而言，涉及一种可移动平台的作业规划方法、装置及存储介质。
背景技术
可移动平台在很多领域广泛应用，比如通过飞行器、地面平台等可移动平台进行巡检、进行果实采摘、或者进行药物喷洒、浇灌等。在使用可移动平台进行作业之前，通常需要对可移动平台进行作业规划，确定可移动平台在作业区域内进行作业时的作业位置。合理的作业规划是保证可移动平台安全作业、以获得良好作业结果的前提，因此，有必要提供一种对可移动平台进行作业规划的方案。
发明内容
有鉴于此，本申请提供一种可移动平台的作业规划方法、装置及存储介质。
根据本申请的第一方面，提供一种可移动平台的作业规划方法，所述方法包括：
获取可移动平台的作业区域的三维模型；
根据检测到的运动控制操作控制虚拟可移动平台在所述三维模型中的运动轨迹；
根据检测到的位置确认操作确定所述运动轨迹上的多个目标位置点，多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径。
根据本申请的第二方面，提供一种可移动平台的作业规划装置，所述装置包括处理器、存储器、存储于所述存储器可供所述处理器执行的计算机程序，所述处理器执行所述计算机程序时，可实现以下步骤：
获取可移动平台的作业区域的三维模型；
根据检测到的运动控制操作控制虚拟可移动平台在所述三维模型中的运动轨迹；
根据检测到的位置确认操作确定所述运动轨迹上的多个目标位置点，多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径。
根据本申请的第三方面，提供一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被执行时实现上述第一方面提及的方法。
应用本公开提供的方案，在进行可移动平台的作业规划时，类似于在真实世界中控制可移动平台在作业区域中运动，可以控制虚拟可移动平台在作业区域的三维模型 中连续运动，并在虚拟可移动平台运动到适合作业的位置时，触发位置确认操作，从而可以得到用于生成可移动平台在作业区域的作业路径的多个目标位置点。通过模拟在真实世界中对可移动平台的控制，控制虚拟可移动平台在作业区域的三维模型中连续的运动，利用这种方式确定的作业路径会更加安全合理、准确度也更高。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，而非限制本申请。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅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性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一个实施例的一种应用场景示意图。
图2是本申请一个实施例的可移动平台的作业规划方法流程图。
图3是本申请一个实施例的在交互界面展示虚拟可移动平台在作业区域的三维模型中运动情况的示意图。
图4是本申请一个实施例的对观测图像进行调整得到样片图像的示意图。
图5是本申请一个实施例的对目标位置点进行编辑的示意图。
图6(a)是本申请一个实施例的第人称一视角下的三维模型的示意图。
图6(b)是本申请一个实施例的地图俯视视角下的三维模型的示意图。
图7是本申请一个实施例的在交互界面展示安全提示信息的示意图。
图8是本申请一个实施例的展示全局的目标位置点的示意图。
图9是本申请一个实施例的可移动平台的作业规划装置的逻辑结构的示意图。
具体实施方式
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，所描述的实施例仅仅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做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。
可移动平台在很多领域广泛应用，比如，通过飞行器、地面平台等可移动平台进行巡检、进行果实采摘、或者进行药物喷洒、浇灌等。在使用可移动平台进行上述作业之前，通常需要对可移动平台进行作业规划，确定可移动平台作业时的各个目标位置点。比如，对电力设备进行巡检为例，需要预先规划可移动平台对各个电力设备进 行拍照时的目标位置以确保在该目标位置可以拍摄到包含电力设备的目标图像。进一步的，还可以在目标位置处记录可移动平台所搭载的负载例如拍摄装置的朝向、倍率等作业参数，以使得在该目标位置拍摄的目标图像更加准确。
相关技术中，在对可移动平台进行作业规划时，有的技术是用户直接到作业现场手动控制可移动平台，比如，根据用户的观测或者可移动平台返回的作业结果手动调整可移动平台的位置，在调整到合适的位置记录下来，以便后续作业时，可以按照规划好的位置点控制可移动平台作业。这种方式需要用户到作业现场手动操控可移动平台，对用户的操控能力要求较高，比较耗费人力，作业效率较低，也存在安全风险。
为了方便用户对可移动平台进行作业规划，也有的技术提供了可供用户进行作业规划的软件。比如，该作业规划软件可以在交互界面中展示作业区域的三维模型，可以通过用户在展示有作业区域的三维模型的交互界面上进行操作，确定可移动平台作业时的位置。比如，用户可以在三维模型中移动或旋转作业区域的三维模型，在作业对象附近的位置执行点击操作，以确定目标作业对象，再根据相关作业距离等信息推算作业时的位置。虽然这种方式无需用户到现场手动操控可移动平台，但是，这种方式并不直观，并且需要用户反复调整以获得作业位置，特别繁琐。
然而，在利用目前的作业规划软件进行作业规划时，作业路径上的每个目标位置点都是独立规划的，不同的目标位置点之间没有联系，在规划不同目标位置点时，也无法获知到这些目标位置点连接起来的作业路径的可通过性和安全性，例如作业路径的规划是否安全合理，作业路径上是否存在障碍物，作业路径能否保证作业效果等，进而可能导致最终规划的作业路径安全性不够高、不够合理等。
基于此，本申请实施例提供了一种可移动平台的作业规划方法，在进行可移动平台的作业规划时，类似于在真实世界中控制可移动平台在作业区域中运动，可以控制虚拟可移动平台在作业区域的三维模型中连续运动，并在虚拟可移动平台运动到适合作业的位置时，触发位置确认操作，从而可以得到用于生成可移动平台在作业区域的作业路径的多个目标位置点。通过模拟在真实世界中对可移动平台的控制，控制虚拟可移动平台在作业区域的三维模型中连续的运动。利用这种方式确定的作业路径会更加安全合理、准确度也更高。
本申请实施例提供的作业规划方法可以由运行在终端上的APP或者网页应用执行，比如，该APP或者网页应用可以是一种作业路径规划软件；或者该方法也可以由云服务器或服务器集群执行；或者该方法的部分处理步骤由云服务器或服务器集群执行，步骤处理步骤由终端上的APP或者网页应用执行，具体可以基于实际需求灵活设置，本申请实施例不做限制。
示例性的，该方法的执行主体可以是任一种性能足以支撑三维模型获取及展示的设备。比如，在一些场景，如图1所示，云端服务器可以获取可移动平台(图中以飞行器为例)采集作业区域的图像，然后基于该图像预先构建好可移动平台的作业区域的三维模型，终端上的客户端(可以是APP或网页应用)可以从云端服务器获取该三维模型，以便基于该三维模型进行作业路径的规划。当然，在一些场景，如果终端的性能足以实现三维模型的 构建，则三维模型的构建和作业路径的规划均可以在终端上实现。其中，终端可以手机、平板、电脑、遥控器等设备。以终端为电脑为例，可以通过电脑的软件或网页端实现作业区域的三维模型的构建。进一步的，还可通过显示屏幕展示该三维模型。可选的，基于鼠标、键盘等实现作业路径的规划。以终端为遥控器为例，可以通过遥控器中APP实现作业区域的三维模型的构建。进一步的，通过遥控器的UI界面展示该三维模型，可以基于UI界面和遥控器的摇杆实现作业路径的规划。
本申请实施例的可移动平台可以是用于对目标对象进行作业的可移动平台，该可移动平台包括动力部件，用于驱使可移动平台运动，可移动平台可以是飞行器、车辆、船只、智能机器人等可移动设备。该可移动平台可以载人作业，也可以是无人平台设备。可选的，可移动平台上包括用于进行作业的负载，该负载可以是拍摄装置、机械臂、吊挂系统、喷洒系统等，本申请实施例对负载的类型不作具体限定。
在一些实施例中，飞行器可以包括旋翼型飞行器，例如四旋翼飞行器、六旋翼飞行器、八旋翼飞行器，也可以是固定翼飞行器，还可以是旋翼型飞行器与固定翼飞行器的组合。可选的，飞行器包括无人飞行器。飞行器可以包括但不局限于载人飞行器、物流飞行器、航拍飞行器以及农业植保飞行器、行业救援飞行器中的任意一种，以上仅为举例说明，本申请实施例对飞行器的类型不作具体限定。
本申请对诸如无人飞行器等飞行器的任何描述可适用于和用于任何可移动物体，诸如任何载具。另外，本申请在空中运动的情景下公开的方法、装置、系统还可以适用于其他类型运动的情景下，诸如在地面上或在水上的移动、水下运动或者在太空中的运动。
具体的，如图2所示，该作业规划方法可以包括以下步骤：
S202、获取可移动平台的作业区域的三维模型；
在步骤S202中，可以获取可移动平台的作业区域的三维模型，可以是调用已生成的三维模型，也可以是基于需求实时生成三维模型。该三维模型的生成方式可以有多种方式，其中，作业区域的三维模型可以通过拍摄作业区域的图像，然后基于图像对作业区域进行三维重建得到，或者可以通过激光雷达采集作业区域的三维点云，基于三维点云得到。不难理解，任一种可以得到作业区域的三维模型的方式在本申请实施例的方案中均适用，本申请实施例不做限制。
S204、根据检测到的运动控制操作控制虚拟可移动平台在所述三维模型中的运动轨迹；
在步骤S204中，在获取到作业区域的三维模型后，可以检测对虚拟可移动平台的运动控制操作，然后基于检测到的运动控制操作控制虚拟可移动平台在该三维模型中的运动轨迹。虚拟可移动平台可以是用于表示可移动平台的一个标识物，比如，该标识物可以是与可移动平台对应的三维模型、或者是表示该可移动平台的一个图像标识、或者可以是仅仅用一个点来表示该可移动平台。
对可移动平台的运动控制操作可以由用户输入的，也可以由设备自动生成。比如，以用户控制虚拟移动平台在三维模型中运动为例，如图3所示，在获取到作业区域的三维模型后，可以将三维模型展示到用户交互界面上，同时，交互界面上也可以展示虚拟可移动 平台。然后可以模拟真实世界中对可移动平台的控制方式，操控虚拟可移动平台在该三维模型中连续运动，执行该方法的设备在检测到用户输入的运动控制操作后，可以控制虚拟可移动平台在三维模型中执行相应的运动。
其中，执行该方法的设备可以包括用户交互入口，通过该用户交互入口检测用户的运动控制操作。示例性的，执行该方法的设备可以与遥控器连接，用户可以通过遥控器上的摇杆输入运动控制操作，以控制虚拟可移动平台运动。或者，执行该方法的设备也可以与键盘、鼠标等实体控制设备连接，用户通过这些实体控制设备控制虚拟可移动平台运动。或者，执行该方法的设备可以包括触摸屏，用户可以通过触摸屏上的虚拟按键控制虚拟可移动平台运动。或者，执行该方法的设备可以和用户的VR眼镜连接，用户可以通过VR眼镜控制虚拟可移动平台运动。不难理解，任一可以实现用户和执行该方法的设备进行交互，以输入运动控制指令的方式在本申请实施例中均适用，本申请实施例不做限制。
当然，在一些场景，运动控制操作也可以由设备自动生成，比如，设备可以自动对虚拟可移动平台的周围环境或所处的场景进行分析，然后根据分析结果控制虚拟可移动平台运动。即相当于通过设备自动模拟人的控制操作，实现自动对虚拟可移动平台进行控制。
S206、根据检测到的位置确认操作确定所述运动轨迹上的多个目标位置点，多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径。
在步骤S206中，在基于检测到的运动控制操作控制虚拟可移动平台在三维模型中运动的过程中，可以实时检测位置确认操作，在检测到位置确认操作后，即可以将虚拟可移动平台当前所在的位置作为目标位置点，然后，基于确定的多个目标位置点生成可移动平台在作业区域的作业路径。其中，位置确认操作可以是在确定可移动平台位于当前位置时可以准确地对目标对象进行作业后触发，该位置确认操作可以由用户触发，比如，用户在判定当前位置为适合对目标对象进行作业的位置，则可以触发位置确认操作。用户可以通过语音、通过控制部件(比如，键盘、鼠标、摇杆等)输入控制指令、或者点击触摸屏上的指定图标触发该位置确认操作。
当然，该位置确认操作也可以由设备自动触发，比如，可以预先设置每个目标位置点需符合的条件，当虚拟可移动平台运动到某个位置时，设备可以实时判定该位置是否符合预设的条件，如果符合，则自动触发位置确认操作。
通过上述方式，即可以确定多个目标位置点。然后可以基于该多个目标位置点生成可移动平台在作业区域中作业时的作业路径。整个规划过程中相当于模拟在真实世界中控制可移动平台在作业区域运动。这样，由于可以控制虚拟可移动平台在三维模型中的运动轨迹，以较低的成本验证了目标位置点的选择是否合理。因而，通过这种方式确定作业路径更加安全合理，准确度也更高。
进一步的，在规划作业路径时，可获知不同目标位置点之间的关联，不同目标位置点之间的连接路径的可通过性和安全性，例如作业路径的规划是否安全合理，作业路径上是否存在障碍物，作业路径是否能保证作业效果，达到“作业规划所见即所得”的效果，即控制虚拟可移动平台运动在三维模型运动的过程中遍历的目标位置点形成的作业路径，即 为可移动平台在真实环境中作业时的作业路径的情况，从而通过这种方式确定作业路径更加合理、安全、准确。
进一步的，展示虚拟可移动平台从第一目标位置点到第二目标位置点运动过程中观测的虚拟模型的观测影像，可方便用户获知目标位置点之间的连接路径的可通过性和安全性、以及周边环境信息。
在一些实施例中，对虚拟可移动平台的运动控制逻辑可以模拟真实世界中对可移动平台的控制逻辑，因此，该运动控制操作可以包括对虚拟可移动平台的横向控制操作、纵向控制操作、高度控制操作，偏航控制操作中的一种或多种。其中，通过横向控制操作、纵向控制操作、高度控制操作可以分别控制虚拟可移动平台在左右、前后、上下六个方向上运动。偏航控制操作可以控制虚拟可移动平台的偏航角度。通过这些控制操作，可以实现对虚拟可移动平台的控制与真实世界中对可移动平台的控制相似。
在一些实施例中，该运动控制操作可以通过控制部件触发，可以基于检测到的用户对该控制部件的操控速度(即单位时间操控量的变化量)和/或操控量确定该运动控制操作的运动控制量。其中，控制部件可以是鼠标、键盘、摇杆等实体部件，也可以触控屏上的虚拟控制部件。在对虚拟可移动平台进行控制时，可以将用户对控制部件的操控速度映射为虚拟移动平台的运动速度。比如，将用户的打杆速度映射为虚拟可移动平台的运动速度。此外，可以将用户对控制部件的操控量映射为对虚拟可移动平台的运动距离或转动角度，比如，可以将摇杆偏移量映射为对虚拟可移动平台的运动距离。再比如，如果控制部件可以是键盘，可以根据检测到的对键盘按键的按压时间决定用户控制部件的操控量，进而映射为对虚拟可移动平台的运动距离或转动角度。
在一些实施例中，对虚拟可移动平台的运动控制操作可以通过摇杆触发，可以根据检测到摇杆的偏移量确定运动控制操作的运动控制量。其中，该摇杆可以是实体摇杆，也可以虚拟摇杆。
示例性的，实体摇杆可以与执行该方法的设备连接，可以将实体摇杆的打杆方向映射为虚拟可移动平台的运动方向，将实体摇杆的偏移量映射为虚拟可移动平台的运动控制量。
示例性的，虚拟摇杆可以通过用户对键盘或鼠标的操控，映射为虚拟摇杆的变化量，再进一步映射为对虚拟可移动平台的运动控制量。比如，可以将键盘中的不同按键映射为虚拟摇杆的不同打杆方向，进而映射为虚拟可移动平台的运动方向。
由于在对可移动平台进行作业规划时，不仅仅需要规划可移动平台的作业位置，同时，还需要规划可移动平台在各个作业位置作业时的作业参数，以便可移动平台可以精准作业。因此，还可以检测作业参数确认操作，根据检测到的作业参数确认操作确定与目标位置点对应的作业参数并存储，其中，该作业参数用于指示可移动平台到达目标位置点执行作业。
其中，作业参数确认操作可以由用户触发，也可以由设备自动生成。在可移动平台上搭载的负载不同的场景，作业参数的类型也不同。比如，如果可移动平台搭载的负载为拍摄装置，其作业任务是对目标对象进行拍照，则此时作业参数可以是相机朝向、相机倍率、曝光参数等。如果可移动平台搭载的负载是吊挂系统，其作业任务为运输货物，则作业参 数可是装载货物的重量等。如果可移动平台搭载的负载是机械臂，其作业任务为采摘果实、或者抓取物品等，则作业参数可以是抓取距离、抓取角度等。如果可移动平台搭载的负载是喷洒系统，其作业任务为喷洒药物、施肥或浇水等，则作业参数可以是喷药量、喷洒速度、喷洒时间等等。其中，作业参数的具体类型可以基于实际应用场景灵活设置。
在一些实施例中，可移动平台搭载有相机负载，该作业参数可以是相机负载在空间中的朝向参数，该朝向参数用于指示可移动平台到达该目标位置点时相机负载根据该朝向参数执行作业。比如，可移动平台到达目标位置点时，相机可以将其朝向调整为该朝向参数指示的朝向，然后执行拍照任务。
在一些实施例中，相机可以搭载云台，可以基于该作业参数控制云台转动，以将相机的负载调整至该作业参数指示的朝向。
在一些实施例中，调整可移动平台上搭载的相机负载的朝向，以便确定精准的作业参数。在控制虚拟可移动平台运动的过程中，可以检测对虚拟可移动平台上的虚拟观测装置的朝向进行控制的朝向控制操作，然后基于检测到的朝向控制操作控制该虚拟观测装置的朝向，在检测到朝向确认操作后，可以确定虚拟可移动平台位于运动轨迹上的各目标位置点时该虚拟观测装置的目标朝向，其中，当可移动平台移动至各个目标位置点时，可以控制可移动平台搭载的相机负载按照该目标朝向进行作业。其中，朝向控制操作和朝向确认操作可以由用户触发，也可以由设备自动生成。
在一些实施例中，位置确认操作和作业参数确认操作可以是基于用户触发的同一操作确定，比如，当检测到用户触发的确认操作时，则同时记录虚拟可移动平台当前的位置，以及当前的作业参数。在一些实施例中，位置确认操作和作业参数确认操作也可以是用户触发的不同操作，比如，用户可以先触发一确认操作确定目标位置点，然后再触发另一确认操作确定该目标位置点对应的作业参数。再比如，用户可以先触发一确认操作确定该目标位置点对应的作业参数，然后再自动触发另一确认操作确定该作业参数对应的目标位置点。
在一些实施例中，在确定目标位置点后，还可以进一步确定与该目标位置点对应的作业结果，基于作业结果调整目标位置点和/或目标位置点对应的作业参数。其中，作业结果可以用于指示可移动平台位于该目标位置点进行作业时，其作业完成情况与理想情况的偏差。调整后的目标位置点用于重新生成可移动平台在作业区域的作业路径，调整后的作业参数用于指示可移动平台位于调整后的目标位置点时，其负载进行作业时的作业参数。通过根据可移动平台位于该目标位置点进行作业时，其作业完成情况与理想情况的偏差，自动对作业路径和作业参数进行调整，可以使得最终确定的作业参数和作业路径更加准确。
在一些实施例中，如图3所示，在控制虚拟可移动平台在三维模型中运动的过程中，可以基于虚拟可移动平台运动过程中的位姿，确定虚拟可移动平台上搭载的虚拟观测装置的观测视角，将三维模型投影到该观测视角得到的观测图像，并实时展示在用户交互界面上。比如，在控制虚拟可移动平台在三维模型中运动的过程中，可以通过交互界面实时展示虚拟可移动平台或虚拟可移动平台上的虚拟负载对三维模型的观测图像，从而方便用户 知道可移动平台位于该当前位置时，其作业情况，比如，可移动平台上搭载的相机采集到的图像包括什么内容，或者可移动平台上搭载的机械臂是否可以抓取到果实、或者可移动平台上搭载的喷洒装置是否可以对准要喷洒的农作物等等。
在一些实施例中，可移动平台上搭载的负载可以是相机，在控制虚拟可移动平台在三维模型中运动的过程中，可以获取虚拟可移动平台上的虚拟相机在空间中的朝向信息，根据该朝向信息确定虚拟相机对该三维模型中景物的观测图像，并展示该观测图像。从而方便用户知道可移动平台位于该当前位置，且相机按照该朝向信息进行拍照时，其采集的图像中是否包括想要拍摄的目标对象。
在一些实施例中，可移动平台上的负载为拍摄装置，其作业任务为对目标对象进行拍照，则作业结果可以是可移动平台位于各目标位置点时，该拍摄装置的拍摄图像与样片图像的偏差。其中，样片图像可以基于用户对该观测图像的调整操作确定的图像。比如，当用户基于观测图像发现当前虚拟可移动平台所在的位置并非可移动平台对目标对象进行作业的最佳位置，用户可以对观测图像进行调整，使得虚拟可移动平台在处于可以观测到该调整后的观测图像所在的位置时，可以得到更加精准的作业结果。其中，对观测图像进行调整可以是对观测图像的部分或全部像素区域进行调整，该调整操作可以是调整该部分像素区域对应的内容在观测图像中成像位置和大小。
示例性的，可移动平台搭载的负载为相机，其作业任务是对作业区域的目标对象进行拍摄。在控制虚拟可移动平台在三维模型中运动时，可以在交互界面实时展示虚拟可移动平台上的虚拟相机对三维模型的观测图像(即虚拟相机可以拍摄到的图像，也是实际作业场景中可移动平台上的相机的拍摄图像)，即可以基于该观测图像判定真实作业场景可移动平台位于该位置时，其采集的图像的内容，比如，其是否可以拍摄到完整的目标对象，目标对象是否位于画面中心等等。如图4所示，如果观测图像中的目标对象过小、或者目标对象没有位于画面中心，则可以对该观测图像进行调整，比如，在观测图像中重新框选目标对象，或者移动该观测图像，将目标对象置于图像中心位置，或者放大该图像，使得目标对象在画面的占比变大。其中，调整后的观测图像即为样片图像，执行该方法的设备即可以基于观测图像和该样片图像的偏差重新调整目标位置点和/或作业参数。比如，可以基于目标对象的在图像中的位置差异调整目标位置点的位置，或者基于目标对象在图像的占比差异调整相机拍照时的倍率等等。
此外，在检测到对观测图像的调整操作后，为了便于获知调整后的样片图像的内容，还可以在交互界面展示该样片图像，比如，将调整后的样片图像作为新的观测图像，在交互界面中展示。示例性的，当用户查看该新的观测图像，确定该观测图像符合需求时，即可以触发位置确认操作或作业参数确认操作。
通过对观测图像的调整，自动调整可移动平台作业时的作业路径，以及作业参数，可以达到“所见即所得”的效果，即展示的观测图像，即为可移动平台作业时拍摄到的图像，使得对可移动平台的作业规划更加直观。
在一些实施例中，在根据检测到的运动控制操作控制虚拟可移动平台在三维模型中的 运动轨迹时，可以根据检测到的运动控制操作，控制虚拟可移动平台从三维模型中的第一位置离开，并向三维模型中的其他区域运动，然后根据检测到的位置确认操作将该虚拟可移动平台在三维模型中的当前位置确定为第二位置，其中，该第一位置和第二位置用于生成可移动平台在作业区域的作业路径。
在一些实施例中，为了方便用户调整规划的作业路径，可以提供目标位置点的编辑功能。在检测到用户的编辑操作后，可以执行以下一项或者多项操作：删除已确定的目标位置点、调整已确定的目标位置点的位置、在任一两相邻目标位置点之间插入新增的目标位置点，修改目标位置点对应的作业参数。如图5所示，以无人机的航线确定为例，用户可以点击某个已确定航点，然后对该航点进行编辑，比如，编辑该航点的位置、作业任务或作业参数等。通过这种方式，用户可以在作业规划过程中随时对已有确定的目标位置点进行调整，更加的方便快捷。
在一些实施例中，当虚拟可移动平台移动至某个已确定的目标位置点，可以在交互界面上展示该目标位置点对应的信息，比如，在该目标位置点时，可移动平台对三维模型的观测图像、该目标位置点对应的作业参数、可移动平台位于该目标位置点时，其与周围环境物体的距离信息等等。因此，当回溯之前已确定的目标位置点的相关信息时，可以将虚拟可移动平台移动至对应的目标位置点。执行该方法的设备在检测到移动操作后，可以将虚拟可移动平台从当前位置移动至已确定的任一目标位置点，并在交互界面中展示该目标位置点的相关信息。
在一些实施例中，为了方便用户了解当前虚拟可移动平台搭载的虚拟观测装置当前的朝向，可以在交互界面上展示用于表征该虚拟观测装置的朝向的标识。其中，在交互界面展示虚拟观测装置的朝向的标识，可以是在控制虚拟可移动平台在三维模型中运动的过程中实时展示，也可以是在虚拟可移动平台位于目标位置点时再展示。
在一些实施例中，在确定目标位置点后，为了方便了解当前位置点的周围环境信息，可以在交互界面中展示该目标位置点周围的三维模型中的景物，以便清楚感知到可移动平台的真实作业环境。
在一些实施例中，在获取到作业区域的三维模型后，可以在交互界面展示该三维模型。其中，为了方便从不同角度展示三维模型的信息，三维模型在交互界面上的展示视角可以包括多种，可以基于实际需求切换三维模型的展示视角。比如，在检测到用户输入的视角切换操作后，可以将三维模型在交互界面的展示视角切换至该视角切换操作指示的视角。
在一些实施例中，该多种视角中的任意两种视角的视点位置不同，和/或，从任意两种视角的视点位置指向该虚拟可移动平台的方向不同。比如，这多种视角可以是可移动平台的第一人称视角、地图俯视角、第二人称视角、第三人称视角。
在可移动平台的第一人称视角下，可以通过在交互界面全屏展示可移动平台对三维模型进行观测得到观测图像，这种视角方便用户清楚地看到该目标位置对应的观测图像，如图6(a)所示，为第一人称视角下展示的三维模型的图像。
在地图俯视视角下，可以展示整个作业路径中的各个目标位置点的整体信息，方便用 户判定目标位置点有无遗漏，以及各目标位置点水平方向上的信息，如图6(b)所示，为地图俯视视角下展示的三维模型的图像。
在第二人称视角下，可以方便用户了解可移动平台在纵向上的环境信息。
而当地面起伏较大，周围障碍物较多的情况下，可以切换至第三人称视角，在第三人称视角下，用户可以清楚的看到可移动平台周围的障碍物信息。
总而言之，不同视角下展示的信息不同，用户可以基于实际需求切换至相应视角，以获取到不同维度的信息。
在一些实施例中，任一视角的视点的位置均会跟随虚拟可移动平台的运动而变化，且视点的位置与虚拟可移动平台的相对位置保持固定，从而可以保证可以实时准确地获知可移动平台运动过程中运动轨迹周围的环境信息。
相关的作业规划采用第一视角确定作业参数的方案并不支持可移动平台一边运动一边作业，也不支持直接在当前视角确定除了拍照之外的作业参数，本申请方案允许用户直接在第一视角，地图俯视角，跟随在可移动平台尾部的第三人称跟随视角，固定角度的第三人称视角等多种视角下都能自由地确定目标位置点，并且可以快速调整所有与目标位置点相关的相关参数。
在一些实施例中，在交互界面中展示作业区域的三维模型和虚拟可移动平台时，为了从不同角度给用户呈现虚拟可移动平台在三维模型中的位置信息，在交互界面上展示的画面可以是呈现虚拟可移动平台观测到的三维模型的画面、呈现虚拟可移动平台与三维模型的相对位置关系的画面中的一种或者多种。前者方便用户了解虚拟可移动平台位于当前位置时，其观测到的三维模型中的景物，后者方便用户了解虚拟可移动平台位于当前位置时，其周围的环境信息。
在一些实施例中，为了在对可移动平台进行作业规划的过程中，可以感知到可移动平台位于任一目标位置时，其周围的环境信息，比如，周围是否存在障碍物、是否存在安全隐患，作业路径是否合理等。在确定目标位置后，可以在交互界面上展示安全提示信息。其中，安全提示信息可以基于虚拟可移动平台的运动轨迹上的目标位置点与三维模型的包络点的相对位置关系、虚拟可移动平台在运动轨迹上的运动姿态变化量中的一种或多种信息确定。其中，包络点可以用于表示三维模型中的某个对象的位置，比如，可以是三维模型中的某棵树对应的位置点、或者地面对应的位置点等。
在一些实施例中，运动轨迹上的目标位置点与三维模型的包络点的相对位置关系可以是目标位置点与障碍物之间的距离和/或目标位置点相对于地面的高度。通过确定目标位置点与障碍物距离的远近情况、与地面的相对高度等，可以确定虚拟可移动平台在运动过程中是否存在安全风险，比如，与障碍物距离是否过近、距离地面高度是否过低等，如果发现存在安全风险，即可以生成安全提示信息并展示在交互界面上，以提示用户潜在的风险，如图7所示，为在交互界面展示安全提示信息的示意图。
当然，可移动平台在运动过程中，不仅仅要考虑与障碍物的距离，避免发生碰撞，同时，也要尽量保证可移动平台的运动轨迹平滑，避免出现急转弯等情况。因此，还可以确 定虚拟可移动平台在运动轨迹上的运动姿态变化量，其中，运动姿态变化量可以是单位时间内的虚拟可移动平台的运动姿态变化量，也可以是单位路程内虚拟可移动平台的运动姿态变化量。如果出现姿态变化量过大的情况，即可以在交互界面展示安全提示信息进行提示。
由于三维模型中有准确的环境数据，相关障碍物可以及时准确地交互界面上展示。可选的，可以在交互界面的主视窗中展示当前虚拟可移动平台与周边障碍物的距离及当前虚拟可移动平台的位姿信息。可选的，在交互界面上可以快速地查看当前虚拟可移动平台周边的障碍物距离，也可以回溯任一目标位置点的障碍物状态。可选的，对于环境复杂的作业规划，相关目标位置点与障碍物的关系也可以依托三维模型所处的虚拟空间中存在实际物理信息的优势展示出来，便于在完成作业规划后全局总览目标作业点，和/或，目标作业点的作业参数。
在一些实施例中，为了方便直观地了解当前虚拟可移动平台距离地面的高度，该安全提示信息可以包括虚拟可移动平台在目标位置点时相对地面高度的辅助线，并在辅助线附近标识相对地面的高度值。或者，安全提示信息也可以直接是显示某个图标，该图标中展示有虚拟可移动平台在目标位置点相对地面高度值的大小。
在一些实施例中，除了通过在交互界面展示安全提示信息外，也可以通过语音提示的方式播报该安全提示信息。
在一些实施例中，安全提示信息可以在控制虚拟可移动平台在三维模型运动的过程中实时发出提示，从而便于基于安全提示来确定目标位置点。或者也可以是在用户或者设备触发了位置确认操作确定目标位置点后再进行提示，这种情况下，则可以基于安全提示信息调整目标位置点。
在一些实施例中，如图8所示，在用户完成各目标位置点的确认后，也可以在交互界面中展示作业路径的所有目标位置点，然后对存在安全风险的目标位置点进行标记，以便用户可以了解到作业路径的哪些目标位置点存储安全风险。
在一些实施例中，可移动平台要执行的任务为对作业区域中的目标对象进行巡检拍照的任务，在这种重复巡检拍照的场景，由于对可移动平台的位姿的控制精度不足(比如，对云台的控制精度可能不足)，可能会导致在某个目标位置点进行复拍时，拍摄到的图像和预期的图像存在较大的偏差，尤其是在远距离变焦拍摄的场景尤为明显。为了避免上述问题，在重复巡检拍照的场景，可以采用精准复拍的方式确保准确拍摄。精准复拍即预先存储可移动平台在每个目标位置点需拍摄的目标对象的样片图像，以便可移动平台在该目标位置点执行拍摄任务时，可以基于采集的图像和样片图像的内容是否一致，来调整可移动平台的位姿，进而可以保证拍摄的图像中包括目标对象。
在一些实施例中，为了得到样片图像，以指导可移动平台在重复巡检任务中采集得到目标对象的图像。在完成作业路径的规划后，可以控制可移动平台在作业区域内按照规划的作业路径作业，并获取可移动平台按照该作业路径作业时采集的实景图像并展示给用户，然后从实景图像中截取用户选取的图像区域作为包含目标对象的样片图像，该样片图像用 于指示可移动平台在后续作业过程中拍摄包含该目标对象的实景图像。
比如，假设待拍摄的目标对象为电力设备，在完成可移动平台的作业路径规划并确定可移动平台在各个目标位置点的作业参数后，可以控制可移动平台按照规划的作业路径和作业参数进行作业，采集得到实景图像，然后显示给用户，用户可以从实景图像中框选出目标对象，然后可以将用户框选的图像区域作为样片图像存储，以便用于指导可移动平台在后续执行巡检任务时采集得到包括目标对象的图像。
在一些实施例中，考虑到在进行作业规划时，需要得到作业区域的三维模型，而三维模型是对作业区域的景物进行三维重建得到，是作业区域的真实写照，因此，也可以直接基于三维模型得到包含目标对象的样片图像，比如，可以对三维模型进行观测得到包含目标对象的图像，然后直接将该图像作为样片图像。再比如，在一些场景，三维模型是通过对拍摄的作业区域的图像进行三维重建得到，因而，也可以从用于三维重建的图像中选取拍摄角度合适的、包含该目标对象的图像，并将该图像作为样片图像。总之，通过基于三维模型确定样片图像，可以无需通过控制可移动平台真实的执行一次作业任务来获取样片图像，更加方便和快捷，极大地提升了可移动平台的作业效率。
在一些实施例中，云端可以采用该方法实现无人到场的作业规划闭环，释放人力。可选的，通过通信交互、精准复拍，云端后重建、三维模型所处的虚拟空间碰撞监测等功能的聚合，提高可移动平台作业规划的安全性和作业效率。可选的，可移动平台可以是无人飞行器。可选的，作业规划可以是无人飞行器的航线规划。
在一些实施例中，所述基于所述观测图像确定所述样片图像，包括以下任一方式：将所述观测图像作为样片图像；或，将所述观测图像中心位置所在的图像区域作为样片图像；或，将用户选取的所述观测图像中的图像区域作为样片图像。
在一些实施例中，在对三维模型进行观测得到包含目标对象的样片图像时，可以由用户对三维模型进行旋转拖动等操作，找到一个可以观测到目标对象的视角，然后执行该方法的设备可以自动将该视角下用户观测到的包含目标对象的图像作为样片图像。
在一些实施例中，也可以在虚拟可移动平台运动过程中，将虚拟可移动平台对三维模型进行观测得到的包含目标对象的图像作为样片图像。比如，在虚拟可移动平台运动过程中，可以基于虚拟可移动平台的位姿，确定虚拟可移动平台上搭载的虚拟观测装置的观测视角，然后获取该三维模型投影到该观测视角得到的观测图像，并根据该观测图像确定样片图像。
在一些实施例中，考虑到确定的目标位置点即为可以观测到目标对象的位置点，因而，可以在检测到输入的位置确认操作后，将虚拟可移动平台位于当前位置时，其对三维模型进行观测得到的观测图像直接作为包含目标对象的样片图像。
在一些实施例中，样片图像的尺寸大小可以预先设定，即样片图像为固定大小的图像，因此，在得到虚拟可移动平台对三维模型进行观测得到的观测图像后，也可以基于样片图像的规定尺寸，将观测图像中心位置所在的图像区域截取出来，作为样片图像。
在一些实施例中，为了可以得到更加准确，效果更好的样片图像，也可以直接从展示 在交互界面的观测图像中选取包括目标对象的区域作为样片图像。比如，可以在观测图像中框选出目标对象，执行该方法的设备可以将框选的图像区域存储，作为样片图像。
示例性的，用户在控制虚拟可移动平台在三维模型中运动的过程中，可以实时在交互界面展示虚拟可移动平台对三维模型的观测图像，如果用户确认该观测图像中包括要拍摄的目标对象，且目标对象位于图像中间位置，即可以触发位置确认操作，此时，执行该方法的设备可以将虚拟可移动平台所在的位置作为目标位置点，并且将交互界面展示的观测图像作为样片图像，或者从观测图像中截取中间位置的图像区域作为样片图像。当然，如果用户确认目标对象没有在观测图像的画面中间位置，或者目标对象占比较小，也可以先从观测图像中框选出目标对象，然后执行该方法的设备可以在交互界面展示框选后的图像，并且自动基于用户的框选操作调整目标位置点的位置，如果用户觉得此时的图像符合需求，则可以触发位置确认操作，以便存储该调整后的目标位置点，以及将调整后的观测图像作为样片图像。
其中，通过实景图像确定样片图像的方式，和直接基于三维模型得到样片图像的方式各有优势，实际应用时，可以基于实际需求灵活选择上述任一种方式。比如，在构建的三维模型的精度较低而要拍摄的目标对象尺寸又比较小的场景，如果直接基于三维模型得到样片图像，可能样片图像的清晰度较低，因而不太适合用于指导可移动平台在作业过程中采集和样片图像内容一样的实景图像，因而，可以通过采集实景图像的方式获取样片图像。而在三维模型的精度足以实现得到清晰的目标对象的图像的场景，则可以直接通过三维模型获取样片图像，从而无需控制可移动平台真实作业，方便快捷，并且也可以避免由于天气等各种原因，导致采集的实景图像中的目标对象不够清晰，进而得到的样本图像也不够清晰的问题。
可选的，通过实景图像确定样片图像的方式，和直接基于三维模型得到样片图像的方式也可以相互结合以实现效果互补。例如，针对三维模型中更新不及时的部分可采用实景图像确定样片，针对实景图像中被因天气或外部环境导致被遮挡的部分可采用基于三维模型确定样片，以保证样片图像的准确度。
此外，在通过三维模型直接得到样片图像的场景，为了保证样片图像的精度和清晰度，在构建三维模型时，也可以基于待拍摄的目标对象的尺寸大小调整三维模型的精度。比如，针对目标对象尺寸较小的场景，重建的三维模型的精度可以高一些，在目标对象尺寸较大的场景，重建的三维模型的精度可以低一些。
在一些实施例中，由可移动平台沿规划的作业路径作业采集得到的实景图像也可以用于更新作业区域的三维模型。例如，在目标位置点时采集得到的实景图像与对应在该目标位置点的三维模型上观测图像相差过大，则可以触发通过实景图像对三维模型的更新操作。这个更新操作可以是全局更新，也可以是局部更新。
在一些实施例中，将所述目标位置点展示在交互界面上；基于所述目标位置点对应的作业结果，调整所述目标位置点在所述交互界面上的展示效果。基于可移动平台的实际作业结果，可以将目标点位进行标记，以方便用户获知目标点位上的可移动平台的任务执行 效果和/或可移动平台的作业目标的故障分析结果。在另一种可选的实施方式中，该目标位置点在界面上的展示可以是以列表的形式展示，也可以是在三维模型的对应虚拟空间位置点进行标记。
在一些实施例中，在利用可移动平台巡检拍照，采集到目标对象的实景图像后，针对当前一次巡检任务采集的实景图像，可以与历史巡检任务采集的实景图像进行相似度匹配，判定两者的相似度。比如，针对作业路径上的某个目标位置点，可以确定当前一次巡检任务中可移动平台按照某个姿态采集的图像和上一次巡检任务中可移动平台按照相同姿态采集的图像的相似度，如果相似度过低，比如，低于预设的某个阈值，则可能是可移动平台当前一次巡检任务失败，或者也可能是需巡检的目标对象被遮挡或出现了故障。此时，可以向用户发出提示信息，以便用户定位问题。
在一些实施例中，考虑到针对待巡检的目标对象出现一些细微的故障的场景，仅基于各次巡检任务采集的实景图像的整体相似度还无法发现这类故障。示例性的，以桥梁巡检为例，如果桥梁出现了裂缝，基于两次巡检任务采集的实景图像进行相似度匹配，可能其相似度依然较高，因而，并不会对用户进行提示，从而导致用户无法发现这类故障。为了避免上述问题，针对当前一次巡检任务采集的实景图像与历史巡检任务采集的实景图像相似度大于预设阈值的场景，还可以进一步对实景图像进行语义识别，从各实景图像中识别出目标对象，然后再对目标对象进行比对，判定各实景图像中的目标对象是否相似，如果相似度较低，则认为目标对象可能出现故障，进而发出提示信息。可选的，通过进一步结合语义识别，可以对目标对象进行更精准的故障分析。可选的，对当前实景图像中每个像素所代表的语义内容进行识别，历史采集的图像可以作为语义识别的数据集，可以分析实景图像中有哪些语义信息，比如树木、塔楼、裂缝、雪等，可自动完成故障分析。
在一些实施例中，为了方便用户后续定位问题，可以记录出现问题的实景图像(比如，实景图像与历史实景图像的整体的相似度过低，或实景图像中的目标对象与历史实景图像中的目标对象的相似度过低)对应的目标位置点、作业参数、巡检任务轮次等信息，便于用户后续定位问题。比如，可以在交互界面上展示该作业路径，并标记该出现问题的目标位置点，以方便定位是作业路径中的哪个位置点出现问题。
在一些实施例中，将可移动平台多次实际作业的结果上传至云端，云端或者终端设备可基于已有作业结果和/或基于用户标定的目标，基于图片匹配，向用户提示每次作业中潜在的风险。可选的，作业可以包括能源行业、测绘行业、公共安全等作业领域。示例性的，以电网巡检为例，提示部分电气零部件损坏或者缺失。示例性的，以油气巡检方案为例，提示油气管道破裂。示例性的，以AEC巡检为例，提示建筑工程或项目群违停或违建。在一些实施例中，该三维模型可以基于可移动平台采集的该作业区域的图像生成的。可以控制可移动平台在作业区域内运动，采集得到作业区域的图像，然后再基于图像对作业区域进行三维重建，以得到该三维模型。
比如，以该可移动平台作业任务为对作业区域内的目标对象进行巡检为例，云端可以通过基站远程下发指令给覆盖范围内的可移动平台，以控制可移动平台运动到对应的作业 区域并采集该作业区域的图像，然后将采集的图像回传给云端，云端可以利用该图像重建作业区域的三维模型，或者云端也可以将该图像发送给终端，该终端中安装有建模软件和作业规划软件，通过该建模软件完成作业区域的建模，并通过该作业规划软件实现作业路径的规划。
在一些实施例中，基于虚拟可移动平台在三维模型中的运动确定多个目标位置点后，可以将多个目标位置点连接，得到可移动平台在作业区域的作业路径。其中，在连接多个目标位置点时，可以依次按照目标位置点的确认顺序将多个目标位置点连接，得到作业路径。
在一些实施例中，考虑到目标位置点的确认顺序并非是最佳的作业顺序，即在将多个目标位置点连接以生成作业路径时，目标位置点排序与确认该多个目标位置点的先后顺序可以不同。在这种情况下，可以基于最佳的作业顺序对多个目标位置点排序，然后再基于目标位置点排序连接多个目标位置点，得到作业路径。
在一些实施例中，在确定目标位置点排序时，可以根据从起始目标位置点沿轨迹线到终止目标位置点运动时，该可移动平台所需消耗的运动路程或者运动时长确定。即在确定多个目标位置点排序以得到作业路径时，尽量保证可移动平台按照该作业路径运动时，其运动的路程尽可能短，或者运动时长尽可能短，以节约能量消耗或者提高作业效率。
在一些实施例中，可以基于触发的作业任务确认操作确定虚拟可移动平台在目标位置点的多个作业任务，其中，可移动平台执行该多个作业任务的顺序可以与多个作业任务的确认顺序相同。
在一些实施例中，考虑到多个作业任务的确认顺序并非是最佳的任务执行顺序，因此，在确定多个作业任务后，可以基于多个作业任务的相关信息(比如，任务的内容、执行任务时可移动平台的位姿等)确定可移动平台在目标位置点执行这多个作业任务时的目标顺序，以便可移动平台在该目标位置点时按照该目标顺序执行这多个作业任务，其中，目标作业顺序与多个作业任务的确定顺序不同。
示例性的，针对某个目标位置点，可移动平台在该目标位置点时需要按照多个不同位姿进行多次作业，考虑到确认这多次作业任务的顺序并非是最佳的任务执行顺序，因此，可以基于各次作业任务的作业位姿进行作业任务的先后顺序的优化，得到最佳的作业任务执行顺序。比如，可以使得可移动平台在执行这多个作业任务时总的位姿变化最小或位姿变化连续递进，从而可以提高可移动平台的作业效率。
在一些实施例中，提供了一种可移动平台的作业规划方法，方法包括：获取可移动平台的作业区域的三维模型；根据检测到的运动控制操作控制虚拟可移动平台在三维模型中的运动轨迹；根据检测到的位置确认操作确定运动轨迹上的多个目标位置点，多个目标位置点用于生成可移动平台在作业区域的作业路径。可选的，三维模型是基于控制可移动平台采集作业区域内的图像生成的。可选的，方法还包括：基于虚拟可移动平台运动过程中的位姿，确定虚拟可移动平台上搭载的虚拟观测装置的观测视角，将三维模型投影到观测视角得到的观测图像实时展示在交互界面上。可选的，在交互 界面上展示呈现虚拟可移动平台观测到的三维模型的画面，和/或，呈现虚拟可移动平台与三维模型的相对位置关系的画面。可选的，方法还包括，根据检测到的作业参数确认操作确定与目标位置点对应的作业参数并存储，作业参数用于指示可移动平台到达目标位置点执行作业。可选的，可移动平台搭载有相机负载，作业参数包括相机负载在空间中的朝向参数，朝向参数用于指示可移动平台到达目标位置点时相机负载根据朝向参数执行作业。可选的，方法还包括：获取可移动平台在作业区域内按照作业路径作业时采集的实景图像；从实景图像中截取用户选取的图像区域作为包含目标对象的样片图像，其中，样片图像用于指示可移动平台在后续作业过程中拍摄包含目标对象的实景图像。可选的，方法还包括确定与目标位置点对应的实景图像与样片图像的偏差，基于作业结果调整目标位置点和/或目标位置点对应的作业参数。
此外，本申请实施例提供了一种可移动平台的作业规划方法，所述方法包括：
获取可移动平台的作业区域的三维模型；
根据运动控制操作控制虚拟观测设备在所述三维模型所处的虚拟空间中运动，将运动过程中所述虚拟观测设备对所述三维模型的观测图像实时展示在用户交互界面上；
响应于用户的确认操作，确定与所述虚拟观测设备在所述虚拟空间中的位姿对应的目标地理位姿，所述目标地理位姿用于指示所述可移动平台在所述作业区域作业。
其中，实现上述作业规划方法的具体细节可参考上述实施例中的描述，在此不再赘述。
此外，本申请实施例提供了一种可移动平台的作业规划方法，所述方法包括：
获取在作业区域的三维模型中规划的作业路径，以及所述作业路径上的路径点的作业参数，所述作业路径基于虚拟可移动平台在所述三维模型中运动位姿以及所述虚拟可移动平台对所述三维模型的观测图像生成；
控制可移动平台在作业区域内沿着所述作业路径运动，并基于所述路径点的作业参数进行作业，得到作业内容；
获取对作业内容的分析得到的作业结果；
基于作业结果调整所述作业路径，以及所述作业路径上的路径点的作业参数；
基于调整后的作业路径以及调整后的作业参数控制所述可移动平台在作业区域内作业。
其中，实现上述作业规划方法的具体细节可参考上述实施例中的描述，在此不再赘述。
此外，本申请实施例还提供了一种作业规划系统，包括云端、客户端、可移动平台；
所述可移动平台用于采集作业区域的图像，并发送给所述云端；
所述云端用于基于所述图像生成的作业区域的三维模型，并发送给所述客户端；
所述客户端用于在交互界面展示所述三维模型，并根据用户输入的运动控制操作控制虚拟可移动平台在所述三维模型中运动，将运动过程中所述虚拟可移动平台对所述三维模型的观测图像实时展示在用户交互界面上；响应于用户的确认操作，确定与所述虚拟可移动平台当前位姿对应的目标地理位姿，所述目标地理位姿用于指示所述可移动平台在所述作业区域内作业。
其中，上述作业规划系统实现作业规划的具体细节可参考上述实施例中的描述，在此不再赘述。
其中，不难理解，上述各实施例中的描述的方案在不存在冲突的情况，可以进行组合，本申请实施例中不一一例举。
此外，本申请实施例还提供了一种可移动平台的作业规划装置，如图9所示，所述装置包括处理器91、存储器92、存储于所述存储器92可供所述处理器91执行的计算机程序，所述处理器91执行所述计算机程序时，可实现以下步骤：
获取可移动平台的作业区域的三维模型；
根据检测到的运动控制操作控制虚拟可移动平台在所述三维模型中的运动轨迹；
根据检测到的位置确认操作确定所述运动轨迹上的多个目标位置点，多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径。
在一些实施例中，所述运动控制操作包括以下一种或多种：对所述虚拟可移动平台的横向控制操作、纵向控制操作、高度控制操作，偏航控制操作。
在一些实施例中，所述运动控制操作通过摇杆触发，基于检测到的所述摇杆的偏移量确定所述运动控制操作的运动控制量。
在一些实施例中，所述处理器还用于：根据检测到的作业参数确认操作确定与所述目标位置点对应的作业参数并存储，所述作业参数用于指示所述可移动平台到达所述目标位置点执行作业。
在一些实施例中，所述可移动平台搭载有相机负载，所述作业参数包括所述相机负载在空间中的朝向参数，所述朝向参数用于指示所述可移动平台到达所述目标位置点时所述相机负载根据所述朝向参数执行作业。
在一些实施例中，所述处理器还用于：确定与所述目标位置点对应的作业结果，基于所述作业结果调整所述目标位置点和/或所述目标位置点对应的所述作业参数。
在一些实施例中，所述可移动平台上的负载包括拍摄装置，所述作业结果包括所述拍摄装置的拍摄图像与样片图像的偏差。
在一些实施例中，所述处理器还用于：基于所述虚拟可移动平台运动过程中的位姿，确定所述虚拟可移动平台上搭载的虚拟观测装置的观测视角，将所述三维模型投影到所述观测视角得到的观测图像实时展示在交互界面上。
在一些实施例中，所述处理器用于根据检测到的运动控制操作控制虚拟可移动平台在所述三维模型中的运动轨迹，具体用于：
根据检测到的运动控制操作，控制虚拟可移动平台从所述三维模型中的第一位置离开，并向所述三维模型中的其他区域运动；
所述根据检测到的位置确认操作确定所述运动轨迹上的多个目标位置点，多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径包括：
根据检测到的位置确认操作将所述虚拟可移动平台在所述三维模型中的当前位置确定为第二位置，所述第一位置和所述第二位置用于生成所述可移动平台在所述作业 区域的所述作业路径。
在一些实施例中，所述处理器还用于响应于编辑操作，执行以下任一操作：
删除已确定的所述目标位置点；
调整已确定的所述目标位置点的位置；
在任一两相邻目标位置点之间插入新增的目标位置点；
修改所述目标位置点对应的作业参数。
在一些实施例中，所述处理器还用于响应于移动操作，控制所述虚拟可移动平台从当前位置移动至已确定的任一目标位置点。
在一些实施例中，所述处理器还用于：在交互界面上展示用于表征所述虚拟可移动平台搭载的虚拟观测装置的朝向的标识，和/或，所述目标位置点周围的三维模型中的景物。
在一些实施例中，所述处理器还用于：在交互界面上展示呈现所述虚拟可移动平台观测到的三维模型的画面，和/或，呈现所述虚拟可移动平台与所述三维模型的相对位置关系的画面。
在一些实施例中，所述处理器还用于：在交互界面上展示所述三维模型，所述三维模型在所述交互界面上的展示视角包括多种视角；
其中，多种所述视角中的任意两种视角的视点位置不同，和/或，从任意两种视角的所述视点指向所述虚拟可移动平台的方向不同。
在一些实施例中，所述处理器还用于：任一所述视角的所述视点的位置跟随所述虚拟可移动平台的运动而变化，所述视点与所述虚拟可移动平台的相对位置保持固定。
在一些实施例中，所述处理器还用于：在交互界面展示安全提示信息；
其中，所述安全提示信息基于以下一种或者多种信息生成：
所述运动轨迹上的位置点与所述三维模型的包络点的相对位置关系；
所述虚拟可移动平台在所述运动轨迹上的运动姿态变化量。
在一些实施例中，所述处理器还用于：获取对所述三维模型的观测得到包含目标对象的样片图像，其中，所述样片图像用于指示所述可移动平台在沿所述作业路径作业过程中拍摄包含所述目标对象的实景图像。
在一些实施例中，所述处理器用于获取对所述三维模型的观测得到包含目标对象的样片图像时，具体用于：
基于所述虚拟可移动平台运动过程中的位姿，确定所述虚拟可移动平台上搭载的虚拟观测装置的观测视角；
获取所述三维模型投影到所述观测视角得到的观测图像，基于所述观测图像确定所述样片图像。
在一些实施例中，所述基于所述观测图像确定所述样片图像，包括以下任一方式：将所述观测图像作为样片图像；或，将所述观测图像中心位置所在的图像区域作为样片图像；或，将用户选取的所述观测图像中的图像区域作为样片图像。
在一些实施例中，所述处理器还用于：获取所述可移动平台在所述作业区域内按照所述作业路径作业时采集的实景图像；
从所述实景图像中截取用户选取的图像区域作为包含目标对象的样片图像，其中，所述样片图像用于指示所述可移动平台在后续作业过程中拍摄包含所述目标对象的实景图像。
在一些实施例中，所述三维模型是基于控制可移动平台采集所述作业区域内的图像生成的。
在一些实施例中，所述多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径，包括：
确定将多个所述目标位置点连接以生成所述作业区域的作业路径的目标位置点排序，所述目标位置点排序与确认所述目标位置点的先后顺序不同。
在一些实施例中，所述处理器还用于：基于作业任务确认操作确定所述虚拟可移动平台在所述目标位置点的多个作业任务；
指示所述可移动平台在所述目标位置点按照目标作业顺序执行多个所述作业任务，所述目标作业顺序与多个所述作业任务的确定顺序不同。
在一些实施例中，所述处理器还用于：将所述目标位置点展示在交互界面上；
基于所述目标位置点对应的作业结果，调整所述目标位置点在所述交互界面上的展示效果。
此外，本申请实施例还提供了一种可移动平台的作业规划装置，所述装置包括处理器、存储器、存储于所述存储器可供所述处理器执行的计算机程序，所述处理器执行所述计算机程序时，可实现以下步骤：
获取可移动平台的作业区域的三维模型；
根据运动控制操作控制虚拟观测设备在所述三维模型所处的虚拟空间中运动，将运动过程中所述虚拟观测设备对所述三维模型的观测图像实时展示在用户交互界面上；
响应于用户的确认操作，确定与所述虚拟观测设备在所述虚拟空间中的位姿对应的目标地理位姿，所述目标地理位姿用于指示所述可移动平台在所述作业区域作业。
此外，本申请实施例还提供了一种可移动平台的作业规划装置，所述装置包括处理器、存储器、存储于所述存储器可供所述处理器执行的计算机程序，所述处理器执行所述计算机程序时，可实现以下步骤：
获取在作业区域的三维模型中规划的作业路径，以及所述作业路径上的路径点的作业参数，所述作业路径基于虚拟可移动平台在所述三维模型中运动位姿以及所述虚拟可移动平台对所述三维模型的观测图像生成；
控制可移动平台在作业区域内沿着所述作业路径运动，并基于所述路径点的作业参数进行作业，得到作业内容；
获取对作业内容的分析得到的作业结果；
基于作业结果调整所述作业路径，以及所述作业路径上的路径点的作业参数；
基于调整后的作业路径以及调整后的作业参数控制所述可移动平台在作业区域内作业。
相应地，本申请实施例还提供一种计算机存储介质，所述存储介质中存储有程序，所述程序被处理器执行时实现上述任一实施例中的方法。
本申请实施例可采用在一个或多个其中包含有程序代码的存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。计算机可用存储介质包括永久性和非永久性、可移动和非可移动媒体，可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括但不限于：相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (49)

  1. 一种可移动平台的作业规划方法，其特征在于，所述方法包括：
    获取可移动平台的作业区域的三维模型；
    根据检测到的运动控制操作控制虚拟可移动平台在所述三维模型中的运动轨迹；
    根据检测到的位置确认操作确定所述运动轨迹上的多个目标位置点，多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径。
  2. 根据权利要求1所述的方法，其特征在于，所述运动控制操作包括以下一种或多种：对所述虚拟可移动平台的横向控制操作、纵向控制操作、高度控制操作，偏航控制操作。
  3. 根据权利要求1或2所述的方法，其特征在于，所述运动控制操作通过摇杆触发，基于检测到的所述摇杆的偏移量确定所述运动控制操作的运动控制量。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    根据检测到的作业参数确认操作确定与所述目标位置点对应的作业参数并存储，所述作业参数用于指示所述可移动平台到达所述目标位置点执行作业。
  5. 根据权利要求4所述的方法，其特征在于，所述可移动平台搭载有相机负载，所述作业参数包括所述相机负载在空间中的朝向参数，所述朝向参数用于指示所述可移动平台到达所述目标位置点时所述相机负载根据所述朝向参数执行作业。
  6. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    确定与所述目标位置点对应的作业结果，基于所述作业结果调整所述目标位置点和/或所述目标位置点对应的所述作业参数。
  7. 根据权利要求6所述的方法，其特征在于，所述可移动平台上的负载包括拍摄装置，所述作业结果包括所述拍摄装置的拍摄图像与样片图像的偏差。
  8. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    基于所述虚拟可移动平台运动过程中的位姿，确定所述虚拟可移动平台上搭载的虚拟观测装置的观测视角，将所述三维模型投影到所述观测视角得到的观测图像实时展示在交互界面上。
  9. 根据权利要求1所述的方法，其特征在于，所述根据检测到的运动控制操作控制虚拟可移动平台在所述三维模型中的运动轨迹包括：
    根据检测到的运动控制操作，控制虚拟可移动平台从所述三维模型中的第一位置离开，并向所述三维模型中的其他区域运动；
    所述根据检测到的位置确认操作确定所述运动轨迹上的多个目标位置点，多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径包括：
    根据检测到的位置确认操作将所述虚拟可移动平台在所述三维模型中的当前位置确定为第二位置，所述第一位置和所述第二位置用于生成所述可移动平台在所述作业 区域的所述作业路径。
  10. 根据权利要求1所述的方法，其特征在于，响应于编辑操作，执行以下任一操作：
    删除已确定的所述目标位置点；
    调整已确定的所述目标位置点的位置；
    在任一两相邻目标位置点之间插入新增的目标位置点；
    修改所述目标位置点对应的作业参数。
  11. 根据权利要求1所述的方法，其特征在于，响应于移动操作，控制所述虚拟可移动平台从当前位置移动至已确定的任一目标位置点。
  12. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在交互界面上展示用于表征所述虚拟可移动平台搭载的虚拟观测装置的朝向的标识，和/或，所述目标位置点周围的三维模型中的景物。
  13. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在交互界面上展示呈现所述虚拟可移动平台观测到的三维模型的画面，和/或，呈现所述虚拟可移动平台与所述三维模型的相对位置关系的画面。
  14. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在交互界面上展示所述三维模型，所述三维模型在所述交互界面上的展示视角包括多种视角；
    其中，多种所述视角中的任意两种视角的视点位置不同，和/或，从任意两种视角的所述视点指向所述虚拟可移动平台的方向不同。
  15. 根据权利要求14所述的方法，其特征在于，所述方法还包括：
    任一所述视角的所述视点的位置跟随所述虚拟可移动平台的运动而变化，所述视点与所述虚拟可移动平台的相对位置保持固定。
  16. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在交互界面展示安全提示信息；
    其中，所述安全提示信息基于以下一种或者多种信息生成：
    所述运动轨迹上的位置点与所述三维模型的包络点的相对位置关系；
    所述虚拟可移动平台在所述运动轨迹上的运动姿态变化量。
  17. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取对所述三维模型的观测得到包含目标对象的样片图像，其中，所述样片图像用于指示所述可移动平台在沿所述作业路径作业过程中拍摄包含所述目标对象的实景图像。
  18. 根据权利要求17所述的方法，其特征在于，获取对所述三维模型的观测得到包含目标对象的样片图像，包括：
    基于所述虚拟可移动平台运动过程中的位姿，确定所述虚拟可移动平台上搭载的虚拟观测装置的观测视角；
    获取所述三维模型投影到所述观测视角得到的观测图像，基于所述观测图像确定所述样片图像。
  19. 根据权利要求18所述的方法，其特征在于，所述基于所述观测图像确定所述样片图像，包括以下任一方式：
    将所述观测图像作为样片图像；或，
    将所述观测图像中心位置所在的图像区域作为样片图像；或，
    将用户选取的所述观测图像中的图像区域作为样片图像。
  20. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取所述可移动平台在所述作业区域内按照所述作业路径作业时采集的实景图像；
    从所述实景图像中截取用户选取的图像区域作为包含目标对象的样片图像，其中，所述样片图像用于指示所述可移动平台在后续作业过程中拍摄包含所述目标对象的实景图像。
  21. 根据权利要求1所述的方法，其特征在于，所述三维模型是基于控制可移动平台采集所述作业区域内的图像生成的。
  22. 根据权利要求1所述的方法，其特征在于，所述多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径包括：
    确定将多个所述目标位置点连接以生成所述作业区域的作业路径的目标位置点排序，所述目标位置点排序与确认所述目标位置点的先后顺序不同。
  23. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    基于作业任务确认操作确定所述虚拟可移动平台在所述目标位置点的多个作业任务；
    指示所述可移动平台在所述目标位置点按照目标作业顺序执行多个所述作业任务，所述目标作业顺序与多个所述作业任务的确定顺序不同。
  24. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    将所述目标位置点展示在交互界面上；
    基于所述目标位置点对应的作业结果，调整所述目标位置点在所述交互界面上的展示效果。
  25. 一种可移动平台的作业规划装置，其特征在于，所述装置包括处理器、存储器、存储于所述存储器可供所述处理器执行的计算机程序，所述处理器执行所述计算机程序时，可实现以下步骤：
    获取可移动平台的作业区域的三维模型；
    根据检测到的运动控制操作控制虚拟可移动平台在所述三维模型中的运动轨迹；
    根据检测到的位置确认操作确定所述运动轨迹上的多个目标位置点，多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径。
  26. 根据权利要求25所述的装置，其特征在于，所述运动控制操作包括以下一种或多种：对所述虚拟可移动平台的横向控制操作、纵向控制操作、高度控制操作，偏航控制操作。
  27. 根据权利要求25或26所述的装置，其特征在于，所述运动控制操作通过摇杆触发，基于检测到的所述摇杆的偏移量确定所述运动控制操作的运动控制量。
  28. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    根据检测到的作业参数确认操作确定与所述目标位置点对应的作业参数并存储，所述作业参数用于指示所述可移动平台到达所述目标位置点执行作业。
  29. 根据权利要求28所述的装置，其特征在于，所述可移动平台搭载有相机负载，所述作业参数包括所述相机负载在空间中的朝向参数，所述朝向参数用于指示所述可移动平台到达所述目标位置点时所述相机负载根据所述朝向参数执行作业。
  30. 根据权利要求28所述的装置，其特征在于，所述处理器还用于：
    确定与所述目标位置点对应的作业结果，基于所述作业结果调整所述目标位置点和/或所述目标位置点对应的所述作业参数。
  31. 根据权利要求30所述的装置，其特征在于，所述可移动平台上的负载包括拍摄装置，所述作业结果包括所述拍摄装置的拍摄图像与样片图像的偏差。
  32. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    基于所述虚拟可移动平台运动过程中的位姿，确定所述虚拟可移动平台上搭载的虚拟观测装置的观测视角，将所述三维模型投影到所述观测视角得到的观测图像实时展示在交互界面上。
  33. 根据权利要求25所述的装置，其特征在于，所述处理器用于根据检测到的运动控制操作控制虚拟可移动平台在所述三维模型中的运动轨迹，具体用于：
    根据检测到的运动控制操作，控制虚拟可移动平台从所述三维模型中的第一位置离开，并向所述三维模型中的其他区域运动；
    所述根据检测到的位置确认操作确定所述运动轨迹上的多个目标位置点，多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径包括：
    根据检测到的位置确认操作将所述虚拟可移动平台在所述三维模型中的当前位置确定为第二位置，所述第一位置和所述第二位置用于生成所述可移动平台在所述作业区域的所述作业路径。
  34. 根据权利要求25所述的装置，其特征在于，所述处理器还用于响应于编辑操作，执行以下任一操作：
    删除已确定的所述目标位置点；
    调整已确定的所述目标位置点的位置；
    在任一两相邻目标位置点之间插入新增的目标位置点；
    修改所述目标位置点对应的作业参数。
  35. 根据权利要求25所述的装置，其特征在于，所述处理器还用于响应于移动操作，控制所述虚拟可移动平台从当前位置移动至已确定的任一目标位置点。
  36. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    在交互界面上展示用于表征所述虚拟可移动平台搭载的虚拟观测装置的朝向的标识，和/或，所述目标位置点周围的三维模型中的景物。
  37. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    在交互界面上展示呈现所述虚拟可移动平台观测到的三维模型的画面，和/或，呈现所述虚拟可移动平台与所述三维模型的相对位置关系的画面。
  38. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    在交互界面上展示所述三维模型，所述三维模型在所述交互界面上的展示视角包括多种视角；
    其中，多种所述视角中的任意两种视角的视点位置不同，和/或，从任意两种视角的所述视点指向所述虚拟可移动平台的方向不同。
  39. 根据权利要求38所述的装置，其特征在于，所述处理器还用于：
    任一所述视角的所述视点的位置跟随所述虚拟可移动平台的运动而变化，所述视点与所述虚拟可移动平台的相对位置保持固定。
  40. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    在交互界面展示安全提示信息；
    其中，所述安全提示信息基于以下一种或者多种信息生成：
    所述运动轨迹上的位置点与所述三维模型的包络点的相对位置关系；
    所述虚拟可移动平台在所述运动轨迹上的运动姿态变化量。
  41. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    获取对所述三维模型的观测得到包含目标对象的样片图像，其中，所述样片图像用于指示所述可移动平台在沿所述作业路径作业过程中拍摄包含所述目标对象的实景图像。
  42. 根据权利要求41所述的装置，其特征在于，所述处理器用于获取对所述三维模型的观测得到包含目标对象的样片图像时，具体用于：
    基于所述虚拟可移动平台运动过程中的位姿，确定所述虚拟可移动平台上搭载的虚拟观测装置的观测视角；
    获取所述三维模型投影到所述观测视角得到的观测图像，基于所述观测图像确定所述样片图像。
  43. 根据权利要求42所述的装置，其特征在于，所述基于所述观测图像确定所述样片图像，包括以下任一方式：
    将所述观测图像作为样片图像；或，
    将所述观测图像中心位置所在的图像区域作为样片图像；或，
    将用户选取的所述观测图像中的图像区域作为样片图像。
  44. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    获取所述可移动平台在所述作业区域内按照所述作业路径作业时采集的实景图像；
    从所述实景图像中截取用户选取的图像区域作为包含目标对象的样片图像，其中，所述样片图像用于指示所述可移动平台在后续作业过程中拍摄包含所述目标对象的实景图像。
  45. 根据权利要求25所述的装置，其特征在于，所述三维模型是基于控制可移动平台采集所述作业区域内的图像生成的。
  46. 根据权利要求25所述的装置，其特征在于，所述多个所述目标位置点用于生成所述可移动平台在所述作业区域的作业路径，包括：
    确定将多个所述目标位置点连接以生成所述作业区域的作业路径的目标位置点排序，所述目标位置点排序与确认所述目标位置点的先后顺序不同。
  47. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    基于作业任务确认操作确定所述虚拟可移动平台在所述目标位置点的多个作业任务；
    指示所述可移动平台在所述目标位置点按照目标作业顺序执行多个所述作业任务，所述目标作业顺序与多个所述作业任务的确定顺序不同。
  48. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    将所述目标位置点展示在交互界面上；
    基于所述目标位置点对应的作业结果，调整所述目标位置点在所述交互界面上的展示效果。
  49. 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上存储有计算机程序，所述计算机程序被执行时实现如权利要求1-24任一项所述的方法。
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